+ python -m lidar_slam --no-model /working/474706b3-d80d-488e-b0b2-bc80bfd64124 Lidar SLAM 0.0.15 ===================================================== The recording path: /working/474706b3-d80d-488e-b0b2-bc80bfd64124 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 0.001400513 Adjusted end_distance from 9.223372036854776e+18 to 647.851400513 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.001400513 meters Centerline goodness : 0.998068 Centerline is valid? [0, True] SLAMing on 0.031400513 meters Centerline goodness : 0.998052 Centerline is valid? [True, True] Translation: X:0.03, Y:0.00, Z:0.00 [[ 9.99999639e-01 8.49813179e-04 0.00000000e+00 2.94960274e-02] [-8.49813179e-04 9.99999639e-01 0.00000000e+00 2.67546032e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41133159e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.061400513 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:0.06, Y:0.00, Z:0.02 [[ 0.99983226 0.01831554 0. 0.05986688] [-0.01831554 0.99983226 0. 0.00295446] [ 0. 0. 1. 0.01977202] [ 0. 0. 0. 1. ]] SLAMing on 0.091400513 meters Centerline goodness : 0.998011 Centerline is valid? [True, True] Translation: X:0.09, Y:-0.05, Z:0.04 [[ 0.99998647 -0.00520206 0. 0.09199402] [ 0.00520206 0.99998647 0. -0.04870887] [ 0. 0. 1. 0.03550878] [ 0. 0. 0. 1. ]] SLAMing on 0.121400513 meters Centerline goodness : 0.998271 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.05, Z:0.04 [[ 0.99999193 -0.00401819 0. 0.12254577] [ 0.00401819 0.99999193 0. -0.04857307] [ 0. 0. 1. 0.03794852] [ 0. 0. 0. 1. ]] SLAMing on 0.151400513 meters Centerline goodness : 0.998271 Centerline is valid? [True, True] Translation: X:0.15, Y:-0.05, Z:0.04 [[ 0.99999197 -0.00400795 0. 0.15350289] [ 0.00400795 0.99999197 0. -0.04727687] [ 0. 0. 1. 0.03794852] [ 0. 0. 0. 1. ]] SLAMing on 0.18140051299999999 meters Centerline goodness : 0.998164 Centerline is valid? [True, True] Translation: X:0.18, Y:-0.05, Z:0.04 [[ 0.99999401 -0.00346229 0. 0.18316527] [ 0.00346229 0.99999401 0. -0.04796722] [ 0. 0. 1. 0.04459934] [ 0. 0. 0. 1. ]] SLAMing on 0.21140051299999998 meters Centerline goodness : 0.998122 Centerline is valid? [True, True] Translation: X:0.21, Y:-0.05, Z:0.04 [[ 0.99999413 -0.0034278 0. 0.21324857] [ 0.0034278 0.99999413 0. -0.05025179] [ 0. 0. 1. 0.04290668] [ 0. 0. 0. 1. ]] SLAMing on 0.24140051299999998 meters Centerline goodness : 0.998122 Centerline is valid? [True, True] Translation: X:0.24, Y:-0.05, Z:0.04 [[ 0.99999412 -0.00342924 0. 0.24420336] [ 0.00342924 0.99999412 0. -0.04893728] [ 0. 0. 1. 0.04290668] [ 0. 0. 0. 1. ]] SLAMing on 0.271400513 meters Centerline goodness : 0.998096 Centerline is valid? [True, True] Translation: X:0.27, Y:-0.05, Z:0.05 [[ 0.99999108 -0.00422282 0. 0.2739913 ] [ 0.00422282 0.99999108 0. -0.05193776] [ 0. 0. 1. 0.04826135] [ 0. 0. 0. 1. ]] SLAMing on 0.301400513 meters Centerline goodness : 0.998096 Centerline is valid? [True, True] Translation: X:0.30, Y:-0.05, Z:0.05 [[ 0.9999911 -0.00421928 0. 0.30494415] [ 0.00421928 0.9999911 0. -0.05062772] [ 0. 0. 1. 0.04826135] [ 0. 0. 0. 1. ]] SLAMing on 0.33140051299999995 meters Centerline goodness : 0.998129 Centerline is valid? [True, True] Translation: X:0.34, Y:-0.05, Z:0.05 [[ 0.99998384 -0.00568454 0. 0.33591731] [ 0.00568454 0.99998384 0. -0.05357919] [ 0. 0. 1. 0.05079454] [ 0. 0. 0. 1. ]] SLAMing on 0.361400513 meters Centerline goodness : 0.998129 Centerline is valid? [True, True] Translation: X:0.37, Y:-0.05, Z:0.05 [[ 0.99998384 -0.00568454 0. 0.36686495] [ 0.00568454 0.99998384 0. -0.05226426] [ 0. 0. 1. 0.05079454] [ 0. 0. 0. 1. ]] SLAMing on 0.391400513 meters Centerline goodness : 0.998231 Centerline is valid? [True, True] Translation: X:0.40, Y:-0.05, Z:0.05 [[ 0.9999705 -0.00768067 0. 0.39600732] [ 0.00768067 0.9999705 0. -0.05318685] [ 0. 0. 1. 0.05432824] [ 0. 0. 0. 1. ]] SLAMing on 0.421400513 meters Centerline goodness : 0.998053 Centerline is valid? [True, True] Translation: X:0.43, Y:-0.05, Z:0.04 [[ 0.99995652 -0.00932563 0. 0.42629909] [ 0.00932563 0.99995652 0. -0.05385957] [ 0. 0. 1. 0.0382129 ] [ 0. 0. 0. 1. ]] SLAMing on 0.45140051299999995 meters Centerline goodness : 0.998053 Centerline is valid? [True, True] Translation: X:0.46, Y:-0.05, Z:0.04 [[ 0.99995657 -0.00932008 0. 0.45725563] [ 0.00932008 0.99995657 0. -0.05255084] [ 0. 0. 1. 0.0382129 ] [ 0. 0. 0. 1. ]] SLAMing on 0.481400513 meters Centerline goodness : 0.998141 Centerline is valid? [True, True] Translation: X:0.49, Y:-0.05, Z:0.03 [[ 0.99993874 -0.01106874 0. 0.48669627] [ 0.01106874 0.99993874 0. -0.0538499 ] [ 0. 0. 1. 0.02685454] [ 0. 0. 0. 1. ]] SLAMing on 0.511400513 meters Centerline goodness : 0.998141 Centerline is valid? [True, True] Translation: X:0.52, Y:-0.05, Z:0.03 [[ 0.9999387 -0.01107245 0. 0.5176585 ] [ 0.01107245 0.9999387 0. -0.05253029] [ 0. 0. 1. 0.02685454] [ 0. 0. 0. 1. ]] SLAMing on 0.541400513 meters Centerline goodness : 0.998141 Centerline is valid? [True, True] Translation: X:0.55, Y:-0.05, Z:0.03 [[ 0.99993866 -0.01107616 0. 0.54862073] [ 0.01107616 0.99993866 0. -0.05121056] [ 0. 0. 1. 0.02685454] [ 0. 0. 0. 1. ]] SLAMing on 0.5714005129999999 meters Centerline goodness : 0.997943 Centerline is valid? [True, True] Translation: X:0.58, Y:-0.05, Z:0.02 [[ 0.99991493 -0.01304366 0. 0.57847741] [ 0.01304366 0.99991493 0. -0.05285868] [ 0. 0. 1. 0.01589933] [ 0. 0. 0. 1. ]] SLAMing on 0.601400513 meters Centerline goodness : 0.998080 Centerline is valid? [True, True] Translation: X:0.61, Y:-0.05, Z:0.01 [[ 0.99988375 -0.01524737 0. 0.60760085] [ 0.01524737 0.99988375 0. -0.05442473] [ 0. 0. 1. 0.01178385] [ 0. 0. 0. 1. ]] SLAMing on 0.631400513 meters Centerline goodness : 0.998039 Centerline is valid? [True, True] Translation: X:0.64, Y:-0.06, Z:0.01 [[ 0.99984375 -0.01767699 0. 0.63749924] [ 0.01767699 0.99984375 0. -0.05612865] [ 0. 0. 1. 0.013054 ] [ 0. 0. 0. 1. ]] SLAMing on 0.6614005129999999 meters Centerline goodness : 0.998039 Centerline is valid? [True, True] Translation: X:0.67, Y:-0.05, Z:0.01 [[ 0.99984334 -0.01770023 0. 0.66763092] [ 0.01770023 0.99984334 0. -0.05480493] [ 0. 0. 1. 0.013054 ] [ 0. 0. 0. 1. ]] SLAMing on 0.6914005129999999 meters Centerline goodness : 0.997860 Centerline is valid? [True, True] Translation: X:0.70, Y:-0.06, Z:0.03 [[ 0.9998015 -0.01992367 0. 0.69742781] [ 0.01992367 0.9998015 0. -0.05719506] [ 0. 0. 1. 0.02580685] [ 0. 0. 0. 1. ]] SLAMing on 0.721400513 meters Centerline goodness : 0.997860 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.06, Z:0.03 [[ 0.99980114 -0.01994205 0. 0.7275557 ] [ 0.01994205 0.99980114 0. -0.05587495] [ 0. 0. 1. 0.02580685] [ 0. 0. 0. 1. ]] SLAMing on 0.751400513 meters Centerline goodness : 0.997860 Centerline is valid? [True, True] Translation: X:0.76, Y:-0.05, Z:0.03 [[ 0.99980077 -0.01996043 0. 0.75768356] [ 0.01996043 0.99980077 0. -0.05455428] [ 0. 0. 1. 0.02580685] [ 0. 0. 0. 1. ]] SLAMing on 0.781400513 meters Centerline goodness : 0.998222 Centerline is valid? [True, True] Translation: X:0.79, Y:-0.06, Z:0.04 [[ 0.99975337 -0.022208 0. 0.78709638] [ 0.022208 0.99975337 0. -0.05761904] [ 0. 0. 1. 0.0449616 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8114005129999999 meters Centerline goodness : 0.998084 Centerline is valid? [True, True] Translation: X:0.82, Y:-0.06, Z:0.05 [[ 0.99970054 -0.02447105 0. 0.81758774] [ 0.02447105 0.99970054 0. -0.06092834] [ 0. 0. 1. 0.05040786] [ 0. 0. 0. 1. ]] SLAMing on 0.841400513 meters Centerline goodness : 0.998084 Centerline is valid? [True, True] Translation: X:0.85, Y:-0.06, Z:0.05 [[ 0.99969993 -0.02449585 0. 0.84770249] [ 0.02449585 0.99969993 0. -0.05959845] [ 0. 0. 1. 0.05040786] [ 0. 0. 0. 1. ]] SLAMing on 0.871400513 meters Centerline goodness : 0.997969 Centerline is valid? [True, True] Translation: X:0.88, Y:-0.06, Z:0.05 [[ 0.99965134 -0.02640458 0. 0.87640752] [ 0.02640458 0.99965134 0. -0.06289038] [ 0. 0. 1. 0.05138839] [ 0. 0. 0. 1. ]] SLAMing on 0.9014005129999999 meters Centerline goodness : 0.997969 Centerline is valid? [True, True] Translation: X:0.91, Y:-0.06, Z:0.05 [[ 0.99964686 -0.02657366 0. 0.90568215] [ 0.02657366 0.99964686 0. -0.06151238] [ 0. 0. 1. 0.05138839] [ 0. 0. 0. 1. ]] SLAMing on 0.9314005129999999 meters Centerline goodness : 0.997969 Centerline is valid? [True, True] Translation: X:0.93, Y:-0.06, Z:0.05 [[ 0.99964235 -0.02674275 0. 0.93495655] [ 0.02674275 0.99964235 0. -0.06012944] [ 0. 0. 1. 0.05138839] [ 0. 0. 0. 1. ]] SLAMing on 0.961400513 meters Centerline goodness : 0.998279 Centerline is valid? [True, True] Translation: X:0.96, Y:-0.06, Z:0.05 [[ 0.99960214 -0.02820584 0. 0.96460472] [ 0.02820584 0.99960214 0. -0.06241736] [ 0. 0. 1. 0.04735705] [ 0. 0. 0. 1. ]] SLAMing on 0.991400513 meters Centerline goodness : 0.998142 Centerline is valid? [True, True] Translation: X:0.99, Y:-0.07, Z:0.05 [[ 0.99958982 -0.02863914 0. 0.99336263] [ 0.02863914 0.99958982 0. -0.06500654] [ 0. 0. 1. 0.04917408] [ 0. 0. 0. 1. ]] SLAMing on 1.0214005130000001 meters Centerline goodness : 0.998159 Centerline is valid? [True, True] Translation: X:1.02, Y:-0.07, Z:0.05 [[ 0.99960222 -0.02820291 0. 1.02162549] [ 0.02820291 0.99960222 0. -0.06705411] [ 0. 0. 1. 0.0468227 ] [ 0. 0. 0. 1. ]] SLAMing on 1.0514005130000001 meters Centerline goodness : 0.998159 Centerline is valid? [True, True] Translation: X:1.05, Y:-0.07, Z:0.05 [[ 0.99959764 -0.02836465 0. 1.05090167] [ 0.02836465 0.99959764 0. -0.06566398] [ 0. 0. 1. 0.0468227 ] [ 0. 0. 0. 1. ]] SLAMing on 1.0814005130000002 meters Centerline goodness : 0.998320 Centerline is valid? [True, True] Translation: X:1.08, Y:-0.07, Z:0.05 [[ 0.99965114 -0.02641219 0. 1.07879136] [ 0.02641219 0.99965114 0. -0.06715916] [ 0. 0. 1. 0.04594051] [ 0. 0. 0. 1. ]] SLAMing on 1.111400513 meters Centerline goodness : 0.998320 Centerline is valid? [True, True] Translation: X:1.11, Y:-0.07, Z:0.05 [[ 0.99964683 -0.02657474 0. 1.10806853] [ 0.02657474 0.99964683 0. -0.06575172] [ 0. 0. 1. 0.04594051] [ 0. 0. 0. 1. ]] SLAMing on 1.141400513 meters Centerline goodness : 0.998211 Centerline is valid? [True, True] Translation: X:1.14, Y:-0.07, Z:0.05 [[ 0.99969835 -0.02456048 0. 1.13634944] [ 0.02456048 0.99969835 0. -0.06567748] [ 0. 0. 1. 0.04837112] [ 0. 0. 0. 1. ]] SLAMing on 1.171400513 meters Centerline goodness : 0.998182 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.07, Z:0.05 [[ 0.99975484 -0.02214175 0. 1.16558284] [ 0.02214175 0.99975484 0. -0.06520622] [ 0. 0. 1. 0.04744221] [ 0. 0. 0. 1. ]] SLAMing on 1.201400513 meters Centerline goodness : 0.998182 Centerline is valid? [True, True] Translation: X:1.19, Y:-0.06, Z:0.05 [[ 0.99975118 -0.02230657 0. 1.19485868] [ 0.02230657 0.99975118 0. -0.06380222] [ 0. 0. 1. 0.04744221] [ 0. 0. 0. 1. ]] SLAMing on 1.231400513 meters Centerline goodness : 0.998182 Centerline is valid? [True, True] Translation: X:1.22, Y:-0.06, Z:0.05 [[ 0.99974749 -0.02247138 0. 1.2241343 ] [ 0.02247138 0.99974749 0. -0.0623934 ] [ 0. 0. 1. 0.04744221] [ 0. 0. 0. 1. ]] SLAMing on 1.2614005130000001 meters Centerline goodness : 0.998298 Centerline is valid? [True, True] Translation: X:1.25, Y:-0.06, Z:0.06 [[ 0.99979207 -0.02039142 0. 1.25345412] [ 0.02039142 0.99979207 0. -0.06183632] [ 0. 0. 1. 0.05702186] [ 0. 0. 0. 1. ]] SLAMing on 1.2914005130000001 meters Centerline goodness : 0.998382 Centerline is valid? [True, True] Translation: X:1.28, Y:-0.06, Z:0.07 [[ 0.99981053 -0.01946548 0. 1.28347317] [ 0.01946548 0.99981053 0. -0.06122913] [ 0. 0. 1. 0.0708934 ] [ 0. 0. 0. 1. ]] SLAMing on 1.321400513 meters Centerline goodness : 0.998045 Centerline is valid? [True, True] Translation: X:1.31, Y:-0.06, Z:0.07 [[ 0.99980214 -0.01989186 0. 1.31205144] [ 0.01989186 0.99980214 0. -0.05982579] [ 0. 0. 1. 0.06790229] [ 0. 0. 0. 1. ]] SLAMing on 1.351400513 meters Centerline goodness : 0.998294 Centerline is valid? [True, True] Translation: X:1.34, Y:-0.05, Z:0.06 [[ 0.99927159 -0.03816133 0. 1.34220346] [ 0.03816133 0.99927159 0. -0.05073609] [ 0. 0. 1. 0.06064777] [ 0. 0. 0. 1. ]] SLAMing on 1.381400513 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:1.37, Y:-0.06, Z:0.04 [[ 0.99946604 0.03267474 0. 1.37255235] [-0.03267474 0.99946604 0. -0.05599171] [ 0. 0. 1. 0.03576588] [ 0. 0. 0. 1. ]] SLAMing on 1.411400513 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:1.41, Y:-0.05, Z:0.04 [[ 0.99946039 0.03284694 0. 1.40517435] [-0.03284694 0.99946039 0. -0.05464098] [ 0. 0. 1. 0.03576588] [ 0. 0. 0. 1. ]] SLAMing on 1.441400513 meters Centerline goodness : 0.998794 Centerline is valid? [True, True] Translation: X:1.44, Y:-0.06, Z:0.03 [[ 0.99949007 0.03193132 0. 1.4354001 ] [-0.03193132 0.99949007 0. -0.05530702] [ 0. 0. 1. 0.0317178 ] [ 0. 0. 0. 1. ]] SLAMing on 1.471400513 meters Centerline goodness : 0.998471 Centerline is valid? [True, True] Translation: X:1.47, Y:-0.06, Z:0.03 [[ 0.99954203 0.03026114 0. 1.46725812] [-0.03026114 0.99954203 0. -0.05711374] [ 0. 0. 1. 0.02879441] [ 0. 0. 0. 1. ]] SLAMing on 1.501400513 meters Centerline goodness : 0.998471 Centerline is valid? [True, True] Translation: X:1.50, Y:-0.06, Z:0.03 [[ 0.99953726 0.03041814 0. 1.49988556] [-0.03041814 0.99953726 0. -0.05577878] [ 0. 0. 1. 0.02879441] [ 0. 0. 0. 1. ]] SLAMing on 1.5314005130000001 meters Centerline goodness : 0.998517 Centerline is valid? [True, True] Translation: X:1.53, Y:-0.06, Z:0.03 [[ 0.99960055 0.02826188 0. 1.52992606] [-0.02826188 0.99960055 0. -0.05808119] [ 0. 0. 1. 0.03252463] [ 0. 0. 0. 1. ]] SLAMing on 1.5614005130000002 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:1.56, Y:-0.06, Z:0.03 [[ 0.99966352 0.0259392 0. 1.56195226] [-0.0259392 0.99966352 0. -0.05932263] [ 0. 0. 1. 0.02899288] [ 0. 0. 0. 1. ]] SLAMing on 1.591400513 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:1.59, Y:-0.06, Z:0.02 [[ 0.99969059 0.0248743 0. 1.59374532] [-0.0248743 0.99969059 0. -0.05944224] [ 0. 0. 1. 0.02290716] [ 0. 0. 0. 1. ]] SLAMing on 1.621400513 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:1.62, Y:-0.06, Z:0.02 [[ 0.99969324 0.02476736 0. 1.62354097] [-0.02476736 0.99969324 0. -0.06027241] [ 0. 0. 1. 0.01875909] [ 0. 0. 0. 1. ]] SLAMing on 1.651400513 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.06, Z:0.02 [[ 0.99968874 0.02494855 0. 1.65617287] [-0.02494855 0.99968874 0. -0.05895991] [ 0. 0. 1. 0.01875909] [ 0. 0. 0. 1. ]] SLAMing on 1.681400513 meters Centerline goodness : 0.998491 Centerline is valid? [True, True] Translation: X:1.69, Y:-0.06, Z:0.02 [[ 0.99969728 0.02460384 0. 1.68775558] [-0.02460384 0.99969728 0. -0.06079878] [ 0. 0. 1. 0.01992634] [ 0. 0. 0. 1. ]] SLAMing on 1.711400513 meters Centerline goodness : 0.998491 Centerline is valid? [True, True] Translation: X:1.72, Y:-0.06, Z:0.02 [[ 0.99969294 0.02477957 0. 1.72038862] [-0.02477957 0.99969294 0. -0.05950568] [ 0. 0. 1. 0.01992634] [ 0. 0. 0. 1. ]] SLAMing on 1.741400513 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:1.75, Y:-0.06, Z:0.02 [[ 0.99969968 0.02450604 0. 1.75166508] [-0.02450604 0.99969968 0. -0.06097161] [ 0. 0. 1. 0.02461273] [ 0. 0. 0. 1. ]] SLAMing on 1.7714005130000001 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:1.78, Y:-0.06, Z:0.02 [[ 0.99969537 0.02468113 0. 1.78429508] [-0.02468113 0.99969537 0. -0.05969429] [ 0. 0. 1. 0.02461273] [ 0. 0. 0. 1. ]] SLAMing on 1.801400513 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:1.82, Y:-0.06, Z:0.02 [[ 0.99969558 0.02467295 0. 1.8157402 ] [-0.02467295 0.99969558 0. -0.05979395] [ 0. 0. 1. 0.0186738 ] [ 0. 0. 0. 1. ]] SLAMing on 1.831400513 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:1.85, Y:-0.06, Z:0.02 [[ 0.99969076 0.02486736 0. 1.84836841] [-0.02486736 0.99969076 0. -0.05849528] [ 0. 0. 1. 0.0186738 ] [ 0. 0. 0. 1. ]] SLAMing on 1.861400513 meters Centerline goodness : 0.998639 Centerline is valid? [True, True] Translation: X:1.88, Y:-0.06, Z:0.01 [[ 0.99967664 0.02542849 0. 1.87999648] [-0.02542849 0.99967664 0. -0.05769559] [ 0. 0. 1. 0.01322031] [ 0. 0. 0. 1. ]] SLAMing on 1.891400513 meters Centerline goodness : 0.998639 Centerline is valid? [True, True] Translation: X:1.91, Y:-0.06, Z:0.01 [[ 0.99967189 0.02561453 0. 1.91262689] [-0.02561453 0.99967189 0. -0.05638616] [ 0. 0. 1. 0.01322031] [ 0. 0. 0. 1. ]] SLAMing on 1.921400513 meters Centerline goodness : 0.998548 Centerline is valid? [True, True] Translation: X:1.94, Y:-0.06, Z:0.01 [[ 0.99966551 0.0258625 0. 1.94327106] [-0.0258625 0.99966551 0. -0.05615867] [ 0. 0. 1. 0.01268144] [ 0. 0. 0. 1. ]] SLAMing on 1.951400513 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.06, Z:0.01 [[ 0.99966445 0.02590342 0. 1.97316559] [-0.02590342 0.99966445 0. -0.05598519] [ 0. 0. 1. 0.01201655] [ 0. 0. 0. 1. ]] SLAMing on 1.981400513 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.05, Z:0.01 [[ 0.9996595 0.02609394 0. 2.00580165] [-0.02609394 0.9996595 0. -0.05474812] [ 0. 0. 1. 0.01201655] [ 0. 0. 0. 1. ]] SLAMing on 2.011400513 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:2.04, Y:-0.05, Z:0.01 [[ 0.9996545 0.02628446 0. 2.03843793] [-0.02628446 0.9996545 0. -0.05351726] [ 0. 0. 1. 0.01201655] [ 0. 0. 0. 1. ]] SLAMing on 2.041400513 meters Centerline goodness : 0.998556 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.05, Z:0.01 [[ 0.99967045 0.02567095 0. 2.07127144] [-0.02567095 0.99967045 0. -0.05234623] [ 0. 0. 1. 0.00947858] [ 0. 0. 0. 1. ]] SLAMing on 2.071400513 meters Centerline goodness : 0.998556 Centerline is valid? [True, True] Translation: X:2.10, Y:-0.05, Z:0.01 [[ 0.99966619 0.0258362 0. 2.1039098 ] [-0.0258362 0.99966619 0. -0.05109646] [ 0. 0. 1. 0.00947858] [ 0. 0. 0. 1. ]] SLAMing on 2.101400513 meters Centerline goodness : 0.998427 Centerline is valid? [True, True] Translation: X:2.14, Y:-0.05, Z:0.01 [[ 0.99968775 0.02498803 0. 2.13595647] [-0.02498803 0.99968775 0. -0.0491297 ] [ 0. 0. 1. 0.00652763] [ 0. 0. 0. 1. ]] SLAMing on 2.131400513 meters Centerline goodness : 0.998617 Centerline is valid? [True, True] Translation: X:2.17, Y:-0.05, Z:0.00 [[ 0.99970908 0.02411951 0. 2.16725756] [-0.02411951 0.99970908 0. -0.04664281] [ 0. 0. 1. 0.0043254 ] [ 0. 0. 0. 1. ]] SLAMing on 2.1614005130000002 meters Centerline goodness : 0.998617 Centerline is valid? [True, True] Translation: X:2.20, Y:-0.05, Z:0.00 [[ 0.99970518 0.02428052 0. 2.19989883] [-0.02428052 0.99970518 0. -0.04539723] [ 0. 0. 1. 0.0043254 ] [ 0. 0. 0. 1. ]] SLAMing on 2.191400513 meters Centerline goodness : 0.998617 Centerline is valid? [True, True] Translation: X:2.23, Y:-0.04, Z:0.00 [[ 0.99970126 0.02444153 0. 2.23254029] [-0.02444153 0.99970126 0. -0.04415692] [ 0. 0. 1. 0.0043254 ] [ 0. 0. 0. 1. ]] SLAMing on 2.221400513 meters Centerline goodness : 0.998560 Centerline is valid? [True, True] Translation: X:2.26, Y:-0.04, Z:0.01 [[ 0.99971712 0.02378392 0. 2.26346002] [-0.02378392 0.99971712 0. -0.04309514] [ 0. 0. 1. 0.00629431] [ 0. 0. 0. 1. ]] SLAMing on 2.251400513 meters Centerline goodness : 0.998560 Centerline is valid? [True, True] Translation: X:2.30, Y:-0.04, Z:0.01 [[ 0.99971253 0.02397616 0. 2.29610032] [-0.02397616 0.99971253 0. -0.04190757] [ 0. 0. 1. 0.00629431] [ 0. 0. 0. 1. ]] SLAMing on 2.281400513 meters Centerline goodness : 0.998422 Centerline is valid? [True, True] Translation: X:2.33, Y:-0.04, Z:0.01 [[ 0.99974374 0.02263765 0. 2.32854926] [-0.02263765 0.99974374 0. -0.04160418] [ 0. 0. 1. 0.00741944] [ 0. 0. 0. 1. ]] SLAMing on 2.311400513 meters Centerline goodness : 0.998665 Centerline is valid? [True, True] Translation: X:2.36, Y:-0.04, Z:0.01 [[ 0.99978076 0.02093864 0. 2.35991739] [-0.02093864 0.99978076 0. -0.0411268 ] [ 0. 0. 1. 0.01238126] [ 0. 0. 0. 1. ]] SLAMing on 2.341400513 meters Centerline goodness : 0.998665 Centerline is valid? [True, True] Translation: X:2.39, Y:-0.04, Z:0.01 [[ 0.99977733 0.02110198 0. 2.39255676] [-0.02110198 0.99977733 0. -0.03991099] [ 0. 0. 1. 0.01238126] [ 0. 0. 0. 1. ]] SLAMing on 2.371400513 meters Centerline goodness : 0.998585 Centerline is valid? [True, True] Translation: X:2.42, Y:-0.04, Z:0.01 [[ 0.99982487 0.01871429 0. 2.42449617] [-0.01871429 0.99982487 0. -0.03898512] [ 0. 0. 1. 0.01320887] [ 0. 0. 0. 1. ]] SLAMing on 2.401400513 meters Centerline goodness : 0.998585 Centerline is valid? [True, True] Translation: X:2.46, Y:-0.04, Z:0.01 [[ 0.99982443 0.0187378 0. 2.45629985] [-0.0187378 0.99982443 0. -0.03774652] [ 0. 0. 1. 0.01320887] [ 0. 0. 0. 1. ]] SLAMing on 2.431400513 meters Centerline goodness : 0.998472 Centerline is valid? [True, True] Translation: X:2.49, Y:-0.04, Z:0.01 [[ 0.99986297 0.0165542 0. 2.48780768] [-0.0165542 0.99986297 0. -0.03692451] [ 0. 0. 1. 0.0141118 ] [ 0. 0. 0. 1. ]] SLAMing on 2.461400513 meters Centerline goodness : 0.998518 Centerline is valid? [True, True] Translation: X:2.52, Y:-0.04, Z:0.01 [[ 0.99988959 0.01485968 0. 2.51876536] [-0.01485968 0.99988959 0. -0.03657027] [ 0. 0. 1. 0.01474153] [ 0. 0. 0. 1. ]] SLAMing on 2.491400513 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:2.55, Y:-0.04, Z:0.01 [[ 0.99991574 0.01298108 0. 2.55036377] [-0.01298108 0.99991574 0. -0.03684364] [ 0. 0. 1. 0.01400852] [ 0. 0. 0. 1. ]] SLAMing on 2.521400513 meters Centerline goodness : 0.998567 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.04, Z:0.01 [[ 0.9999604 0.00889982 0. 2.58150378] [-0.00889982 0.9999604 0. -0.03745819] [ 0. 0. 1. 0.01189447] [ 0. 0. 0. 1. ]] SLAMing on 2.551400513 meters Centerline goodness : 0.998618 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.04, Z:0.02 [[ 0.99997825 0.00659479 0. 2.61206939] [-0.00659479 0.99997825 0. -0.03702007] [ 0. 0. 1. 0.01606099] [ 0. 0. 0. 1. ]] SLAMing on 2.581400513 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.04, Z:-0.02 [[ 0.999993 0.0037428 0. 2.64175113] [-0.0037428 0.999993 0. -0.03717171] [ 0. 0. 1. -0.02013918] [ 0. 0. 0. 1. ]] SLAMing on 2.611400513 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.04, Z:-0.03 [[ 0.99999418 0.00341172 0. 2.67166083] [-0.00341172 0.99999418 0. -0.03675655] [ 0. 0. 1. -0.03304513] [ 0. 0. 0. 1. ]] SLAMing on 2.641400513 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.04, Z:-0.03 [[ 0.99999412 0.00342811 0. 2.70263359] [-0.00342811 0.99999412 0. -0.03555673] [ 0. 0. 1. -0.03304513] [ 0. 0. 0. 1. ]] SLAMing on 2.671400513 meters Centerline goodness : 0.998556 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.03, Z:-0.03 [[ 0.99999424 0.00339432 0. 2.73315555] [-0.00339432 0.99999424 0. -0.03484737] [ 0. 0. 1. -0.02832577] [ 0. 0. 0. 1. ]] SLAMing on 2.701400513 meters Centerline goodness : 0.998335 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.03, Z:-0.01 [[ 0.99999472 0.00324906 0. 2.76403512] [-0.00324906 0.99999472 0. -0.03386721] [ 0. 0. 1. -0.01277948] [ 0. 0. 0. 1. ]] SLAMing on 2.731400513 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.03, Z:0.00 [[ 0.9999926 0.00384589 0. 2.79463478] [-0.00384589 0.9999926 0. -0.03371163] [ 0. 0. 1. 0.00383587] [ 0. 0. 0. 1. ]] SLAMing on 2.761400513 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:2.83, Y:-0.03, Z:0.01 [[ 0.99999023 0.00442009 0. 2.82526343] [-0.00442009 0.99999023 0. -0.03281326] [ 0. 0. 1. 0.0115681 ] [ 0. 0. 0. 1. ]] SLAMing on 2.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.86, Y:-0.03, Z:0.00 [[ 0.99998551 0.00538381 0. 2.85565897] [-0.00538381 0.99998551 0. -0.03063803] [ 0. 0. 1. 0.00367001] [ 0. 0. 0. 1. ]] SLAMing on 2.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.03, Z:0.00 [[ 0.99998538 0.00540815 0. 2.88746843] [-0.00540815 0.99998538 0. -0.02943482] [ 0. 0. 1. 0.00367001] [ 0. 0. 0. 1. ]] SLAMing on 2.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.92, Y:-0.03, Z:-0.01 [[ 0.99997214 0.00746423 0. 2.91728714] [-0.00746423 0.99997214 0. -0.02652676] [ 0. 0. 1. -0.00908481] [ 0. 0. 0. 1. ]] SLAMing on 2.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.03, Z:-0.01 [[ 0.99997196 0.00748806 0. 2.94909762] [-0.00748806 0.99997196 0. -0.02532726] [ 0. 0. 1. -0.00908481] [ 0. 0. 0. 1. ]] SLAMing on 2.911400513 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:2.98, Y:-0.01, Z:0.02 [[ 0.99905527 0.04345772 0. 2.97836833] [-0.04345772 0.99905527 0. -0.00880078] [ 0. 0. 1. 0.02145715] [ 0. 0. 0. 1. ]] SLAMing on 2.941400513 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:3.01, Y:0.04, Z:0.01 [[ 0.99924249 0.03891584 0. 3.00768975] [-0.03891584 0.99924249 0. 0.04084222] [ 0. 0. 1. 0.01412551] [ 0. 0. 0. 1. ]] SLAMing on 2.971400513 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:3.04, Y:0.04, Z:0.01 [[ 0.99924249 0.03891584 0. 3.03866115] [-0.03891584 0.99924249 0. 0.04204685] [ 0. 0. 1. 0.01412551] [ 0. 0. 0. 1. ]] SLAMing on 3.001400513 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:3.07, Y:0.04, Z:0.01 [[ 0.99924249 0.03891584 0. 3.06963255] [-0.03891584 0.99924249 0. 0.04325148] [ 0. 0. 1. 0.01412551] [ 0. 0. 0. 1. ]] SLAMing on 3.031400513 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:3.10, Y:0.05, Z:0.02 [[ 0.99926206 0.03841009 0. 3.09974827] [-0.03841009 0.99926206 0. 0.04614759] [ 0. 0. 1. 0.01748426] [ 0. 0. 0. 1. ]] SLAMing on 3.061400513 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:3.13, Y:0.05, Z:0.02 [[ 0.99930303 0.03732889 0. 3.13141436] [-0.03732889 0.99930303 0. 0.04835235] [ 0. 0. 1. 0.01808231] [ 0. 0. 0. 1. ]] SLAMing on 3.091400513 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:3.16, Y:0.05, Z:0.02 [[ 0.99930303 0.03732889 0. 3.16238411] [-0.03732889 0.99930303 0. 0.04955583] [ 0. 0. 1. 0.01808231] [ 0. 0. 0. 1. ]] SLAMing on 3.121400513 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:3.19, Y:0.05, Z:0.02 [[ 0.99935942 0.03578761 0. 3.19339653] [-0.03578761 0.99935942 0. 0.05125641] [ 0. 0. 1. 0.01902997] [ 0. 0. 0. 1. ]] SLAMing on 3.151400513 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:3.22, Y:0.05, Z:0.02 [[ 0.99935942 0.03578761 0. 3.22436573] [-0.03578761 0.99935942 0. 0.05245915] [ 0. 0. 1. 0.01902997] [ 0. 0. 0. 1. ]] SLAMing on 3.181400513 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:3.25, Y:0.05, Z:0.02 [[ 0.99941258 0.03427083 0. 3.25439297] [-0.03427083 0.99941258 0. 0.05368259] [ 0. 0. 1. 0.02007912] [ 0. 0. 0. 1. ]] SLAMing on 3.211400513 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:3.29, Y:0.05, Z:0.02 [[ 0.99941258 0.03427083 0. 3.2853623 ] [-0.03427083 0.99941258 0. 0.05488499] [ 0. 0. 1. 0.02007912] [ 0. 0. 0. 1. ]] SLAMing on 3.241400513 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:3.32, Y:0.06, Z:0.01 [[ 0.99944321 0.03336569 0. 3.31597821] [-0.03336569 0.99944321 0. 0.0570771 ] [ 0. 0. 1. 0.01028669] [ 0. 0. 0. 1. ]] SLAMing on 3.271400513 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:3.35, Y:0.06, Z:0.01 [[ 0.99944321 0.03336569 0. 3.34695071] [-0.03336569 0.99944321 0. 0.05827925] [ 0. 0. 1. 0.01028669] [ 0. 0. 0. 1. ]] SLAMing on 3.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.38, Y:0.06, Z:-0.01 [[ 0.99944995 0.03316312 0. 3.37647295] [-0.03316312 0.99944995 0. 0.06138642] [ 0. 0. 1. -0.00671482] [ 0. 0. 0. 1. ]] SLAMing on 3.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.41, Y:0.06, Z:-0.01 [[ 0.99944995 0.03316312 0. 3.40744926] [-0.03316312 0.99944995 0. 0.06258871] [ 0. 0. 1. -0.00671482] [ 0. 0. 0. 1. ]] SLAMing on 3.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.44, Y:0.07, Z:-0.03 [[ 0.99945405 0.03303933 0. 3.43807748] [-0.03303933 0.99945405 0. 0.0650721 ] [ 0. 0. 1. -0.02606123] [ 0. 0. 0. 1. ]] SLAMing on 3.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.47, Y:0.07, Z:-0.03 [[ 0.99945405 0.03303933 0. 3.46905332] [-0.03303933 0.99945405 0. 0.06627438] [ 0. 0. 1. -0.02606123] [ 0. 0. 0. 1. ]] SLAMing on 3.421400513 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:3.50, Y:0.07, Z:-0.04 [[ 0.99944847 0.03320783 0. 3.49957065] [-0.03320783 0.99944847 0. 0.06789397] [ 0. 0. 1. -0.03734598] [ 0. 0. 0. 1. ]] SLAMing on 3.451400513 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:3.53, Y:0.07, Z:-0.04 [[ 0.9994512 0.03312559 0. 3.53021471] [-0.03312559 0.9994512 0. 0.0691643 ] [ 0. 0. 1. -0.0351415 ] [ 0. 0. 0. 1. ]] SLAMing on 3.481400513 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:3.56, Y:0.07, Z:-0.04 [[ 0.9994512 0.03312559 0. 3.56118854] [-0.03312559 0.9994512 0. 0.07036613] [ 0. 0. 1. -0.0351415 ] [ 0. 0. 0. 1. ]] SLAMing on 3.511400513 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:3.59, Y:0.07, Z:-0.01 [[ 0.9995095 0.03131711 0. 3.59223513] [-0.03131711 0.9995095 0. 0.07249698] [ 0. 0. 1. -0.00966992] [ 0. 0. 0. 1. ]] SLAMing on 3.541400513 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:3.62, Y:0.07, Z:-0.01 [[ 0.9995095 0.03131711 0. 3.62321183] [-0.03131711 0.9995095 0. 0.07369854] [ 0. 0. 1. -0.00966992] [ 0. 0. 0. 1. ]] SLAMing on 3.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.65, Y:0.08, Z:-0.01 [[ 0.9995048 0.03146676 0. 3.65314722] [-0.03146676 0.9995048 0. 0.07544258] [ 0. 0. 1. -0.01264214] [ 0. 0. 0. 1. ]] SLAMing on 3.6014005129999997 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:3.68, Y:0.08, Z:-0.00 [[ 0.99909982 0.042421 0. 3.68347434] [-0.042421 0.99909982 0. 0.08048439] [ 0. 0. 1. -0.00488315] [ 0. 0. 0. 1. ]] SLAMing on 3.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.71, Y:0.08, Z:0.01 [[ 0.99888062 0.04730229 0. 3.7128809 ] [-0.04730229 0.99888062 0. 0.08370053] [ 0. 0. 1. 0.00581447] [ 0. 0. 0. 1. ]] SLAMing on 3.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.74, Y:0.09, Z:0.01 [[ 0.99862558 0.05241128 0. 3.7430302 ] [-0.05241128 0.99862558 0. 0.08680902] [ 0. 0. 1. 0.00956592] [ 0. 0. 0. 1. ]] SLAMing on 3.691400513 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:3.77, Y:0.09, Z:0.01 [[ 0.99838334 0.05683925 0. 3.77243059] [-0.05683925 0.99838334 0. 0.08948903] [ 0. 0. 1. 0.01196303] [ 0. 0. 0. 1. ]] SLAMing on 3.721400513 meters Centerline goodness : 0.998478 Centerline is valid? [True, True] Translation: X:3.80, Y:0.09, Z:0.01 [[ 0.99812591 0.06119369 0. 3.80302999] [-0.06119369 0.99812591 0. 0.09129122] [ 0. 0. 1. 0.01425068] [ 0. 0. 0. 1. ]] SLAMing on 3.751400513 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:3.83, Y:0.09, Z:0.02 [[ 0.99785127 0.06551973 0. 3.83285884] [-0.06551973 0.99785127 0. 0.09366505] [ 0. 0. 1. 0.01866682] [ 0. 0. 0. 1. ]] SLAMing on 3.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.86, Y:0.10, Z:0.02 [[ 0.99759474 0.06931624 0. 3.86352839] [-0.06931624 0.99759474 0. 0.09542181] [ 0. 0. 1. 0.0227898 ] [ 0. 0. 0. 1. ]] SLAMing on 3.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.89, Y:0.10, Z:0.03 [[ 0.99743755 0.07154258 0. 3.89330591] [-0.07154258 0.99743755 0. 0.09763504] [ 0. 0. 1. 0.02818989] [ 0. 0. 0. 1. ]] SLAMing on 3.841400513 meters Centerline goodness : 0.986990 Centerline is valid? [True, True] Translation: X:3.92, Y:0.10, Z:0.09 [[ 0.99913848 0.04150046 0. 3.92319206] [-0.04150046 0.99913848 0. 0.09709549] [ 0. 0. 1. 0.09224215] [ 0. 0. 0. 1. ]] SLAMing on 3.8714005129999998 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:3.95, Y:0.10, Z:0.06 [[ 0.999671 0.02564944 0. 3.95374119] [-0.02564944 0.999671 0. 0.09666859] [ 0. 0. 1. 0.06055779] [ 0. 0. 0. 1. ]] SLAMing on 3.901400513 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:3.98, Y:0.09, Z:0.03 [[ 0.99953142 0.03060962 0. 3.98498867] [-0.03060962 0.99953142 0. 0.0941845 ] [ 0. 0. 1. 0.02549895] [ 0. 0. 0. 1. ]] SLAMing on 3.931400513 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:4.02, Y:0.02, Z:0.01 [[ 0.9998721 0.01599303 0. 4.0172406 ] [-0.01599303 0.9998721 0. 0.0182449 ] [ 0. 0. 1. 0.01414269] [ 0. 0. 0. 1. ]] SLAMing on 3.961400513 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:4.05, Y:0.02, Z:0.02 [[ 0.99986856 0.01621306 0. 4.04839234] [-0.01621306 0.99986856 0. 0.01736757] [ 0. 0. 1. 0.01665798] [ 0. 0. 0. 1. ]] SLAMing on 3.991400513 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:4.08, Y:0.02, Z:0.02 [[ 0.99986817 0.01623692 0. 4.08019966] [-0.01623692 0.99986817 0. 0.0185514 ] [ 0. 0. 1. 0.01665798] [ 0. 0. 0. 1. ]] SLAMing on 4.021400513 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:4.11, Y:0.02, Z:0.02 [[ 0.99985756 0.01687779 0. 4.11171845] [-0.01687779 0.99985756 0. 0.01781156] [ 0. 0. 1. 0.01964339] [ 0. 0. 0. 1. ]] SLAMing on 4.051400513 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:4.14, Y:0.02, Z:0.02 [[ 0.99985714 0.01690245 0. 4.14352472] [-0.01690245 0.99985714 0. 0.01899248] [ 0. 0. 1. 0.01964339] [ 0. 0. 0. 1. ]] SLAMing on 4.081400513 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:4.18, Y:0.02, Z:0.02 [[ 0.99982979 0.01844959 0. 4.17537153] [-0.01844959 0.99982979 0. 0.01824136] [ 0. 0. 1. 0.01895647] [ 0. 0. 0. 1. ]] SLAMing on 4.1114005129999995 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:4.21, Y:0.02, Z:0.02 [[ 0.99982662 0.01862074 0. 4.20801137] [-0.01862074 0.99982662 0. 0.01938668] [ 0. 0. 1. 0.01895647] [ 0. 0. 0. 1. ]] SLAMing on 4.141400513 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:4.24, Y:0.02, Z:0.02 [[ 0.99978846 0.02056782 0. 4.23991339] [-0.02056782 0.99978846 0. 0.01973292] [ 0. 0. 1. 0.01653628] [ 0. 0. 0. 1. ]] SLAMing on 4.171400513 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:4.27, Y:0.02, Z:0.02 [[ 0.99978477 0.02074636 0. 4.27255281] [-0.02074636 0.99978477 0. 0.02087708] [ 0. 0. 1. 0.01653628] [ 0. 0. 0. 1. ]] SLAMing on 4.201400513 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:4.30, Y:0.02, Z:0.02 [[ 0.99973099 0.02319373 0. 4.3037627 ] [-0.02319373 0.99973099 0. 0.02236351] [ 0. 0. 1. 0.01744984] [ 0. 0. 0. 1. ]] SLAMing on 4.231400513 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:4.34, Y:0.03, Z:0.02 [[ 0.99965617 0.02622083 0. 4.33557993] [-0.02622083 0.99965617 0. 0.0251695 ] [ 0. 0. 1. 0.0176317 ] [ 0. 0. 0. 1. ]] SLAMing on 4.261400513 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:4.37, Y:0.03, Z:0.02 [[ 0.99965201 0.02637895 0. 4.36822284] [-0.02637895 0.99965201 0. 0.02628954] [ 0. 0. 1. 0.0176317 ] [ 0. 0. 0. 1. ]] SLAMing on 4.291400513 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:4.40, Y:0.03, Z:0.02 [[ 0.99964783 0.02653706 0. 4.40086593] [-0.02653706 0.99964783 0. 0.02740442] [ 0. 0. 1. 0.0176317 ] [ 0. 0. 0. 1. ]] SLAMing on 4.321400513 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:4.43, Y:0.03, Z:0.02 [[ 0.99952392 0.03085342 0. 4.43323076] [-0.03085342 0.99952392 0. 0.03066595] [ 0. 0. 1. 0.01794079] [ 0. 0. 0. 1. ]] SLAMing on 4.351400513 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:4.47, Y:0.03, Z:0.02 [[ 0.99937228 0.03542674 0. 4.46556375] [-0.03542674 0.99937228 0. 0.03371932] [ 0. 0. 1. 0.01930989] [ 0. 0. 0. 1. ]] SLAMing on 4.381400513 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:4.50, Y:0.03, Z:0.02 [[ 0.9993652 0.03562568 0. 4.49904083] [-0.03562568 0.9993652 0. 0.03479731] [ 0. 0. 1. 0.01930989] [ 0. 0. 0. 1. ]] SLAMing on 4.411400513 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:4.53, Y:0.04, Z:0.02 [[ 0.99919516 0.0401127 0. 4.53064102] [-0.0401127 0.99919516 0. 0.03801065] [ 0. 0. 1. 0.02305753] [ 0. 0. 0. 1. ]] SLAMing on 4.441400513 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:4.56, Y:0.04, Z:0.02 [[ 0.99918746 0.04030413 0. 4.56411838] [-0.04030413 0.99918746 0. 0.03907608] [ 0. 0. 1. 0.02305753] [ 0. 0. 0. 1. ]] SLAMing on 4.471400513 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:4.60, Y:0.04, Z:0.03 [[ 0.99902755 0.0440903 0. 4.59600296] [-0.0440903 0.99902755 0. 0.0429842 ] [ 0. 0. 1. 0.02512544] [ 0. 0. 0. 1. ]] SLAMing on 4.501400513 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:4.63, Y:0.04, Z:0.03 [[ 0.9990191 0.04428135 0. 4.62948074] [-0.04428135 0.9990191 0. 0.04403538] [ 0. 0. 1. 0.02512544] [ 0. 0. 0. 1. ]] SLAMing on 4.531400513 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:4.66, Y:0.05, Z:0.02 [[ 0.99887849 0.04734716 0. 4.66201872] [-0.04734716 0.99887849 0. 0.04841971] [ 0. 0. 1. 0.02152506] [ 0. 0. 0. 1. ]] SLAMing on 4.561400513 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:4.70, Y:0.05, Z:0.02 [[ 0.99886986 0.04752907 0. 4.69549745] [-0.04752907 0.99886986 0. 0.04948824] [ 0. 0. 1. 0.02152506] [ 0. 0. 0. 1. ]] SLAMing on 4.591400513 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:4.73, Y:0.05, Z:0.02 [[ 0.9987715 0.04955283 0. 4.72705835] [-0.04955283 0.9987715 0. 0.05457864] [ 0. 0. 1. 0.02139159] [ 0. 0. 0. 1. ]] SLAMing on 4.621400513 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:4.76, Y:0.06, Z:0.02 [[ 0.99876247 0.04973461 0. 4.7605381 ] [-0.04973461 0.99876247 0. 0.05563594] [ 0. 0. 1. 0.02139159] [ 0. 0. 0. 1. ]] SLAMing on 4.651400513 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:4.79, Y:0.06, Z:0.02 [[ 0.99871539 0.05067112 0. 4.79243614] [-0.05067112 0.99871539 0. 0.06102082] [ 0. 0. 1. 0.02127636] [ 0. 0. 0. 1. ]] SLAMing on 4.681400513 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:4.83, Y:0.06, Z:0.02 [[ 0.99870731 0.05083027 0. 4.82508229] [-0.05083027 0.99870731 0. 0.06207569] [ 0. 0. 1. 0.02127636] [ 0. 0. 0. 1. ]] SLAMing on 4.711400513 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:4.86, Y:0.07, Z:0.02 [[ 0.99871769 0.05062581 0. 4.85698958] [-0.05062581 0.99871769 0. 0.0673982 ] [ 0. 0. 1. 0.01963576] [ 0. 0. 0. 1. ]] SLAMing on 4.741400513 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:4.88, Y:0.12, Z:0.01 [[ 0.9980386 0.06260151 0. 4.8849623 ] [-0.06260151 0.9980386 0. 0.12200835] [ 0. 0. 1. 0.01412671] [ 0. 0. 0. 1. ]] SLAMing on 4.771400513 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:4.92, Y:0.12, Z:0.01 [[ 0.9980386 0.06260151 0. 4.91594063] [-0.06260151 0.9980386 0. 0.12309425] [ 0. 0. 1. 0.01412671] [ 0. 0. 0. 1. ]] SLAMing on 4.801400513 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:4.95, Y:0.13, Z:0.01 [[ 0.99815228 0.06076198 0. 4.94554088] [-0.06076198 0.99815228 0. 0.13072091] [ 0. 0. 1. 0.01090266] [ 0. 0. 0. 1. ]] SLAMing on 4.831400513 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:4.98, Y:0.13, Z:0.01 [[ 0.99821047 0.05979842 0. 4.97591656] [-0.05979842 0.99821047 0. 0.13203727] [ 0. 0. 1. 0.01033526] [ 0. 0. 0. 1. ]] SLAMing on 4.8614005129999995 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:5.00, Y:0.13, Z:0.01 [[ 0.99828648 0.05851589 0. 5.00494875] [-0.05851589 0.99828648 0. 0.13297157] [ 0. 0. 1. 0.01064869] [ 0. 0. 0. 1. ]] SLAMing on 4.891400513 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:5.03, Y:0.14, Z:0.01 [[ 0.9983843 0.05682251 0. 5.03430072] [-0.05682251 0.9983843 0. 0.13542505] [ 0. 0. 1. 0.01127631] [ 0. 0. 0. 1. ]] SLAMing on 4.921400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:5.07, Y:0.14, Z:0.01 [[ 0.99845316 0.05559942 0. 5.06510886] [-0.05559942 0.99845316 0. 0.13882476] [ 0. 0. 1. 0.00801377] [ 0. 0. 0. 1. ]] SLAMing on 4.951400513 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:5.10, Y:0.14, Z:0.00 [[ 9.98459363e-01 5.54878340e-02 0.00000000e+00 5.09500107e+00] [-5.54878340e-02 9.98459363e-01 0.00000000e+00 1.42927479e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42390298e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.981400513 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:5.13, Y:0.14, Z:0.00 [[ 9.98385393e-01 5.68032278e-02 0.00000000e+00 5.12535486e+00] [-5.68032278e-02 9.98385393e-01 0.00000000e+00 1.44385112e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62615556e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.011400513 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:5.15, Y:0.15, Z:0.00 [[ 9.98250085e-01 5.91334681e-02 0.00000000e+00 5.15462362e+00] [-5.91334681e-02 9.98250085e-01 0.00000000e+00 1.46442484e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35663738e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.041400513 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:5.18, Y:0.15, Z:0.00 [[ 9.98105837e-01 6.15202294e-02 0.00000000e+00 5.18429151e+00] [-6.15202294e-02 9.98105837e-01 0.00000000e+00 1.49821722e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79357631e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0714005129999995 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:5.21, Y:0.15, Z:0.00 [[ 9.97974081e-01 6.36218003e-02 0.00000000e+00 5.21334932e+00] [-6.36218003e-02 9.97974081e-01 0.00000000e+00 1.53989958e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00936963e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.101400513 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:5.24, Y:0.16, Z:0.00 [[ 9.97875539e-01 6.51491335e-02 0.00000000e+00 5.24307757e+00] [-6.51491335e-02 9.97875539e-01 0.00000000e+00 1.57679659e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15692228e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.131400513 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:5.27, Y:0.16, Z:0.00 [[ 9.97831653e-01 6.58178785e-02 0.00000000e+00 5.27156538e+00] [-6.58178785e-02 9.97831653e-01 0.00000000e+00 1.61823597e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30370105e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.161400513 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:5.30, Y:0.16, Z:0.00 [[ 9.97899958e-01 6.47740143e-02 0.00000000e+00 5.30124111e+00] [-6.47740143e-02 9.97899958e-01 0.00000000e+00 1.64933218e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75252810e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.191400513 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:5.33, Y:0.17, Z:0.00 [[ 9.98019955e-01 6.28980813e-02 0.00000000e+00 5.33105529e+00] [-6.28980813e-02 9.98019955e-01 0.00000000e+00 1.69221888e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88410817e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.221400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:5.36, Y:0.17, Z:0.00 [[ 9.98153604e-01 6.07402840e-02 0.00000000e+00 5.35940511e+00] [-6.07402840e-02 9.98153604e-01 0.00000000e+00 1.73470726e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.99608909e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.39, Y:0.18, Z:0.01 [[ 0.99843857 0.05586081 0. 5.38884016] [-0.05586081 0.99843857 0. 0.17898601] [ 0. 0. 1. 0.00817536] [ 0. 0. 0. 1. ]] SLAMing on 5.2814005129999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.42, Y:0.18, Z:0.01 [[ 0.9985634 0.05358303 0. 5.41855091] [-0.05358303 0.9985634 0. 0.18128291] [ 0. 0. 1. 0.00811592] [ 0. 0. 0. 1. ]] SLAMing on 5.311400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:5.45, Y:0.18, Z:0.01 [[ 0.99866045 0.05174272 0. 5.44816776] [-0.05174272 0.99866045 0. 0.1840586 ] [ 0. 0. 1. 0.00742336] [ 0. 0. 0. 1. ]] SLAMing on 5.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.48, Y:0.19, Z:0.01 [[ 0.9987253 0.05047546 0. 5.47661732] [-0.05047546 0.9987253 0. 0.187149 ] [ 0. 0. 1. 0.00840565] [ 0. 0. 0. 1. ]] SLAMing on 5.371400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:5.51, Y:0.19, Z:0.01 [[ 0.9987507 0.04997031 0. 5.50623853] [-0.04997031 0.9987507 0. 0.19030232] [ 0. 0. 1. 0.00830212] [ 0. 0. 0. 1. ]] SLAMing on 5.401400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:5.54, Y:0.19, Z:0.01 [[ 0.99874391 0.05010599 0. 5.53548517] [-0.05010599 0.99874391 0. 0.19289822] [ 0. 0. 1. 0.01060278] [ 0. 0. 0. 1. ]] SLAMing on 5.431400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:5.56, Y:0.20, Z:0.02 [[ 0.99868877 0.05119309 0. 5.56452404] [-0.05119309 0.99868877 0. 0.1959373 ] [ 0. 0. 1. 0.01656887] [ 0. 0. 0. 1. ]] SLAMing on 5.461400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:5.59, Y:0.20, Z:0.02 [[ 0.99865648 0.05181933 0. 5.59344754] [-0.05181933 0.99865648 0. 0.1985469 ] [ 0. 0. 1. 0.01771604] [ 0. 0. 0. 1. ]] SLAMing on 5.491400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:5.62, Y:0.20, Z:0.02 [[ 0.99859361 0.05301704 0. 5.62187226] [-0.05301704 0.99859361 0. 0.20166865] [ 0. 0. 1. 0.01739642] [ 0. 0. 0. 1. ]] SLAMing on 5.521400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:5.65, Y:0.21, Z:0.01 [[ 0.99844323 0.05577739 0. 5.65126338] [-0.05577739 0.99844323 0. 0.20666228] [ 0. 0. 1. 0.01403145] [ 0. 0. 0. 1. ]] SLAMing on 5.551400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:5.68, Y:0.21, Z:0.01 [[ 0.9983773 0.05694532 0. 5.67967088] [-0.05694532 0.9983773 0. 0.20996056] [ 0. 0. 1. 0.0124706 ] [ 0. 0. 0. 1. ]] SLAMing on 5.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.71, Y:0.21, Z:0.01 [[ 0.99830333 0.05822764 0. 5.7087981 ] [-0.05822764 0.99830333 0. 0.21341904] [ 0. 0. 1. 0.01160303] [ 0. 0. 0. 1. ]] SLAMing on 5.6114005129999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.74, Y:0.22, Z:0.01 [[ 0.99824561 0.05920893 0. 5.73655484] [-0.05920893 0.99824561 0. 0.21742994] [ 0. 0. 1. 0.01097355] [ 0. 0. 0. 1. ]] SLAMing on 5.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.77, Y:0.22, Z:0.01 [[ 0.99819452 0.06006419 0. 5.76516421] [-0.06006419 0.99819452 0. 0.22094118] [ 0. 0. 1. 0.00897897] [ 0. 0. 0. 1. ]] SLAMing on 5.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.79, Y:0.22, Z:0.01 [[ 0.998179 0.06032154 0. 5.79353068] [-0.06032154 0.998179 0. 0.2247658 ] [ 0. 0. 1. 0.0067382 ] [ 0. 0. 0. 1. ]] SLAMing on 5.701400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:5.82, Y:0.23, Z:0.00 [[ 9.98152021e-01 6.07663058e-02 0.00000000e+00 5.82165504e+00] [-6.07663058e-02 9.98152021e-01 0.00000000e+00 2.31652297e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.56455537e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.85, Y:0.24, Z:0.00 [[ 9.98158010e-01 6.06678443e-02 0.00000000e+00 5.85030038e+00] [-6.06678443e-02 9.98158010e-01 0.00000000e+00 2.35514656e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.74084976e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.761400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:5.88, Y:0.24, Z:0.00 [[ 9.98189396e-01 6.01492333e-02 0.00000000e+00 5.87950696e+00] [-6.01492333e-02 9.98189396e-01 0.00000000e+00 2.39163092e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.87834185e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.791400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:5.91, Y:0.24, Z:0.00 [[ 9.98271369e-01 5.87730716e-02 0.00000000e+00 5.90670674e+00] [-5.87730716e-02 9.98271369e-01 0.00000000e+00 2.44258427e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.90560626e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8214005129999995 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:5.94, Y:0.25, Z:0.00 [[ 9.98323634e-01 5.78785087e-02 0.00000000e+00 5.93511444e+00] [-5.78785087e-02 9.98323634e-01 0.00000000e+00 2.47398101e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10299027e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.851400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:5.96, Y:0.25, Z:0.00 [[ 9.98378680e-01 5.69210978e-02 0.00000000e+00 5.96328747e+00] [-5.69210978e-02 9.98378680e-01 0.00000000e+00 2.50132260e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22915846e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.881400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:5.99, Y:0.25, Z:0.00 [[ 9.98451764e-01 5.56244037e-02 0.00000000e+00 5.99159476e+00] [-5.56244037e-02 9.98451764e-01 0.00000000e+00 2.52320063e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.56563887e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.911400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:6.02, Y:0.25, Z:-0.00 [[ 9.98520177e-01 5.43824979e-02 0.00000000e+00 6.02082110e+00] [-5.43824979e-02 9.98520177e-01 0.00000000e+00 2.54362219e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.54007453e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.05, Y:0.26, Z:0.00 [[ 9.98645184e-01 5.20364921e-02 0.00000000e+00 6.04806603e+00] [-5.20364921e-02 9.98645184e-01 0.00000000e+00 2.57397738e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62058229e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.08, Y:0.26, Z:0.00 [[ 9.98693665e-01 5.10975833e-02 0.00000000e+00 6.07693454e+00] [-5.10975833e-02 9.98693665e-01 0.00000000e+00 2.58821993e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01069595e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.10, Y:0.26, Z:0.00 [[ 9.98726556e-01 5.04506249e-02 0.00000000e+00 6.10496749e+00] [-5.04506249e-02 9.98726556e-01 0.00000000e+00 2.59587030e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.73622289e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0314005129999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.13, Y:0.26, Z:0.01 [[ 9.98739788e-01 5.01880087e-02 0.00000000e+00 6.13351812e+00] [-5.01880087e-02 9.98739788e-01 0.00000000e+00 2.60534072e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.21958568e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.16, Y:0.26, Z:0.01 [[ 0.998738 0.0502236 0. 6.16203733] [-0.0502236 0.998738 0. 0.26242176] [ 0. 0. 1. 0.00619467] [ 0. 0. 0. 1. ]] SLAMing on 6.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.19, Y:0.27, Z:0.01 [[ 0.99863475 0.0522363 0. 6.18922845] [-0.0522363 0.99863475 0. 0.26746327] [ 0. 0. 1. 0.00997733] [ 0. 0. 0. 1. ]] SLAMing on 6.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.22, Y:0.27, Z:0.01 [[ 0.99857101 0.05344096 0. 6.2171736 ] [-0.05344096 0.99857101 0. 0.26997174] [ 0. 0. 1. 0.00938413] [ 0. 0. 0. 1. ]] SLAMing on 6.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.25, Y:0.27, Z:0.01 [[ 0.99852645 0.05426711 0. 6.24581488] [-0.05426711 0.99852645 0. 0.27210566] [ 0. 0. 1. 0.00678508] [ 0. 0. 0. 1. ]] SLAMing on 6.181400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:6.27, Y:0.27, Z:0.01 [[ 0.99850323 0.05469284 0. 6.27384428] [-0.05469284 0.99850323 0. 0.27344699] [ 0. 0. 1. 0.00646863] [ 0. 0. 0. 1. ]] SLAMing on 6.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.30, Y:0.27, Z:0.01 [[ 0.99853203 0.05416434 0. 6.30156484] [-0.05416434 0.99853203 0. 0.27446539] [ 0. 0. 1. 0.00868426] [ 0. 0. 0. 1. ]] SLAMing on 6.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.33, Y:0.28, Z:0.01 [[ 0.99859085 0.05306894 0. 6.33055462] [-0.05306894 0.99859085 0. 0.27575417] [ 0. 0. 1. 0.00899806] [ 0. 0. 0. 1. ]] SLAMing on 6.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.36, Y:0.28, Z:0.01 [[ 0.99867618 0.05143826 0. 6.35931725] [-0.05143826 0.99867618 0. 0.27718914] [ 0. 0. 1. 0.00924771] [ 0. 0. 0. 1. ]] SLAMing on 6.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.39, Y:0.28, Z:0.01 [[ 0.99878451 0.04928999 0. 6.38834773] [-0.04928999 0.99878451 0. 0.27839312] [ 0. 0. 1. 0.00852287] [ 0. 0. 0. 1. ]] SLAMing on 6.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.42, Y:0.28, Z:0.01 [[ 0.99902452 0.04415879 0. 6.41597709] [-0.04415879 0.99902452 0. 0.27756797] [ 0. 0. 1. 0.00781416] [ 0. 0. 0. 1. ]] SLAMing on 6.3614005129999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.44, Y:0.28, Z:0.01 [[ 0.99914047 0.04145266 0. 6.44447325] [-0.04145266 0.99914047 0. 0.27693742] [ 0. 0. 1. 0.00764379] [ 0. 0. 0. 1. ]] SLAMing on 6.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.47, Y:0.28, Z:0.01 [[ 0.99922819 0.03928136 0. 6.47374929] [-0.03928136 0.99922819 0. 0.27607022] [ 0. 0. 1. 0.00952756] [ 0. 0. 0. 1. ]] SLAMing on 6.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.50, Y:0.28, Z:0.01 [[ 0.99930603 0.03724848 0. 6.50310723] [-0.03724848 0.99930603 0. 0.27576787] [ 0. 0. 1. 0.01116171] [ 0. 0. 0. 1. ]] SLAMing on 6.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.53, Y:0.27, Z:0.01 [[ 0.99936783 0.035552 0. 6.53309535] [-0.035552 0.99936783 0. 0.27493921] [ 0. 0. 1. 0.01258892] [ 0. 0. 0. 1. ]] SLAMing on 6.481400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:6.56, Y:0.27, Z:0.01 [[ 0.99937022 0.0354846 0. 6.56147655] [-0.0354846 0.99937022 0. 0.27496905] [ 0. 0. 1. 0.01413345] [ 0. 0. 0. 1. ]] SLAMing on 6.511400513 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:6.59, Y:0.27, Z:0.01 [[ 0.99936612 0.03559993 0. 6.59071765] [-0.03559993 0.99936612 0. 0.27430367] [ 0. 0. 1. 0.01237804] [ 0. 0. 0. 1. ]] SLAMing on 6.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.62, Y:0.27, Z:0.01 [[ 0.9993765 0.0353075 0. 6.61997273] [-0.0353075 0.9993765 0. 0.27352784] [ 0. 0. 1. 0.01329941] [ 0. 0. 0. 1. ]] SLAMing on 6.5714005129999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.65, Y:0.27, Z:0.01 [[ 0.99940744 0.03442056 0. 6.64869034] [-0.03442056 0.99940744 0. 0.27342975] [ 0. 0. 1. 0.01423209] [ 0. 0. 0. 1. ]] SLAMing on 6.601400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:6.68, Y:0.27, Z:0.01 [[ 0.99945257 0.03308412 0. 6.67862028] [-0.03308412 0.99945257 0. 0.27387089] [ 0. 0. 1. 0.01306829] [ 0. 0. 0. 1. ]] SLAMing on 6.631400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:6.71, Y:0.28, Z:0.01 [[ 0.99945337 0.03305995 0. 6.7087595 ] [-0.03305995 0.99945337 0. 0.27503362] [ 0. 0. 1. 0.01306829] [ 0. 0. 0. 1. ]] SLAMing on 6.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.74, Y:0.27, Z:0.01 [[ 0.99956865 0.0293687 0. 6.73818162] [-0.0293687 0.99956865 0. 0.27416768] [ 0. 0. 1. 0.01170506] [ 0. 0. 0. 1. ]] SLAMing on 6.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.77, Y:0.27, Z:0.01 [[ 0.99962762 0.02728762 0. 6.76642412] [-0.02728762 0.99962762 0. 0.27398771] [ 0. 0. 1. 0.01337119] [ 0. 0. 0. 1. ]] SLAMing on 6.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.80, Y:0.27, Z:0.01 [[ 0.99967212 0.02560587 0. 6.79621942] [-0.02560587 0.99967212 0. 0.27415871] [ 0. 0. 1. 0.0145885 ] [ 0. 0. 0. 1. ]] SLAMing on 6.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.83, Y:0.27, Z:0.01 [[ 0.99969906 0.02453123 0. 6.82544851] [-0.02453123 0.99969906 0. 0.27421426] [ 0. 0. 1. 0.0147305 ] [ 0. 0. 0. 1. ]] SLAMing on 6.7814005129999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.85, Y:0.27, Z:0.01 [[ 0.99974662 0.02251006 0. 6.85414958] [-0.02251006 0.99974662 0. 0.27491791] [ 0. 0. 1. 0.01330148] [ 0. 0. 0. 1. ]] SLAMing on 6.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.88, Y:0.28, Z:0.01 [[ 0.9997587 0.021967 0. 6.88420371] [-0.021967 0.9997587 0. 0.27610691] [ 0. 0. 1. 0.01087226] [ 0. 0. 0. 1. ]] SLAMing on 6.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.91, Y:0.28, Z:0.01 [[ 0.99976655 0.02160638 0. 6.9125356 ] [-0.02160638 0.99976655 0. 0.2772015 ] [ 0. 0. 1. 0.01123335] [ 0. 0. 0. 1. ]] SLAMing on 6.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.94, Y:0.28, Z:0.01 [[ 0.99977715 0.02111038 0. 6.94117845] [-0.02111038 0.99977715 0. 0.27776278] [ 0. 0. 1. 0.01267195] [ 0. 0. 0. 1. ]] SLAMing on 6.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.97, Y:0.28, Z:0.01 [[ 0.9997961 0.02019286 0. 6.97070791] [-0.02019286 0.9997961 0. 0.27789707] [ 0. 0. 1. 0.01302581] [ 0. 0. 0. 1. ]] SLAMing on 6.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.00, Y:0.28, Z:0.01 [[ 0.99983145 0.01835962 0. 7.00089407] [-0.01835962 0.99983145 0. 0.27761734] [ 0. 0. 1. 0.01366677] [ 0. 0. 0. 1. ]] SLAMing on 6.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.03, Y:0.28, Z:0.02 [[ 0.99991899 0.0127287 0. 7.03035263] [-0.0127287 0.99991899 0. 0.27692453] [ 0. 0. 1. 0.0151378 ] [ 0. 0. 0. 1. ]] SLAMing on 6.991400512999999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:7.06, Y:0.28, Z:0.01 [[ 0.99995565 0.00941846 0. 7.05964583] [-0.00941846 0.99995565 0. 0.27734026] [ 0. 0. 1. 0.01315051] [ 0. 0. 0. 1. ]] SLAMing on 7.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.09, Y:0.28, Z:0.01 [[ 9.99981787e-01 6.03534173e-03 0.00000000e+00 7.08871671e+00] [-6.03534173e-03 9.99981787e-01 0.00000000e+00 2.76740713e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36643604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.12, Y:0.28, Z:0.01 [[ 9.99997112e-01 2.40323258e-03 0.00000000e+00 7.11880737e+00] [-2.40323258e-03 9.99997112e-01 0.00000000e+00 2.75425504e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14983220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.15, Y:0.27, Z:0.01 [[ 9.99986339e-01 -5.22699001e-03 0.00000000e+00 7.14801822e+00] [ 5.22699001e-03 9.99986339e-01 0.00000000e+00 2.71439354e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29889944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1114005129999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.18, Y:0.27, Z:0.01 [[ 0.99996183 -0.00873742 0. 7.17806772] [ 0.00873742 0.99996183 0. 0.27084898] [ 0. 0. 1. 0.01317304] [ 0. 0. 0. 1. ]] SLAMing on 7.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.21, Y:0.27, Z:0.01 [[ 0.99993128 -0.01172356 0. 7.20882827] [ 0.01172356 0.99993128 0. 0.27064427] [ 0. 0. 1. 0.01285131] [ 0. 0. 0. 1. ]] SLAMing on 7.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.24, Y:0.27, Z:0.01 [[ 0.99987519 -0.01579864 0. 7.23902352] [ 0.01579864 0.99987519 0. 0.26849806] [ 0. 0. 1. 0.0119835 ] [ 0. 0. 0. 1. ]] SLAMing on 7.201400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.27, Y:0.27, Z:0.01 [[ 0.99985193 -0.01720816 0. 7.26951748] [ 0.01720816 0.99985193 0. 0.26785178] [ 0. 0. 1. 0.01121509] [ 0. 0. 0. 1. ]] SLAMing on 7.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.30, Y:0.27, Z:0.01 [[ 0.9998217 -0.01888311 0. 7.3000826 ] [ 0.01888311 0.9998217 0. 0.26739764] [ 0. 0. 1. 0.01010968] [ 0. 0. 0. 1. ]] SLAMing on 7.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.33, Y:0.27, Z:0.01 [[ 0.9997879 -0.02059508 0. 7.33033222] [ 0.02059508 0.9997879 0. 0.26710024] [ 0. 0. 1. 0.00939974] [ 0. 0. 0. 1. ]] SLAMing on 7.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.36, Y:0.27, Z:0.01 [[ 0.99975493 -0.02213781 0. 7.36100119] [ 0.02213781 0.99975493 0. 0.26757127] [ 0. 0. 1. 0.01186011] [ 0. 0. 0. 1. ]] SLAMing on 7.3214005129999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.39, Y:0.27, Z:0.01 [[ 0.99970731 -0.02419297 0. 7.39185643] [ 0.02419297 0.99970731 0. 0.26830459] [ 0. 0. 1. 0.01391872] [ 0. 0. 0. 1. ]] SLAMing on 7.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.42, Y:0.27, Z:0.01 [[ 0.9996947 -0.0247086 0. 7.4222536 ] [ 0.0247086 0.9996947 0. 0.26944016] [ 0. 0. 1. 0.01326568] [ 0. 0. 0. 1. ]] SLAMing on 7.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.45, Y:0.27, Z:0.01 [[ 0.99969278 -0.0247859 0. 7.45221819] [ 0.0247859 0.99969278 0. 0.27096602] [ 0. 0. 1. 0.01272353] [ 0. 0. 0. 1. ]] SLAMing on 7.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.48, Y:0.27, Z:0.01 [[ 0.99969496 -0.02469777 0. 7.4820722 ] [ 0.02469777 0.99969496 0. 0.27222844] [ 0. 0. 1. 0.01281924] [ 0. 0. 0. 1. ]] SLAMing on 7.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.51, Y:0.27, Z:0.01 [[ 0.99970153 -0.0244304 0. 7.51130502] [ 0.0244304 0.99970153 0. 0.27315586] [ 0. 0. 1. 0.01324451] [ 0. 0. 0. 1. ]] SLAMing on 7.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.54, Y:0.28, Z:0.01 [[ 0.99972853 -0.0232997 0. 7.54155545] [ 0.0232997 0.99972853 0. 0.27555416] [ 0. 0. 1. 0.0138851 ] [ 0. 0. 0. 1. ]] SLAMing on 7.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.57, Y:0.28, Z:0.01 [[ 0.99974061 -0.02277508 0. 7.57206307] [ 0.02277508 0.99974061 0. 0.27883175] [ 0. 0. 1. 0.01436523] [ 0. 0. 0. 1. ]] SLAMing on 7.5314005129999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.60, Y:0.28, Z:0.02 [[ 0.99974266 -0.0226853 0. 7.6013078 ] [ 0.0226853 0.99974266 0. 0.28248999] [ 0. 0. 1. 0.01588117] [ 0. 0. 0. 1. ]] SLAMing on 7.561400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:7.63, Y:0.29, Z:0.02 [[ 0.99973829 -0.02287699 0. 7.6307575 ] [ 0.02287699 0.99973829 0. 0.28602039] [ 0. 0. 1. 0.01602509] [ 0. 0. 0. 1. ]] SLAMing on 7.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.66, Y:0.29, Z:0.02 [[ 0.99972758 -0.02334042 0. 7.66160794] [ 0.02334042 0.99972758 0. 0.28871304] [ 0. 0. 1. 0.0168159 ] [ 0. 0. 0. 1. ]] SLAMing on 7.621400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:7.69, Y:0.29, Z:0.02 [[ 0.99963802 -0.02690417 0. 7.69194875] [ 0.02690417 0.99963802 0. 0.29117639] [ 0. 0. 1. 0.0186729 ] [ 0. 0. 0. 1. ]] SLAMing on 7.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.72, Y:0.29, Z:0.02 [[ 0.9995501 -0.0299933 0. 7.7218651 ] [ 0.0299933 0.9995501 0. 0.29261133] [ 0. 0. 1. 0.01950197] [ 0. 0. 0. 1. ]] SLAMing on 7.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.75, Y:0.29, Z:0.02 [[ 0.9994291 -0.03378578 0. 7.75228426] [ 0.03378578 0.9994291 0. 0.29441462] [ 0. 0. 1. 0.01835486] [ 0. 0. 0. 1. ]] SLAMing on 7.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.78, Y:0.30, Z:0.02 [[ 0.99910429 -0.04231575 0. 7.78303665] [ 0.04231575 0.99910429 0. 0.29681549] [ 0. 0. 1. 0.01583362] [ 0. 0. 0. 1. ]] SLAMing on 7.741400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.81, Y:0.30, Z:0.02 [[ 0.99891954 -0.04647305 0. 7.812574 ] [ 0.04647305 0.99891954 0. 0.29796272] [ 0. 0. 1. 0.01526097] [ 0. 0. 0. 1. ]] SLAMing on 7.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.84, Y:0.30, Z:0.02 [[ 0.99874398 -0.05010455 0. 7.84221099] [ 0.05010455 0.99874398 0. 0.29797707] [ 0. 0. 1. 0.01505746] [ 0. 0. 0. 1. ]] SLAMing on 7.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.87, Y:0.30, Z:0.01 [[ 0.99858485 -0.05318165 0. 7.87160847] [ 0.05318165 0.99858485 0. 0.29718912] [ 0. 0. 1. 0.01439435] [ 0. 0. 0. 1. ]] SLAMing on 7.831400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:7.90, Y:0.29, Z:0.01 [[ 0.99828882 -0.05847596 0. 7.90185471] [ 0.05847596 0.99828882 0. 0.2940206 ] [ 0. 0. 1. 0.01296609] [ 0. 0. 0. 1. ]] SLAMing on 7.8614005129999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.93, Y:0.29, Z:0.02 [[ 0.9981557 -0.06070586 0. 7.93063828] [ 0.06070586 0.9981557 0. 0.29322223] [ 0. 0. 1. 0.01500533] [ 0. 0. 0. 1. ]] SLAMing on 7.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.96, Y:0.29, Z:0.01 [[ 0.99805734 -0.06230213 0. 7.96035949] [ 0.06230213 0.99805734 0. 0.29284011] [ 0. 0. 1. 0.01462557] [ 0. 0. 0. 1. ]] SLAMing on 7.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.99, Y:0.29, Z:0.02 [[ 0.99801091 -0.0630414 0. 7.98973954] [ 0.0630414 0.99801091 0. 0.29240098] [ 0. 0. 1. 0.01534855] [ 0. 0. 0. 1. ]] SLAMing on 7.951400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.02, Y:0.29, Z:0.01 [[ 0.99805707 -0.0623064 0. 8.01811076] [ 0.0623064 0.99805707 0. 0.28931451] [ 0. 0. 1. 0.01457668] [ 0. 0. 0. 1. ]] SLAMing on 7.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.05, Y:0.29, Z:0.01 [[ 0.99812036 -0.0612842 0. 8.04719754] [ 0.0612842 0.99812036 0. 0.28841651] [ 0. 0. 1. 0.01208245] [ 0. 0. 0. 1. ]] SLAMing on 8.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.08, Y:0.29, Z:0.01 [[ 0.99821192 -0.05977432 0. 8.07591173] [ 0.05977432 0.99821192 0. 0.28782719] [ 0. 0. 1. 0.01230931] [ 0. 0. 0. 1. ]] SLAMing on 8.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.10, Y:0.29, Z:0.01 [[ 0.99830062 -0.05827409 0. 8.1049458 ] [ 0.05827409 0.99830062 0. 0.28790209] [ 0. 0. 1. 0.01170379] [ 0. 0. 0. 1. ]] SLAMing on 8.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.13, Y:0.29, Z:0.01 [[ 0.99838748 -0.05676647 0. 8.13365094] [ 0.05676647 0.99838748 0. 0.28806353] [ 0. 0. 1. 0.0136418 ] [ 0. 0. 0. 1. ]] SLAMing on 8.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.16, Y:0.29, Z:0.02 [[ 0.99846558 -0.05537578 0. 8.16207205] [ 0.05537578 0.99846558 0. 0.28823945] [ 0. 0. 1. 0.01504006] [ 0. 0. 0. 1. ]] SLAMing on 8.131400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.19, Y:0.29, Z:0.02 [[ 0.99864229 -0.05209195 0. 8.19036326] [ 0.05209195 0.99864229 0. 0.2886535 ] [ 0. 0. 1. 0.01601776] [ 0. 0. 0. 1. ]] SLAMing on 8.161400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:8.22, Y:0.29, Z:0.02 [[ 0.99874056 -0.05017269 0. 8.21920569] [ 0.05017269 0.99874056 0. 0.28976206] [ 0. 0. 1. 0.01631993] [ 0. 0. 0. 1. ]] SLAMing on 8.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.25, Y:0.29, Z:0.02 [[ 0.9988385 -0.04818357 0. 8.2490996 ] [ 0.04818357 0.9988385 0. 0.29102877] [ 0. 0. 1. 0.01790806] [ 0. 0. 0. 1. ]] SLAMing on 8.221400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.28, Y:0.29, Z:0.03 [[ 0.99909125 -0.04262241 0. 8.27767899] [ 0.04262241 0.99909125 0. 0.29140807] [ 0. 0. 1. 0.02527017] [ 0. 0. 0. 1. ]] SLAMing on 8.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.31, Y:0.29, Z:0.03 [[ 0.99923303 -0.03915803 0. 8.30696778] [ 0.03915803 0.99923303 0. 0.2930754 ] [ 0. 0. 1. 0.02534265] [ 0. 0. 0. 1. ]] SLAMing on 8.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.34, Y:0.30, Z:0.02 [[ 0.99936545 -0.03561864 0. 8.33696172] [ 0.03561864 0.99936545 0. 0.29563522] [ 0. 0. 1. 0.02229221] [ 0. 0. 0. 1. ]] SLAMing on 8.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.37, Y:0.30, Z:0.02 [[ 0.9995955 -0.02844006 0. 8.36668052] [ 0.02844006 0.9995955 0. 0.3007778 ] [ 0. 0. 1. 0.01867669] [ 0. 0. 0. 1. ]] SLAMing on 8.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.40, Y:0.30, Z:0.02 [[ 0.99969157 -0.02483472 0. 8.39621505] [ 0.02483472 0.99969157 0. 0.30345853] [ 0. 0. 1. 0.01974737] [ 0. 0. 0. 1. ]] SLAMing on 8.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.43, Y:0.31, Z:0.02 [[ 0.99976908 -0.02148915 0. 8.42583146] [ 0.02148915 0.99976908 0. 0.30604658] [ 0. 0. 1. 0.02012657] [ 0. 0. 0. 1. ]] SLAMing on 8.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.46, Y:0.31, Z:0.02 [[ 0.99982859 -0.01851447 0. 8.4550688 ] [ 0.01851447 0.99982859 0. 0.30859067] [ 0. 0. 1. 0.02109183] [ 0. 0. 0. 1. ]] SLAMing on 8.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.49, Y:0.31, Z:0.02 [[ 0.99986924 -0.0161711 0. 8.48578641] [ 0.0161711 0.99986924 0. 0.31112761] [ 0. 0. 1. 0.02135636] [ 0. 0. 0. 1. ]] SLAMing on 8.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.52, Y:0.31, Z:0.02 [[ 0.99989692 -0.01435802 0. 8.51528632] [ 0.01435802 0.99989692 0. 0.31337004] [ 0. 0. 1. 0.0206693 ] [ 0. 0. 0. 1. ]] SLAMing on 8.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.55, Y:0.32, Z:0.02 [[ 0.99993234 -0.01163264 0. 8.54545198] [ 0.01163264 0.99993234 0. 0.31534684] [ 0. 0. 1. 0.01702347] [ 0. 0. 0. 1. ]] SLAMing on 8.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.58, Y:0.32, Z:0.02 [[ 0.99994618 -0.01037489 0. 8.57613205] [ 0.01037489 0.99994618 0. 0.31683341] [ 0. 0. 1. 0.01606729] [ 0. 0. 0. 1. ]] SLAMing on 8.551400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.61, Y:0.32, Z:0.02 [[ 0.99994618 -0.01037489 0. 8.60710695] [ 0.01037489 0.99994618 0. 0.31803311] [ 0. 0. 1. 0.01606729] [ 0. 0. 0. 1. ]] SLAMing on 8.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.64, Y:0.32, Z:0.02 [[ 9.99963052e-01 -8.59618767e-03 0.00000000e+00 8.63771884e+00] [ 8.59618767e-03 9.99963052e-01 0.00000000e+00 3.19338759e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59496111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.67, Y:0.32, Z:0.02 [[ 9.99981430e-01 -6.09425768e-03 0.00000000e+00 8.66819819e+00] [ 6.09425768e-03 9.99981430e-01 0.00000000e+00 3.20727658e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54987178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.70, Y:0.32, Z:0.02 [[ 1.00000000e+00 -2.67244987e-05 0.00000000e+00 8.69849803e+00] [ 2.67244987e-05 1.00000000e+00 0.00000000e+00 3.23177577e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89217182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.73, Y:0.32, Z:0.02 [[ 9.99995321e-01 3.05894698e-03 0.00000000e+00 8.72880512e+00] [-3.05894698e-03 9.99995321e-01 0.00000000e+00 3.24344308e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75030020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.76, Y:0.33, Z:0.02 [[ 9.99980956e-01 6.17147212e-03 0.00000000e+00 8.75886886e+00] [-6.17147212e-03 9.99980956e-01 0.00000000e+00 3.25288631e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56323216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.79, Y:0.33, Z:0.01 [[ 0.99995387 0.00960468 0. 8.7887133 ] [-0.00960468 0.99995387 0. 0.3261179 ] [ 0. 0. 1. 0.0141097 ] [ 0. 0. 0. 1. ]] SLAMing on 8.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.82, Y:0.33, Z:0.01 [[ 0.99988675 0.01504968 0. 8.81778509] [-0.01504968 0.99988675 0. 0.32777841] [ 0. 0. 1. 0.01096268] [ 0. 0. 0. 1. ]] SLAMing on 8.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.85, Y:0.33, Z:0.01 [[ 9.99846711e-01 1.75087161e-02 0.00000000e+00 8.84695988e+00] [-1.75087161e-02 9.99846711e-01 0.00000000e+00 3.29066177e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.66230110e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.88, Y:0.33, Z:0.01 [[ 9.99753282e-01 2.22120511e-02 0.00000000e+00 8.87659141e+00] [-2.22120511e-02 9.99753282e-01 0.00000000e+00 3.29051709e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.34559306e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.91, Y:0.33, Z:0.01 [[ 9.99708448e-01 2.41457924e-02 0.00000000e+00 8.90560482e+00] [-2.41457924e-02 9.99708448e-01 0.00000000e+00 3.29667202e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.22150994e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.881400512999999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:8.93, Y:0.33, Z:0.01 [[ 0.99966367 0.02593349 0. 8.93482331] [-0.02593349 0.99966367 0. 0.33075513] [ 0. 0. 1. 0.00911127] [ 0. 0. 0. 1. ]] SLAMing on 8.911400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:8.96, Y:0.33, Z:0.01 [[ 0.99961726 0.02766471 0. 8.96400613] [-0.02766471 0.99961726 0. 0.33258031] [ 0. 0. 1. 0.01023973] [ 0. 0. 0. 1. ]] SLAMing on 8.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.99, Y:0.33, Z:0.01 [[ 0.99957542 0.02913722 0. 8.99217988] [-0.02913722 0.99957542 0. 0.33470462] [ 0. 0. 1. 0.01069789] [ 0. 0. 0. 1. ]] SLAMing on 8.971400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.02, Y:0.34, Z:0.01 [[ 0.99946447 0.03272279 0. 9.02211845] [-0.03272279 0.99946447 0. 0.33537124] [ 0. 0. 1. 0.00973925] [ 0. 0. 0. 1. ]] SLAMing on 9.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.05, Y:0.34, Z:0.01 [[ 0.99939889 0.03466785 0. 9.05195457] [-0.03466785 0.99939889 0. 0.33674121] [ 0. 0. 1. 0.00979113] [ 0. 0. 0. 1. ]] SLAMing on 9.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.08, Y:0.34, Z:0.01 [[ 0.99934248 0.03625748 0. 9.08055119] [-0.03625748 0.99934248 0. 0.33859858] [ 0. 0. 1. 0.00997859] [ 0. 0. 0. 1. ]] SLAMing on 9.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.11, Y:0.34, Z:0.01 [[ 0.99930626 0.03724249 0. 9.10870906] [-0.03724249 0.99930626 0. 0.33961851] [ 0. 0. 1. 0.01017929] [ 0. 0. 0. 1. ]] SLAMing on 9.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.14, Y:0.34, Z:0.01 [[ 0.99929046 0.03766387 0. 9.13796974] [-0.03766387 0.99929046 0. 0.34008037] [ 0. 0. 1. 0.01039154] [ 0. 0. 0. 1. ]] SLAMing on 9.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.17, Y:0.34, Z:0.01 [[ 0.99930288 0.03733298 0. 9.16733391] [-0.03733298 0.99930288 0. 0.34020336] [ 0. 0. 1. 0.01158046] [ 0. 0. 0. 1. ]] SLAMing on 9.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.20, Y:0.34, Z:0.01 [[ 0.99930828 0.03718809 0. 9.1974224 ] [-0.03718809 0.99930828 0. 0.34101735] [ 0. 0. 1. 0.01320857] [ 0. 0. 0. 1. ]] SLAMing on 9.181400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:9.23, Y:0.34, Z:0.01 [[ 0.99930208 0.03735455 0. 9.22655321] [-0.03735455 0.99930208 0. 0.34143616] [ 0. 0. 1. 0.01455401] [ 0. 0. 0. 1. ]] SLAMing on 9.211400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:9.26, Y:0.34, Z:0.01 [[ 0.99927951 0.0379533 0. 9.25515045] [-0.0379533 0.99927951 0. 0.34191728] [ 0. 0. 1. 0.0149999 ] [ 0. 0. 0. 1. ]] SLAMing on 9.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.28, Y:0.34, Z:0.01 [[ 0.99921746 0.03955336 0. 9.28419709] [-0.03955336 0.99921746 0. 0.34212428] [ 0. 0. 1. 0.01367127] [ 0. 0. 0. 1. ]] SLAMing on 9.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.31, Y:0.34, Z:0.01 [[ 0.99920579 0.03984697 0. 9.31431587] [-0.03984697 0.99920579 0. 0.34235788] [ 0. 0. 1. 0.01152239] [ 0. 0. 0. 1. ]] SLAMing on 9.301400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.34, Y:0.34, Z:0.01 [[ 0.9992194 0.0395044 0. 9.34296728] [-0.0395044 0.9992194 0. 0.34231521] [ 0. 0. 1. 0.01154243] [ 0. 0. 0. 1. ]] SLAMing on 9.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.37, Y:0.34, Z:0.01 [[ 0.9992595 0.03847665 0. 9.37233923] [-0.03847665 0.9992595 0. 0.34174272] [ 0. 0. 1. 0.01213524] [ 0. 0. 0. 1. ]] SLAMing on 9.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.40, Y:0.34, Z:0.01 [[ 9.99362654e-01 3.56971513e-02 0.00000000e+00 9.40247763e+00] [-3.56971513e-02 9.99362654e-01 0.00000000e+00 3.39390087e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.11349301e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.391400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.43, Y:0.34, Z:0.01 [[ 9.99384655e-01 3.50757829e-02 0.00000000e+00 9.43202552e+00] [-3.50757829e-02 9.99384655e-01 0.00000000e+00 3.38534688e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.18692481e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.46, Y:0.34, Z:0.01 [[ 9.99384861e-01 3.50699229e-02 0.00000000e+00 9.46139568e+00] [-3.50699229e-02 9.99384861e-01 0.00000000e+00 3.37837653e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.47564123e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.49, Y:0.34, Z:0.01 [[ 9.99363788e-01 3.56653722e-02 0.00000000e+00 9.49172076e+00] [-3.56653722e-02 9.99363788e-01 0.00000000e+00 3.37637697e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.76661406e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.52, Y:0.34, Z:0.01 [[ 9.99261603e-01 3.84219837e-02 0.00000000e+00 9.52105515e+00] [-3.84219837e-02 9.99261603e-01 0.00000000e+00 3.37536766e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.97456696e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.55, Y:0.34, Z:0.01 [[ 9.99187855e-01 4.02942929e-02 0.00000000e+00 9.55055343e+00] [-4.02942929e-02 9.99187855e-01 0.00000000e+00 3.38241137e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.49831957e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.58, Y:0.34, Z:0.01 [[ 9.99121886e-01 4.18981704e-02 0.00000000e+00 9.58018828e+00] [-4.18981704e-02 9.99121886e-01 0.00000000e+00 3.37875174e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.25855063e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.61, Y:0.34, Z:0.00 [[ 9.99096124e-01 4.25080465e-02 0.00000000e+00 9.61038468e+00] [-4.25080465e-02 9.99096124e-01 0.00000000e+00 3.37046774e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18228582e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.64, Y:0.34, Z:0.00 [[ 9.99131518e-01 4.16678605e-02 0.00000000e+00 9.64104387e+00] [-4.16678605e-02 9.99131518e-01 0.00000000e+00 3.35410259e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81258475e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.631400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.67, Y:0.34, Z:0.00 [[ 9.99179707e-01 4.04958361e-02 0.00000000e+00 9.67084133e+00] [-4.04958361e-02 9.99179707e-01 0.00000000e+00 3.36535931e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.07647055e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.70, Y:0.34, Z:0.00 [[ 9.99218663e-01 3.95229401e-02 0.00000000e+00 9.70148958e+00] [-3.95229401e-02 9.99218663e-01 0.00000000e+00 3.37735221e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78003139e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.73, Y:0.34, Z:0.00 [[ 9.99249605e-01 3.87327509e-02 0.00000000e+00 9.73068659e+00] [-3.87327509e-02 9.99249605e-01 0.00000000e+00 3.38539654e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19748809e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.721400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.76, Y:0.34, Z:0.00 [[ 9.99270942e-01 3.81783289e-02 0.00000000e+00 9.76119504e+00] [-3.81783289e-02 9.99270942e-01 0.00000000e+00 3.40078887e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21354380e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.79, Y:0.34, Z:0.00 [[ 9.99264734e-01 3.83404627e-02 0.00000000e+00 9.79039080e+00] [-3.83404627e-02 9.99264734e-01 0.00000000e+00 3.41319925e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.63670953e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.82, Y:0.34, Z:0.01 [[ 9.99263942e-01 3.83611012e-02 0.00000000e+00 9.82121480e+00] [-3.83611012e-02 9.99263942e-01 0.00000000e+00 3.42098512e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.84582304e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.85, Y:0.34, Z:0.01 [[ 9.99268033e-01 3.82543925e-02 0.00000000e+00 9.85180692e+00] [-3.82543925e-02 9.99268033e-01 0.00000000e+00 3.41876381e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.16246767e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.88, Y:0.34, Z:0.01 [[ 9.99317983e-01 3.69265204e-02 0.00000000e+00 9.88178019e+00] [-3.69265204e-02 9.99317983e-01 0.00000000e+00 3.40137708e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.13235590e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.91, Y:0.34, Z:0.01 [[ 9.99354166e-01 3.59339786e-02 0.00000000e+00 9.91229927e+00] [-3.59339786e-02 9.99354166e-01 0.00000000e+00 3.40210235e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.75384646e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.94, Y:0.34, Z:0.01 [[ 9.99390804e-01 3.49001677e-02 0.00000000e+00 9.94293841e+00] [-3.49001677e-02 9.99390804e-01 0.00000000e+00 3.39940097e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.59264810e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.97, Y:0.34, Z:0.01 [[ 9.99423975e-01 3.39369852e-02 0.00000000e+00 9.97273234e+00] [-3.39369852e-02 9.99423975e-01 0.00000000e+00 3.39557652e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.69642313e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.00, Y:0.34, Z:0.01 [[ 9.99449572e-01 3.31745972e-02 0.00000000e+00 1.00034406e+01] [-3.31745972e-02 9.99449572e-01 0.00000000e+00 3.39005382e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.98350171e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.03, Y:0.34, Z:0.01 [[ 9.99452237e-01 3.30941867e-02 0.00000000e+00 1.00338211e+01] [-3.30941867e-02 9.99452237e-01 0.00000000e+00 3.36438355e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.17233636e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.06, Y:0.34, Z:0.01 [[ 9.99413613e-01 3.42407696e-02 0.00000000e+00 1.00636932e+01] [-3.42407696e-02 9.99413613e-01 0.00000000e+00 3.35594277e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.01868471e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.051400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.09, Y:0.34, Z:0.00 [[ 9.99358902e-01 3.58020181e-02 0.00000000e+00 1.00938766e+01] [-3.58020181e-02 9.99358902e-01 0.00000000e+00 3.35257008e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37943130e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.12, Y:0.34, Z:0.00 [[ 9.99280310e-01 3.79323294e-02 0.00000000e+00 1.01232052e+01] [-3.79323294e-02 9.99280310e-01 0.00000000e+00 3.35445001e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95139713e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.15, Y:0.34, Z:0.00 [[ 9.99166721e-01 4.08149905e-02 0.00000000e+00 1.01534210e+01] [-4.08149905e-02 9.99166721e-01 0.00000000e+00 3.36284641e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.87233463e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.141400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.18, Y:0.34, Z:0.01 [[ 9.98806759e-01 4.88370614e-02 0.00000000e+00 1.01827269e+01] [-4.88370614e-02 9.98806759e-01 0.00000000e+00 3.39026330e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.19873132e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.21, Y:0.34, Z:0.01 [[ 9.98580539e-01 5.32626206e-02 0.00000000e+00 1.02118834e+01] [-5.32626206e-02 9.98580539e-01 0.00000000e+00 3.42193693e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.57576840e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.24, Y:0.35, Z:0.00 [[ 9.98342885e-01 5.75454963e-02 0.00000000e+00 1.02416664e+01] [-5.75454963e-02 9.98342885e-01 0.00000000e+00 3.45886850e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.60925932e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.27, Y:0.35, Z:0.00 [[ 9.98129348e-01 6.11375875e-02 0.00000000e+00 1.02697392e+01] [-6.11375875e-02 9.98129348e-01 0.00000000e+00 3.49770527e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02622826e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.30, Y:0.36, Z:0.00 [[ 9.97886288e-01 6.49842779e-02 0.00000000e+00 1.02984422e+01] [-6.49842779e-02 9.97886288e-01 0.00000000e+00 3.56355821e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16776872e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.33, Y:0.36, Z:0.00 [[ 9.97914503e-01 6.45495498e-02 0.00000000e+00 1.03280673e+01] [-6.45495498e-02 9.97914503e-01 0.00000000e+00 3.59702773e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88596971e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.36, Y:0.36, Z:0.00 [[ 9.97999869e-01 6.32159919e-02 0.00000000e+00 1.03573866e+01] [-6.32159919e-02 9.97999869e-01 0.00000000e+00 3.62513507e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05925001e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.39, Y:0.36, Z:0.00 [[ 9.98128536e-01 6.11508483e-02 0.00000000e+00 1.03866607e+01] [-6.11508483e-02 9.98128536e-01 0.00000000e+00 3.64913853e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93869610e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.381400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.42, Y:0.37, Z:0.00 [[ 9.98449469e-01 5.56655880e-02 0.00000000e+00 1.04161518e+01] [-5.56655880e-02 9.98449469e-01 0.00000000e+00 3.67627570e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83192429e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.45, Y:0.37, Z:0.00 [[ 9.98576914e-01 5.33305428e-02 0.00000000e+00 1.04452579e+01] [-5.33305428e-02 9.98576914e-01 0.00000000e+00 3.68668039e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99048188e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.48, Y:0.37, Z:0.00 [[ 9.98578091e-01 5.33084918e-02 0.00000000e+00 1.04753971e+01] [-5.33084918e-02 9.98578091e-01 0.00000000e+00 3.69899198e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99048188e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.471400512999999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:10.50, Y:0.37, Z:0.00 [[ 9.98690029e-01 5.11686032e-02 0.00000000e+00 1.05047535e+01] [-5.11686032e-02 9.98690029e-01 0.00000000e+00 3.70533981e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46737585e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.53, Y:0.37, Z:0.00 [[ 9.98766560e-01 4.96523730e-02 0.00000000e+00 1.05332301e+01] [-4.96523730e-02 9.98766560e-01 0.00000000e+00 3.71475624e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04973783e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.56, Y:0.37, Z:0.01 [[ 9.98827576e-01 4.84094292e-02 0.00000000e+00 1.05618828e+01] [-4.84094292e-02 9.98827576e-01 0.00000000e+00 3.72930766e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.45290765e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.561400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.59, Y:0.37, Z:0.01 [[ 9.98823019e-01 4.85033701e-02 0.00000000e+00 1.05919089e+01] [-4.85033701e-02 9.98823019e-01 0.00000000e+00 3.73621651e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.18172319e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.62, Y:0.37, Z:0.01 [[ 0.99881111 0.04874795 0. 10.62141045] [-0.04874795 0.99881111 0. 0.37466076] [ 0. 0. 1. 0.01147707] [ 0. 0. 0. 1. ]] SLAMing on 10.621400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:10.65, Y:0.38, Z:0.01 [[ 0.99879663 0.04904384 0. 10.65147798] [-0.04904384 0.99879663 0. 0.37603053] [ 0. 0. 1. 0.01109944] [ 0. 0. 0. 1. ]] SLAMing on 10.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.68, Y:0.38, Z:0.01 [[ 9.98681525e-01 5.13343038e-02 0.00000000e+00 1.06812939e+01] [-5.13343038e-02 9.98681525e-01 0.00000000e+00 3.77710003e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.85164042e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.71, Y:0.38, Z:0.01 [[ 9.98645592e-01 5.20286706e-02 0.00000000e+00 1.07110222e+01] [-5.20286706e-02 9.98645592e-01 0.00000000e+00 3.79300538e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.72889077e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.74, Y:0.38, Z:0.01 [[ 9.98635030e-01 5.22310042e-02 0.00000000e+00 1.07398676e+01] [-5.22310042e-02 9.98635030e-01 0.00000000e+00 3.81276146e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02619936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.77, Y:0.38, Z:0.01 [[ 0.9986458 0.05202469 0. 10.76919158] [-0.05202469 0.9986458 0. 0.38375276] [ 0. 0. 1. 0.0116573 ] [ 0. 0. 0. 1. ]] SLAMing on 10.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.80, Y:0.39, Z:0.01 [[ 0.99866589 0.05163764 0. 10.799244 ] [-0.05163764 0.99866589 0. 0.38532362] [ 0. 0. 1. 0.01191058] [ 0. 0. 0. 1. ]] SLAMing on 10.801400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.83, Y:0.39, Z:0.01 [[ 9.98704710e-01 5.08812559e-02 0.00000000e+00 1.08282262e+01] [-5.08812559e-02 9.98704710e-01 0.00000000e+00 3.86219116e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08081430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.86, Y:0.39, Z:0.01 [[ 9.98768943e-01 4.96044146e-02 0.00000000e+00 1.08568050e+01] [-4.96044146e-02 9.98768943e-01 0.00000000e+00 3.85666228e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.82255531e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.89, Y:0.39, Z:0.00 [[ 9.98793329e-01 4.91109502e-02 0.00000000e+00 1.08869420e+01] [-4.91109502e-02 9.98793329e-01 0.00000000e+00 3.86671163e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84379313e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.891400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.92, Y:0.39, Z:0.00 [[ 9.98809671e-01 4.87774672e-02 0.00000000e+00 1.09169369e+01] [-4.87774672e-02 9.98809671e-01 0.00000000e+00 3.87080940e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02912984e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.95, Y:0.39, Z:0.00 [[ 9.98861479e-01 4.77047806e-02 0.00000000e+00 1.09471897e+01] [-4.77047806e-02 9.98861479e-01 0.00000000e+00 3.85041431e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17279467e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.98, Y:0.38, Z:0.00 [[ 9.98869587e-01 4.75347111e-02 0.00000000e+00 1.09771475e+01] [-4.75347111e-02 9.98869587e-01 0.00000000e+00 3.84769651e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.38376167e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.01, Y:0.38, Z:0.00 [[ 9.98873096e-01 4.74609070e-02 0.00000000e+00 1.10065507e+01] [-4.74609070e-02 9.98873096e-01 0.00000000e+00 3.84807612e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.88392627e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.04, Y:0.39, Z:0.00 [[ 9.98873232e-01 4.74580470e-02 0.00000000e+00 1.10359979e+01] [-4.74580470e-02 9.98873232e-01 0.00000000e+00 3.85690261e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.72424466e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.07, Y:0.39, Z:0.00 [[ 9.98858207e-01 4.77732298e-02 0.00000000e+00 1.10654156e+01] [-4.77732298e-02 9.98858207e-01 0.00000000e+00 3.85979744e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60997334e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.10, Y:0.38, Z:-0.00 [[ 9.98818383e-01 4.85987497e-02 0.00000000e+00 1.10962279e+01] [-4.85987497e-02 9.98818383e-01 0.00000000e+00 3.84601067e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08568049e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.13, Y:0.39, Z:-0.00 [[ 9.98807128e-01 4.88295146e-02 0.00000000e+00 1.11257319e+01] [-4.88295146e-02 9.98807128e-01 0.00000000e+00 3.85072622e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89896556e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.131400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.15, Y:0.39, Z:-0.00 [[ 9.98805441e-01 4.88640142e-02 0.00000000e+00 1.11548261e+01] [-4.88640142e-02 9.98805441e-01 0.00000000e+00 3.85560457e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.40896838e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.19, Y:0.39, Z:0.00 [[ 9.98791166e-01 4.91549168e-02 0.00000000e+00 1.11858424e+01] [-4.91549168e-02 9.98791166e-01 0.00000000e+00 3.85660935e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.09480519e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.22, Y:0.39, Z:0.00 [[ 9.98766125e-01 4.96611342e-02 0.00000000e+00 1.12154819e+01] [-4.96611342e-02 9.98766125e-01 0.00000000e+00 3.85117570e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.69034950e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.221400512999999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:11.25, Y:0.39, Z:0.00 [[ 9.98603267e-01 5.28347981e-02 0.00000000e+00 1.12457253e+01] [-5.28347981e-02 9.98603267e-01 0.00000000e+00 3.85878454e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.51276293e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.27, Y:0.39, Z:0.00 [[ 9.98495546e-01 5.48328784e-02 0.00000000e+00 1.12749265e+01] [-5.48328784e-02 9.98495546e-01 0.00000000e+00 3.89256536e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02345241e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.30, Y:0.39, Z:0.00 [[ 9.98374140e-01 5.70006667e-02 0.00000000e+00 1.13036372e+01] [-5.70006667e-02 9.98374140e-01 0.00000000e+00 3.92564776e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19937900e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.311400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.33, Y:0.39, Z:0.00 [[ 9.98146694e-01 6.08537361e-02 0.00000000e+00 1.13332878e+01] [-6.08537361e-02 9.98146694e-01 0.00000000e+00 3.94401033e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04546587e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.36, Y:0.40, Z:0.00 [[ 9.98099018e-01 6.16307546e-02 0.00000000e+00 1.13628877e+01] [-6.16307546e-02 9.98099018e-01 0.00000000e+00 3.96213767e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.32746054e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.39, Y:0.40, Z:0.00 [[ 9.98118645e-01 6.13120672e-02 0.00000000e+00 1.13920166e+01] [-6.13120672e-02 9.98118645e-01 0.00000000e+00 3.99236296e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63888652e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.42, Y:0.40, Z:0.00 [[ 9.98205949e-01 5.98738978e-02 0.00000000e+00 1.14210529e+01] [-5.98738978e-02 9.98205949e-01 0.00000000e+00 4.02831327e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64271108e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.45, Y:0.41, Z:0.00 [[ 9.98337899e-01 5.76319331e-02 0.00000000e+00 1.14509226e+01] [-5.76319331e-02 9.98337899e-01 0.00000000e+00 4.05820729e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10377996e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.48, Y:0.41, Z:0.00 [[ 9.98620895e-01 5.25005501e-02 0.00000000e+00 1.14801710e+01] [-5.25005501e-02 9.98620895e-01 0.00000000e+00 4.08733167e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95312997e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.51, Y:0.41, Z:0.00 [[ 9.98741852e-01 5.01469235e-02 0.00000000e+00 1.15088083e+01] [-5.01469235e-02 9.98741852e-01 0.00000000e+00 4.11056229e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.74784171e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.54, Y:0.41, Z:0.01 [[ 9.98823630e-01 4.84907764e-02 0.00000000e+00 1.15386090e+01] [-4.84907764e-02 9.98823630e-01 0.00000000e+00 4.13640124e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.27533531e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.551400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.57, Y:0.42, Z:0.00 [[ 9.98861191e-01 4.77108046e-02 0.00000000e+00 1.15684293e+01] [-4.77108046e-02 9.98861191e-01 0.00000000e+00 4.15386286e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.65272604e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.60, Y:0.42, Z:0.00 [[ 9.98873811e-01 4.74458569e-02 0.00000000e+00 1.15984473e+01] [-4.74458569e-02 9.98873811e-01 0.00000000e+00 4.16575478e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26881685e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.63, Y:0.42, Z:0.00 [[ 9.98833331e-01 4.82905372e-02 0.00000000e+00 1.16265370e+01] [-4.82905372e-02 9.98833331e-01 0.00000000e+00 4.19918898e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24032590e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.641400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.66, Y:0.42, Z:0.00 [[ 9.98773982e-01 4.95028586e-02 0.00000000e+00 1.16561944e+01] [-4.95028586e-02 9.98773982e-01 0.00000000e+00 4.23912256e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81140109e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.68, Y:0.43, Z:0.00 [[ 9.98697912e-01 5.10145114e-02 0.00000000e+00 1.16847403e+01] [-5.10145114e-02 9.98697912e-01 0.00000000e+00 4.27867485e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42725706e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.71, Y:0.43, Z:0.00 [[ 9.98482362e-01 5.50724325e-02 0.00000000e+00 1.17138204e+01] [-5.50724325e-02 9.98482362e-01 0.00000000e+00 4.34405178e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48166977e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.74, Y:0.44, Z:0.00 [[ 9.98395802e-01 5.66199901e-02 0.00000000e+00 1.17421044e+01] [-5.66199901e-02 9.98395802e-01 0.00000000e+00 4.39265115e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32598888e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.761400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:11.77, Y:0.44, Z:0.00 [[ 9.98357672e-01 5.72883797e-02 0.00000000e+00 1.17701167e+01] [-5.72883797e-02 9.98357672e-01 0.00000000e+00 4.44674017e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.70443531e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.80, Y:0.45, Z:0.00 [[ 9.98365661e-01 5.71489809e-02 0.00000000e+00 1.17983393e+01] [-5.71489809e-02 9.98365661e-01 0.00000000e+00 4.49942671e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.60399433e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.83, Y:0.45, Z:0.00 [[ 9.98402021e-01 5.65102184e-02 0.00000000e+00 1.18261042e+01] [-5.65102184e-02 9.98402021e-01 0.00000000e+00 4.54675812e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68915145e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.86, Y:0.46, Z:0.00 [[ 9.98463085e-01 5.54208274e-02 0.00000000e+00 1.18550657e+01] [-5.54208274e-02 9.98463085e-01 0.00000000e+00 4.58938875e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81428468e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.881400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.88, Y:0.47, Z:0.01 [[ 9.98613038e-01 5.26497984e-02 0.00000000e+00 1.18836214e+01] [-5.26497984e-02 9.98613038e-01 0.00000000e+00 4.66581363e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.65872056e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.91, Y:0.47, Z:0.01 [[ 9.98693109e-01 5.11084471e-02 0.00000000e+00 1.19113806e+01] [-5.11084471e-02 9.98693109e-01 0.00000000e+00 4.70650989e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.82832096e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.94, Y:0.47, Z:0.00 [[ 9.98799460e-01 4.89860972e-02 0.00000000e+00 1.19405782e+01] [-4.89860972e-02 9.98799460e-01 0.00000000e+00 4.73807706e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15586738e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.971400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.97, Y:0.48, Z:0.00 [[ 9.99059981e-01 4.33492142e-02 0.00000000e+00 1.19692793e+01] [-4.33492142e-02 9.99059981e-01 0.00000000e+00 4.76414878e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34872581e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.00, Y:0.48, Z:0.00 [[ 9.99178610e-01 4.05229089e-02 0.00000000e+00 1.19981202e+01] [-4.05229089e-02 9.99178610e-01 0.00000000e+00 4.78384054e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30899992e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.03, Y:0.48, Z:0.00 [[ 9.99254676e-01 3.86017058e-02 0.00000000e+00 1.20265140e+01] [-3.86017058e-02 9.99254676e-01 0.00000000e+00 4.80392106e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.19314501e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.061400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.06, Y:0.48, Z:0.00 [[ 9.99288611e-01 3.77130298e-02 0.00000000e+00 1.20560385e+01] [-3.77130298e-02 9.99288611e-01 0.00000000e+00 4.82245303e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57540962e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.08, Y:0.48, Z:0.00 [[ 9.99285629e-01 3.77919503e-02 0.00000000e+00 1.20842813e+01] [-3.77919503e-02 9.99285629e-01 0.00000000e+00 4.83206177e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70907240e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.11, Y:0.48, Z:0.00 [[ 9.99271362e-01 3.81673410e-02 0.00000000e+00 1.21137319e+01] [-3.81673410e-02 9.99271362e-01 0.00000000e+00 4.83560802e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29362957e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.14, Y:0.48, Z:0.00 [[ 9.99175350e-01 4.06032095e-02 0.00000000e+00 1.21433272e+01] [-4.06032095e-02 9.99175350e-01 0.00000000e+00 4.83678003e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34748493e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.17, Y:0.49, Z:0.00 [[ 9.99104613e-01 4.23080690e-02 0.00000000e+00 1.21729167e+01] [-4.23080690e-02 9.99104613e-01 0.00000000e+00 4.85286362e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.88510605e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.20, Y:0.49, Z:0.01 [[ 9.99031865e-01 4.39924266e-02 0.00000000e+00 1.22017339e+01] [-4.39924266e-02 9.99031865e-01 0.00000000e+00 4.87162784e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.79057291e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.23, Y:0.49, Z:0.01 [[ 9.98960558e-01 4.55829225e-02 0.00000000e+00 1.22307013e+01] [-4.55829225e-02 9.98960558e-01 0.00000000e+00 4.88810133e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.48553002e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.26, Y:0.49, Z:0.01 [[ 9.98849836e-01 4.79479521e-02 0.00000000e+00 1.22599273e+01] [-4.79479521e-02 9.98849836e-01 0.00000000e+00 4.89150894e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.53505974e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.301400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.29, Y:0.49, Z:0.01 [[ 9.98863049e-01 4.76718907e-02 0.00000000e+00 1.22873678e+01] [-4.76718907e-02 9.98863049e-01 0.00000000e+00 4.90164958e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.96252199e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.32, Y:0.49, Z:0.01 [[ 9.98909939e-01 4.66790591e-02 0.00000000e+00 1.23164177e+01] [-4.66790591e-02 9.98909939e-01 0.00000000e+00 4.91144525e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.32535454e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.35, Y:0.49, Z:0.01 [[ 9.98912117e-01 4.66324233e-02 0.00000000e+00 1.23457158e+01] [-4.66324233e-02 9.98912117e-01 0.00000000e+00 4.92431315e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.32535454e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.391400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.37, Y:0.49, Z:0.01 [[ 9.98977906e-01 4.52011404e-02 0.00000000e+00 1.23743942e+01] [-4.52011404e-02 9.98977906e-01 0.00000000e+00 4.93234404e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.25336180e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.40, Y:0.49, Z:0.00 [[ 9.99065183e-01 4.32291679e-02 0.00000000e+00 1.24029662e+01] [-4.32291679e-02 9.99065183e-01 0.00000000e+00 4.93265089e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.52974568e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.451400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:12.43, Y:0.49, Z:0.00 [[ 9.99153494e-01 4.11375295e-02 0.00000000e+00 1.24322998e+01] [-4.11375295e-02 9.99153494e-01 0.00000000e+00 4.92470207e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45265954e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.46, Y:0.49, Z:0.00 [[ 9.99262467e-01 3.83995006e-02 0.00000000e+00 1.24608262e+01] [-3.83995006e-02 9.99262467e-01 0.00000000e+00 4.88081205e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68216907e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.49, Y:0.49, Z:0.00 [[ 9.99268032e-01 3.82544257e-02 0.00000000e+00 1.24900461e+01] [-3.82544257e-02 9.99268032e-01 0.00000000e+00 4.85539133e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.43823890e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.52, Y:0.48, Z:0.00 [[ 9.99252923e-01 3.86470612e-02 0.00000000e+00 1.25198207e+01] [-3.86470612e-02 9.99252923e-01 0.00000000e+00 4.82730376e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.59589642e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.55, Y:0.48, Z:0.01 [[ 9.99240630e-01 3.89636141e-02 0.00000000e+00 1.25489135e+01] [-3.89636141e-02 9.99240630e-01 0.00000000e+00 4.78992965e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.29738768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.601400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:12.58, Y:0.47, Z:0.01 [[ 9.99241295e-01 3.89465640e-02 0.00000000e+00 1.25791224e+01] [-3.89465640e-02 9.99241295e-01 0.00000000e+00 4.74046629e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.33569854e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.631400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.61, Y:0.47, Z:0.01 [[ 9.99277252e-01 3.80128173e-02 0.00000000e+00 1.26094784e+01] [-3.80128173e-02 9.99277252e-01 0.00000000e+00 4.68512952e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.39871564e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.64, Y:0.46, Z:0.01 [[ 9.99470759e-01 3.25300151e-02 0.00000000e+00 1.26402671e+01] [-3.25300151e-02 9.99470759e-01 0.00000000e+00 4.55938121e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.13374159e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.67, Y:0.45, Z:0.01 [[ 9.99588444e-01 2.86869796e-02 0.00000000e+00 1.26710849e+01] [-2.86869796e-02 9.99588444e-01 0.00000000e+00 4.51061487e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.63887376e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.721400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.70, Y:0.45, Z:0.01 [[ 9.99689424e-01 2.49209696e-02 0.00000000e+00 1.27007502e+01] [-2.49209696e-02 9.99689424e-01 0.00000000e+00 4.46513563e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01043477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.73, Y:0.44, Z:0.01 [[ 9.99835007e-01 1.81647829e-02 0.00000000e+00 1.27315139e+01] [-1.81647829e-02 9.99835007e-01 0.00000000e+00 4.36360569e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.41328608e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.76, Y:0.43, Z:0.00 [[ 9.99885014e-01 1.51643817e-02 0.00000000e+00 1.27624505e+01] [-1.51643817e-02 9.99885014e-01 0.00000000e+00 4.32636097e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.90410964e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.811400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.79, Y:0.43, Z:0.00 [[ 9.99920146e-01 1.26372946e-02 0.00000000e+00 1.27927249e+01] [-1.26372946e-02 9.99920146e-01 0.00000000e+00 4.30081847e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.34079799e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.82, Y:0.43, Z:0.00 [[ 9.99944892e-01 1.04982312e-02 0.00000000e+00 1.28231909e+01] [-1.04982312e-02 9.99944892e-01 0.00000000e+00 4.28133350e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.90834136e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.85, Y:0.43, Z:0.01 [[ 9.99963375e-01 8.55851058e-03 0.00000000e+00 1.28540430e+01] [-8.55851058e-03 9.99963375e-01 0.00000000e+00 4.26696658e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.85773764e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.88, Y:0.43, Z:0.01 [[ 9.99975397e-01 7.01466523e-03 0.00000000e+00 1.28845291e+01] [-7.01466523e-03 9.99975397e-01 0.00000000e+00 4.25304520e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.35160324e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.92, Y:0.42, Z:0.01 [[ 9.99991151e-01 4.20688243e-03 0.00000000e+00 1.29154185e+01] [-4.20688243e-03 9.99991151e-01 0.00000000e+00 4.20592061e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.75030611e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.95, Y:0.42, Z:0.01 [[ 9.99998003e-01 1.99826551e-03 0.00000000e+00 1.29457297e+01] [-1.99826551e-03 9.99998003e-01 0.00000000e+00 4.19359583e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.07336808e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.98, Y:0.42, Z:0.01 [[ 9.99999987e-01 -1.59155389e-04 0.00000000e+00 1.29764551e+01] [ 1.59155389e-04 9.99999987e-01 0.00000000e+00 4.18605565e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.88067491e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.01, Y:0.42, Z:0.01 [[ 9.99996935e-01 -2.47601296e-03 0.00000000e+00 1.30074007e+01] [ 2.47601296e-03 9.99996935e-01 0.00000000e+00 4.18266721e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15253529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.051400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.04, Y:0.41, Z:0.01 [[ 9.99975818e-01 -6.95442815e-03 0.00000000e+00 1.30378961e+01] [ 6.95442815e-03 9.99975818e-01 0.00000000e+00 4.13210507e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10006496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.07, Y:0.41, Z:0.01 [[ 9.99957138e-01 -9.25866721e-03 0.00000000e+00 1.30690198e+01] [ 9.25866721e-03 9.99957138e-01 0.00000000e+00 4.10578091e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.87428298e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.10, Y:0.41, Z:0.01 [[ 9.99933208e-01 -1.15576428e-02 0.00000000e+00 1.30984486e+01] [ 1.15576428e-02 9.99933208e-01 0.00000000e+00 4.08511129e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.89962744e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.141400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.13, Y:0.41, Z:0.01 [[ 9.99898981e-01 -1.42136825e-02 0.00000000e+00 1.31285883e+01] [ 1.42136825e-02 9.99898981e-01 0.00000000e+00 4.07429740e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.80575084e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.16, Y:0.40, Z:0.01 [[ 9.99832847e-01 -1.82832626e-02 0.00000000e+00 1.31577779e+01] [ 1.82832626e-02 9.99832847e-01 0.00000000e+00 4.03124782e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16224651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.19, Y:0.40, Z:0.01 [[ 9.99811459e-01 -1.94176657e-02 0.00000000e+00 1.31864914e+01] [ 1.94176657e-02 9.99811459e-01 0.00000000e+00 4.01315217e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23219192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.231400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.22, Y:0.40, Z:0.01 [[ 9.99807854e-01 -1.96024475e-02 0.00000000e+00 1.32150445e+01] [ 1.96024475e-02 9.99807854e-01 0.00000000e+00 4.00065177e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.42334916e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.24, Y:0.40, Z:0.01 [[ 9.99820606e-01 -1.89408673e-02 0.00000000e+00 1.32433856e+01] [ 1.89408673e-02 9.99820606e-01 0.00000000e+00 3.99523992e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.55460868e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.27, Y:0.40, Z:0.01 [[ 9.99839288e-01 -1.79276092e-02 0.00000000e+00 1.32721678e+01] [ 1.79276092e-02 9.99839288e-01 0.00000000e+00 3.99297116e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.07400056e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.30, Y:0.40, Z:0.01 [[ 9.99855248e-01 -1.70142036e-02 0.00000000e+00 1.33010248e+01] [ 1.70142036e-02 9.99855248e-01 0.00000000e+00 3.99123546e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.53560495e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.33, Y:0.40, Z:0.01 [[ 9.99862238e-01 -1.65983547e-02 0.00000000e+00 1.33300056e+01] [ 1.65983547e-02 9.99862238e-01 0.00000000e+00 3.98203494e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.66992540e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.381400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.36, Y:0.40, Z:0.00 [[ 9.99853377e-01 -1.71237989e-02 0.00000000e+00 1.33585938e+01] [ 1.71237989e-02 9.99853377e-01 0.00000000e+00 3.98344946e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.99641286e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.39, Y:0.40, Z:0.00 [[ 9.99833610e-01 -1.82415256e-02 0.00000000e+00 1.33868405e+01] [ 1.82415256e-02 9.99833610e-01 0.00000000e+00 3.98361321e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.72390019e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.42, Y:0.40, Z:0.00 [[ 9.99798606e-01 -2.00685529e-02 0.00000000e+00 1.34160725e+01] [ 2.00685529e-02 9.99798606e-01 0.00000000e+00 3.98508268e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.00056944e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.471400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.44, Y:0.40, Z:0.00 [[ 9.99750175e-01 -2.23514442e-02 0.00000000e+00 1.34443099e+01] [ 2.23514442e-02 9.99750175e-01 0.00000000e+00 3.99426802e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08253693e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.47, Y:0.40, Z:0.00 [[ 9.99630532e-01 -2.71808679e-02 0.00000000e+00 1.34726817e+01] [ 2.71808679e-02 9.99630532e-01 0.00000000e+00 4.02115948e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66207656e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.50, Y:0.40, Z:0.01 [[ 9.99561094e-01 -2.96246308e-02 0.00000000e+00 1.35019572e+01] [ 2.96246308e-02 9.99561094e-01 0.00000000e+00 4.03750889e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.48850368e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.561400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.53, Y:0.41, Z:0.01 [[ 9.99488803e-01 -3.19708229e-02 0.00000000e+00 1.35302553e+01] [ 3.19708229e-02 9.99488803e-01 0.00000000e+00 4.05377463e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.92948689e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.56, Y:0.41, Z:0.01 [[ 9.99409580e-01 -3.43582706e-02 0.00000000e+00 1.35576979e+01] [ 3.43582706e-02 9.99409580e-01 0.00000000e+00 4.07432303e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.58849796e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.621400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:13.59, Y:0.41, Z:0.01 [[ 9.99340048e-01 -3.63244844e-02 0.00000000e+00 1.35857205e+01] [ 3.63244844e-02 9.99340048e-01 0.00000000e+00 4.09618137e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.20242383e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.61, Y:0.41, Z:0.01 [[ 9.99246407e-01 -3.88151915e-02 0.00000000e+00 1.36133920e+01] [ 3.88151915e-02 9.99246407e-01 0.00000000e+00 4.11883980e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.70981771e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.64, Y:0.41, Z:0.00 [[ 9.99080961e-01 -4.28629706e-02 0.00000000e+00 1.36412140e+01] [ 4.28629706e-02 9.99080961e-01 0.00000000e+00 4.14514648e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.53640772e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.67, Y:0.42, Z:0.01 [[ 9.98995371e-01 -4.48134954e-02 0.00000000e+00 1.36688013e+01] [ 4.48134954e-02 9.98995371e-01 0.00000000e+00 4.17628975e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.27791363e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.70, Y:0.42, Z:0.01 [[ 9.98904998e-01 -4.67846634e-02 0.00000000e+00 1.36974042e+01] [ 4.67846634e-02 9.98904998e-01 0.00000000e+00 4.21721904e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.87909278e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.73, Y:0.43, Z:0.01 [[ 9.98692036e-01 -5.11294166e-02 0.00000000e+00 1.37261557e+01] [ 5.11294166e-02 9.98692036e-01 0.00000000e+00 4.28682147e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17208387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.801400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.75, Y:0.43, Z:0.01 [[ 9.98575292e-01 -5.33608982e-02 0.00000000e+00 1.37528368e+01] [ 5.33608982e-02 9.98575292e-01 0.00000000e+00 4.31577884e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30930723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.78, Y:0.43, Z:0.01 [[ 0.99845273 -0.05560702 0. 13.7805571 ] [ 0.05560702 0.99845273 0. 0.43469849] [ 0. 0. 1. 0.0138992 ] [ 0. 0. 0. 1. ]] SLAMing on 13.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.81, Y:0.44, Z:0.01 [[ 0.99834335 -0.05753751 0. 13.80887966] [ 0.05753751 0.99834335 0. 0.43901086] [ 0. 0. 1. 0.01463991] [ 0. 0. 0. 1. ]] SLAMing on 13.891400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.84, Y:0.44, Z:0.02 [[ 0.99825917 -0.05897994 0. 13.83680425] [ 0.05897994 0.99825917 0. 0.44429737] [ 0. 0. 1. 0.01837241] [ 0. 0. 0. 1. ]] SLAMing on 13.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.86, Y:0.46, Z:0.02 [[ 0.99812568 -0.06119745 0. 13.86421887] [ 0.06119745 0.99812568 0. 0.45509755] [ 0. 0. 1. 0.01797191] [ 0. 0. 0. 1. ]] SLAMing on 13.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.89, Y:0.46, Z:0.01 [[ 0.9980506 -0.06240998 0. 13.89232895] [ 0.06240998 0.9980506 0. 0.460918 ] [ 0. 0. 1. 0.01435147] [ 0. 0. 0. 1. ]] SLAMing on 13.981400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.92, Y:0.47, Z:0.01 [[ 9.97931678e-01 -6.42834859e-02 0.00000000e+00 1.39199886e+01] [ 6.42834859e-02 9.97931678e-01 0.00000000e+00 4.66220310e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26352868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.95, Y:0.47, Z:0.01 [[ 9.97743882e-01 -6.71352744e-02 0.00000000e+00 1.39486073e+01] [ 6.71352744e-02 9.97743882e-01 0.00000000e+00 4.71340931e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04973418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.98, Y:0.48, Z:0.01 [[ 9.97435075e-01 -7.15770260e-02 0.00000000e+00 1.39751280e+01] [ 7.15770260e-02 9.97435075e-01 0.00000000e+00 4.76320152e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00554370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.00, Y:0.48, Z:0.01 [[ 9.97070222e-01 -7.64916447e-02 0.00000000e+00 1.40033225e+01] [ 7.64916447e-02 9.97070222e-01 0.00000000e+00 4.80638231e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10783962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.03, Y:0.49, Z:0.01 [[ 9.96233660e-01 -8.67092525e-02 0.00000000e+00 1.40316240e+01] [ 8.67092525e-02 9.96233660e-01 0.00000000e+00 4.86330243e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34842330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.131400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.06, Y:0.49, Z:0.01 [[ 9.95845185e-01 -9.10624369e-02 0.00000000e+00 1.40595430e+01] [ 9.10624369e-02 9.95845185e-01 0.00000000e+00 4.89949376e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26474632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.09, Y:0.49, Z:0.01 [[ 9.95508900e-01 -9.46680033e-02 0.00000000e+00 1.40884368e+01] [ 9.46680033e-02 9.95508900e-01 0.00000000e+00 4.93933534e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18455461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.12, Y:0.50, Z:0.01 [[ 9.95329276e-01 -9.65382433e-02 0.00000000e+00 1.41163251e+01] [ 9.65382433e-02 9.95329276e-01 0.00000000e+00 4.97947580e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.70064941e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.221400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.14, Y:0.50, Z:0.01 [[ 9.95088746e-01 -9.89868059e-02 0.00000000e+00 1.41431882e+01] [ 9.89868059e-02 9.95088746e-01 0.00000000e+00 5.01339908e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.70174705e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.17, Y:0.50, Z:0.01 [[ 9.95070477e-01 -9.91702911e-02 0.00000000e+00 1.41716364e+01] [ 9.91702911e-02 9.95070477e-01 0.00000000e+00 5.02810071e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.70174705e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.20, Y:0.50, Z:0.01 [[ 9.94975351e-01 -1.00120179e-01 0.00000000e+00 1.41994080e+01] [ 1.00120179e-01 9.94975351e-01 0.00000000e+00 5.04099542e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.01227101e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.311400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.23, Y:0.51, Z:0.01 [[ 9.94887063e-01 -1.00993722e-01 0.00000000e+00 1.42258701e+01] [ 1.00993722e-01 9.94887063e-01 0.00000000e+00 5.05816167e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.40875185e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.25, Y:0.51, Z:0.01 [[ 9.94806802e-01 -1.01781272e-01 0.00000000e+00 1.42539089e+01] [ 1.01781272e-01 9.94806802e-01 0.00000000e+00 5.08573133e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.69215069e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.28, Y:0.51, Z:0.01 [[ 9.94749716e-01 -1.02337688e-01 0.00000000e+00 1.42818400e+01] [ 1.02337688e-01 9.94749716e-01 0.00000000e+00 5.11750625e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.39050997e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.401400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.31, Y:0.51, Z:0.01 [[ 9.94718603e-01 -1.02639665e-01 0.00000000e+00 1.43086226e+01] [ 1.02639665e-01 9.94718603e-01 0.00000000e+00 5.14205593e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.88563479e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.34, Y:0.52, Z:0.01 [[ 9.94615193e-01 -1.03636954e-01 0.00000000e+00 1.43378986e+01] [ 1.03636954e-01 9.94615193e-01 0.00000000e+00 5.15466751e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18195991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.37, Y:0.52, Z:0.01 [[ 9.94507636e-01 -1.04664048e-01 0.00000000e+00 1.43652379e+01] [ 1.04664048e-01 9.94507636e-01 0.00000000e+00 5.16267629e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32642058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.39, Y:0.52, Z:0.01 [[ 9.94392077e-01 -1.05756310e-01 0.00000000e+00 1.43932180e+01] [ 1.05756310e-01 9.94392077e-01 0.00000000e+00 5.17497290e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30130765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.42, Y:0.52, Z:0.01 [[ 9.94332642e-01 -1.06313672e-01 0.00000000e+00 1.44215339e+01] [ 1.06313672e-01 9.94332642e-01 0.00000000e+00 5.19339156e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19075304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.551400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.45, Y:0.52, Z:0.01 [[ 9.94417027e-01 -1.05521451e-01 0.00000000e+00 1.44495303e+01] [ 1.05521451e-01 9.94417027e-01 0.00000000e+00 5.21672141e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15971245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.48, Y:0.53, Z:0.01 [[ 9.94873622e-01 -1.01126046e-01 0.00000000e+00 1.44781711e+01] [ 1.01126046e-01 9.94873622e-01 0.00000000e+00 5.25753034e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30167793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.51, Y:0.53, Z:0.01 [[ 9.95238833e-01 -9.74662220e-02 0.00000000e+00 1.45062302e+01] [ 9.74662220e-02 9.95238833e-01 0.00000000e+00 5.28600802e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43262617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.641400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.54, Y:0.53, Z:0.02 [[ 0.99552959 -0.09445023 0. 14.53506074] [ 0.09445023 0.99552959 0. 0.53278123] [ 0. 0. 1. 0.01622378] [ 0. 0. 0. 1. ]] SLAMing on 14.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.56, Y:0.54, Z:0.02 [[ 0.99578512 -0.09171698 0. 14.56256421] [ 0.09171698 0.99578512 0. 0.53762737] [ 0. 0. 1. 0.01650163] [ 0. 0. 0. 1. ]] SLAMing on 14.701400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:14.59, Y:0.55, Z:0.02 [[ 0.99617087 -0.08742772 0. 14.59013521] [ 0.08742772 0.99617087 0. 0.54609301] [ 0. 0. 1. 0.01521488] [ 0. 0. 0. 1. ]] SLAMing on 14.731400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.62, Y:0.55, Z:0.01 [[ 9.96243695e-01 -8.65938838e-02 0.00000000e+00 1.46187749e+01] [ 8.65938838e-02 9.96243695e-01 0.00000000e+00 5.51135467e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24357455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.65, Y:0.56, Z:0.01 [[ 9.96268149e-01 -8.63120865e-02 0.00000000e+00 1.46462328e+01] [ 8.63120865e-02 9.96268149e-01 0.00000000e+00 5.56104983e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17342004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.68, Y:0.56, Z:0.01 [[ 9.96238202e-01 -8.66570562e-02 0.00000000e+00 1.46752138e+01] [ 8.66570562e-02 9.96238202e-01 0.00000000e+00 5.61038280e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18258672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.70, Y:0.57, Z:0.02 [[ 0.99618874 -0.08722383 0. 14.70319473] [ 0.08722383 0.99618874 0. 0.56640829] [ 0. 0. 1. 0.0161496 ] [ 0. 0. 0. 1. ]] SLAMing on 14.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.73, Y:0.57, Z:0.02 [[ 0.99610129 -0.08821691 0. 14.7321346 ] [ 0.08821691 0.99610129 0. 0.57214809] [ 0. 0. 1. 0.0156137 ] [ 0. 0. 0. 1. ]] SLAMing on 14.881400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.76, Y:0.58, Z:0.02 [[ 0.99599078 -0.08945592 0. 14.75825151] [ 0.08945592 0.99599078 0. 0.58155979] [ 0. 0. 1. 0.01659827] [ 0. 0. 0. 1. ]] SLAMing on 14.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.79, Y:0.59, Z:0.02 [[ 0.99591786 -0.09026412 0. 14.78577937] [ 0.09026412 0.99591786 0. 0.58704873] [ 0. 0. 1. 0.01542 ] [ 0. 0. 0. 1. ]] SLAMing on 14.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.81, Y:0.59, Z:0.01 [[ 9.95791068e-01 -9.16523292e-02 0.00000000e+00 1.48140564e+01] [ 9.16523292e-02 9.95791068e-01 0.00000000e+00 5.92377320e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47629070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.971400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.84, Y:0.60, Z:0.02 [[ 0.99574794 -0.09211974 0. 14.84038854] [ 0.09211974 0.99574794 0. 0.59705837] [ 0. 0. 1. 0.0152832 ] [ 0. 0. 0. 1. ]] SLAMing on 15.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.87, Y:0.60, Z:0.02 [[ 0.99569096 -0.09273356 0. 14.86844948] [ 0.09273356 0.99569096 0. 0.60225825] [ 0. 0. 1. 0.01662912] [ 0. 0. 0. 1. ]] SLAMing on 15.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.90, Y:0.61, Z:0.02 [[ 0.99566094 -0.09305531 0. 14.895762 ] [ 0.09305531 0.99566094 0. 0.60768023] [ 0. 0. 1. 0.01708611] [ 0. 0. 0. 1. ]] SLAMing on 15.061400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.92, Y:0.62, Z:0.01 [[ 9.95559836e-01 -9.41308277e-02 0.00000000e+00 1.49237039e+01] [ 9.41308277e-02 9.95559836e-01 0.00000000e+00 6.17017348e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40707961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.091400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:14.95, Y:0.62, Z:0.01 [[ 9.95490641e-01 -9.48598070e-02 0.00000000e+00 1.49524216e+01] [ 9.48598070e-02 9.95490641e-01 0.00000000e+00 6.22282649e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13227235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.121400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:14.98, Y:0.63, Z:0.01 [[ 9.95432305e-01 -9.54700299e-02 0.00000000e+00 1.49810032e+01] [ 9.54700299e-02 9.95432305e-01 0.00000000e+00 6.27071859e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28839408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.151400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.01, Y:0.63, Z:0.01 [[ 9.95329808e-01 -9.65327560e-02 0.00000000e+00 1.50099038e+01] [ 9.65327560e-02 9.95329808e-01 0.00000000e+00 6.32060625e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38611386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.04, Y:0.64, Z:0.02 [[ 0.99508955 -0.09897874 0. 15.03826289] [ 0.09897874 0.99508955 0. 0.64125218] [ 0. 0. 1. 0.01632504] [ 0. 0. 0. 1. ]] SLAMing on 15.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.07, Y:0.65, Z:0.02 [[ 0.9949285 -0.10058465 0. 15.06652354] [ 0.10058465 0.9949285 0. 0.64689864] [ 0. 0. 1. 0.01562349] [ 0. 0. 0. 1. ]] SLAMing on 15.241400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:15.09, Y:0.65, Z:0.01 [[ 9.94748978e-01 -1.02344864e-01 0.00000000e+00 1.50948265e+01] [ 1.02344864e-01 9.94748978e-01 0.00000000e+00 6.51939169e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48602238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.12, Y:0.66, Z:0.02 [[ 9.94510870e-01 -1.04633309e-01 0.00000000e+00 1.51247778e+01] [ 1.04633309e-01 9.94510870e-01 0.00000000e+00 6.55906181e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50568438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.301400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.15, Y:0.66, Z:0.02 [[ 0.99427456 -0.10685548 0. 15.15292264] [ 0.10685548 0.99427456 0. 0.65864917] [ 0. 0. 1. 0.01534709] [ 0. 0. 0. 1. ]] SLAMing on 15.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.18, Y:0.66, Z:0.02 [[ 9.93490176e-01 -1.13917824e-01 0.00000000e+00 1.51809628e+01] [ 1.13917824e-01 9.93490176e-01 0.00000000e+00 6.62827045e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50949419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.21, Y:0.67, Z:0.01 [[ 9.92986876e-01 -1.18224635e-01 0.00000000e+00 1.52098200e+01] [ 1.18224635e-01 9.92986876e-01 0.00000000e+00 6.65583052e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34993427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.391400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.24, Y:0.67, Z:0.01 [[ 9.92504858e-01 -1.22205182e-01 0.00000000e+00 1.52380375e+01] [ 1.22205182e-01 9.92504858e-01 0.00000000e+00 6.66383675e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29687668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.27, Y:0.67, Z:0.01 [[ 9.92054915e-01 -1.25805583e-01 0.00000000e+00 1.52667813e+01] [ 1.25805583e-01 9.92054915e-01 0.00000000e+00 6.65800209e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19236884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.29, Y:0.66, Z:0.01 [[ 9.91552510e-01 -1.29705899e-01 0.00000000e+00 1.52945370e+01] [ 1.29705899e-01 9.91552510e-01 0.00000000e+00 6.64224612e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32538607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.481400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.32, Y:0.67, Z:0.01 [[ 9.91448045e-01 -1.30502010e-01 0.00000000e+00 1.53232274e+01] [ 1.30502010e-01 9.91448045e-01 0.00000000e+00 6.65564773e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21355950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.35, Y:0.67, Z:0.01 [[ 9.91435960e-01 -1.30593787e-01 0.00000000e+00 1.53522719e+01] [ 1.30593787e-01 9.91435960e-01 0.00000000e+00 6.66530256e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21591000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.38, Y:0.67, Z:0.01 [[ 9.91507341e-01 -1.30050731e-01 0.00000000e+00 1.53799456e+01] [ 1.30050731e-01 9.91507341e-01 0.00000000e+00 6.66778713e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09556307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.41, Y:0.67, Z:0.01 [[ 9.91821592e-01 -1.27632009e-01 0.00000000e+00 1.54067876e+01] [ 1.27632009e-01 9.91821592e-01 0.00000000e+00 6.65209435e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25447703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.43, Y:0.67, Z:0.01 [[ 9.91940042e-01 -1.26708140e-01 0.00000000e+00 1.54349881e+01] [ 1.26708140e-01 9.91940042e-01 0.00000000e+00 6.65868674e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04252389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.631400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.46, Y:0.67, Z:0.01 [[ 9.92035497e-01 -1.25958612e-01 0.00000000e+00 1.54624972e+01] [ 1.25958612e-01 9.92035497e-01 0.00000000e+00 6.66409349e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.80849740e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.49, Y:0.66, Z:0.01 [[ 9.92071675e-01 -1.25673353e-01 0.00000000e+00 1.54913421e+01] [ 1.25673353e-01 9.92071675e-01 0.00000000e+00 6.64215255e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.41739595e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.52, Y:0.66, Z:0.01 [[ 9.91929597e-01 -1.26789880e-01 0.00000000e+00 1.55192963e+01] [ 1.26789880e-01 9.91929597e-01 0.00000000e+00 6.62334537e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.16961775e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.721400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.55, Y:0.66, Z:0.01 [[ 9.91829804e-01 -1.27568178e-01 0.00000000e+00 1.55471216e+01] [ 1.27568178e-01 9.91829804e-01 0.00000000e+00 6.62839341e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.09934174e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.58, Y:0.66, Z:0.00 [[ 9.91750743e-01 -1.28181369e-01 0.00000000e+00 1.55754088e+01] [ 1.28181369e-01 9.91750743e-01 0.00000000e+00 6.63305024e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.67286237e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.60, Y:0.66, Z:0.00 [[ 9.91784182e-01 -1.27922386e-01 0.00000000e+00 1.56035712e+01] [ 1.27922386e-01 9.91784182e-01 0.00000000e+00 6.61380147e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36905077e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.811400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.63, Y:0.66, Z:0.00 [[ 9.91906082e-01 -1.26973713e-01 0.00000000e+00 1.56304975e+01] [ 1.26973713e-01 9.91906082e-01 0.00000000e+00 6.61463430e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30905398e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.66, Y:0.66, Z:0.00 [[ 9.92049512e-01 -1.25848184e-01 0.00000000e+00 1.56585524e+01] [ 1.25848184e-01 9.92049512e-01 0.00000000e+00 6.62120404e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77238124e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.69, Y:0.66, Z:0.00 [[ 9.92419180e-01 -1.22899032e-01 0.00000000e+00 1.56872023e+01] [ 1.22899032e-01 9.92419180e-01 0.00000000e+00 6.60814814e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27521757e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.901400512999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.72, Y:0.66, Z:-0.00 [[ 9.92528071e-01 -1.22016512e-01 0.00000000e+00 1.57162046e+01] [ 1.22016512e-01 9.92528071e-01 0.00000000e+00 6.60835529e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11912149e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.74, Y:0.66, Z:-0.00 [[ 9.92596388e-01 -1.21459500e-01 0.00000000e+00 1.57436982e+01] [ 1.21459500e-01 9.92596388e-01 0.00000000e+00 6.61198665e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.63802502e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.77, Y:0.66, Z:-0.01 [[ 9.92676808e-01 -1.20800477e-01 0.00000000e+00 1.57727563e+01] [ 1.20800477e-01 9.92676808e-01 0.00000000e+00 6.60869646e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.83787555e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.80, Y:0.66, Z:-0.01 [[ 9.92747072e-01 -1.20221677e-01 0.00000000e+00 1.58004988e+01] [ 1.20221677e-01 9.92747072e-01 0.00000000e+00 6.61308963e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.86454795e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.83, Y:0.66, Z:-0.01 [[ 9.92784308e-01 -1.19913797e-01 0.00000000e+00 1.58289347e+01] [ 1.19913797e-01 9.92784308e-01 0.00000000e+00 6.62066750e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04938558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.86, Y:0.66, Z:-0.01 [[ 9.92877275e-01 -1.19141582e-01 0.00000000e+00 1.58561813e+01] [ 1.19141582e-01 9.92877275e-01 0.00000000e+00 6.63763468e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02698651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.88, Y:0.67, Z:-0.01 [[ 9.92924554e-01 -1.18746920e-01 0.00000000e+00 1.58844714e+01] [ 1.18746920e-01 9.92924554e-01 0.00000000e+00 6.66556400e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.81385085e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.91, Y:0.67, Z:-0.01 [[ 9.93046532e-01 -1.17722489e-01 0.00000000e+00 1.59109795e+01] [ 1.17722489e-01 9.93046532e-01 0.00000000e+00 6.69155654e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.43735781e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.94, Y:0.67, Z:-0.00 [[ 9.93225750e-01 -1.16200730e-01 0.00000000e+00 1.59395346e+01] [ 1.16200730e-01 9.93225750e-01 0.00000000e+00 6.71211533e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.35896042e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.97, Y:0.67, Z:-0.00 [[ 9.93204135e-01 -1.16385335e-01 0.00000000e+00 1.59679573e+01] [ 1.16385335e-01 9.93204135e-01 0.00000000e+00 6.72898634e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.35896042e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.99, Y:0.68, Z:-0.00 [[ 9.93196155e-01 -1.16453417e-01 0.00000000e+00 1.59945812e+01] [ 1.16453417e-01 9.93196155e-01 0.00000000e+00 6.75634094e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59676647e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.02, Y:0.68, Z:-0.01 [[ 9.92965087e-01 -1.18407503e-01 0.00000000e+00 1.60227338e+01] [ 1.18407503e-01 9.92965087e-01 0.00000000e+00 6.83007598e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.56000279e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.261400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.05, Y:0.69, Z:-0.01 [[ 9.92804114e-01 -1.19749704e-01 0.00000000e+00 1.60507351e+01] [ 1.19749704e-01 9.92804114e-01 0.00000000e+00 6.86328727e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.46837644e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.291400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:16.08, Y:0.69, Z:-0.01 [[ 9.92589509e-01 -1.21515705e-01 0.00000000e+00 1.60783714e+01] [ 1.21515705e-01 9.92589509e-01 0.00000000e+00 6.88861300e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07813085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.11, Y:0.69, Z:-0.01 [[ 9.92302948e-01 -1.23834003e-01 0.00000000e+00 1.61056585e+01] [ 1.23834003e-01 9.92302948e-01 0.00000000e+00 6.91361925e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.99961283e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.351400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.13, Y:0.70, Z:-0.01 [[ 9.91710450e-01 -1.28492737e-01 0.00000000e+00 1.61334349e+01] [ 1.28492737e-01 9.91710450e-01 0.00000000e+00 6.96510289e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.27903180e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.16, Y:0.70, Z:-0.01 [[ 9.91404324e-01 -1.30833732e-01 0.00000000e+00 1.61610414e+01] [ 1.30833732e-01 9.91404324e-01 0.00000000e+00 6.99913684e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.56239860e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.19, Y:0.70, Z:-0.01 [[ 9.90904785e-01 -1.34564882e-01 0.00000000e+00 1.61885100e+01] [ 1.34564882e-01 9.90904785e-01 0.00000000e+00 7.03757078e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32193422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.441400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.22, Y:0.71, Z:-0.01 [[ 9.90723759e-01 -1.35891255e-01 0.00000000e+00 1.62163955e+01] [ 1.35891255e-01 9.90723759e-01 0.00000000e+00 7.06037314e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35775419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.24, Y:0.71, Z:-0.01 [[ 9.90502739e-01 -1.37492994e-01 0.00000000e+00 1.62446258e+01] [ 1.37492994e-01 9.90502739e-01 0.00000000e+00 7.08745371e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04198557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.27, Y:0.71, Z:-0.01 [[ 9.90464763e-01 -1.37766296e-01 0.00000000e+00 1.62717248e+01] [ 1.37766296e-01 9.90464763e-01 0.00000000e+00 7.10986022e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.48015572e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.30, Y:0.71, Z:-0.01 [[ 9.90468528e-01 -1.37739226e-01 0.00000000e+00 1.62999234e+01] [ 1.37739226e-01 9.90468528e-01 0.00000000e+00 7.13538960e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.60440639e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.33, Y:0.72, Z:-0.01 [[ 9.90555950e-01 -1.37109116e-01 0.00000000e+00 1.63266854e+01] [ 1.37109116e-01 9.90555950e-01 0.00000000e+00 7.16054970e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07683958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.35, Y:0.72, Z:-0.01 [[ 9.90846020e-01 -1.34996905e-01 0.00000000e+00 1.63545778e+01] [ 1.34996905e-01 9.90846020e-01 0.00000000e+00 7.18658579e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12541864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.621400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:16.38, Y:0.72, Z:-0.01 [[ 9.91061799e-01 -1.33403563e-01 0.00000000e+00 1.63824298e+01] [ 1.33403563e-01 9.91061799e-01 0.00000000e+00 7.20394781e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21115535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.41, Y:0.72, Z:-0.01 [[ 9.91261604e-01 -1.31910700e-01 0.00000000e+00 1.64097882e+01] [ 1.31910700e-01 9.91261604e-01 0.00000000e+00 7.22796203e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30535771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.44, Y:0.73, Z:-0.02 [[ 0.9916274 -0.12913209 0. 16.43879669] [ 0.12913209 0.9916274 0. 0.72817282] [ 0. 0. 1. -0.01780031] [ 0. 0. 0. 1. ]] SLAMing on 16.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.47, Y:0.73, Z:-0.02 [[ 0.99181573 -0.12767757 0. 16.4656568 ] [ 0.12767757 0.99181573 0. 0.73230373] [ 0. 0. 1. -0.01758023] [ 0. 0. 0. 1. ]] SLAMing on 16.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.49, Y:0.74, Z:-0.01 [[ 9.92063793e-01 -1.25735561e-01 0.00000000e+00 1.64938545e+01] [ 1.25735561e-01 9.92063793e-01 0.00000000e+00 7.38468648e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33538178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.771400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:16.52, Y:0.74, Z:-0.01 [[ 9.92163928e-01 -1.24942944e-01 0.00000000e+00 1.65223692e+01] [ 1.24942944e-01 9.92163928e-01 0.00000000e+00 7.42251004e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19633605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.55, Y:0.75, Z:-0.01 [[ 9.92222684e-01 -1.24475477e-01 0.00000000e+00 1.65498721e+01] [ 1.24475477e-01 9.92222684e-01 0.00000000e+00 7.46584459e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09992038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.58, Y:0.75, Z:-0.01 [[ 9.92381383e-01 -1.23203862e-01 0.00000000e+00 1.65784517e+01] [ 1.23203862e-01 9.92381383e-01 0.00000000e+00 7.52363452e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21061615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.861400513 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:16.61, Y:0.76, Z:-0.01 [[ 9.92394606e-01 -1.23097304e-01 0.00000000e+00 1.66062648e+01] [ 1.23097304e-01 9.92394606e-01 0.00000000e+00 7.55139817e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20599026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.64, Y:0.76, Z:-0.01 [[ 9.92251321e-01 -1.24246995e-01 0.00000000e+00 1.66353807e+01] [ 1.24246995e-01 9.92251321e-01 0.00000000e+00 7.58255673e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11635829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.921400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:16.66, Y:0.76, Z:-0.01 [[ 9.92070620e-01 -1.25681684e-01 0.00000000e+00 1.66635963e+01] [ 1.25681684e-01 9.92070620e-01 0.00000000e+00 7.61343895e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01155048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.69, Y:0.77, Z:-0.01 [[ 9.91520046e-01 -1.29953831e-01 0.00000000e+00 1.66910849e+01] [ 1.29953831e-01 9.91520046e-01 0.00000000e+00 7.66630547e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.71154901e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.72, Y:0.77, Z:-0.01 [[ 9.91255286e-01 -1.31958170e-01 0.00000000e+00 1.67191807e+01] [ 1.31958170e-01 9.91255286e-01 0.00000000e+00 7.69548764e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.25065829e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.011400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.75, Y:0.77, Z:-0.01 [[ 9.90808206e-01 -1.35274164e-01 0.00000000e+00 1.67482603e+01] [ 1.35274164e-01 9.90808206e-01 0.00000000e+00 7.71261400e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.76882284e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.78, Y:0.77, Z:-0.01 [[ 9.90565328e-01 -1.37041346e-01 0.00000000e+00 1.67764954e+01] [ 1.37041346e-01 9.90565328e-01 0.00000000e+00 7.72624019e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.89765371e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.80, Y:0.77, Z:-0.01 [[ 9.90346233e-01 -1.38615795e-01 0.00000000e+00 1.68040038e+01] [ 1.38615795e-01 9.90346233e-01 0.00000000e+00 7.73872335e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.63553950e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.101400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.83, Y:0.77, Z:-0.01 [[ 9.90005565e-01 -1.41028297e-01 0.00000000e+00 1.68326772e+01] [ 1.41028297e-01 9.90005565e-01 0.00000000e+00 7.74356861e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.79664282e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.86, Y:0.77, Z:-0.01 [[ 9.89905255e-01 -1.41730684e-01 0.00000000e+00 1.68605680e+01] [ 1.41730684e-01 9.89905255e-01 0.00000000e+00 7.74122358e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.19798278e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.89, Y:0.77, Z:-0.01 [[ 9.89749753e-01 -1.42812555e-01 0.00000000e+00 1.68894502e+01] [ 1.42812555e-01 9.89749753e-01 0.00000000e+00 7.73614427e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.91039931e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.191400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.92, Y:0.77, Z:-0.01 [[ 9.89348227e-01 -1.45568147e-01 0.00000000e+00 1.69171870e+01] [ 1.45568147e-01 9.89348227e-01 0.00000000e+00 7.72035091e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19958735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.94, Y:0.77, Z:-0.01 [[ 9.89152352e-01 -1.46893242e-01 0.00000000e+00 1.69443010e+01] [ 1.46893242e-01 9.89152352e-01 0.00000000e+00 7.72480183e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27551183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.97, Y:0.77, Z:-0.01 [[ 9.89022021e-01 -1.47768203e-01 0.00000000e+00 1.69721596e+01] [ 1.47768203e-01 9.89022021e-01 0.00000000e+00 7.70166641e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.02200422e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.00, Y:0.77, Z:-0.01 [[ 9.89059384e-01 -1.47517915e-01 0.00000000e+00 1.69999988e+01] [ 1.47517915e-01 9.89059384e-01 0.00000000e+00 7.69360019e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.39204850e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.03, Y:0.77, Z:-0.00 [[ 9.89165948e-01 -1.46801658e-01 0.00000000e+00 1.70277106e+01] [ 1.46801658e-01 9.89165948e-01 0.00000000e+00 7.69159351e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.83469090e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.06, Y:0.77, Z:-0.00 [[ 9.89625199e-01 -1.43673120e-01 0.00000000e+00 1.70559418e+01] [ 1.43673120e-01 9.89625199e-01 0.00000000e+00 7.70243322e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.96820776e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.08, Y:0.77, Z:-0.00 [[ 9.89910631e-01 -1.41693129e-01 0.00000000e+00 1.70841833e+01] [ 1.41693129e-01 9.89910631e-01 0.00000000e+00 7.72054691e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06564573e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.11, Y:0.77, Z:-0.00 [[ 9.90564558e-01 -1.37046913e-01 0.00000000e+00 1.71120152e+01] [ 1.37046913e-01 9.90564558e-01 0.00000000e+00 7.73024547e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.70489305e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.14, Y:0.78, Z:-0.00 [[ 9.90782227e-01 -1.35464305e-01 0.00000000e+00 1.71400165e+01] [ 1.35464305e-01 9.90782227e-01 0.00000000e+00 7.75487725e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.99288470e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.17, Y:0.78, Z:-0.00 [[ 9.90908241e-01 -1.34539432e-01 0.00000000e+00 1.71674875e+01] [ 1.34539432e-01 9.90908241e-01 0.00000000e+00 7.78736332e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.01884171e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.20, Y:0.78, Z:0.00 [[ 9.90911623e-01 -1.34514521e-01 0.00000000e+00 1.71965390e+01] [ 1.34514521e-01 9.90911623e-01 0.00000000e+00 7.82837573e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50250608e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.23, Y:0.78, Z:0.00 [[ 9.90812983e-01 -1.35239172e-01 0.00000000e+00 1.72251249e+01] [ 1.35239172e-01 9.90812983e-01 0.00000000e+00 7.83547974e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.92772942e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.25, Y:0.78, Z:-0.00 [[ 9.90704348e-01 -1.36032697e-01 0.00000000e+00 1.72533118e+01] [ 1.36032697e-01 9.90704348e-01 0.00000000e+00 7.83596789e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55588803e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.581400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:17.28, Y:0.79, Z:-0.01 [[ 9.90321258e-01 -1.38794111e-01 0.00000000e+00 1.72821752e+01] [ 1.38794111e-01 9.90321258e-01 0.00000000e+00 7.85419863e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.14051255e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.31, Y:0.79, Z:-0.01 [[ 9.90106226e-01 -1.40319853e-01 0.00000000e+00 1.73097485e+01] [ 1.40319853e-01 9.90106226e-01 0.00000000e+00 7.87955682e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.30903564e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.34, Y:0.79, Z:-0.00 [[ 9.89786097e-01 -1.42560451e-01 0.00000000e+00 1.73376137e+01] [ 1.42560451e-01 9.89786097e-01 0.00000000e+00 7.88495893e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.59473518e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.36, Y:0.79, Z:-0.00 [[ 9.89583220e-01 -1.43961974e-01 0.00000000e+00 1.73646221e+01] [ 1.43961974e-01 9.89583220e-01 0.00000000e+00 7.88994720e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.58653158e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.39, Y:0.79, Z:-0.01 [[ 9.89386984e-01 -1.45304493e-01 0.00000000e+00 1.73925075e+01] [ 1.45304493e-01 9.89386984e-01 0.00000000e+00 7.90505679e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.76388496e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.42, Y:0.79, Z:-0.01 [[ 9.89133882e-01 -1.47017561e-01 0.00000000e+00 1.74193687e+01] [ 1.47017561e-01 9.89133882e-01 0.00000000e+00 7.94406321e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.69642947e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.761400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.45, Y:0.80, Z:-0.01 [[ 9.89082976e-01 -1.47359650e-01 0.00000000e+00 1.74467821e+01] [ 1.47359650e-01 9.89082976e-01 0.00000000e+00 7.96513584e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.61821314e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.47, Y:0.80, Z:-0.00 [[ 9.89171098e-01 -1.46766952e-01 0.00000000e+00 1.74742083e+01] [ 1.46766952e-01 9.89171098e-01 0.00000000e+00 7.98188699e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.68297774e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.50, Y:0.80, Z:-0.00 [[ 9.89273962e-01 -1.46071998e-01 0.00000000e+00 1.75010513e+01] [ 1.46071998e-01 9.89273962e-01 0.00000000e+00 8.00730293e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.97732309e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.851400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.53, Y:0.80, Z:-0.01 [[ 9.89422754e-01 -1.45060726e-01 0.00000000e+00 1.75286906e+01] [ 1.45060726e-01 9.89422754e-01 0.00000000e+00 8.03824970e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.66913156e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.56, Y:0.81, Z:-0.01 [[ 9.89861130e-01 -1.42038530e-01 0.00000000e+00 1.75564120e+01] [ 1.42038530e-01 9.89861130e-01 0.00000000e+00 8.05560511e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.18586949e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.58, Y:0.81, Z:-0.01 [[ 9.90017614e-01 -1.40943688e-01 0.00000000e+00 1.75846820e+01] [ 1.40943688e-01 9.90017614e-01 0.00000000e+00 8.06685048e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.53521883e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.941400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.61, Y:0.81, Z:-0.01 [[ 9.90128144e-01 -1.40165112e-01 0.00000000e+00 1.76122752e+01] [ 1.40165112e-01 9.90128144e-01 0.00000000e+00 8.08496725e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.15904999e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.64, Y:0.81, Z:-0.01 [[ 9.90500293e-01 -1.37510615e-01 0.00000000e+00 1.76405784e+01] [ 1.37510615e-01 9.90500293e-01 0.00000000e+00 8.12468861e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.80539780e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.001400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:17.67, Y:0.81, Z:-0.01 [[ 9.90764144e-01 -1.35596498e-01 0.00000000e+00 1.76690918e+01] [ 1.35596498e-01 9.90764144e-01 0.00000000e+00 8.14640804e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25790641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.031400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.70, Y:0.82, Z:-0.01 [[ 9.91102151e-01 -1.33103445e-01 0.00000000e+00 1.76965533e+01] [ 1.33103445e-01 9.91102151e-01 0.00000000e+00 8.16071811e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31441186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.72, Y:0.82, Z:-0.01 [[ 9.91077847e-01 -1.33284283e-01 0.00000000e+00 1.77249547e+01] [ 1.33284283e-01 9.91077847e-01 0.00000000e+00 8.18003751e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31441186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.75, Y:0.82, Z:-0.01 [[ 9.91142771e-01 -1.32800631e-01 0.00000000e+00 1.77531175e+01] [ 1.32800631e-01 9.91142771e-01 0.00000000e+00 8.20517552e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15191132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.78, Y:0.82, Z:-0.01 [[ 9.91185394e-01 -1.32482129e-01 0.00000000e+00 1.77812916e+01] [ 1.32482129e-01 9.91185394e-01 0.00000000e+00 8.23450892e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.89549951e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.81, Y:0.83, Z:-0.01 [[ 9.91256639e-01 -1.31948001e-01 0.00000000e+00 1.78084482e+01] [ 1.31948001e-01 9.91256639e-01 0.00000000e+00 8.27855493e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.67082239e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.84, Y:0.83, Z:-0.01 [[ 9.91266545e-01 -1.31873562e-01 0.00000000e+00 1.78369427e+01] [ 1.31873562e-01 9.91266545e-01 0.00000000e+00 8.30309245e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.92471120e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.87, Y:0.83, Z:-0.01 [[ 9.91217610e-01 -1.32240878e-01 0.00000000e+00 1.78655987e+01] [ 1.32240878e-01 9.91217610e-01 0.00000000e+00 8.32709530e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09066476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.89, Y:0.84, Z:-0.01 [[ 9.91016013e-01 -1.33743271e-01 0.00000000e+00 1.78937911e+01] [ 1.33743271e-01 9.91016013e-01 0.00000000e+00 8.36046991e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.73029892e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.271400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:17.92, Y:0.84, Z:-0.01 [[ 9.90881725e-01 -1.34734580e-01 0.00000000e+00 1.79211797e+01] [ 1.34734580e-01 9.90881725e-01 0.00000000e+00 8.38739945e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.22812646e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.95, Y:0.84, Z:-0.01 [[ 9.90562748e-01 -1.37059999e-01 0.00000000e+00 1.79476753e+01] [ 1.37059999e-01 9.90562748e-01 0.00000000e+00 8.42006917e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00513111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.98, Y:0.84, Z:-0.01 [[ 9.90433019e-01 -1.37994329e-01 0.00000000e+00 1.79757117e+01] [ 1.37994329e-01 9.90433019e-01 0.00000000e+00 8.44628951e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04994471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.00, Y:0.85, Z:-0.01 [[ 9.90332758e-01 -1.38712031e-01 0.00000000e+00 1.80046387e+01] [ 1.38712031e-01 9.90332758e-01 0.00000000e+00 8.47737999e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.29152982e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.03, Y:0.85, Z:-0.01 [[ 9.90402123e-01 -1.38215900e-01 0.00000000e+00 1.80316820e+01] [ 1.38215900e-01 9.90402123e-01 0.00000000e+00 8.50637450e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.73818338e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.06, Y:0.85, Z:-0.00 [[ 9.90363933e-01 -1.38489280e-01 0.00000000e+00 1.80606732e+01] [ 1.38489280e-01 9.90363933e-01 0.00000000e+00 8.54789742e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11898410e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.09, Y:0.86, Z:-0.00 [[ 9.90283130e-01 -1.39065892e-01 0.00000000e+00 1.80880690e+01] [ 1.39065892e-01 9.90283130e-01 0.00000000e+00 8.58104759e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09698894e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.12, Y:0.86, Z:-0.00 [[ 9.90131424e-01 -1.40141943e-01 0.00000000e+00 1.81187374e+01] [ 1.40141943e-01 9.90131424e-01 0.00000000e+00 8.62558865e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.58569130e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.511400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.15, Y:0.86, Z:-0.00 [[ 9.90088381e-01 -1.40445714e-01 0.00000000e+00 1.81478373e+01] [ 1.40445714e-01 9.90088381e-01 0.00000000e+00 8.64204718e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.27975655e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.18, Y:0.87, Z:-0.00 [[ 9.89998768e-01 -1.41076008e-01 0.00000000e+00 1.81768890e+01] [ 1.41076008e-01 9.89998768e-01 0.00000000e+00 8.65609109e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.77421907e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.20, Y:0.87, Z:-0.00 [[ 9.89862266e-01 -1.42030610e-01 0.00000000e+00 1.82043560e+01] [ 1.42030610e-01 9.89862266e-01 0.00000000e+00 8.67640486e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29880235e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.601400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.23, Y:0.87, Z:0.00 [[ 9.89740019e-01 -1.42879998e-01 0.00000000e+00 1.82327726e+01] [ 1.42879998e-01 9.89740019e-01 0.00000000e+00 8.70390185e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13339511e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.26, Y:0.87, Z:-0.00 [[ 9.89685456e-01 -1.43257452e-01 0.00000000e+00 1.82623341e+01] [ 1.43257452e-01 9.89685456e-01 0.00000000e+00 8.72185901e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43874221e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.29, Y:0.87, Z:-0.00 [[ 9.89583357e-01 -1.43961038e-01 0.00000000e+00 1.82913585e+01] [ 1.43961038e-01 9.89583357e-01 0.00000000e+00 8.73196258e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.05579871e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.691400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.32, Y:0.88, Z:-0.00 [[ 9.89612598e-01 -1.43759889e-01 0.00000000e+00 1.83194743e+01] [ 1.43759889e-01 9.89612598e-01 0.00000000e+00 8.75789920e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.60182068e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.35, Y:0.88, Z:-0.00 [[ 9.89791175e-01 -1.42525188e-01 0.00000000e+00 1.83496083e+01] [ 1.42525188e-01 9.89791175e-01 0.00000000e+00 8.80555252e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.79488768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.38, Y:0.88, Z:-0.01 [[ 9.89859830e-01 -1.42047586e-01 0.00000000e+00 1.83784606e+01] [ 1.42047586e-01 9.89859830e-01 0.00000000e+00 8.83970573e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.30396811e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.781400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.41, Y:0.89, Z:-0.01 [[ 9.89990216e-01 -1.41136008e-01 0.00000000e+00 1.84079595e+01] [ 1.41136008e-01 9.89990216e-01 0.00000000e+00 8.87079709e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.25338408e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.44, Y:0.89, Z:-0.01 [[ 9.90353250e-01 -1.38565654e-01 0.00000000e+00 1.84370536e+01] [ 1.38565654e-01 9.90353250e-01 0.00000000e+00 8.91049302e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.78222095e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.47, Y:0.89, Z:-0.01 [[ 9.90455825e-01 -1.37830545e-01 0.00000000e+00 1.84661248e+01] [ 1.37830545e-01 9.90455825e-01 0.00000000e+00 8.94399986e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.62080225e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.49, Y:0.90, Z:-0.00 [[ 9.90474346e-01 -1.37697385e-01 0.00000000e+00 1.84948381e+01] [ 1.37697385e-01 9.90474346e-01 0.00000000e+00 8.97741949e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.39430192e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.53, Y:0.90, Z:-0.00 [[ 9.90291992e-01 -1.39002771e-01 0.00000000e+00 1.85252376e+01] [ 1.39002771e-01 9.90291992e-01 0.00000000e+00 9.03013581e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.67493307e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.56, Y:0.91, Z:-0.00 [[ 9.90228477e-01 -1.39454524e-01 0.00000000e+00 1.85557343e+01] [ 1.39454524e-01 9.90228477e-01 0.00000000e+00 9.06371334e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.14672574e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.59, Y:0.91, Z:-0.01 [[ 9.90189050e-01 -1.39734197e-01 0.00000000e+00 1.85853260e+01] [ 1.39734197e-01 9.90189050e-01 0.00000000e+00 9.09805777e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.15809304e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.61, Y:0.92, Z:-0.00 [[ 9.90185235e-01 -1.39761230e-01 0.00000000e+00 1.86147337e+01] [ 1.39761230e-01 9.90185235e-01 0.00000000e+00 9.17459965e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.78760358e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.021400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:18.64, Y:0.92, Z:-0.00 [[ 9.90214118e-01 -1.39556441e-01 0.00000000e+00 1.86437107e+01] [ 1.39556441e-01 9.90214118e-01 0.00000000e+00 9.22365435e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.76381744e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.67, Y:0.93, Z:-0.00 [[ 9.90149442e-01 -1.40014579e-01 0.00000000e+00 1.86738672e+01] [ 1.40014579e-01 9.90149442e-01 0.00000000e+00 9.26879671e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.64671879e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.70, Y:0.93, Z:-0.01 [[ 9.90054994e-01 -1.40680877e-01 0.00000000e+00 1.87036464e+01] [ 1.40680877e-01 9.90054994e-01 0.00000000e+00 9.30031324e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.73287934e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.73, Y:0.93, Z:-0.01 [[ 9.89686418e-01 -1.43250808e-01 0.00000000e+00 1.87340569e+01] [ 1.43250808e-01 9.89686418e-01 0.00000000e+00 9.33742725e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06014628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.76, Y:0.94, Z:-0.01 [[ 9.89505585e-01 -1.44494626e-01 0.00000000e+00 1.87647117e+01] [ 1.44494626e-01 9.89505585e-01 0.00000000e+00 9.37197614e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01054000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.79, Y:0.94, Z:-0.01 [[ 9.89395944e-01 -1.45243474e-01 0.00000000e+00 1.87946673e+01] [ 1.45243474e-01 9.89395944e-01 0.00000000e+00 9.41118281e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.19302254e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.201400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:18.82, Y:0.95, Z:-0.01 [[ 9.89598270e-01 -1.43858483e-01 0.00000000e+00 1.88234708e+01] [ 1.43858483e-01 9.89598270e-01 0.00000000e+00 9.46095493e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.99736365e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.85, Y:0.95, Z:-0.01 [[ 9.89739394e-01 -1.42884328e-01 0.00000000e+00 1.88537126e+01] [ 1.42884328e-01 9.89739394e-01 0.00000000e+00 9.50493517e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.46461405e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.261400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.88, Y:0.96, Z:-0.01 [[ 9.89997508e-01 -1.41084847e-01 0.00000000e+00 1.88845064e+01] [ 1.41084847e-01 9.89997508e-01 0.00000000e+00 9.55583969e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.28813131e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.92, Y:0.96, Z:-0.00 [[ 9.90304046e-01 -1.38916868e-01 0.00000000e+00 1.89158850e+01] [ 1.38916868e-01 9.90304046e-01 0.00000000e+00 9.61449580e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.26077219e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.95, Y:0.97, Z:-0.00 [[ 9.90557599e-01 -1.37097204e-01 0.00000000e+00 1.89468784e+01] [ 1.37097204e-01 9.90557599e-01 0.00000000e+00 9.67497299e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.36024617e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.351400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.98, Y:0.98, Z:-0.00 [[ 9.90742731e-01 -1.35752869e-01 0.00000000e+00 1.89770700e+01] [ 1.35752869e-01 9.90742731e-01 0.00000000e+00 9.75834510e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.00653206e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.01, Y:0.98, Z:-0.01 [[ 9.90627692e-01 -1.36589809e-01 0.00000000e+00 1.90085507e+01] [ 1.36589809e-01 9.90627692e-01 0.00000000e+00 9.80793903e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.47180115e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.04, Y:0.99, Z:-0.01 [[ 9.90361283e-01 -1.38508226e-01 0.00000000e+00 1.90398017e+01] [ 1.38508226e-01 9.90361283e-01 0.00000000e+00 9.85768694e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.72600819e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.441400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.07, Y:0.99, Z:-0.01 [[ 9.89479892e-01 -1.44670466e-01 0.00000000e+00 1.90704132e+01] [ 1.44670466e-01 9.89479892e-01 0.00000000e+00 9.90123977e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02770039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.10, Y:0.99, Z:-0.01 [[ 9.88984749e-01 -1.48017449e-01 0.00000000e+00 1.91022316e+01] [ 1.48017449e-01 9.88984749e-01 0.00000000e+00 9.91950825e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.44362053e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.13, Y:0.99, Z:-0.01 [[ 9.88530158e-01 -1.51023595e-01 0.00000000e+00 1.91340803e+01] [ 1.51023595e-01 9.88530158e-01 0.00000000e+00 9.93831535e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.58470589e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.531400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.17, Y:1.00, Z:-0.01 [[ 9.88163716e-01 -1.53402970e-01 0.00000000e+00 1.91670497e+01] [ 1.53402970e-01 9.88163716e-01 0.00000000e+00 9.96077807e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.15768886e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.20, Y:1.00, Z:-0.00 [[ 9.88340770e-01 -1.52258078e-01 0.00000000e+00 1.91971747e+01] [ 1.52258078e-01 9.88340770e-01 0.00000000e+00 9.97991976e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.30229294e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.23, Y:1.00, Z:-0.00 [[ 9.88823307e-01 -1.49092143e-01 0.00000000e+00 1.92279845e+01] [ 1.49092143e-01 9.88823307e-01 0.00000000e+00 1.00010889e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.87995794e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.26, Y:1.00, Z:-0.00 [[ 9.89520236e-01 -1.44394260e-01 0.00000000e+00 1.92594482e+01] [ 1.44394260e-01 9.89520236e-01 0.00000000e+00 1.00309603e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43484951e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.29, Y:1.01, Z:-0.00 [[ 9.90257110e-01 -1.39251055e-01 0.00000000e+00 1.92907367e+01] [ 1.39251055e-01 9.90257110e-01 0.00000000e+00 1.00728511e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.24374985e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.32, Y:1.01, Z:0.00 [[ 9.91792537e-01 -1.27857594e-01 0.00000000e+00 1.93226348e+01] [ 1.27857594e-01 9.91792537e-01 0.00000000e+00 1.01441536e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48920658e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.35, Y:1.02, Z:-0.00 [[ 9.92472850e-01 -1.22464864e-01 0.00000000e+00 1.93541733e+01] [ 1.22464864e-01 9.92472850e-01 0.00000000e+00 1.01799773e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.66863075e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.39, Y:1.02, Z:-0.00 [[ 9.93351566e-01 -1.15120227e-01 0.00000000e+00 1.93859446e+01] [ 1.15120227e-01 9.93351566e-01 0.00000000e+00 1.01991655e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.82197540e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.42, Y:1.02, Z:-0.00 [[ 9.93569972e-01 -1.13219747e-01 0.00000000e+00 1.94167561e+01] [ 1.13219747e-01 9.93569972e-01 0.00000000e+00 1.02125944e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.61403848e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.45, Y:1.02, Z:-0.00 [[ 9.93642985e-01 -1.12577162e-01 0.00000000e+00 1.94486700e+01] [ 1.12577162e-01 9.93642985e-01 0.00000000e+00 1.02341659e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.91799103e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.48, Y:1.03, Z:-0.01 [[ 9.93642612e-01 -1.12580462e-01 0.00000000e+00 1.94814486e+01] [ 1.12580462e-01 9.93642612e-01 0.00000000e+00 1.02577532e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.00814039e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.51, Y:1.03, Z:-0.00 [[ 9.93703351e-01 -1.12043074e-01 0.00000000e+00 1.95121414e+01] [ 1.12043074e-01 9.93703351e-01 0.00000000e+00 1.02548439e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38633278e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.54, Y:1.03, Z:0.00 [[ 9.93760119e-01 -1.11538450e-01 0.00000000e+00 1.95434332e+01] [ 1.11538450e-01 9.93760119e-01 0.00000000e+00 1.02564930e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48605872e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.921400513 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:19.57, Y:1.03, Z:0.00 [[ 9.94059344e-01 -1.08839425e-01 0.00000000e+00 1.95747632e+01] [ 1.08839425e-01 9.94059344e-01 0.00000000e+00 1.02516388e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.20585148e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.61, Y:1.03, Z:0.00 [[ 9.94280043e-01 -1.06804478e-01 0.00000000e+00 1.96071260e+01] [ 1.06804478e-01 9.94280043e-01 0.00000000e+00 1.02587489e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.50177539e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.64, Y:1.03, Z:0.00 [[ 9.94285013e-01 -1.06758201e-01 0.00000000e+00 1.96397403e+01] [ 1.06758201e-01 9.94285013e-01 0.00000000e+00 1.02791764e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.50177539e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.011400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.67, Y:1.03, Z:0.00 [[ 9.95058521e-01 -9.92901813e-02 0.00000000e+00 1.96724210e+01] [ 9.92901813e-02 9.95058521e-01 0.00000000e+00 1.02582033e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47329024e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.70, Y:1.03, Z:0.00 [[ 9.95455251e-01 -9.52304754e-02 0.00000000e+00 1.97031587e+01] [ 9.52304754e-02 9.95455251e-01 0.00000000e+00 1.02576866e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34539319e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.73, Y:1.03, Z:0.00 [[ 9.95865488e-01 -9.08401300e-02 0.00000000e+00 1.97339204e+01] [ 9.08401300e-02 9.95865488e-01 0.00000000e+00 1.02695775e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08653354e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.101400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.77, Y:1.03, Z:-0.00 [[ 9.96580532e-01 -8.26271328e-02 0.00000000e+00 1.97667797e+01] [ 8.26271328e-02 9.96580532e-01 0.00000000e+00 1.02694467e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56242821e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.80, Y:1.03, Z:0.00 [[ 9.96882999e-01 -7.88941472e-02 0.00000000e+00 1.97976961e+01] [ 7.88941472e-02 9.96882999e-01 0.00000000e+00 1.02718629e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08508052e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.161400513 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:19.83, Y:1.03, Z:0.00 [[ 9.97145459e-01 -7.55045288e-02 0.00000000e+00 1.98288470e+01] [ 7.55045288e-02 9.97145459e-01 0.00000000e+00 1.02753789e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11367428e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.191400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.86, Y:1.03, Z:0.00 [[ 9.97290467e-01 -7.35644290e-02 0.00000000e+00 1.98611486e+01] [ 7.35644290e-02 9.97290467e-01 0.00000000e+00 1.02831334e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13717061e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.89, Y:1.03, Z:0.00 [[ 9.97504379e-01 -7.06046333e-02 0.00000000e+00 1.98920036e+01] [ 7.06046333e-02 9.97504379e-01 0.00000000e+00 1.02798658e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01275764e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.92, Y:1.03, Z:0.00 [[ 9.97631485e-01 -6.87853203e-02 0.00000000e+00 1.99236016e+01] [ 6.87853203e-02 9.97631485e-01 0.00000000e+00 1.02785970e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09941310e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.281400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.96, Y:1.03, Z:-0.00 [[ 9.97685512e-01 -6.79972021e-02 0.00000000e+00 1.99570104e+01] [ 6.79972021e-02 9.97685512e-01 0.00000000e+00 1.02763125e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.27405600e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.99, Y:1.03, Z:-0.00 [[ 9.97922105e-01 -6.44319182e-02 0.00000000e+00 1.99878596e+01] [ 6.44319182e-02 9.97922105e-01 0.00000000e+00 1.02544660e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91071877e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.02, Y:1.03, Z:-0.00 [[ 9.98061147e-01 -6.22410375e-02 0.00000000e+00 2.00193326e+01] [ 6.22410375e-02 9.98061147e-01 0.00000000e+00 1.02594100e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.11005973e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.05, Y:1.03, Z:-0.00 [[ 9.98162600e-01 -6.05922701e-02 0.00000000e+00 2.00517345e+01] [ 6.05922701e-02 9.98162600e-01 0.00000000e+00 1.02603781e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.35331217e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.08, Y:1.02, Z:-0.00 [[ 9.98369945e-01 -5.70740983e-02 0.00000000e+00 2.00838899e+01] [ 5.70740983e-02 9.98369945e-01 0.00000000e+00 1.02340564e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.30183069e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.11, Y:1.02, Z:-0.00 [[ 9.98513677e-01 -5.45017153e-02 0.00000000e+00 2.01145729e+01] [ 5.45017153e-02 9.98513677e-01 0.00000000e+00 1.02341022e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.64481428e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.15, Y:1.02, Z:-0.00 [[ 9.98757986e-01 -4.98245478e-02 0.00000000e+00 2.01456437e+01] [ 4.98245478e-02 9.98757986e-01 0.00000000e+00 1.02312714e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.91814004e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.18, Y:1.02, Z:-0.00 [[ 9.98855141e-01 -4.78373023e-02 0.00000000e+00 2.01767027e+01] [ 4.78373023e-02 9.98855141e-01 0.00000000e+00 1.02372109e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24426878e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.21, Y:1.02, Z:-0.00 [[ 9.98935930e-01 -4.61194910e-02 0.00000000e+00 2.02077329e+01] [ 4.61194910e-02 9.98935930e-01 0.00000000e+00 1.02405239e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01620112e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.24, Y:1.02, Z:-0.00 [[ 9.99026549e-01 -4.41129681e-02 0.00000000e+00 2.02386927e+01] [ 4.41129681e-02 9.99026549e-01 0.00000000e+00 1.02457200e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36316332e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.27, Y:1.03, Z:-0.00 [[ 9.99181977e-01 -4.04397879e-02 0.00000000e+00 2.02695526e+01] [ 4.04397879e-02 9.99181977e-01 0.00000000e+00 1.02525995e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.97544007e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.30, Y:1.03, Z:-0.01 [[ 9.99251098e-01 -3.86942359e-02 0.00000000e+00 2.03013066e+01] [ 3.86942359e-02 9.99251098e-01 0.00000000e+00 1.02691271e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.22276971e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.33, Y:1.03, Z:-0.01 [[ 9.99314620e-01 -3.70174413e-02 0.00000000e+00 2.03335717e+01] [ 3.70174413e-02 9.99314620e-01 0.00000000e+00 1.02768241e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.86491237e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.37, Y:1.03, Z:-0.00 [[ 9.99423538e-01 -3.39498509e-02 0.00000000e+00 2.03658260e+01] [ 3.39498509e-02 9.99423538e-01 0.00000000e+00 1.02584455e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.49703550e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.40, Y:1.03, Z:-0.00 [[ 9.99469330e-01 -3.25738946e-02 0.00000000e+00 2.03969617e+01] [ 3.25738946e-02 9.99469330e-01 0.00000000e+00 1.02568719e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.35930495e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.43, Y:1.03, Z:-0.00 [[ 9.99543382e-01 -3.02163504e-02 0.00000000e+00 2.04267556e+01] [ 3.02163504e-02 9.99543382e-01 0.00000000e+00 1.02569146e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27323524e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.761400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.46, Y:1.03, Z:-0.00 [[ 9.99618799e-01 -2.76089841e-02 0.00000000e+00 2.04581981e+01] [ 2.76089841e-02 9.99618799e-01 0.00000000e+00 1.02615401e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.40127734e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.49, Y:1.03, Z:-0.00 [[ 9.99762715e-01 -2.17833326e-02 0.00000000e+00 2.04896106e+01] [ 2.17833326e-02 9.99762715e-01 0.00000000e+00 1.02674321e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17310001e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.821400513 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:20.52, Y:1.03, Z:-0.00 [[ 9.99830567e-01 -1.84075400e-02 0.00000000e+00 2.05202048e+01] [ 1.84075400e-02 9.99830567e-01 0.00000000e+00 1.02928279e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23494659e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.851400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.55, Y:1.03, Z:-0.00 [[ 9.99909548e-01 -1.34497483e-02 0.00000000e+00 2.05516224e+01] [ 1.34497483e-02 9.99909548e-01 0.00000000e+00 1.03288566e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09369258e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.58, Y:1.03, Z:-0.00 [[ 9.99935078e-01 -1.13947339e-02 0.00000000e+00 2.05830420e+01] [ 1.13947339e-02 9.99935078e-01 0.00000000e+00 1.03448014e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41394729e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.61, Y:1.04, Z:-0.01 [[ 9.99945087e-01 -1.04796922e-02 0.00000000e+00 2.06141772e+01] [ 1.04796922e-02 9.99945087e-01 0.00000000e+00 1.03611045e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.91174585e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.941400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.64, Y:1.04, Z:-0.01 [[ 9.99945451e-01 -1.04448934e-02 0.00000000e+00 2.06449575e+01] [ 1.04448934e-02 9.99945451e-01 0.00000000e+00 1.03733909e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.42913979e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.67, Y:1.04, Z:-0.01 [[ 9.99934337e-01 -1.14595980e-02 0.00000000e+00 2.06747946e+01] [ 1.14595980e-02 9.99934337e-01 0.00000000e+00 1.03851572e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.80921649e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.71, Y:1.04, Z:-0.01 [[ 9.99914119e-01 -1.31055458e-02 0.00000000e+00 2.07061057e+01] [ 1.31055458e-02 9.99914119e-01 0.00000000e+00 1.03886110e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.04001160e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.031400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.74, Y:1.04, Z:-0.00 [[ 9.99879049e-01 -1.55527036e-02 0.00000000e+00 2.07376392e+01] [ 1.55527036e-02 9.99879049e-01 0.00000000e+00 1.03601579e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.30754342e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.77, Y:1.04, Z:-0.00 [[ 9.99866204e-01 -1.63576669e-02 0.00000000e+00 2.07691270e+01] [ 1.63576669e-02 9.99866204e-01 0.00000000e+00 1.03538967e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13988959e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.80, Y:1.03, Z:0.00 [[ 9.99861032e-01 -1.66708404e-02 0.00000000e+00 2.07997707e+01] [ 1.66708404e-02 9.99861032e-01 0.00000000e+00 1.03459958e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83183448e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.121400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.83, Y:1.03, Z:0.00 [[ 9.99892559e-01 -1.46584629e-02 0.00000000e+00 2.08304275e+01] [ 1.46584629e-02 9.99892559e-01 0.00000000e+00 1.03082213e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02751211e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.86, Y:1.03, Z:0.00 [[ 9.99915966e-01 -1.29638479e-02 0.00000000e+00 2.08622449e+01] [ 1.29638479e-02 9.99915966e-01 0.00000000e+00 1.03036129e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12865048e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.89, Y:1.03, Z:0.00 [[ 9.99937728e-01 -1.11597309e-02 0.00000000e+00 2.08940688e+01] [ 1.11597309e-02 9.99937728e-01 0.00000000e+00 1.02985032e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.96509996e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.93, Y:1.03, Z:-0.00 [[ 9.99962422e-01 -8.66914400e-03 0.00000000e+00 2.09259584e+01] [ 8.66914400e-03 9.99962422e-01 0.00000000e+00 1.02514890e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.86872931e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.96, Y:1.02, Z:-0.00 [[ 9.99973356e-01 -7.29974735e-03 0.00000000e+00 2.09562121e+01] [ 7.29974735e-03 9.99973356e-01 0.00000000e+00 1.02427428e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.49295626e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.99, Y:1.02, Z:-0.00 [[ 9.99983721e-01 -5.70595393e-03 0.00000000e+00 2.09861742e+01] [ 5.70595393e-03 9.99983721e-01 0.00000000e+00 1.02466369e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.83884048e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.02, Y:1.02, Z:0.00 [[ 9.99996602e-01 -2.60677496e-03 0.00000000e+00 2.10167447e+01] [ 2.60677496e-03 9.99996602e-01 0.00000000e+00 1.02286671e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77050574e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.05, Y:1.02, Z:0.00 [[ 9.99998426e-01 -1.77425931e-03 0.00000000e+00 2.10477941e+01] [ 1.77425931e-03 9.99998426e-01 0.00000000e+00 1.02177710e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74694568e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.08, Y:1.02, Z:0.00 [[ 9.99998168e-01 -1.91436915e-03 0.00000000e+00 2.10783516e+01] [ 1.91436915e-03 9.99998168e-01 0.00000000e+00 1.02031145e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29738475e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.11, Y:1.02, Z:0.00 [[ 9.99996145e-01 -2.77680319e-03 0.00000000e+00 2.11090228e+01] [ 2.77680319e-03 9.99996145e-01 0.00000000e+00 1.01939059e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25451535e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.14, Y:1.01, Z:-0.00 [[ 9.99976132e-01 -6.90908209e-03 0.00000000e+00 2.11403094e+01] [ 6.90908209e-03 9.99976132e-01 0.00000000e+00 1.01355814e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53094124e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.17, Y:1.01, Z:-0.00 [[ 9.99957107e-01 -9.26200998e-03 0.00000000e+00 2.11709154e+01] [ 9.26200998e-03 9.99957107e-01 0.00000000e+00 1.00893805e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.31064279e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.481400513 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:21.20, Y:1.00, Z:-0.00 [[ 9.99899191e-01 -1.41988938e-02 0.00000000e+00 2.12017680e+01] [ 1.41988938e-02 9.99899191e-01 0.00000000e+00 9.98664801e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.26353710e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.511400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.23, Y:1.00, Z:0.00 [[ 9.99869038e-01 -1.61835101e-02 0.00000000e+00 2.12319989e+01] [ 1.61835101e-02 9.99869038e-01 0.00000000e+00 9.96944799e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07781599e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.26, Y:1.00, Z:0.00 [[ 9.99859271e-01 -1.67760956e-02 0.00000000e+00 2.12630490e+01] [ 1.67760956e-02 9.99859271e-01 0.00000000e+00 9.95689518e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02125241e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.29, Y:0.99, Z:-0.00 [[ 9.99891365e-01 -1.47396860e-02 0.00000000e+00 2.12938627e+01] [ 1.47396860e-02 9.99891365e-01 0.00000000e+00 9.87644350e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.60328945e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.601400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.33, Y:0.98, Z:-0.00 [[ 9.99914918e-01 -1.30443896e-02 0.00000000e+00 2.13250877e+01] [ 1.30443896e-02 9.99914918e-01 0.00000000e+00 9.83169531e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.39768898e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.36, Y:0.98, Z:-0.00 [[ 9.99938552e-01 -1.10857034e-02 0.00000000e+00 2.13556786e+01] [ 1.10857034e-02 9.99938552e-01 0.00000000e+00 9.80015953e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.83499467e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.39, Y:0.98, Z:-0.00 [[ 9.99969558e-01 -7.80270621e-03 0.00000000e+00 2.13866926e+01] [ 7.80270621e-03 9.99969558e-01 0.00000000e+00 9.76754599e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.38044700e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.691400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.42, Y:0.98, Z:-0.00 [[ 9.99976981e-01 -6.78510557e-03 0.00000000e+00 2.14173253e+01] [ 6.78510557e-03 9.99976981e-01 0.00000000e+00 9.75631533e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.94734669e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.45, Y:0.97, Z:-0.01 [[ 9.99981167e-01 -6.13716647e-03 0.00000000e+00 2.14477186e+01] [ 6.13716647e-03 9.99981167e-01 0.00000000e+00 9.73092226e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.62920987e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.48, Y:0.97, Z:-0.01 [[ 9.99981747e-01 -6.04205427e-03 0.00000000e+00 2.14774719e+01] [ 6.04205427e-03 9.99981747e-01 0.00000000e+00 9.65804589e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.21319719e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.781400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.51, Y:0.96, Z:-0.01 [[ 9.99983877e-01 -5.67857507e-03 0.00000000e+00 2.15074140e+01] [ 5.67857507e-03 9.99983877e-01 0.00000000e+00 9.64846067e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.87446653e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.54, Y:0.96, Z:-0.01 [[ 9.99988280e-01 -4.84149440e-03 0.00000000e+00 2.15381428e+01] [ 4.84149440e-03 9.99988280e-01 0.00000000e+00 9.64579137e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.41419164e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.57, Y:0.96, Z:-0.01 [[ 9.99997691e-01 -2.14905745e-03 0.00000000e+00 2.15691687e+01] [ 2.14905745e-03 9.99997691e-01 0.00000000e+00 9.59430786e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.99039714e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.871400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.60, Y:0.96, Z:-0.01 [[ 9.99997691e-01 -2.14905745e-03 0.00000000e+00 2.16001049e+01] [ 2.14905745e-03 9.99997691e-01 0.00000000e+00 9.61417296e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.99039714e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.63, Y:0.96, Z:-0.01 [[ 9.99999635e-01 -8.54833126e-04 0.00000000e+00 2.16294046e+01] [ 8.54833126e-04 9.99999635e-01 0.00000000e+00 9.59444069e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.50938693e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.66, Y:0.96, Z:-0.01 [[ 9.99999966e-01 2.62606641e-04 0.00000000e+00 2.16603638e+01] [-2.62606641e-04 9.99999966e-01 0.00000000e+00 9.59046040e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.35506712e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.69, Y:0.96, Z:-0.01 [[ 9.99999239e-01 1.23335522e-03 0.00000000e+00 2.16903646e+01] [-1.23335522e-03 9.99999239e-01 0.00000000e+00 9.59481340e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16562053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.72, Y:0.96, Z:-0.01 [[ 9.99994947e-01 3.17898221e-03 0.00000000e+00 2.17207255e+01] [-3.17898221e-03 9.99994947e-01 0.00000000e+00 9.56116906e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29949410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.75, Y:0.95, Z:-0.01 [[ 9.99990691e-01 4.31480542e-03 0.00000000e+00 2.17511500e+01] [-4.31480542e-03 9.99990691e-01 0.00000000e+00 9.53994374e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28612007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.78, Y:0.95, Z:-0.01 [[ 9.99985359e-01 5.41130779e-03 0.00000000e+00 2.17817468e+01] [-5.41130779e-03 9.99985359e-01 0.00000000e+00 9.52860369e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36627273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.81, Y:0.95, Z:-0.02 [[ 9.99970762e-01 7.64688174e-03 0.00000000e+00 2.18119491e+01] [-7.64688174e-03 9.99970762e-01 0.00000000e+00 9.51451584e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56585485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.84, Y:0.95, Z:-0.02 [[ 9.99963165e-01 8.58305335e-03 0.00000000e+00 2.18421660e+01] [-8.58305335e-03 9.99963165e-01 0.00000000e+00 9.50874570e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55031266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.87, Y:0.95, Z:-0.01 [[ 9.99957224e-01 9.24934584e-03 0.00000000e+00 2.18723543e+01] [-9.24934584e-03 9.99957224e-01 0.00000000e+00 9.49491530e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44476798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.90, Y:0.95, Z:-0.01 [[ 9.99946697e-01 1.03248901e-02 0.00000000e+00 2.19034402e+01] [-1.03248901e-02 9.99946697e-01 0.00000000e+00 9.45095701e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29793473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.93, Y:0.94, Z:-0.01 [[ 9.99940086e-01 1.09464162e-02 0.00000000e+00 2.19343377e+01] [-1.09464162e-02 9.99940086e-01 0.00000000e+00 9.43725180e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26128639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.96, Y:0.94, Z:-0.01 [[ 9.99930283e-01 1.18080525e-02 0.00000000e+00 2.19648292e+01] [-1.18080525e-02 9.99930283e-01 0.00000000e+00 9.37987690e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22844362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.261400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.00, Y:0.94, Z:-0.01 [[ 9.99927710e-01 1.20238851e-02 0.00000000e+00 2.19962119e+01] [-1.20238851e-02 9.99927710e-01 0.00000000e+00 9.36141701e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14144304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.03, Y:0.93, Z:-0.01 [[ 9.99923778e-01 1.23465882e-02 0.00000000e+00 2.20265495e+01] [-1.23465882e-02 9.99923778e-01 0.00000000e+00 9.34466362e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.94039440e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.06, Y:0.93, Z:-0.01 [[ 9.99911240e-01 1.33233345e-02 0.00000000e+00 2.20575894e+01] [-1.33233345e-02 9.99911240e-01 0.00000000e+00 9.32737898e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.59520263e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.351400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.09, Y:0.93, Z:-0.01 [[ 9.99868814e-01 1.61973545e-02 0.00000000e+00 2.20887980e+01] [-1.61973545e-02 9.99868814e-01 0.00000000e+00 9.26863499e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.36414755e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.12, Y:0.92, Z:-0.01 [[ 9.99835288e-01 1.81492860e-02 0.00000000e+00 2.21206823e+01] [-1.81492860e-02 9.99835288e-01 0.00000000e+00 9.24942237e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15949974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.15, Y:0.92, Z:-0.01 [[ 9.99802019e-01 1.98978100e-02 0.00000000e+00 2.21510698e+01] [-1.98978100e-02 9.99802019e-01 0.00000000e+00 9.23697625e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30453979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.441400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.18, Y:0.92, Z:-0.01 [[ 9.99736563e-01 2.29522286e-02 0.00000000e+00 2.21821271e+01] [-2.29522286e-02 9.99736563e-01 0.00000000e+00 9.22592771e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46664041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.21, Y:0.92, Z:-0.01 [[ 9.99574183e-01 2.91796466e-02 0.00000000e+00 2.22138726e+01] [-2.91796466e-02 9.99574183e-01 0.00000000e+00 9.21036219e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04779916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.25, Y:0.92, Z:-0.01 [[ 9.99466475e-01 3.26613608e-02 0.00000000e+00 2.22461361e+01] [-3.26613608e-02 9.99466475e-01 0.00000000e+00 9.22681841e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.55981739e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.531400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.28, Y:0.93, Z:-0.01 [[ 9.99260781e-01 3.84433525e-02 0.00000000e+00 2.22777260e+01] [-3.84433525e-02 9.99260781e-01 0.00000000e+00 9.27956541e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.99535584e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.31, Y:0.93, Z:-0.01 [[ 9.99167246e-01 4.08021503e-02 0.00000000e+00 2.23100723e+01] [-4.08021503e-02 9.99167246e-01 0.00000000e+00 9.31930793e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.21014601e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.34, Y:0.94, Z:-0.01 [[ 9.99121968e-01 4.18962288e-02 0.00000000e+00 2.23410257e+01] [-4.18962288e-02 9.99121968e-01 0.00000000e+00 9.35628704e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23703582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.621400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.37, Y:0.94, Z:-0.01 [[ 9.99137546e-01 4.15230652e-02 0.00000000e+00 2.23740055e+01] [-4.15230652e-02 9.99137546e-01 0.00000000e+00 9.39055475e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42615665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.41, Y:0.94, Z:-0.01 [[ 9.99183055e-01 4.04131535e-02 0.00000000e+00 2.24069158e+01] [-4.04131535e-02 9.99183055e-01 0.00000000e+00 9.42888586e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34380207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.44, Y:0.95, Z:-0.01 [[ 9.99271863e-01 3.81542006e-02 0.00000000e+00 2.24389396e+01] [-3.81542006e-02 9.99271863e-01 0.00000000e+00 9.46939613e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16284919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.47, Y:0.95, Z:-0.01 [[ 9.99493890e-01 3.18113648e-02 0.00000000e+00 2.24706770e+01] [-3.18113648e-02 9.99493890e-01 0.00000000e+00 9.50027503e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.87686138e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.50, Y:0.95, Z:-0.01 [[ 9.99588212e-01 2.86950696e-02 0.00000000e+00 2.25030540e+01] [-2.86950696e-02 9.99588212e-01 0.00000000e+00 9.51087115e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03505129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.53, Y:0.95, Z:-0.01 [[ 9.99662997e-01 2.59594238e-02 0.00000000e+00 2.25344484e+01] [-2.59594238e-02 9.99662997e-01 0.00000000e+00 9.52282617e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13750414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.57, Y:0.95, Z:-0.01 [[ 9.99755232e-01 2.21241163e-02 0.00000000e+00 2.25651124e+01] [-2.21241163e-02 9.99755232e-01 0.00000000e+00 9.53912615e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25424785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.60, Y:0.95, Z:-0.01 [[ 9.99774155e-01 2.12517821e-02 0.00000000e+00 2.25969179e+01] [-2.12517821e-02 9.99774155e-01 0.00000000e+00 9.54780737e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19295870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.63, Y:0.96, Z:-0.01 [[ 9.99790077e-01 2.04890756e-02 0.00000000e+00 2.26295869e+01] [-2.04890756e-02 9.99790077e-01 0.00000000e+00 9.55671031e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08441472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.66, Y:0.96, Z:-0.01 [[ 9.99812369e-01 1.93707860e-02 0.00000000e+00 2.26617265e+01] [-1.93707860e-02 9.99812369e-01 0.00000000e+00 9.55367085e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15219833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.69, Y:0.96, Z:-0.01 [[ 9.99821101e-01 1.89147237e-02 0.00000000e+00 2.26929525e+01] [-1.89147237e-02 9.99821101e-01 0.00000000e+00 9.55807315e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20850229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.72, Y:0.95, Z:-0.01 [[ 9.99831904e-01 1.83347654e-02 0.00000000e+00 2.27238883e+01] [-1.83347654e-02 9.99831904e-01 0.00000000e+00 9.53758288e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.07700635e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.75, Y:0.96, Z:-0.01 [[ 9.99848464e-01 1.74083263e-02 0.00000000e+00 2.27548050e+01] [-1.74083263e-02 9.99848464e-01 0.00000000e+00 9.55206120e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.15558287e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.011400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.79, Y:0.96, Z:-0.01 [[ 9.99850813e-01 1.72728717e-02 0.00000000e+00 2.27858103e+01] [-1.72728717e-02 9.99850813e-01 0.00000000e+00 9.55325449e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.37516582e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.82, Y:0.96, Z:-0.01 [[ 9.99859519e-01 1.67613572e-02 0.00000000e+00 2.28167682e+01] [-1.67613572e-02 9.99859519e-01 0.00000000e+00 9.55365826e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.61007319e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.85, Y:0.95, Z:-0.01 [[ 9.99868279e-01 1.62303425e-02 0.00000000e+00 2.28495275e+01] [-1.62303425e-02 9.99868279e-01 0.00000000e+00 9.50940991e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06321080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.101400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.88, Y:0.95, Z:-0.01 [[ 9.99870628e-01 1.60850056e-02 0.00000000e+00 2.28807917e+01] [-1.60850056e-02 9.99870628e-01 0.00000000e+00 9.50774016e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06974661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.91, Y:0.95, Z:-0.01 [[ 9.99861945e-01 1.66159731e-02 0.00000000e+00 2.29118133e+01] [-1.66159731e-02 9.99861945e-01 0.00000000e+00 9.51805085e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13607279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.94, Y:0.95, Z:-0.01 [[ 9.99848938e-01 1.73810366e-02 0.00000000e+00 2.29445990e+01] [-1.73810366e-02 9.99848938e-01 0.00000000e+00 9.51617558e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.97195922e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.191400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.98, Y:0.95, Z:-0.01 [[ 9.99842083e-01 1.77710275e-02 0.00000000e+00 2.29756582e+01] [-1.77710275e-02 9.99842083e-01 0.00000000e+00 9.51558395e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.43412296e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.01, Y:0.95, Z:-0.01 [[ 9.99814166e-01 1.92777992e-02 0.00000000e+00 2.30053781e+01] [-1.92777992e-02 9.99814166e-01 0.00000000e+00 9.50848348e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.96746668e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.04, Y:0.95, Z:-0.01 [[ 9.99791548e-01 2.04171554e-02 0.00000000e+00 2.30367477e+01] [-2.04171554e-02 9.99791548e-01 0.00000000e+00 9.48388014e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.20439213e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.281400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.07, Y:0.95, Z:-0.01 [[ 9.99811646e-01 1.94080384e-02 0.00000000e+00 2.30686391e+01] [-1.94080384e-02 9.99811646e-01 0.00000000e+00 9.47870649e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.24463546e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.10, Y:0.94, Z:-0.01 [[ 9.99877208e-01 1.56706163e-02 0.00000000e+00 2.31007717e+01] [-1.56706163e-02 9.99877208e-01 0.00000000e+00 9.44535909e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.11869785e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.13, Y:0.94, Z:-0.01 [[ 9.99912336e-01 1.32408681e-02 0.00000000e+00 2.31319631e+01] [-1.32408681e-02 9.99912336e-01 0.00000000e+00 9.44398352e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.59271972e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.371400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.16, Y:0.94, Z:-0.01 [[ 9.99932169e-01 1.16471935e-02 0.00000000e+00 2.31636900e+01] [-1.16471935e-02 9.99932169e-01 0.00000000e+00 9.44615841e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16733065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.19, Y:0.94, Z:-0.01 [[ 9.99913977e-01 1.31163636e-02 0.00000000e+00 2.31944420e+01] [-1.31163636e-02 9.99913977e-01 0.00000000e+00 9.41557494e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34468840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.23, Y:0.94, Z:-0.01 [[ 9.99886450e-01 1.50694274e-02 0.00000000e+00 2.32252883e+01] [-1.50694274e-02 9.99886450e-01 0.00000000e+00 9.40764158e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25014474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.26, Y:0.94, Z:-0.01 [[ 9.99851706e-01 1.72210970e-02 0.00000000e+00 2.32563256e+01] [-1.72210970e-02 9.99851706e-01 0.00000000e+00 9.40478875e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13690044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.29, Y:0.94, Z:-0.01 [[ 9.99816581e-01 1.91521631e-02 0.00000000e+00 2.32888547e+01] [-1.91521631e-02 9.99816581e-01 0.00000000e+00 9.40734361e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02451496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.32, Y:0.94, Z:-0.01 [[ 9.99763208e-01 2.17606943e-02 0.00000000e+00 2.33212690e+01] [-2.17606943e-02 9.99763208e-01 0.00000000e+00 9.40680339e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.72225312e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.35, Y:0.94, Z:-0.01 [[ 9.99716332e-01 2.38171345e-02 0.00000000e+00 2.33527209e+01] [-2.38171345e-02 9.99716332e-01 0.00000000e+00 9.40801449e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.39392972e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.39, Y:0.94, Z:-0.01 [[ 9.99679476e-01 2.53168926e-02 0.00000000e+00 2.33857154e+01] [-2.53168926e-02 9.99679476e-01 0.00000000e+00 9.41032684e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.95122229e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.42, Y:0.94, Z:-0.01 [[ 9.99616268e-01 2.77004658e-02 0.00000000e+00 2.34191302e+01] [-2.77004658e-02 9.99616268e-01 0.00000000e+00 9.42115882e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04932941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.45, Y:0.94, Z:-0.01 [[ 9.99575694e-01 2.91278499e-02 0.00000000e+00 2.34512871e+01] [-2.91278499e-02 9.99575694e-01 0.00000000e+00 9.44435902e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03445993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.48, Y:0.95, Z:-0.01 [[ 9.99532692e-01 3.05679338e-02 0.00000000e+00 2.34828810e+01] [-3.05679338e-02 9.99532692e-01 0.00000000e+00 9.46004341e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05956646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.52, Y:0.95, Z:-0.01 [[ 9.99487637e-01 3.20072287e-02 0.00000000e+00 2.35158637e+01] [-3.20072287e-02 9.99487637e-01 0.00000000e+00 9.46829613e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.55292821e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.55, Y:0.95, Z:-0.01 [[ 9.99447460e-01 3.32381487e-02 0.00000000e+00 2.35481862e+01] [-3.32381487e-02 9.99447460e-01 0.00000000e+00 9.46471111e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.85537170e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.761400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.58, Y:0.95, Z:-0.01 [[ 9.99441929e-01 3.34040369e-02 0.00000000e+00 2.35827977e+01] [-3.34040369e-02 9.99441929e-01 0.00000000e+00 9.47032085e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.31522217e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.62, Y:0.95, Z:-0.01 [[ 9.99437505e-01 3.35361517e-02 0.00000000e+00 2.36152451e+01] [-3.35361517e-02 9.99437505e-01 0.00000000e+00 9.48847650e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.31522217e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.821400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:23.65, Y:0.95, Z:-0.01 [[ 9.99443987e-01 3.33424199e-02 0.00000000e+00 2.36482332e+01] [-3.33424199e-02 9.99443987e-01 0.00000000e+00 9.50545820e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.23038833e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.851400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.68, Y:0.95, Z:-0.01 [[ 9.99460569e-01 3.28416112e-02 0.00000000e+00 2.36788792e+01] [-3.28416112e-02 9.99460569e-01 0.00000000e+00 9.51212566e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.59073269e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.71, Y:0.95, Z:-0.01 [[ 9.99478479e-01 3.22919567e-02 0.00000000e+00 2.37106217e+01] [-3.22919567e-02 9.99478479e-01 0.00000000e+00 9.52128156e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.19980232e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.74, Y:0.96, Z:-0.00 [[ 9.99527367e-01 3.07415556e-02 0.00000000e+00 2.37393618e+01] [-3.07415556e-02 9.99527367e-01 0.00000000e+00 9.57008094e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.48805313e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.941400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.77, Y:0.96, Z:-0.00 [[ 9.99524589e-01 3.08317309e-02 0.00000000e+00 2.37730197e+01] [-3.08317309e-02 9.99524589e-01 0.00000000e+00 9.59031122e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08759015e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.80, Y:0.96, Z:-0.00 [[ 9.99540721e-01 3.03042400e-02 0.00000000e+00 2.38026549e+01] [-3.03042400e-02 9.99540721e-01 0.00000000e+00 9.62650835e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21975875e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.84, Y:0.96, Z:-0.01 [[ 9.99600348e-01 2.82691454e-02 0.00000000e+00 2.38354171e+01] [-2.82691454e-02 9.99600348e-01 0.00000000e+00 9.63287990e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.07323105e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.031400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.87, Y:0.96, Z:-0.01 [[ 9.99635742e-01 2.69885778e-02 0.00000000e+00 2.38683114e+01] [-2.69885778e-02 9.99635742e-01 0.00000000e+00 9.64527569e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.78252690e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.90, Y:0.97, Z:-0.00 [[ 9.99673278e-01 2.55604434e-02 0.00000000e+00 2.38998059e+01] [-2.55604434e-02 9.99673278e-01 0.00000000e+00 9.65536468e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.93650494e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.93, Y:0.97, Z:-0.00 [[ 9.99706013e-01 2.42463992e-02 0.00000000e+00 2.39326198e+01] [-2.42463992e-02 9.99706013e-01 0.00000000e+00 9.66575538e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.19180613e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.121400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.97, Y:0.97, Z:-0.00 [[ 9.99732428e-01 2.31316225e-02 0.00000000e+00 2.39659747e+01] [-2.31316225e-02 9.99732428e-01 0.00000000e+00 9.67696807e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.04012559e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.00, Y:0.97, Z:-0.00 [[ 9.99744767e-01 2.25920519e-02 0.00000000e+00 2.39981168e+01] [-2.25920519e-02 9.99744767e-01 0.00000000e+00 9.68364040e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.91507994e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.03, Y:0.97, Z:-0.00 [[ 9.99730458e-01 2.32166334e-02 0.00000000e+00 2.40314292e+01] [-2.32166334e-02 9.99730458e-01 0.00000000e+00 9.70102998e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.54213308e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.06, Y:0.97, Z:-0.00 [[ 9.99706695e-01 2.42182425e-02 0.00000000e+00 2.40631681e+01] [-2.42182425e-02 9.99706695e-01 0.00000000e+00 9.72548680e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.76455429e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.10, Y:0.98, Z:-0.00 [[ 9.99671354e-01 2.56355893e-02 0.00000000e+00 2.40960159e+01] [-2.56355893e-02 9.99671354e-01 0.00000000e+00 9.76352885e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47726355e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.13, Y:0.98, Z:0.00 [[ 9.99577513e-01 2.90653603e-02 0.00000000e+00 2.41292749e+01] [-2.90653603e-02 9.99577513e-01 0.00000000e+00 9.81211488e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11363234e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.16, Y:0.99, Z:0.00 [[ 9.99557119e-01 2.97584480e-02 0.00000000e+00 2.41584149e+01] [-2.97584480e-02 9.99557119e-01 0.00000000e+00 9.85632228e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23698005e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.19, Y:0.99, Z:-0.00 [[ 9.99565275e-01 2.94832316e-02 0.00000000e+00 2.41908685e+01] [-2.94832316e-02 9.99565275e-01 0.00000000e+00 9.89626251e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75163642e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.22, Y:0.99, Z:-0.00 [[ 9.99600503e-01 2.82636453e-02 0.00000000e+00 2.42241452e+01] [-2.82636453e-02 9.99600503e-01 0.00000000e+00 9.94212457e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17071573e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.26, Y:1.00, Z:-0.00 [[ 9.99654967e-01 2.62668323e-02 0.00000000e+00 2.42567548e+01] [-2.62668323e-02 9.99654967e-01 0.00000000e+00 9.98456277e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38746562e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.29, Y:1.00, Z:-0.00 [[ 9.99781831e-01 2.08875494e-02 0.00000000e+00 2.42894324e+01] [-2.08875494e-02 9.99781831e-01 0.00000000e+00 1.00200202e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71448740e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.32, Y:1.00, Z:0.00 [[ 9.99835951e-01 1.81127241e-02 0.00000000e+00 2.43217131e+01] [-1.81127241e-02 9.99835951e-01 0.00000000e+00 1.00377646e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08417845e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.35, Y:1.01, Z:0.00 [[ 9.99880516e-01 1.54581081e-02 0.00000000e+00 2.43538966e+01] [-1.54581081e-02 9.99880516e-01 0.00000000e+00 1.00519074e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.41399913e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.511400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.39, Y:1.01, Z:-0.00 [[ 9.99915884e-01 1.29701311e-02 0.00000000e+00 2.43858325e+01] [-1.29701311e-02 9.99915884e-01 0.00000000e+00 1.00649149e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.64792749e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.42, Y:1.01, Z:0.00 [[ 9.99960105e-01 8.93246857e-03 0.00000000e+00 2.44175450e+01] [-8.93246857e-03 9.99960105e-01 0.00000000e+00 1.00702162e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71840551e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.45, Y:1.01, Z:0.00 [[ 9.99969998e-01 7.74620604e-03 0.00000000e+00 2.44491508e+01] [-7.74620604e-03 9.99969998e-01 0.00000000e+00 1.00825657e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96250716e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.601400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.48, Y:1.01, Z:0.00 [[ 9.99974036e-01 7.20600252e-03 0.00000000e+00 2.44798600e+01] [-7.20600252e-03 9.99974036e-01 0.00000000e+00 1.00955840e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.00214009e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.631400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:24.51, Y:1.01, Z:0.01 [[ 9.99972006e-01 7.48250129e-03 0.00000000e+00 2.45099853e+01] [-7.48250129e-03 9.99972006e-01 0.00000000e+00 1.01150959e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.06058902e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.54, Y:1.01, Z:0.00 [[ 9.99973185e-01 7.32316843e-03 0.00000000e+00 2.45411759e+01] [-7.32316843e-03 9.99973185e-01 0.00000000e+00 1.01038067e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74756041e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.691400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.57, Y:1.01, Z:0.00 [[ 9.99971171e-01 7.59328142e-03 0.00000000e+00 2.45724107e+01] [-7.59328142e-03 9.99971171e-01 0.00000000e+00 1.01040938e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51681462e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.60, Y:1.01, Z:0.00 [[ 9.99966627e-01 8.16972108e-03 0.00000000e+00 2.46038159e+01] [-8.16972108e-03 9.99966627e-01 0.00000000e+00 1.01063184e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28132317e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.63, Y:1.01, Z:0.00 [[ 9.99958458e-01 9.11490785e-03 0.00000000e+00 2.46347746e+01] [-9.11490785e-03 9.99958458e-01 0.00000000e+00 1.01194585e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.07414673e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.781400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.67, Y:1.01, Z:0.00 [[ 9.99945514e-01 1.04388095e-02 0.00000000e+00 2.46667872e+01] [-1.04388095e-02 9.99945514e-01 0.00000000e+00 1.01313764e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02399045e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.70, Y:1.01, Z:0.00 [[ 9.99926572e-01 1.21181750e-02 0.00000000e+00 2.46980321e+01] [-1.21181750e-02 9.99926572e-01 0.00000000e+00 1.01478769e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23366847e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.73, Y:1.02, Z:-0.00 [[ 9.99861892e-01 1.66191775e-02 0.00000000e+00 2.47280105e+01] [-1.66191775e-02 9.99861892e-01 0.00000000e+00 1.01530982e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58571897e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.871400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.76, Y:1.02, Z:-0.00 [[ 9.99813333e-01 1.93209444e-02 0.00000000e+00 2.47602241e+01] [-1.93209444e-02 9.99813333e-01 0.00000000e+00 1.01696790e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.30608782e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.79, Y:1.02, Z:-0.00 [[ 9.99703652e-01 2.43435331e-02 0.00000000e+00 2.47922128e+01] [-2.43435331e-02 9.99703652e-01 0.00000000e+00 1.02116550e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.16939078e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.83, Y:1.02, Z:-0.00 [[ 9.99646885e-01 2.65726529e-02 0.00000000e+00 2.48253402e+01] [-2.65726529e-02 9.99646885e-01 0.00000000e+00 1.02369641e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.02597479e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.86, Y:1.03, Z:-0.00 [[ 9.99598039e-01 2.83506670e-02 0.00000000e+00 2.48584582e+01] [-2.83506670e-02 9.99598039e-01 0.00000000e+00 1.02586810e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.67074408e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.89, Y:1.03, Z:-0.00 [[ 9.99552462e-01 2.99144735e-02 0.00000000e+00 2.48910815e+01] [-2.99144735e-02 9.99552462e-01 0.00000000e+00 1.02813506e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.96967781e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.92, Y:1.03, Z:-0.00 [[ 9.99517937e-01 3.10466509e-02 0.00000000e+00 2.49237413e+01] [-3.10466509e-02 9.99517937e-01 0.00000000e+00 1.03091876e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.40941117e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.96, Y:1.03, Z:-0.00 [[ 9.99512553e-01 3.12194757e-02 0.00000000e+00 2.49551388e+01] [-3.12194757e-02 9.99512553e-01 0.00000000e+00 1.03406740e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27620237e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.99, Y:1.04, Z:-0.00 [[ 9.99532115e-01 3.05867780e-02 0.00000000e+00 2.49873626e+01] [-3.05867780e-02 9.99532115e-01 0.00000000e+00 1.03719114e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.36884919e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.02, Y:1.04, Z:-0.00 [[ 9.99586373e-01 2.87590561e-02 0.00000000e+00 2.50202052e+01] [-2.87590561e-02 9.99586373e-01 0.00000000e+00 1.04090487e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.81167431e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.05, Y:1.04, Z:-0.00 [[ 9.99603447e-01 2.81593607e-02 0.00000000e+00 2.50527968e+01] [-2.81593607e-02 9.99603447e-01 0.00000000e+00 1.04393593e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.10404418e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.171400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:25.09, Y:1.05, Z:-0.00 [[ 9.99601955e-01 2.82122626e-02 0.00000000e+00 2.50854962e+01] [-2.82122626e-02 9.99601955e-01 0.00000000e+00 1.04776280e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.32479485e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.12, Y:1.05, Z:-0.00 [[ 9.99642442e-01 2.67392559e-02 0.00000000e+00 2.51178396e+01] [-2.67392559e-02 9.99642442e-01 0.00000000e+00 1.05158657e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.30487748e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.15, Y:1.06, Z:-0.00 [[ 9.99671443e-01 2.56321196e-02 0.00000000e+00 2.51508847e+01] [-2.56321196e-02 9.99671443e-01 0.00000000e+00 1.05733090e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.42234502e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.261400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.18, Y:1.06, Z:0.00 [[ 9.99676911e-01 2.54179803e-02 0.00000000e+00 2.51826324e+01] [-2.54179803e-02 9.99676911e-01 0.00000000e+00 1.06006902e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.85981655e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.22, Y:1.06, Z:0.00 [[ 9.99690968e-01 2.48589727e-02 0.00000000e+00 2.52151927e+01] [-2.48589727e-02 9.99690968e-01 0.00000000e+00 1.06288190e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36705630e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.25, Y:1.07, Z:0.00 [[ 9.99746377e-01 2.25207007e-02 0.00000000e+00 2.52457922e+01] [-2.25207007e-02 9.99746377e-01 0.00000000e+00 1.06803724e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78905055e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.351400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.28, Y:1.07, Z:0.01 [[ 9.99769112e-01 2.14877295e-02 0.00000000e+00 2.52769478e+01] [-2.14877295e-02 9.99769112e-01 0.00000000e+00 1.07009462e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.28397474e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.31, Y:1.07, Z:0.01 [[ 9.99791264e-01 2.04310877e-02 0.00000000e+00 2.53092114e+01] [-2.04310877e-02 9.99791264e-01 0.00000000e+00 1.07178548e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.02762884e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.411400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:25.34, Y:1.07, Z:0.01 [[ 9.99804471e-01 1.97742167e-02 0.00000000e+00 2.53408624e+01] [-1.97742167e-02 9.99804471e-01 0.00000000e+00 1.07422550e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.81560736e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.441400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.37, Y:1.08, Z:0.00 [[ 9.99831242e-01 1.83708511e-02 0.00000000e+00 2.53719974e+01] [-1.83708511e-02 9.99831242e-01 0.00000000e+00 1.07646251e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.71889856e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.40, Y:1.08, Z:0.00 [[ 9.99839569e-01 1.79118999e-02 0.00000000e+00 2.54027091e+01] [-1.79118999e-02 9.99839569e-01 0.00000000e+00 1.07877024e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84329426e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.43, Y:1.08, Z:-0.00 [[ 9.99825691e-01 1.86704855e-02 0.00000000e+00 2.54347956e+01] [-1.86704855e-02 9.99825691e-01 0.00000000e+00 1.08005282e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39676913e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.531400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.47, Y:1.08, Z:-0.00 [[ 9.99799809e-01 2.00085470e-02 0.00000000e+00 2.54655448e+01] [-2.00085470e-02 9.99799809e-01 0.00000000e+00 1.08134131e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00272731e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.50, Y:1.08, Z:-0.00 [[ 9.99762411e-01 2.17972944e-02 0.00000000e+00 2.54977960e+01] [-2.17972944e-02 9.99762411e-01 0.00000000e+00 1.08336950e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19881053e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.53, Y:1.09, Z:-0.00 [[ 9.99725831e-01 2.34150080e-02 0.00000000e+00 2.55302296e+01] [-2.34150080e-02 9.99725831e-01 0.00000000e+00 1.08524312e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92678338e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.621400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.56, Y:1.09, Z:-0.00 [[ 9.99700000e-01 2.44930670e-02 0.00000000e+00 2.55623189e+01] [-2.44930670e-02 9.99700000e-01 0.00000000e+00 1.08504009e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32117938e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.59, Y:1.09, Z:-0.00 [[ 9.99712100e-01 2.39941205e-02 0.00000000e+00 2.55946242e+01] [-2.39941205e-02 9.99712100e-01 0.00000000e+00 1.08520496e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.12140688e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.63, Y:1.09, Z:-0.00 [[ 9.99708376e-01 2.41487869e-02 0.00000000e+00 2.56272527e+01] [-2.41487869e-02 9.99708376e-01 0.00000000e+00 1.08674128e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.12140688e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.711400512999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.66, Y:1.09, Z:0.00 [[ 9.99732263e-01 2.31387765e-02 0.00000000e+00 2.56595808e+01] [-2.31387765e-02 9.99732263e-01 0.00000000e+00 1.08694645e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33187268e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.69, Y:1.09, Z:0.00 [[ 9.99773791e-01 2.12689336e-02 0.00000000e+00 2.56921660e+01] [-2.12689336e-02 9.99773791e-01 0.00000000e+00 1.08533544e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.04700480e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.72, Y:1.08, Z:-0.00 [[ 9.99787289e-01 2.06246461e-02 0.00000000e+00 2.57244922e+01] [-2.06246461e-02 9.99787289e-01 0.00000000e+00 1.08446686e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.66652183e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.76, Y:1.08, Z:-0.00 [[ 9.99793641e-01 2.03144012e-02 0.00000000e+00 2.57568748e+01] [-2.03144012e-02 9.99793641e-01 0.00000000e+00 1.08358368e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.39210234e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.79, Y:1.08, Z:-0.00 [[ 9.99792508e-01 2.03701066e-02 0.00000000e+00 2.57886944e+01] [-2.03701066e-02 9.99792508e-01 0.00000000e+00 1.08340712e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.40101582e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.82, Y:1.08, Z:-0.00 [[ 9.99787116e-01 2.06330519e-02 0.00000000e+00 2.58213725e+01] [-2.06330519e-02 9.99787116e-01 0.00000000e+00 1.08393412e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91140692e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.891400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:25.85, Y:1.08, Z:-0.00 [[ 9.99766530e-01 2.16075298e-02 0.00000000e+00 2.58537231e+01] [-2.16075298e-02 9.99766530e-01 0.00000000e+00 1.08454100e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11632606e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.89, Y:1.08, Z:0.00 [[ 9.99788850e-01 2.05488343e-02 0.00000000e+00 2.58858540e+01] [-2.05488343e-02 9.99788850e-01 0.00000000e+00 1.08257584e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22218862e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.92, Y:1.08, Z:0.00 [[ 9.99808052e-01 1.95923414e-02 0.00000000e+00 2.59181035e+01] [-1.95923414e-02 9.99808052e-01 0.00000000e+00 1.08226928e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85051591e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.95, Y:1.08, Z:0.00 [[ 9.99838355e-01 1.79795652e-02 0.00000000e+00 2.59501300e+01] [-1.79795652e-02 9.99838355e-01 0.00000000e+00 1.08207379e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17733720e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.011400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.98, Y:1.08, Z:0.00 [[ 9.99873552e-01 1.59022249e-02 0.00000000e+00 2.59819153e+01] [-1.59022249e-02 9.99873552e-01 0.00000000e+00 1.08227818e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66137715e-07] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.01, Y:1.08, Z:-0.00 [[ 9.99938680e-01 1.10741531e-02 0.00000000e+00 2.60139742e+01] [-1.10741531e-02 9.99938680e-01 0.00000000e+00 1.08203442e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86357753e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.05, Y:1.08, Z:-0.00 [[ 9.99962183e-01 8.69670557e-03 0.00000000e+00 2.60450345e+01] [-8.69670557e-03 9.99962183e-01 0.00000000e+00 1.08254344e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.15821902e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.101400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.08, Y:1.08, Z:-0.00 [[ 9.99979556e-01 6.39428989e-03 0.00000000e+00 2.60760672e+01] [-6.39428989e-03 9.99979556e-01 0.00000000e+00 1.08328673e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75916383e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.11, Y:1.08, Z:-0.00 [[ 9.99999953e-01 3.05695912e-04 0.00000000e+00 2.61065054e+01] [-3.05695912e-04 9.99999953e-01 0.00000000e+00 1.08482961e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41228257e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.161400513 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:26.14, Y:1.09, Z:0.00 [[ 9.99996069e-01 -2.80383716e-03 0.00000000e+00 2.61372292e+01] [ 2.80383716e-03 9.99996069e-01 0.00000000e+00 1.08621994e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.54236719e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.191400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.17, Y:1.09, Z:0.00 [[ 9.99977750e-01 -6.67074825e-03 0.00000000e+00 2.61677824e+01] [ 6.67074825e-03 9.99977750e-01 0.00000000e+00 1.08655031e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.95113583e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.20, Y:1.09, Z:0.00 [[ 9.99949562e-01 -1.00435325e-02 0.00000000e+00 2.61977568e+01] [ 1.00435325e-02 9.99949562e-01 0.00000000e+00 1.08625230e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.92943929e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.23, Y:1.08, Z:0.00 [[ 9.99862999e-01 -1.65524310e-02 0.00000000e+00 2.62264498e+01] [ 1.65524310e-02 9.99862999e-01 0.00000000e+00 1.08428740e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79867799e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.281400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.25, Y:1.08, Z:0.01 [[ 9.99809694e-01 -1.95083321e-02 0.00000000e+00 2.62542614e+01] [ 1.95083321e-02 9.99809694e-01 0.00000000e+00 1.08480216e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.21688617e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.28, Y:1.09, Z:0.01 [[ 9.99749162e-01 -2.23967194e-02 0.00000000e+00 2.62809079e+01] [ 2.23967194e-02 9.99749162e-01 0.00000000e+00 1.08506537e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.81122036e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.31, Y:1.09, Z:0.01 [[ 9.99677356e-01 -2.54004706e-02 0.00000000e+00 2.63091469e+01] [ 2.54004706e-02 9.99677356e-01 0.00000000e+00 1.08508482e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.16513952e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.371400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.34, Y:1.09, Z:0.00 [[ 9.99606609e-01 -2.80468926e-02 0.00000000e+00 2.63374935e+01] [ 2.80468926e-02 9.99606609e-01 0.00000000e+00 1.08526810e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35008367e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.401400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:26.37, Y:1.08, Z:0.00 [[ 9.99512457e-01 -3.12225618e-02 0.00000000e+00 2.63662862e+01] [ 3.12225618e-02 9.99512457e-01 0.00000000e+00 1.08385569e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23887457e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.39, Y:1.08, Z:-0.00 [[ 9.99457102e-01 -3.29469360e-02 0.00000000e+00 2.63938768e+01] [ 3.29469360e-02 9.99457102e-01 0.00000000e+00 1.08409475e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.95269247e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.461400512999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.42, Y:1.08, Z:-0.00 [[ 9.99428503e-01 -3.38033615e-02 0.00000000e+00 2.64222143e+01] [ 3.38033615e-02 9.99428503e-01 0.00000000e+00 1.08458308e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.65051936e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.45, Y:1.09, Z:-0.00 [[ 9.99403305e-01 -3.45403219e-02 0.00000000e+00 2.64498216e+01] [ 3.45403219e-02 9.99403305e-01 0.00000000e+00 1.08590504e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65640220e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.48, Y:1.09, Z:-0.00 [[ 9.99404565e-01 -3.45038341e-02 0.00000000e+00 2.64765098e+01] [ 3.45038341e-02 9.99404565e-01 0.00000000e+00 1.08773062e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.63016815e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.50, Y:1.09, Z:0.00 [[ 9.99423532e-01 -3.39500320e-02 0.00000000e+00 2.65044960e+01] [ 3.39500320e-02 9.99423532e-01 0.00000000e+00 1.08885364e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.89463626e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.53, Y:1.09, Z:0.00 [[ 9.99431903e-01 -3.37026879e-02 0.00000000e+00 2.65310828e+01] [ 3.37026879e-02 9.99431903e-01 0.00000000e+00 1.09031147e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90556032e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.56, Y:1.09, Z:0.01 [[ 9.99385677e-01 -3.50466575e-02 0.00000000e+00 2.65588421e+01] [ 3.50466575e-02 9.99385677e-01 0.00000000e+00 1.09436951e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.27296927e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.59, Y:1.10, Z:0.01 [[ 9.99334751e-01 -3.64699221e-02 0.00000000e+00 2.65858903e+01] [ 3.64699221e-02 9.99334751e-01 0.00000000e+00 1.09699061e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.13874338e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.61, Y:1.10, Z:0.00 [[ 9.99271628e-01 -3.81603775e-02 0.00000000e+00 2.66138646e+01] [ 3.81603775e-02 9.99271628e-01 0.00000000e+00 1.09882185e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.91523335e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.701400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:26.64, Y:1.10, Z:0.00 [[ 9.99214191e-01 -3.96358392e-02 0.00000000e+00 2.66414503e+01] [ 3.96358392e-02 9.99214191e-01 0.00000000e+00 1.10072013e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81268563e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.67, Y:1.10, Z:0.00 [[ 9.99154336e-01 -4.11170696e-02 0.00000000e+00 2.66686738e+01] [ 4.11170696e-02 9.99154336e-01 0.00000000e+00 1.10333646e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50968804e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.761400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.70, Y:1.11, Z:0.00 [[ 9.99131675e-01 -4.16640901e-02 0.00000000e+00 2.66967014e+01] [ 4.16640901e-02 9.99131675e-01 0.00000000e+00 1.10688891e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76848983e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.72, Y:1.11, Z:0.00 [[ 9.99129941e-01 -4.17056582e-02 0.00000000e+00 2.67237655e+01] [ 4.17056582e-02 9.99129941e-01 0.00000000e+00 1.11235996e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10565455e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.75, Y:1.12, Z:0.00 [[ 9.99121079e-01 -4.19174156e-02 0.00000000e+00 2.67515956e+01] [ 4.19174156e-02 9.99121079e-01 0.00000000e+00 1.11565029e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09223366e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.851400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.78, Y:1.12, Z:0.00 [[ 9.99096704e-01 -4.24944299e-02 0.00000000e+00 2.67794819e+01] [ 4.24944299e-02 9.99096704e-01 0.00000000e+00 1.11944303e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38359244e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.81, Y:1.12, Z:0.00 [[ 9.99050878e-01 -4.35585055e-02 0.00000000e+00 2.68063549e+01] [ 4.35585055e-02 9.99050878e-01 0.00000000e+00 1.12380182e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11390788e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.83, Y:1.13, Z:0.00 [[ 9.98905578e-01 -4.67722711e-02 0.00000000e+00 2.68329244e+01] [ 4.67722711e-02 9.98905578e-01 0.00000000e+00 1.13077173e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87600068e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.941400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.86, Y:1.13, Z:0.00 [[ 9.98785742e-01 -4.92650058e-02 0.00000000e+00 2.68610345e+01] [ 4.92650058e-02 9.98785742e-01 0.00000000e+00 1.13433160e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26611050e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.89, Y:1.14, Z:0.01 [[ 9.98633444e-01 -5.22613127e-02 0.00000000e+00 2.68893187e+01] [ 5.22613127e-02 9.98633444e-01 0.00000000e+00 1.13797469e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.45970110e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.92, Y:1.15, Z:0.01 [[ 9.98295176e-01 -5.83673016e-02 0.00000000e+00 2.69183392e+01] [ 5.83673016e-02 9.98295176e-01 0.00000000e+00 1.14514841e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.29429607e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.031400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.94, Y:1.15, Z:0.01 [[ 9.98132604e-01 -6.10844086e-02 0.00000000e+00 2.69446586e+01] [ 6.10844086e-02 9.98132604e-01 0.00000000e+00 1.14960282e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.22917038e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.97, Y:1.15, Z:0.01 [[ 9.97975843e-01 -6.35941634e-02 0.00000000e+00 2.69720285e+01] [ 6.35941634e-02 9.97975843e-01 0.00000000e+00 1.15382743e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.74585573e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.00, Y:1.16, Z:0.01 [[ 9.97835834e-01 -6.57544564e-02 0.00000000e+00 2.69997044e+01] [ 6.57544564e-02 9.97835834e-01 0.00000000e+00 1.15835818e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.77557482e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.121400512999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:27.03, Y:1.17, Z:0.00 [[ 9.97569491e-01 -6.96786206e-02 0.00000000e+00 2.70286124e+01] [ 6.96786206e-02 9.97569491e-01 0.00000000e+00 1.16611205e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.84330896e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.06, Y:1.17, Z:0.00 [[ 9.97465191e-01 -7.11561170e-02 0.00000000e+00 2.70563401e+01] [ 7.11561170e-02 9.97465191e-01 0.00000000e+00 1.17081275e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70616255e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.08, Y:1.18, Z:0.00 [[ 9.97401366e-01 -7.20452269e-02 0.00000000e+00 2.70837574e+01] [ 7.20452269e-02 9.97401366e-01 0.00000000e+00 1.17526228e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47842697e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.211400512999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.11, Y:1.18, Z:0.00 [[ 9.97382021e-01 -7.23125435e-02 0.00000000e+00 2.71110946e+01] [ 7.23125435e-02 9.97382021e-01 0.00000000e+00 1.18035227e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20967379e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.241400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:27.14, Y:1.19, Z:0.00 [[ 9.97409145e-01 -7.19374489e-02 0.00000000e+00 2.71387246e+01] [ 7.19374489e-02 9.97409145e-01 0.00000000e+00 1.18624067e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06323665e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.17, Y:1.19, Z:0.00 [[ 9.97439544e-01 -7.15147202e-02 0.00000000e+00 2.71651181e+01] [ 7.15147202e-02 9.97439544e-01 0.00000000e+00 1.19257495e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41077662e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.19, Y:1.20, Z:0.00 [[ 9.97560128e-01 -6.98125441e-02 0.00000000e+00 2.71925533e+01] [ 6.98125441e-02 9.97560128e-01 0.00000000e+00 1.20392999e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.34689540e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.22, Y:1.21, Z:0.01 [[ 9.97608751e-01 -6.91142527e-02 0.00000000e+00 2.72190490e+01] [ 6.91142527e-02 9.97608751e-01 0.00000000e+00 1.20982802e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.96572098e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.361400513 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:27.25, Y:1.22, Z:0.01 [[ 9.97643351e-01 -6.86130042e-02 0.00000000e+00 2.72462981e+01] [ 6.86130042e-02 9.97643351e-01 0.00000000e+00 1.21604821e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.82566294e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.27, Y:1.23, Z:0.00 [[ 9.97530376e-01 -7.02363724e-02 0.00000000e+00 2.72738457e+01] [ 7.02363724e-02 9.97530376e-01 0.00000000e+00 1.22736766e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49968475e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.421400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:27.30, Y:1.23, Z:0.00 [[ 9.97410559e-01 -7.19178442e-02 0.00000000e+00 2.73018436e+01] [ 7.19178442e-02 9.97410559e-01 0.00000000e+00 1.23285974e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91569424e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.33, Y:1.24, Z:0.00 [[ 9.97221151e-01 -7.44981633e-02 0.00000000e+00 2.73292510e+01] [ 7.44981633e-02 9.97221151e-01 0.00000000e+00 1.23746630e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39669042e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.36, Y:1.24, Z:0.00 [[ 9.97053704e-01 -7.67066521e-02 0.00000000e+00 2.73568941e+01] [ 7.67066521e-02 9.97053704e-01 0.00000000e+00 1.24155589e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30760580e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.511400512999998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:27.38, Y:1.25, Z:0.00 [[ 9.97023580e-01 -7.70972125e-02 0.00000000e+00 2.73842719e+01] [ 7.70972125e-02 9.97023580e-01 0.00000000e+00 1.24754596e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94580099e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.541400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:27.41, Y:1.25, Z:0.00 [[ 9.97201457e-01 -7.47613127e-02 0.00000000e+00 2.74113143e+01] [ 7.47613127e-02 9.97201457e-01 0.00000000e+00 1.25213291e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77868672e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.571400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:27.44, Y:1.26, Z:0.00 [[ 9.97460050e-01 -7.12281421e-02 0.00000000e+00 2.74392008e+01] [ 7.12281421e-02 9.97460050e-01 0.00000000e+00 1.25719518e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62218296e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.601400512999998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:27.47, Y:1.26, Z:0.00 [[ 9.97446725e-01 -7.14144961e-02 0.00000000e+00 2.74676388e+01] [ 7.14144961e-02 9.97446725e-01 0.00000000e+00 1.25893369e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62218296e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.631400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:27.49, Y:1.27, Z:0.00 [[ 9.98056533e-01 -6.23149874e-02 0.00000000e+00 2.74946718e+01] [ 6.23149874e-02 9.98056533e-01 0.00000000e+00 1.26713526e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16413486e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.52, Y:1.27, Z:0.00 [[ 9.98331673e-01 -5.77396880e-02 0.00000000e+00 2.75216784e+01] [ 5.77396880e-02 9.98331673e-01 0.00000000e+00 1.27177184e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17767833e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.691400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.55, Y:1.28, Z:0.00 [[ 9.98580107e-01 -5.32707308e-02 0.00000000e+00 2.75494065e+01] [ 5.32707308e-02 9.98580107e-01 0.00000000e+00 1.27664829e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89125184e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.58, Y:1.28, Z:0.00 [[ 9.98785124e-01 -4.92775494e-02 0.00000000e+00 2.75762332e+01] [ 4.92775494e-02 9.98785124e-01 0.00000000e+00 1.28156854e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46782917e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.60, Y:1.29, Z:0.00 [[ 9.99101515e-01 -4.23811553e-02 0.00000000e+00 2.76032035e+01] [ 4.23811553e-02 9.99101515e-01 0.00000000e+00 1.28837320e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78454199e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.781400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.63, Y:1.29, Z:0.00 [[ 9.99214184e-01 -3.96360353e-02 0.00000000e+00 2.76310054e+01] [ 3.96360353e-02 9.99214184e-01 0.00000000e+00 1.29209874e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24284998e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.811400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:27.66, Y:1.30, Z:0.00 [[ 9.99313421e-01 -3.70497956e-02 0.00000000e+00 2.76595372e+01] [ 3.70497956e-02 9.99313421e-01 0.00000000e+00 1.29579984e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99923296e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.69, Y:1.30, Z:0.00 [[ 9.99381686e-01 -3.51602929e-02 0.00000000e+00 2.76883430e+01] [ 3.51602929e-02 9.99381686e-01 0.00000000e+00 1.29972307e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04564764e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.871400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.72, Y:1.31, Z:0.00 [[ 9.99507502e-01 -3.13807936e-02 0.00000000e+00 2.77164763e+01] [ 3.13807936e-02 9.99507502e-01 0.00000000e+00 1.30651585e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75656764e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.75, Y:1.31, Z:0.00 [[ 9.99558537e-01 -2.97107878e-02 0.00000000e+00 2.77451475e+01] [ 2.97107878e-02 9.99558537e-01 0.00000000e+00 1.31010405e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73688927e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.77, Y:1.31, Z:0.00 [[ 9.99611517e-01 -2.78714014e-02 0.00000000e+00 2.77736699e+01] [ 2.78714014e-02 9.99611517e-01 0.00000000e+00 1.31321025e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90379592e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.961400512999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.80, Y:1.32, Z:0.00 [[ 9.99712082e-01 -2.39948693e-02 0.00000000e+00 2.78034739e+01] [ 2.39948693e-02 9.99712082e-01 0.00000000e+00 1.31761853e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32377142e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.83, Y:1.32, Z:0.00 [[ 9.99756463e-01 -2.20684150e-02 0.00000000e+00 2.78321634e+01] [ 2.20684150e-02 9.99756463e-01 0.00000000e+00 1.32112020e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34234374e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.86, Y:1.32, Z:0.00 [[ 9.99794736e-01 -2.02604321e-02 0.00000000e+00 2.78613253e+01] [ 2.02604321e-02 9.99794736e-01 0.00000000e+00 1.32484327e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78575286e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.89, Y:1.33, Z:0.00 [[ 9.99836267e-01 -1.80952977e-02 0.00000000e+00 2.78918190e+01] [ 1.80952977e-02 9.99836267e-01 0.00000000e+00 1.32836110e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88989050e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.92, Y:1.33, Z:0.00 [[ 9.99840545e-01 -1.78573373e-02 0.00000000e+00 2.79216067e+01] [ 1.78573373e-02 9.99840545e-01 0.00000000e+00 1.32968662e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52563128e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.95, Y:1.33, Z:0.01 [[ 9.99840059e-01 -1.78845506e-02 0.00000000e+00 2.79515055e+01] [ 1.78845506e-02 9.99840059e-01 0.00000000e+00 1.33124021e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.37571086e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.98, Y:1.33, Z:0.00 [[ 9.99836906e-01 -1.80599647e-02 0.00000000e+00 2.79821938e+01] [ 1.80599647e-02 9.99836906e-01 0.00000000e+00 1.33316294e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.94387699e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.01, Y:1.34, Z:0.00 [[ 9.99863440e-01 -1.65257582e-02 0.00000000e+00 2.80111312e+01] [ 1.65257582e-02 9.99863440e-01 0.00000000e+00 1.33690933e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66953279e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.04, Y:1.34, Z:0.00 [[ 9.99883840e-01 -1.52415817e-02 0.00000000e+00 2.80405225e+01] [ 1.52415817e-02 9.99883840e-01 0.00000000e+00 1.33949457e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91027885e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.07, Y:1.34, Z:0.00 [[ 9.99903574e-01 -1.38867703e-02 0.00000000e+00 2.80710148e+01] [ 1.38867703e-02 9.99903574e-01 0.00000000e+00 1.34150575e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.21358869e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.261400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.10, Y:1.34, Z:0.00 [[ 9.99929630e-01 -1.18631518e-02 0.00000000e+00 2.81011120e+01] [ 1.18631518e-02 9.99929630e-01 0.00000000e+00 1.34395986e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76204824e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.13, Y:1.35, Z:0.00 [[ 9.99941605e-01 -1.08067674e-02 0.00000000e+00 2.81312690e+01] [ 1.08067674e-02 9.99941605e-01 0.00000000e+00 1.34604067e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68041159e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.16, Y:1.35, Z:0.00 [[ 9.99949427e-01 -1.00570159e-02 0.00000000e+00 2.81619569e+01] [ 1.00570159e-02 9.99949427e-01 0.00000000e+00 1.34771802e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11941454e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.351400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.19, Y:1.35, Z:0.00 [[ 9.99965236e-01 -8.33832534e-03 0.00000000e+00 2.81926248e+01] [ 8.33832534e-03 9.99965236e-01 0.00000000e+00 1.34971121e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66133733e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.381400513 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:28.22, Y:1.35, Z:0.00 [[ 9.99976864e-01 -6.80231784e-03 0.00000000e+00 2.82229276e+01] [ 6.80231784e-03 9.99976864e-01 0.00000000e+00 1.35225483e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.86418201e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.25, Y:1.35, Z:0.00 [[ 9.99985619e-01 -5.36298959e-03 0.00000000e+00 2.82534324e+01] [ 5.36298959e-03 9.99985619e-01 0.00000000e+00 1.35471692e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99936026e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.441400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.28, Y:1.35, Z:0.00 [[ 9.99997458e-01 -2.25496482e-03 0.00000000e+00 2.82839314e+01] [ 2.25496482e-03 9.99997458e-01 0.00000000e+00 1.35473004e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.40289234e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.31, Y:1.35, Z:-0.00 [[ 9.99999315e-01 -1.17075648e-03 0.00000000e+00 2.83144402e+01] [ 1.17075648e-03 9.99999315e-01 0.00000000e+00 1.35428867e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.26279677e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.34, Y:1.35, Z:-0.00 [[ 9.99999640e-01 -8.48857333e-04 0.00000000e+00 2.83444867e+01] [ 8.48857333e-04 9.99999640e-01 0.00000000e+00 1.35410715e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.57975652e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.531400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.37, Y:1.35, Z:0.00 [[ 9.99999835e-01 -5.73949518e-04 0.00000000e+00 2.83746840e+01] [ 5.73949518e-04 9.99999835e-01 0.00000000e+00 1.35139612e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.73299547e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.41, Y:1.35, Z:0.00 [[ 9.99999515e-01 -9.84651355e-04 0.00000000e+00 2.84054475e+01] [ 9.84651355e-04 9.99999515e-01 0.00000000e+00 1.35042040e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.46292497e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.43, Y:1.35, Z:0.00 [[ 9.99998860e-01 -1.51012514e-03 0.00000000e+00 2.84346408e+01] [ 1.51012514e-03 9.99998860e-01 0.00000000e+00 1.34938695e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.53388360e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.621400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.46, Y:1.35, Z:0.00 [[ 9.99997400e-01 -2.28050321e-03 0.00000000e+00 2.84647606e+01] [ 2.28050321e-03 9.99997400e-01 0.00000000e+00 1.34817382e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56964332e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.50, Y:1.34, Z:0.00 [[ 9.99994625e-01 -3.27883444e-03 0.00000000e+00 2.84960847e+01] [ 3.27883444e-03 9.99994625e-01 0.00000000e+00 1.34290159e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38414712e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.53, Y:1.34, Z:0.00 [[ 9.99994608e-01 -3.28393106e-03 0.00000000e+00 2.85260667e+01] [ 3.28393106e-03 9.99994608e-01 0.00000000e+00 1.34100104e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51265157e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.711400512999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.56, Y:1.34, Z:0.00 [[ 9.99996696e-01 -2.57048544e-03 0.00000000e+00 2.85562990e+01] [ 2.57048544e-03 9.99996696e-01 0.00000000e+00 1.33990968e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26577854e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.59, Y:1.34, Z:0.00 [[ 9.99999991e-01 -1.36512405e-04 0.00000000e+00 2.85865589e+01] [ 1.36512405e-04 9.99999991e-01 0.00000000e+00 1.33694219e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68016251e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.62, Y:1.34, Z:0.00 [[ 9.99999256e-01 1.22018899e-03 0.00000000e+00 2.86169773e+01] [-1.22018899e-03 9.99999256e-01 0.00000000e+00 1.33647338e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47590756e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.801400512999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.65, Y:1.34, Z:0.00 [[ 9.99996776e-01 2.53923992e-03 0.00000000e+00 2.86475183e+01] [-2.53923992e-03 9.99996776e-01 0.00000000e+00 1.33599428e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23008669e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.68, Y:1.33, Z:-0.00 [[ 9.99985446e-01 5.39522123e-03 0.00000000e+00 2.86784756e+01] [-5.39522123e-03 9.99985446e-01 0.00000000e+00 1.33246672e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.28799664e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.71, Y:1.33, Z:-0.00 [[ 9.99978205e-01 6.60222177e-03 0.00000000e+00 2.87092523e+01] [-6.60222177e-03 9.99978205e-01 0.00000000e+00 1.33150306e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.61650795e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.74, Y:1.33, Z:-0.00 [[ 9.99969457e-01 7.81575475e-03 0.00000000e+00 2.87392143e+01] [-7.81575475e-03 9.99969457e-01 0.00000000e+00 1.33032442e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.68159213e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.77, Y:1.33, Z:-0.00 [[ 9.99961677e-01 8.75474279e-03 0.00000000e+00 2.87694145e+01] [-8.75474279e-03 9.99961677e-01 0.00000000e+00 1.32910787e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.29890383e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.80, Y:1.33, Z:-0.00 [[ 9.99939257e-01 1.10219116e-02 0.00000000e+00 2.87997043e+01] [-1.10219116e-02 9.99939257e-01 0.00000000e+00 1.32660823e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.01400628e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.83, Y:1.33, Z:-0.00 [[ 9.99925317e-01 1.22212947e-02 0.00000000e+00 2.88297831e+01] [-1.22212947e-02 9.99925317e-01 0.00000000e+00 1.32703151e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.89049309e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.011400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.86, Y:1.33, Z:-0.01 [[ 9.99908439e-01 1.35319539e-02 0.00000000e+00 2.88600761e+01] [-1.35319539e-02 9.99908439e-01 0.00000000e+00 1.32766458e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.99828039e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.89, Y:1.33, Z:-0.01 [[ 9.99890634e-01 1.47891898e-02 0.00000000e+00 2.88914665e+01] [-1.47891898e-02 9.99890634e-01 0.00000000e+00 1.32829628e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.42632353e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.92, Y:1.33, Z:-0.01 [[ 9.99855247e-01 1.70142534e-02 0.00000000e+00 2.89232732e+01] [-1.70142534e-02 9.99855247e-01 0.00000000e+00 1.32877434e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.23551370e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.101400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.95, Y:1.33, Z:-0.01 [[ 9.99842463e-01 1.77496048e-02 0.00000000e+00 2.89531346e+01] [-1.77496048e-02 9.99842463e-01 0.00000000e+00 1.32984003e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.79705340e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.98, Y:1.33, Z:-0.01 [[ 9.99838224e-01 1.79868417e-02 0.00000000e+00 2.89845164e+01] [-1.79868417e-02 9.99838224e-01 0.00000000e+00 1.33024690e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01744665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.02, Y:1.33, Z:-0.01 [[ 9.99838283e-01 1.79835341e-02 0.00000000e+00 2.90162892e+01] [-1.79835341e-02 9.99838283e-01 0.00000000e+00 1.32719122e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.92815114e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.191400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.05, Y:1.33, Z:-0.01 [[ 9.99843811e-01 1.76735180e-02 0.00000000e+00 2.90469942e+01] [-1.76735180e-02 9.99843811e-01 0.00000000e+00 1.32737261e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.81286066e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.08, Y:1.33, Z:-0.01 [[ 9.99849054e-01 1.73743603e-02 0.00000000e+00 2.90780474e+01] [-1.73743603e-02 9.99849054e-01 0.00000000e+00 1.32869810e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.52812274e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.11, Y:1.33, Z:-0.01 [[ 9.99852911e-01 1.71509977e-02 0.00000000e+00 2.91094191e+01] [-1.71509977e-02 9.99852911e-01 0.00000000e+00 1.33029016e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.89336819e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.281400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.14, Y:1.33, Z:-0.01 [[ 9.99843577e-01 1.76867540e-02 0.00000000e+00 2.91402451e+01] [-1.76867540e-02 9.99843577e-01 0.00000000e+00 1.32991725e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.53250517e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.17, Y:1.33, Z:-0.01 [[ 9.99812638e-01 1.93568809e-02 0.00000000e+00 2.91707225e+01] [-1.93568809e-02 9.99812638e-01 0.00000000e+00 1.33061502e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.90947870e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.20, Y:1.33, Z:-0.01 [[ 9.99775611e-01 2.11832049e-02 0.00000000e+00 2.92022844e+01] [-2.11832049e-02 9.99775611e-01 0.00000000e+00 1.33230831e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.94276363e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.371400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.23, Y:1.33, Z:-0.01 [[ 9.99669766e-01 2.56974469e-02 0.00000000e+00 2.92327406e+01] [-2.56974469e-02 9.99669766e-01 0.00000000e+00 1.33467086e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.51944357e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.26, Y:1.34, Z:-0.01 [[ 9.99615339e-01 2.77339751e-02 0.00000000e+00 2.92640410e+01] [-2.77339751e-02 9.99615339e-01 0.00000000e+00 1.33651727e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.78697861e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.30, Y:1.34, Z:-0.00 [[ 9.99566991e-01 2.94250096e-02 0.00000000e+00 2.92950888e+01] [-2.94250096e-02 9.99566991e-01 0.00000000e+00 1.33816457e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.97104350e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.461400512999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.33, Y:1.34, Z:-0.00 [[ 9.99524084e-01 3.08481065e-02 0.00000000e+00 2.93265283e+01] [-3.08481065e-02 9.99524084e-01 0.00000000e+00 1.33981410e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77336471e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.36, Y:1.34, Z:-0.00 [[ 9.99523403e-01 3.08701607e-02 0.00000000e+00 2.93583145e+01] [-3.08701607e-02 9.99523403e-01 0.00000000e+00 1.34155497e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77336471e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.39, Y:1.34, Z:0.00 [[ 9.99492083e-01 3.18681141e-02 0.00000000e+00 2.93894787e+01] [-3.18681141e-02 9.99492083e-01 0.00000000e+00 1.34329709e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32533367e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.551400512999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.42, Y:1.34, Z:0.00 [[ 9.99487129e-01 3.20230915e-02 0.00000000e+00 2.94209589e+01] [-3.20230915e-02 9.99487129e-01 0.00000000e+00 1.34396421e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36099629e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.45, Y:1.34, Z:-0.00 [[ 9.99524636e-01 3.08302275e-02 0.00000000e+00 2.94534503e+01] [-3.08302275e-02 9.99524636e-01 0.00000000e+00 1.34406065e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.28828456e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.49, Y:1.35, Z:-0.01 [[ 9.99554280e-01 2.98536800e-02 0.00000000e+00 2.94851200e+01] [-2.98536800e-02 9.99554280e-01 0.00000000e+00 1.34620431e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.89151786e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.52, Y:1.35, Z:-0.01 [[ 9.99584267e-01 2.88321525e-02 0.00000000e+00 2.95167146e+01] [-2.88321525e-02 9.99584267e-01 0.00000000e+00 1.34800096e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.52857045e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.671400513 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:29.55, Y:1.35, Z:-0.01 [[ 9.99641138e-01 2.67879587e-02 0.00000000e+00 2.95488495e+01] [-2.67879587e-02 9.99641138e-01 0.00000000e+00 1.34649938e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.20690156e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.58, Y:1.35, Z:-0.00 [[ 9.99685208e-01 2.50895327e-02 0.00000000e+00 2.95796788e+01] [-2.50895327e-02 9.99685208e-01 0.00000000e+00 1.34586520e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.87881555e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.731400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:29.61, Y:1.35, Z:-0.01 [[ 9.99727589e-01 2.33398411e-02 0.00000000e+00 2.96120237e+01] [-2.33398411e-02 9.99727589e-01 0.00000000e+00 1.34547845e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.59359160e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.761400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.64, Y:1.35, Z:-0.01 [[ 9.99776129e-01 2.11587124e-02 0.00000000e+00 2.96444879e+01] [-2.11587124e-02 9.99776129e-01 0.00000000e+00 1.34530979e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.62846770e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.68, Y:1.34, Z:-0.01 [[ 9.99850328e-01 1.73009372e-02 0.00000000e+00 2.96757791e+01] [-1.73009372e-02 9.99850328e-01 0.00000000e+00 1.34221107e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.84340525e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.71, Y:1.34, Z:-0.01 [[ 9.99880416e-01 1.54645855e-02 0.00000000e+00 2.97076493e+01] [-1.54645855e-02 9.99880416e-01 0.00000000e+00 1.33928816e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.32975968e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.851400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.74, Y:1.33, Z:-0.01 [[ 9.99918716e-01 1.27499643e-02 0.00000000e+00 2.97399098e+01] [-1.27499643e-02 9.99918716e-01 0.00000000e+00 1.33155355e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.26652860e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.77, Y:1.33, Z:-0.01 [[ 9.99928161e-01 1.19863711e-02 0.00000000e+00 2.97712411e+01] [-1.19863711e-02 9.99928161e-01 0.00000000e+00 1.32937894e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.94876433e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.80, Y:1.33, Z:-0.01 [[ 9.99924419e-01 1.22945604e-02 0.00000000e+00 2.98027176e+01] [-1.22945604e-02 9.99924419e-01 0.00000000e+00 1.32714753e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.53834353e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.941400512999998 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:29.83, Y:1.32, Z:-0.01 [[ 9.99912025e-01 1.32643587e-02 0.00000000e+00 2.98344253e+01] [-1.32643587e-02 9.99912025e-01 0.00000000e+00 1.32471171e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.80033960e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.87, Y:1.32, Z:-0.00 [[ 9.99855634e-01 1.69914958e-02 0.00000000e+00 2.98661778e+01] [-1.69914958e-02 9.99855634e-01 0.00000000e+00 1.31834860e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.89189151e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.90, Y:1.32, Z:-0.00 [[ 9.99809090e-01 1.95392600e-02 0.00000000e+00 2.98984041e+01] [-1.95392600e-02 9.99809090e-01 0.00000000e+00 1.31749569e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.88062908e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.031400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.93, Y:1.32, Z:-0.01 [[ 9.99684863e-01 2.51032617e-02 0.00000000e+00 2.99307436e+01] [-2.51032617e-02 9.99684863e-01 0.00000000e+00 1.31654533e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.89820777e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.96, Y:1.32, Z:-0.01 [[ 9.99606999e-01 2.80329555e-02 0.00000000e+00 2.99624729e+01] [-2.80329555e-02 9.99606999e-01 0.00000000e+00 1.31724870e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.07236033e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.00, Y:1.32, Z:-0.01 [[ 9.99516478e-01 3.10935576e-02 0.00000000e+00 2.99953706e+01] [-3.10935576e-02 9.99516478e-01 0.00000000e+00 1.31800267e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.68827602e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.121400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.03, Y:1.32, Z:-0.01 [[ 9.99310446e-01 3.71299327e-02 0.00000000e+00 3.00270280e+01] [-3.71299327e-02 9.99310446e-01 0.00000000e+00 1.31994034e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.03269458e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.06, Y:1.32, Z:-0.01 [[ 9.99221238e-01 3.94577904e-02 0.00000000e+00 3.00595710e+01] [-3.94577904e-02 9.99221238e-01 0.00000000e+00 1.32365272e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.99720102e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.09, Y:1.33, Z:-0.01 [[ 9.99155991e-01 4.10768350e-02 0.00000000e+00 3.00926102e+01] [-4.10768350e-02 9.99155991e-01 0.00000000e+00 1.32772342e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.65882536e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.211400512999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.12, Y:1.33, Z:-0.01 [[ 9.99127488e-01 4.17643637e-02 0.00000000e+00 3.01247494e+01] [-4.17643637e-02 9.99127488e-01 0.00000000e+00 1.33178443e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.01928233e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.16, Y:1.34, Z:-0.01 [[ 9.99175057e-01 4.06104072e-02 0.00000000e+00 3.01571464e+01] [-4.06104072e-02 9.99175057e-01 0.00000000e+00 1.33630263e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01181820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.19, Y:1.34, Z:-0.01 [[ 9.99229924e-01 3.92372033e-02 0.00000000e+00 3.01887827e+01] [-3.92372033e-02 9.99229924e-01 0.00000000e+00 1.33834485e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.97683369e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.301400512999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.22, Y:1.34, Z:-0.01 [[ 9.99293583e-01 3.75810446e-02 0.00000000e+00 3.02208614e+01] [-3.75810446e-02 9.99293583e-01 0.00000000e+00 1.34025550e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.22261594e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.25, Y:1.34, Z:-0.01 [[ 9.99366754e-01 3.55821732e-02 0.00000000e+00 3.02538378e+01] [-3.55821732e-02 9.99366754e-01 0.00000000e+00 1.34173101e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.12398793e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.29, Y:1.34, Z:-0.01 [[ 9.99520284e-01 3.09709810e-02 0.00000000e+00 3.02860829e+01] [-3.09709810e-02 9.99520284e-01 0.00000000e+00 1.34159806e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.87318766e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.32, Y:1.34, Z:-0.01 [[ 9.99585376e-01 2.87936648e-02 0.00000000e+00 3.03194848e+01] [-2.87936648e-02 9.99585376e-01 0.00000000e+00 1.34246652e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.87067283e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.35, Y:1.34, Z:-0.01 [[ 9.99666873e-01 2.58097562e-02 0.00000000e+00 3.03518199e+01] [-2.58097562e-02 9.99666873e-01 0.00000000e+00 1.34390560e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.23244781e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.38, Y:1.35, Z:-0.01 [[ 9.99677197e-01 2.54067170e-02 0.00000000e+00 3.03836128e+01] [-2.54067170e-02 9.99677197e-01 0.00000000e+00 1.34598556e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.81113660e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.42, Y:1.35, Z:-0.01 [[ 9.99671784e-01 2.56188104e-02 0.00000000e+00 3.04156020e+01] [-2.56188104e-02 9.99671784e-01 0.00000000e+00 1.34831165e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.21271563e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.511400512999998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:30.45, Y:1.35, Z:-0.01 [[ 9.99642264e-01 2.67459212e-02 0.00000000e+00 3.04479551e+01] [-2.67459212e-02 9.99642264e-01 0.00000000e+00 1.35055252e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.56133619e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.48, Y:1.35, Z:-0.01 [[ 9.99575345e-01 2.91398221e-02 0.00000000e+00 3.04796768e+01] [-2.91398221e-02 9.99575345e-01 0.00000000e+00 1.35349871e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.76511852e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.51, Y:1.36, Z:-0.01 [[ 9.99551596e-01 2.99433804e-02 0.00000000e+00 3.05119962e+01] [-2.99433804e-02 9.99551596e-01 0.00000000e+00 1.35572181e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.04537408e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.601400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.55, Y:1.36, Z:-0.00 [[ 9.99537867e-01 3.03982470e-02 0.00000000e+00 3.05452873e+01] [-3.03982470e-02 9.99537867e-01 0.00000000e+00 1.35837319e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.95589852e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.58, Y:1.36, Z:-0.00 [[ 9.99535071e-01 3.04900299e-02 0.00000000e+00 3.05772129e+01] [-3.04900299e-02 9.99535071e-01 0.00000000e+00 1.36155782e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.20275899e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.61, Y:1.37, Z:-0.00 [[ 9.99522739e-01 3.08916527e-02 0.00000000e+00 3.06105456e+01] [-3.08916527e-02 9.99522739e-01 0.00000000e+00 1.36501278e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.01100412e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.691400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.64, Y:1.37, Z:-0.01 [[ 9.99506712e-01 3.14059305e-02 0.00000000e+00 3.06434419e+01] [-3.14059305e-02 9.99506712e-01 0.00000000e+00 1.36848393e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.17102612e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.68, Y:1.37, Z:-0.01 [[ 9.99481612e-01 3.21948387e-02 0.00000000e+00 3.06751033e+01] [-3.21948387e-02 9.99481612e-01 0.00000000e+00 1.37366422e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.02116847e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.71, Y:1.38, Z:-0.01 [[ 9.99471918e-01 3.24943775e-02 0.00000000e+00 3.07072562e+01] [-3.24943775e-02 9.99471918e-01 0.00000000e+00 1.37691776e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.35260261e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.781400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.74, Y:1.38, Z:-0.01 [[ 9.99460236e-01 3.28517437e-02 0.00000000e+00 3.07390471e+01] [-3.28517437e-02 9.99460236e-01 0.00000000e+00 1.37936124e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.31076457e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.77, Y:1.38, Z:-0.01 [[ 9.99457211e-01 3.29436250e-02 0.00000000e+00 3.07709108e+01] [-3.29436250e-02 9.99457211e-01 0.00000000e+00 1.38048474e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.12370052e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.80, Y:1.38, Z:-0.01 [[ 9.99513939e-01 3.11750955e-02 0.00000000e+00 3.08043458e+01] [-3.11750955e-02 9.99513939e-01 0.00000000e+00 1.37917970e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.95388483e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.871400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.84, Y:1.38, Z:-0.01 [[ 9.99574337e-01 2.91743824e-02 0.00000000e+00 3.08377019e+01] [-2.91743824e-02 9.99574337e-01 0.00000000e+00 1.37978768e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.57829749e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.87, Y:1.38, Z:-0.01 [[ 9.99638521e-01 2.68854467e-02 0.00000000e+00 3.08697221e+01] [-2.68854467e-02 9.99638521e-01 0.00000000e+00 1.38060463e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.60828521e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.90, Y:1.38, Z:-0.01 [[ 9.99689405e-01 2.49217374e-02 0.00000000e+00 3.09017539e+01] [-2.49217374e-02 9.99689405e-01 0.00000000e+00 1.38064768e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.63062652e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.961400512999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.93, Y:1.38, Z:-0.00 [[ 9.99729652e-01 2.32513115e-02 0.00000000e+00 3.09338019e+01] [-2.32513115e-02 9.99729652e-01 0.00000000e+00 1.37936229e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.88400025e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.97, Y:1.38, Z:-0.00 [[ 9.99759095e-01 2.19488318e-02 0.00000000e+00 3.09656472e+01] [-2.19488318e-02 9.99759095e-01 0.00000000e+00 1.37715197e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.43121934e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.00, Y:1.37, Z:-0.00 [[ 9.99796982e-01 2.01493207e-02 0.00000000e+00 3.09983115e+01] [-2.01493207e-02 9.99796982e-01 0.00000000e+00 1.37241159e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.03305301e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.051400512999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.03, Y:1.37, Z:-0.00 [[ 9.99800502e-01 1.99738893e-02 0.00000000e+00 3.10304930e+01] [-1.99738893e-02 9.99800502e-01 0.00000000e+00 1.37136850e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.92288713e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.06, Y:1.37, Z:-0.00 [[ 9.99787475e-01 2.06156419e-02 0.00000000e+00 3.10624721e+01] [-2.06156419e-02 9.99787475e-01 0.00000000e+00 1.37009784e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.36744946e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.09, Y:1.37, Z:-0.00 [[ 9.99760893e-01 2.18668143e-02 0.00000000e+00 3.10944030e+01] [-2.18668143e-02 9.99760893e-01 0.00000000e+00 1.36848045e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.12821216e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.13, Y:1.37, Z:-0.00 [[ 9.99714497e-01 2.38940075e-02 0.00000000e+00 3.11266969e+01] [-2.38940075e-02 9.99714497e-01 0.00000000e+00 1.36688922e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61969909e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.16, Y:1.36, Z:-0.00 [[ 9.99585819e-01 2.87782812e-02 0.00000000e+00 3.11594161e+01] [-2.87782812e-02 9.99585819e-01 0.00000000e+00 1.36478568e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28947092e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.19, Y:1.37, Z:-0.00 [[ 9.99506755e-01 3.14045754e-02 0.00000000e+00 3.11916102e+01] [-3.14045754e-02 9.99506755e-01 0.00000000e+00 1.36506502e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43657505e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.22, Y:1.37, Z:-0.00 [[ 9.99438316e-01 3.35119874e-02 0.00000000e+00 3.12241863e+01] [-3.35119874e-02 9.99438316e-01 0.00000000e+00 1.36502340e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.50155807e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.261400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.26, Y:1.36, Z:-0.01 [[ 9.99392896e-01 3.48402059e-02 0.00000000e+00 3.12566324e+01] [-3.48402059e-02 9.99392896e-01 0.00000000e+00 1.36462897e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.07231274e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.29, Y:1.36, Z:-0.01 [[ 9.99392788e-01 3.48432914e-02 0.00000000e+00 3.12899003e+01] [-3.48432914e-02 9.99392788e-01 0.00000000e+00 1.36378787e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.90130746e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.32, Y:1.37, Z:-0.01 [[ 9.99421300e-01 3.40156621e-02 0.00000000e+00 3.13227463e+01] [-3.40156621e-02 9.99421300e-01 0.00000000e+00 1.36528195e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.13734090e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.351400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.35, Y:1.37, Z:-0.01 [[ 9.99451462e-01 3.31175826e-02 0.00000000e+00 3.13545447e+01] [-3.31175826e-02 9.99451462e-01 0.00000000e+00 1.36674392e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.66141984e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.39, Y:1.37, Z:-0.01 [[ 9.99478100e-01 3.23036715e-02 0.00000000e+00 3.13874561e+01] [-3.23036715e-02 9.99478100e-01 0.00000000e+00 1.36757533e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.56857189e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.42, Y:1.37, Z:-0.01 [[ 9.99472096e-01 3.24889061e-02 0.00000000e+00 3.14209199e+01] [-3.24889061e-02 9.99472096e-01 0.00000000e+00 1.36898421e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.56857189e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.441400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.45, Y:1.37, Z:-0.01 [[ 9.99496935e-01 3.17155718e-02 0.00000000e+00 3.14533571e+01] [-3.17155718e-02 9.99496935e-01 0.00000000e+00 1.36855039e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.35653872e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.49, Y:1.37, Z:-0.01 [[ 9.99506414e-01 3.14154017e-02 0.00000000e+00 3.14865028e+01] [-3.14154017e-02 9.99506414e-01 0.00000000e+00 1.36731634e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00560912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.52, Y:1.36, Z:-0.01 [[ 9.99560625e-01 2.96404676e-02 0.00000000e+00 3.15188166e+01] [-2.96404676e-02 9.99560625e-01 0.00000000e+00 1.36494193e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.72965956e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.531400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.55, Y:1.36, Z:-0.01 [[ 9.99600545e-01 2.82621807e-02 0.00000000e+00 3.15513062e+01] [-2.82621807e-02 9.99600545e-01 0.00000000e+00 1.36491790e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.07482519e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.58, Y:1.36, Z:-0.01 [[ 9.99648173e-01 2.65241540e-02 0.00000000e+00 3.15839545e+01] [-2.65241540e-02 9.99648173e-01 0.00000000e+00 1.36390445e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.05616216e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.62, Y:1.36, Z:-0.01 [[ 9.99699980e-01 2.44938846e-02 0.00000000e+00 3.16160102e+01] [-2.44938846e-02 9.99699980e-01 0.00000000e+00 1.36149759e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.05030451e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.621400512999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.65, Y:1.35, Z:-0.01 [[ 9.99773467e-01 2.12841420e-02 0.00000000e+00 3.16493163e+01] [-2.12841420e-02 9.99773467e-01 0.00000000e+00 1.35380484e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.04826777e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.68, Y:1.35, Z:-0.01 [[ 9.99785214e-01 2.07250172e-02 0.00000000e+00 3.16816747e+01] [-2.07250172e-02 9.99785214e-01 0.00000000e+00 1.35139269e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.64349033e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.71, Y:1.35, Z:-0.01 [[ 9.99783299e-01 2.08171814e-02 0.00000000e+00 3.17145470e+01] [-2.08171814e-02 9.99783299e-01 0.00000000e+00 1.34961257e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.03617835e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.711400512999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.75, Y:1.35, Z:-0.01 [[ 9.99766838e-01 2.15932940e-02 0.00000000e+00 3.17471222e+01] [-2.15932940e-02 9.99766838e-01 0.00000000e+00 1.34785268e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.10020438e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.78, Y:1.35, Z:-0.01 [[ 9.99734238e-01 2.30532939e-02 0.00000000e+00 3.17798692e+01] [-2.30532939e-02 9.99734238e-01 0.00000000e+00 1.34587386e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.43749293e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.81, Y:1.34, Z:-0.01 [[ 9.99685366e-01 2.50832563e-02 0.00000000e+00 3.18122816e+01] [-2.50832563e-02 9.99685366e-01 0.00000000e+00 1.34401282e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.31247910e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.801400512999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.84, Y:1.34, Z:-0.00 [[ 9.99536524e-01 3.04423584e-02 0.00000000e+00 3.18445171e+01] [-3.04423584e-02 9.99536524e-01 0.00000000e+00 1.34073988e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.73114233e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.88, Y:1.34, Z:-0.01 [[ 9.99442737e-01 3.33798649e-02 0.00000000e+00 3.18775930e+01] [-3.33798649e-02 9.99442737e-01 0.00000000e+00 1.34159997e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.24560063e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.91, Y:1.34, Z:-0.01 [[ 9.99342153e-01 3.62665178e-02 0.00000000e+00 3.19103240e+01] [-3.62665178e-02 9.99342153e-01 0.00000000e+00 1.34278661e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.43033103e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.891400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:31.94, Y:1.34, Z:-0.01 [[ 9.99175589e-01 4.05973249e-02 0.00000000e+00 3.19421607e+01] [-4.05973249e-02 9.99175589e-01 0.00000000e+00 1.34350536e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.25709058e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.97, Y:1.34, Z:-0.00 [[ 9.99129027e-01 4.17275446e-02 0.00000000e+00 3.19741931e+01] [-4.17275446e-02 9.99129027e-01 0.00000000e+00 1.34363952e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.53919439e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.01, Y:1.34, Z:-0.00 [[ 9.99110272e-01 4.21742064e-02 0.00000000e+00 3.20067656e+01] [-4.21742064e-02 9.99110272e-01 0.00000000e+00 1.34406552e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.05600182e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.04, Y:1.34, Z:-0.00 [[ 9.99112302e-01 4.21261040e-02 0.00000000e+00 3.20398503e+01] [-4.21261040e-02 9.99112302e-01 0.00000000e+00 1.34466769e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.90704937e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.07, Y:1.35, Z:-0.00 [[ 9.99132109e-01 4.16536698e-02 0.00000000e+00 3.20726735e+01] [-4.16536698e-02 9.99132109e-01 0.00000000e+00 1.34571440e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.63169501e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.11, Y:1.35, Z:-0.00 [[ 9.99150538e-01 4.12092414e-02 0.00000000e+00 3.21060935e+01] [-4.12092414e-02 9.99150538e-01 0.00000000e+00 1.34691900e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.75076314e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.14, Y:1.35, Z:-0.01 [[ 9.99155722e-01 4.10833667e-02 0.00000000e+00 3.21386087e+01] [-4.10833667e-02 9.99155722e-01 0.00000000e+00 1.35006671e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.95099360e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.101400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:32.17, Y:1.35, Z:-0.01 [[ 9.99104685e-01 4.23063675e-02 0.00000000e+00 3.21707186e+01] [-4.23063675e-02 9.99104685e-01 0.00000000e+00 1.35283977e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.59620532e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.131400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.20, Y:1.36, Z:-0.01 [[ 9.99046525e-01 4.36582240e-02 0.00000000e+00 3.22036914e+01] [-4.36582240e-02 9.99046525e-01 0.00000000e+00 1.35518993e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06721841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.24, Y:1.36, Z:-0.01 [[ 9.98894046e-01 4.70179199e-02 0.00000000e+00 3.22359416e+01] [-4.70179199e-02 9.98894046e-01 0.00000000e+00 1.35824363e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24690328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.27, Y:1.36, Z:-0.01 [[ 9.98808866e-01 4.87939444e-02 0.00000000e+00 3.22688271e+01] [-4.87939444e-02 9.98808866e-01 0.00000000e+00 1.36039409e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17175998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.30, Y:1.36, Z:-0.01 [[ 9.98743449e-01 5.01151045e-02 0.00000000e+00 3.23016108e+01] [-5.01151045e-02 9.98743449e-01 0.00000000e+00 1.36307439e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13890736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.33, Y:1.37, Z:-0.01 [[ 9.98699690e-01 5.09796908e-02 0.00000000e+00 3.23338136e+01] [-5.09796908e-02 9.98699690e-01 0.00000000e+00 1.36605718e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01926443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.37, Y:1.37, Z:-0.01 [[ 9.98675334e-01 5.14546098e-02 0.00000000e+00 3.23663647e+01] [-5.14546098e-02 9.98675334e-01 0.00000000e+00 1.36898493e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.80397771e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.40, Y:1.37, Z:-0.01 [[ 9.98721229e-01 5.05559858e-02 0.00000000e+00 3.23979686e+01] [-5.05559858e-02 9.98721229e-01 0.00000000e+00 1.37229696e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.73517085e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.341400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.43, Y:1.37, Z:-0.01 [[ 9.98775988e-01 4.94623759e-02 0.00000000e+00 3.24312143e+01] [-4.94623759e-02 9.98775988e-01 0.00000000e+00 1.37370975e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02512379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.46, Y:1.38, Z:-0.01 [[ 9.98840980e-01 4.81320781e-02 0.00000000e+00 3.24634460e+01] [-4.81320781e-02 9.98840980e-01 0.00000000e+00 1.37557979e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17636934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.50, Y:1.38, Z:-0.01 [[ 9.98901867e-01 4.68514605e-02 0.00000000e+00 3.24958937e+01] [-4.68514605e-02 9.98901867e-01 0.00000000e+00 1.37803652e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31185779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.53, Y:1.38, Z:-0.01 [[ 9.98950974e-01 4.57924882e-02 0.00000000e+00 3.25276668e+01] [-4.57924882e-02 9.98950974e-01 0.00000000e+00 1.37990194e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39806462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.56, Y:1.38, Z:-0.01 [[ 9.99004619e-01 4.46068514e-02 0.00000000e+00 3.25591808e+01] [-4.46068514e-02 9.99004619e-01 0.00000000e+00 1.38084208e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37450625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.59, Y:1.38, Z:-0.01 [[ 9.99145130e-01 4.13401675e-02 0.00000000e+00 3.25921997e+01] [-4.13401675e-02 9.99145130e-01 0.00000000e+00 1.38049637e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.80875322e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.521400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.62, Y:1.38, Z:-0.01 [[ 9.99213859e-01 3.96442068e-02 0.00000000e+00 3.26238597e+01] [-3.96442068e-02 9.99213859e-01 0.00000000e+00 1.38167656e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.08654247e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.66, Y:1.38, Z:-0.01 [[ 9.99256113e-01 3.85644885e-02 0.00000000e+00 3.26569110e+01] [-3.85644885e-02 9.99256113e-01 0.00000000e+00 1.38269734e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.20705664e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.69, Y:1.38, Z:-0.00 [[ 9.99266763e-01 3.82875461e-02 0.00000000e+00 3.26900087e+01] [-3.82875461e-02 9.99266763e-01 0.00000000e+00 1.38297919e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.30858702e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.72, Y:1.38, Z:-0.00 [[ 9.99240786e-01 3.89596215e-02 0.00000000e+00 3.27222689e+01] [-3.89596215e-02 9.99240786e-01 0.00000000e+00 1.38063680e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.46256163e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.75, Y:1.38, Z:-0.00 [[ 9.99210202e-01 3.97362847e-02 0.00000000e+00 3.27545780e+01] [-3.97362847e-02 9.99210202e-01 0.00000000e+00 1.38003273e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.23032852e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.79, Y:1.38, Z:-0.00 [[ 9.99171855e-01 4.06891132e-02 0.00000000e+00 3.27872428e+01] [-4.06891132e-02 9.99171855e-01 0.00000000e+00 1.38018451e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.89533153e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.701400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.82, Y:1.38, Z:-0.00 [[ 9.99107177e-01 4.22474606e-02 0.00000000e+00 3.28193502e+01] [-4.22474606e-02 9.99107177e-01 0.00000000e+00 1.38111354e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.91680995e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.85, Y:1.38, Z:-0.00 [[ 9.99015526e-01 4.43619134e-02 0.00000000e+00 3.28521855e+01] [-4.43619134e-02 9.99015526e-01 0.00000000e+00 1.38281442e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.72022042e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.88, Y:1.38, Z:-0.00 [[ 9.98895124e-01 4.69950025e-02 0.00000000e+00 3.28848716e+01] [-4.69950025e-02 9.98895124e-01 0.00000000e+00 1.38458019e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.64716095e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.92, Y:1.39, Z:-0.00 [[ 9.98676752e-01 5.14270820e-02 0.00000000e+00 3.29177164e+01] [-5.14270820e-02 9.98676752e-01 0.00000000e+00 1.38697991e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.25198703e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.95, Y:1.39, Z:-0.00 [[ 9.98587121e-01 5.31390753e-02 0.00000000e+00 3.29493444e+01] [-5.31390753e-02 9.98587121e-01 0.00000000e+00 1.38820445e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86900493e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.98, Y:1.39, Z:-0.00 [[ 9.98526957e-01 5.42578599e-02 0.00000000e+00 3.29824183e+01] [-5.42578599e-02 9.98526957e-01 0.00000000e+00 1.38975281e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41410228e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.881400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.02, Y:1.39, Z:-0.00 [[ 9.98474434e-01 5.52159757e-02 0.00000000e+00 3.30151553e+01] [-5.52159757e-02 9.98474434e-01 0.00000000e+00 1.39113245e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.63419875e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.05, Y:1.39, Z:-0.00 [[ 9.98426803e-01 5.60706585e-02 0.00000000e+00 3.30476838e+01] [-5.60706585e-02 9.98426803e-01 0.00000000e+00 1.39235906e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.84759537e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.08, Y:1.39, Z:-0.01 [[ 9.98369236e-01 5.70865082e-02 0.00000000e+00 3.30807549e+01] [-5.70865082e-02 9.98369236e-01 0.00000000e+00 1.39478484e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.35754118e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.11, Y:1.40, Z:-0.01 [[ 9.98373321e-01 5.70150106e-02 0.00000000e+00 3.31141057e+01] [-5.70150106e-02 9.98373321e-01 0.00000000e+00 1.39709670e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.90677452e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.15, Y:1.40, Z:-0.01 [[ 9.98403714e-01 5.64802992e-02 0.00000000e+00 3.31462185e+01] [-5.64802992e-02 9.98403714e-01 0.00000000e+00 1.39949902e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.90281767e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.18, Y:1.40, Z:-0.01 [[ 9.98436917e-01 5.58902713e-02 0.00000000e+00 3.31795945e+01] [-5.58902713e-02 9.98436917e-01 0.00000000e+00 1.40066674e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.02908758e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.21, Y:1.40, Z:-0.01 [[ 9.98494365e-01 5.48543796e-02 0.00000000e+00 3.32111885e+01] [-5.48543796e-02 9.98494365e-01 0.00000000e+00 1.40106060e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.05108880e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.091400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.24, Y:1.40, Z:-0.01 [[ 9.98557221e-01 5.36980095e-02 0.00000000e+00 3.32438557e+01] [-5.36980095e-02 9.98557221e-01 0.00000000e+00 1.40101964e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00029917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.28, Y:1.40, Z:-0.01 [[ 9.98648233e-01 5.19779418e-02 0.00000000e+00 3.32764936e+01] [-5.19779418e-02 9.98648233e-01 0.00000000e+00 1.40273874e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.90196545e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.31, Y:1.41, Z:-0.01 [[ 9.98633300e-01 5.22640634e-02 0.00000000e+00 3.33086742e+01] [-5.22640634e-02 9.98633300e-01 0.00000000e+00 1.40522476e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.64062734e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.34, Y:1.41, Z:-0.01 [[ 9.98605806e-01 5.27867838e-02 0.00000000e+00 3.33410761e+01] [-5.27867838e-02 9.98605806e-01 0.00000000e+00 1.40719045e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.42372302e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.37, Y:1.41, Z:-0.01 [[ 9.98580539e-01 5.32626312e-02 0.00000000e+00 3.33742103e+01] [-5.32626312e-02 9.98580539e-01 0.00000000e+00 1.40834196e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.93049659e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.41, Y:1.41, Z:-0.01 [[ 9.98602958e-01 5.28406274e-02 0.00000000e+00 3.34058017e+01] [-5.28406274e-02 9.98602958e-01 0.00000000e+00 1.40952004e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34999757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.271400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.44, Y:1.41, Z:-0.01 [[ 9.98664850e-01 5.16576886e-02 0.00000000e+00 3.34383557e+01] [-5.16576886e-02 9.98664850e-01 0.00000000e+00 1.41133531e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47203712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.47, Y:1.41, Z:-0.01 [[ 9.98655773e-01 5.18328784e-02 0.00000000e+00 3.34718282e+01] [-5.18328784e-02 9.98655773e-01 0.00000000e+00 1.41237790e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47203712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.50, Y:1.41, Z:-0.02 [[ 9.98736849e-01 5.02464546e-02 0.00000000e+00 3.35038235e+01] [-5.02464546e-02 9.98736849e-01 0.00000000e+00 1.41387845e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56168390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.54, Y:1.41, Z:-0.02 [[ 9.98822532e-01 4.85134002e-02 0.00000000e+00 3.35366466e+01] [-4.85134002e-02 9.98822532e-01 0.00000000e+00 1.41475765e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52276943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.57, Y:1.42, Z:-0.01 [[ 9.98903143e-01 4.68242449e-02 0.00000000e+00 3.35700812e+01] [-4.68242449e-02 9.98903143e-01 0.00000000e+00 1.41525120e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43060436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.60, Y:1.42, Z:-0.01 [[ 9.98978217e-01 4.51942652e-02 0.00000000e+00 3.36031197e+01] [-4.51942652e-02 9.98978217e-01 0.00000000e+00 1.41617717e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24545766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.451400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.64, Y:1.42, Z:-0.01 [[ 9.99096264e-01 4.25047633e-02 0.00000000e+00 3.36362510e+01] [-4.25047633e-02 9.99096264e-01 0.00000000e+00 1.41935082e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.60999888e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.67, Y:1.42, Z:-0.01 [[ 9.99148376e-01 4.12616399e-02 0.00000000e+00 3.36677925e+01] [-4.12616399e-02 9.99148376e-01 0.00000000e+00 1.42081317e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.41458973e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.70, Y:1.42, Z:-0.01 [[ 9.99193628e-01 4.01508963e-02 0.00000000e+00 3.37006390e+01] [-4.01508963e-02 9.99193628e-01 0.00000000e+00 1.42153173e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.04149150e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.73, Y:1.42, Z:-0.01 [[ 9.99246036e-01 3.88247215e-02 0.00000000e+00 3.37339744e+01] [-3.88247215e-02 9.99246036e-01 0.00000000e+00 1.42255735e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.95968928e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.77, Y:1.42, Z:-0.01 [[ 9.99291028e-01 3.76489310e-02 0.00000000e+00 3.37657661e+01] [-3.76489310e-02 9.99291028e-01 0.00000000e+00 1.42379499e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.98576116e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.80, Y:1.43, Z:-0.01 [[ 9.99325887e-01 3.67120128e-02 0.00000000e+00 3.37981061e+01] [-3.67120128e-02 9.99325887e-01 0.00000000e+00 1.42534891e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.79788846e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.631400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.83, Y:1.43, Z:-0.00 [[ 9.99336311e-01 3.64271431e-02 0.00000000e+00 3.38303919e+01] [-3.64271431e-02 9.99336311e-01 0.00000000e+00 1.42582877e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.36577677e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.86, Y:1.43, Z:-0.00 [[ 9.99290762e-01 3.76559886e-02 0.00000000e+00 3.38636794e+01] [-3.76559886e-02 9.99290762e-01 0.00000000e+00 1.42642598e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32023320e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.90, Y:1.43, Z:-0.00 [[ 9.99218423e-01 3.95290215e-02 0.00000000e+00 3.38960643e+01] [-3.95290215e-02 9.99218423e-01 0.00000000e+00 1.42864002e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.54039708e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.93, Y:1.43, Z:-0.01 [[ 9.99110709e-01 4.21638515e-02 0.00000000e+00 3.39288714e+01] [-4.21638515e-02 9.99110709e-01 0.00000000e+00 1.43196410e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.80050729e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.96, Y:1.44, Z:-0.01 [[ 9.98980507e-01 4.51436162e-02 0.00000000e+00 3.39611834e+01] [-4.51436162e-02 9.98980507e-01 0.00000000e+00 1.43503701e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07588804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.99, Y:1.44, Z:-0.01 [[ 9.98829126e-01 4.83774334e-02 0.00000000e+00 3.39937036e+01] [-4.83774334e-02 9.98829126e-01 0.00000000e+00 1.43697057e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27790257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.03, Y:1.44, Z:-0.01 [[ 9.98551108e-01 5.38115615e-02 0.00000000e+00 3.40268810e+01] [-5.38115615e-02 9.98551108e-01 0.00000000e+00 1.43694283e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03244535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.841400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.06, Y:1.44, Z:-0.01 [[ 9.98437594e-01 5.58781874e-02 0.00000000e+00 3.40587365e+01] [-5.58781874e-02 9.98437594e-01 0.00000000e+00 1.43865463e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.33912999e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.09, Y:1.44, Z:-0.01 [[ 9.98354704e-01 5.73400836e-02 0.00000000e+00 3.40911797e+01] [-5.73400836e-02 9.98354704e-01 0.00000000e+00 1.44157202e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.55360123e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.12, Y:1.45, Z:-0.01 [[ 9.98331270e-01 5.77466421e-02 0.00000000e+00 3.41234135e+01] [-5.77466421e-02 9.98331270e-01 0.00000000e+00 1.44522907e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39279898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.16, Y:1.45, Z:-0.01 [[ 9.98344926e-01 5.75100684e-02 0.00000000e+00 3.41561205e+01] [-5.75100684e-02 9.98344926e-01 0.00000000e+00 1.44545863e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43628531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.19, Y:1.45, Z:-0.01 [[ 9.98355424e-01 5.73275390e-02 0.00000000e+00 3.41878371e+01] [-5.73275390e-02 9.98355424e-01 0.00000000e+00 1.44564337e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36402409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.22, Y:1.45, Z:-0.01 [[ 9.98372232e-01 5.70340824e-02 0.00000000e+00 3.42212606e+01] [-5.70340824e-02 9.98372232e-01 0.00000000e+00 1.44734929e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19026573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.021400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.25, Y:1.45, Z:-0.01 [[ 9.98402893e-01 5.64948024e-02 0.00000000e+00 3.42538916e+01] [-5.64948024e-02 9.98402893e-01 0.00000000e+00 1.45052576e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11882998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.29, Y:1.45, Z:-0.01 [[ 9.98438746e-01 5.58575918e-02 0.00000000e+00 3.42855080e+01] [-5.58575918e-02 9.98438746e-01 0.00000000e+00 1.45377242e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07475240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.32, Y:1.46, Z:-0.01 [[ 9.98540313e-01 5.40115127e-02 0.00000000e+00 3.43183238e+01] [-5.40115127e-02 9.98540313e-01 0.00000000e+00 1.45855584e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22244876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.35, Y:1.46, Z:-0.01 [[ 9.98592360e-01 5.30405420e-02 0.00000000e+00 3.43509529e+01] [-5.30405420e-02 9.98592360e-01 0.00000000e+00 1.46068973e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28701319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.38, Y:1.46, Z:-0.01 [[ 9.98643325e-01 5.20721601e-02 0.00000000e+00 3.43826932e+01] [-5.20721601e-02 9.98643325e-01 0.00000000e+00 1.46335759e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29676243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.171400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:34.42, Y:1.47, Z:-0.01 [[ 9.98697795e-01 5.10168025e-02 0.00000000e+00 3.44159608e+01] [-5.10168025e-02 9.98697795e-01 0.00000000e+00 1.46671535e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07188696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.201400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.45, Y:1.47, Z:-0.01 [[ 9.98762165e-01 4.97407011e-02 0.00000000e+00 3.44493589e+01] [-4.97407011e-02 9.98762165e-01 0.00000000e+00 1.46954375e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.36533951e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.48, Y:1.47, Z:-0.00 [[ 9.98900487e-01 4.68808809e-02 0.00000000e+00 3.44811736e+01] [-4.68808809e-02 9.98900487e-01 0.00000000e+00 1.47177984e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.75442540e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.51, Y:1.47, Z:-0.01 [[ 9.98969939e-01 4.53768674e-02 0.00000000e+00 3.45137691e+01] [-4.53768674e-02 9.98969939e-01 0.00000000e+00 1.47307214e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.60615590e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.55, Y:1.47, Z:-0.01 [[ 9.98961832e-01 4.55550006e-02 0.00000000e+00 3.45472525e+01] [-4.55550006e-02 9.98961832e-01 0.00000000e+00 1.47392271e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.60615590e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.58, Y:1.48, Z:-0.01 [[ 9.99031795e-01 4.39940160e-02 0.00000000e+00 3.45802454e+01] [-4.39940160e-02 9.99031795e-01 0.00000000e+00 1.47540454e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.46377573e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.61, Y:1.48, Z:-0.01 [[ 9.99113193e-01 4.21049497e-02 0.00000000e+00 3.46123697e+01] [-4.21049497e-02 9.99113193e-01 0.00000000e+00 1.47665582e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.37045357e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.381400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.64, Y:1.48, Z:-0.01 [[ 9.99100704e-01 4.24002848e-02 0.00000000e+00 3.46446948e+01] [-4.24002848e-02 9.99100704e-01 0.00000000e+00 1.47679357e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.34551441e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.68, Y:1.48, Z:-0.01 [[ 9.99061458e-01 4.33151626e-02 0.00000000e+00 3.46778315e+01] [-4.33151626e-02 9.99061458e-01 0.00000000e+00 1.47756439e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.70952675e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.441400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:34.71, Y:1.48, Z:-0.01 [[ 9.98990532e-01 4.49212355e-02 0.00000000e+00 3.47085374e+01] [-4.49212355e-02 9.98990532e-01 0.00000000e+00 1.47936524e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.11696613e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.74, Y:1.48, Z:-0.00 [[ 9.98917123e-01 4.65250711e-02 0.00000000e+00 3.47414406e+01] [-4.65250711e-02 9.98917123e-01 0.00000000e+00 1.48242537e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.67157778e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.77, Y:1.49, Z:-0.00 [[ 9.98665675e-01 5.16417456e-02 0.00000000e+00 3.47734908e+01] [-5.16417456e-02 9.98665675e-01 0.00000000e+00 1.48655917e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.13643934e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.81, Y:1.49, Z:-0.00 [[ 9.98540847e-01 5.40016456e-02 0.00000000e+00 3.48052217e+01] [-5.40016456e-02 9.98540847e-01 0.00000000e+00 1.48882035e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.11145452e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.84, Y:1.49, Z:-0.00 [[ 9.98447808e-01 5.56953688e-02 0.00000000e+00 3.48376793e+01] [-5.56953688e-02 9.98447808e-01 0.00000000e+00 1.49121464e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.87301601e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.591400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.87, Y:1.49, Z:-0.01 [[ 9.98406377e-01 5.64332015e-02 0.00000000e+00 3.48704864e+01] [-5.64332015e-02 9.98406377e-01 0.00000000e+00 1.49416032e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.13429320e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.90, Y:1.50, Z:-0.01 [[ 9.98448450e-01 5.56838712e-02 0.00000000e+00 3.49024276e+01] [-5.56838712e-02 9.98448450e-01 0.00000000e+00 1.49678420e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.03128407e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.94, Y:1.50, Z:-0.01 [[ 9.98553324e-01 5.37704241e-02 0.00000000e+00 3.49356989e+01] [-5.37704241e-02 9.98553324e-01 0.00000000e+00 1.49814686e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.98519947e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.681400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:34.97, Y:1.50, Z:-0.01 [[ 9.98921764e-01 4.64253084e-02 0.00000000e+00 3.49684035e+01] [-4.64253084e-02 9.98921764e-01 0.00000000e+00 1.49609859e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.36791465e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.00, Y:1.49, Z:-0.01 [[ 9.99120139e-01 4.19398202e-02 0.00000000e+00 3.50005703e+01] [-4.19398202e-02 9.99120139e-01 0.00000000e+00 1.49455706e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.46845062e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.03, Y:1.49, Z:-0.01 [[ 9.99280946e-01 3.79155651e-02 0.00000000e+00 3.50336460e+01] [-3.79155651e-02 9.99280946e-01 0.00000000e+00 1.49333010e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.88458596e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.771400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.07, Y:1.49, Z:-0.01 [[ 9.99417397e-01 3.41301448e-02 0.00000000e+00 3.50668640e+01] [-3.41301448e-02 9.99417397e-01 0.00000000e+00 1.49200804e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.45870506e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.801400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:35.10, Y:1.49, Z:-0.01 [[ 9.99522191e-01 3.09093776e-02 0.00000000e+00 3.50998192e+01] [-3.09093776e-02 9.99522191e-01 0.00000000e+00 1.49018446e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.26125200e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.13, Y:1.49, Z:-0.01 [[ 9.99603604e-01 2.81537713e-02 0.00000000e+00 3.51318832e+01] [-2.81537713e-02 9.99603604e-01 0.00000000e+00 1.48739235e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.51766050e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.861400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.17, Y:1.48, Z:-0.01 [[ 9.99678116e-01 2.53705474e-02 0.00000000e+00 3.51652156e+01] [-2.53705474e-02 9.99678116e-01 0.00000000e+00 1.47938597e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.31863661e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.891400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:35.20, Y:1.48, Z:-0.01 [[ 9.99676926e-01 2.54174002e-02 0.00000000e+00 3.51973294e+01] [-2.54174002e-02 9.99676926e-01 0.00000000e+00 1.47544312e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.23897114e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.23, Y:1.47, Z:-0.01 [[ 9.99661628e-01 2.60121215e-02 0.00000000e+00 3.52291715e+01] [-2.60121215e-02 9.99661628e-01 0.00000000e+00 1.47174874e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02215747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.951400512999996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:35.26, Y:1.47, Z:-0.01 [[ 9.99628823e-01 2.72436458e-02 0.00000000e+00 3.52622851e+01] [-2.72436458e-02 9.99628823e-01 0.00000000e+00 1.46915388e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15685924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.30, Y:1.47, Z:-0.01 [[ 9.99560654e-01 2.96394822e-02 0.00000000e+00 3.52952574e+01] [-2.96394822e-02 9.99560654e-01 0.00000000e+00 1.46641428e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18189837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.33, Y:1.46, Z:-0.01 [[ 9.99311141e-01 3.71112200e-02 0.00000000e+00 3.53278661e+01] [-3.71112200e-02 9.99311141e-01 0.00000000e+00 1.46149919e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07019518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.36, Y:1.46, Z:-0.01 [[ 9.99126039e-01 4.17990252e-02 0.00000000e+00 3.53607987e+01] [-4.17990252e-02 9.99126039e-01 0.00000000e+00 1.45975529e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.25580546e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.39, Y:1.46, Z:-0.01 [[ 9.98917314e-01 4.65209574e-02 0.00000000e+00 3.53925323e+01] [-4.65209574e-02 9.98917314e-01 0.00000000e+00 1.45890315e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.84588083e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.42, Y:1.46, Z:-0.01 [[ 9.98695855e-01 5.10547649e-02 0.00000000e+00 3.54241018e+01] [-5.10547649e-02 9.98695855e-01 0.00000000e+00 1.45848044e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.60721012e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.131400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.46, Y:1.46, Z:-0.01 [[ 9.98496559e-01 5.48144300e-02 0.00000000e+00 3.54574337e+01] [-5.48144300e-02 9.98496559e-01 0.00000000e+00 1.45852364e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.26375819e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.49, Y:1.46, Z:-0.01 [[ 9.98340923e-01 5.75795215e-02 0.00000000e+00 3.54893889e+01] [-5.75795215e-02 9.98340923e-01 0.00000000e+00 1.45812534e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.21679517e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.52, Y:1.46, Z:-0.01 [[ 9.98264275e-01 5.88934432e-02 0.00000000e+00 3.55226984e+01] [-5.88934432e-02 9.98264275e-01 0.00000000e+00 1.45735279e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.10646544e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.56, Y:1.46, Z:-0.01 [[ 9.98253150e-01 5.90817097e-02 0.00000000e+00 3.55561764e+01] [-5.90817097e-02 9.98253150e-01 0.00000000e+00 1.45804448e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.10646544e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.59, Y:1.46, Z:-0.01 [[ 9.98255014e-01 5.90502037e-02 0.00000000e+00 3.55879706e+01] [-5.90502037e-02 9.98255014e-01 0.00000000e+00 1.45703661e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.63968895e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.62, Y:1.45, Z:-0.01 [[ 9.98448308e-01 5.56864017e-02 0.00000000e+00 3.56197200e+01] [-5.56864017e-02 9.98448308e-01 0.00000000e+00 1.45499223e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.34840584e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.311400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.65, Y:1.45, Z:-0.01 [[ 9.98580444e-01 5.32644074e-02 0.00000000e+00 3.56525469e+01] [-5.32644074e-02 9.98580444e-01 0.00000000e+00 1.45487413e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.66435400e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.341400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.69, Y:1.45, Z:-0.00 [[ 9.98705876e-01 5.08583559e-02 0.00000000e+00 3.56850794e+01] [-5.08583559e-02 9.98705876e-01 0.00000000e+00 1.45459578e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.67851433e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.72, Y:1.45, Z:-0.00 [[ 9.98809872e-01 4.87733467e-02 0.00000000e+00 3.57182200e+01] [-4.87733467e-02 9.98809872e-01 0.00000000e+00 1.45362789e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83829352e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.75, Y:1.45, Z:-0.00 [[ 9.98889332e-01 4.71179606e-02 0.00000000e+00 3.57516884e+01] [-4.71179606e-02 9.98889332e-01 0.00000000e+00 1.45148174e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.68636034e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.431400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:35.78, Y:1.45, Z:0.00 [[ 9.98956458e-01 4.56726947e-02 0.00000000e+00 3.57834438e+01] [-4.56726947e-02 9.98956458e-01 0.00000000e+00 1.44913515e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.69584641e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.82, Y:1.45, Z:-0.00 [[ 9.99043609e-01 4.37249150e-02 0.00000000e+00 3.58167818e+01] [-4.37249150e-02 9.99043609e-01 0.00000000e+00 1.44577860e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.35884076e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.85, Y:1.44, Z:-0.00 [[ 9.99049228e-01 4.35963255e-02 0.00000000e+00 3.58495358e+01] [-4.35963255e-02 9.99049228e-01 0.00000000e+00 1.44495147e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.83114273e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.521400512999996 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:35.88, Y:1.44, Z:-0.01 [[ 9.99053193e-01 4.35053819e-02 0.00000000e+00 3.58812623e+01] [-4.35053819e-02 9.99053193e-01 0.00000000e+00 1.44260185e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.82639257e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.91, Y:1.44, Z:-0.01 [[ 9.99072564e-01 4.30582387e-02 0.00000000e+00 3.59137334e+01] [-4.30582387e-02 9.99072564e-01 0.00000000e+00 1.43905535e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.50389745e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.581400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:35.95, Y:1.44, Z:-0.01 [[ 9.99065702e-01 4.32171672e-02 0.00000000e+00 3.59459164e+01] [-4.32171672e-02 9.99065702e-01 0.00000000e+00 1.43510120e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.32166703e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.98, Y:1.43, Z:-0.01 [[ 9.99045092e-01 4.36910039e-02 0.00000000e+00 3.59777302e+01] [-4.36910039e-02 9.99045092e-01 0.00000000e+00 1.43140939e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.37995639e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.01, Y:1.43, Z:-0.00 [[ 9.98976078e-01 4.52415173e-02 0.00000000e+00 3.60095331e+01] [-4.52415173e-02 9.98976078e-01 0.00000000e+00 1.42720872e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.22709949e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.04, Y:1.43, Z:-0.00 [[ 9.98898415e-01 4.69250017e-02 0.00000000e+00 3.60428537e+01] [-4.69250017e-02 9.98898415e-01 0.00000000e+00 1.42652369e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.10333268e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.701400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.07, Y:1.43, Z:-0.00 [[ 9.98788491e-01 4.92092576e-02 0.00000000e+00 3.60749946e+01] [-4.92092576e-02 9.98788491e-01 0.00000000e+00 1.42639720e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.03387399e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.731400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:36.11, Y:1.43, Z:-0.01 [[ 9.98615157e-01 5.26095777e-02 0.00000000e+00 3.61067608e+01] [-5.26095777e-02 9.98615157e-01 0.00000000e+00 1.42636292e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.44213308e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.14, Y:1.43, Z:-0.01 [[ 9.98380606e-01 5.68873137e-02 0.00000000e+00 3.61400154e+01] [-5.68873137e-02 9.98380606e-01 0.00000000e+00 1.42704302e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.26231246e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.17, Y:1.43, Z:-0.01 [[ 9.98060116e-01 6.22575740e-02 0.00000000e+00 3.61725204e+01] [-6.22575740e-02 9.98060116e-01 0.00000000e+00 1.42824512e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.44539416e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.20, Y:1.43, Z:-0.01 [[ 9.97695919e-01 6.78443350e-02 0.00000000e+00 3.62041210e+01] [-6.78443350e-02 9.97695919e-01 0.00000000e+00 1.42992129e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.22780866e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.851400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:36.24, Y:1.43, Z:-0.01 [[ 9.97341434e-01 7.28701891e-02 0.00000000e+00 3.62355932e+01] [-7.28701891e-02 9.97341434e-01 0.00000000e+00 1.43186632e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.03389198e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.881400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.27, Y:1.43, Z:-0.01 [[ 9.96886115e-01 7.88547695e-02 0.00000000e+00 3.62682623e+01] [-7.88547695e-02 9.96886115e-01 0.00000000e+00 1.43431780e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.21932526e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.30, Y:1.44, Z:-0.01 [[ 9.96803006e-01 7.98984814e-02 0.00000000e+00 3.63005549e+01] [-7.98984814e-02 9.96803006e-01 0.00000000e+00 1.43543438e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.59013694e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.33, Y:1.44, Z:-0.00 [[ 9.96823181e-01 7.96463798e-02 0.00000000e+00 3.63336904e+01] [-7.96463798e-02 9.96823181e-01 0.00000000e+00 1.43697249e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.06429787e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.37, Y:1.44, Z:-0.00 [[ 9.96907613e-01 7.85825169e-02 0.00000000e+00 3.63667498e+01] [-7.85825169e-02 9.96907613e-01 0.00000000e+00 1.43843466e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.41806080e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.40, Y:1.44, Z:-0.00 [[ 9.97042279e-01 7.68550216e-02 0.00000000e+00 3.63999135e+01] [-7.68550216e-02 9.97042279e-01 0.00000000e+00 1.43991922e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.15872188e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.43, Y:1.44, Z:-0.01 [[ 9.97206236e-01 7.46975368e-02 0.00000000e+00 3.64323350e+01] [-7.46975368e-02 9.97206236e-01 0.00000000e+00 1.44115457e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.32774983e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.061400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.47, Y:1.44, Z:-0.01 [[ 9.97568796e-01 6.96885757e-02 0.00000000e+00 3.64653726e+01] [-6.96885757e-02 9.97568796e-01 0.00000000e+00 1.44162644e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.12135276e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.091400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.50, Y:1.44, Z:-0.01 [[ 9.97768321e-01 6.67710896e-02 0.00000000e+00 3.64987548e+01] [-6.67710896e-02 9.97768321e-01 0.00000000e+00 1.44132189e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.84313798e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.53, Y:1.44, Z:-0.01 [[ 9.97981450e-01 6.35061055e-02 0.00000000e+00 3.65317922e+01] [-6.35061055e-02 9.97981450e-01 0.00000000e+00 1.44008975e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.18710187e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.56, Y:1.44, Z:-0.01 [[ 9.98208174e-01 5.98367854e-02 0.00000000e+00 3.65647687e+01] [-5.98367854e-02 9.98208174e-01 0.00000000e+00 1.43824970e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.13228561e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.60, Y:1.44, Z:-0.01 [[ 9.98432968e-01 5.59607755e-02 0.00000000e+00 3.65968058e+01] [-5.59607755e-02 9.98432968e-01 0.00000000e+00 1.43559082e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.20272299e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.63, Y:1.43, Z:-0.00 [[ 9.98893637e-01 4.70266069e-02 0.00000000e+00 3.66299999e+01] [-4.70266069e-02 9.98893637e-01 0.00000000e+00 1.42855908e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.95085632e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.66, Y:1.43, Z:-0.00 [[ 9.99075532e-01 4.29893149e-02 0.00000000e+00 3.66627733e+01] [-4.29893149e-02 9.99075532e-01 0.00000000e+00 1.42567065e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05438921e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.271400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.69, Y:1.42, Z:-0.00 [[ 9.99204035e-01 3.98910678e-02 0.00000000e+00 3.66948826e+01] [-3.98910678e-02 9.99204035e-01 0.00000000e+00 1.42310361e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39563649e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.73, Y:1.42, Z:-0.00 [[ 9.99282333e-01 3.78790152e-02 0.00000000e+00 3.67268927e+01] [-3.78790152e-02 9.99282333e-01 0.00000000e+00 1.42018743e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.73542281e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.76, Y:1.42, Z:-0.00 [[ 9.99337947e-01 3.63822404e-02 0.00000000e+00 3.67597000e+01] [-3.63822404e-02 9.99337947e-01 0.00000000e+00 1.41657898e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.01937775e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.79, Y:1.41, Z:0.00 [[ 9.99385689e-01 3.50463090e-02 0.00000000e+00 3.67932068e+01] [-3.50463090e-02 9.99385689e-01 0.00000000e+00 1.41266089e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03022283e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.83, Y:1.41, Z:0.00 [[ 9.99435597e-01 3.35929603e-02 0.00000000e+00 3.68258368e+01] [-3.35929603e-02 9.99435597e-01 0.00000000e+00 1.40914587e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.62714399e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.86, Y:1.41, Z:0.00 [[ 9.99473344e-01 3.24505051e-02 0.00000000e+00 3.68577040e+01] [-3.24505051e-02 9.99473344e-01 0.00000000e+00 1.40692046e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46818683e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.451400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.89, Y:1.41, Z:0.00 [[ 9.99489751e-01 3.19411526e-02 0.00000000e+00 3.68902849e+01] [-3.19411526e-02 9.99489751e-01 0.00000000e+00 1.40537352e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.29642689e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.92, Y:1.40, Z:-0.00 [[ 9.99504841e-01 3.14654157e-02 0.00000000e+00 3.69231600e+01] [-3.14654157e-02 9.99504841e-01 0.00000000e+00 1.40222849e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.75695207e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.96, Y:1.40, Z:-0.01 [[ 9.99509842e-01 3.13061624e-02 0.00000000e+00 3.69556313e+01] [-3.13061624e-02 9.99509842e-01 0.00000000e+00 1.40063782e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.15879908e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.99, Y:1.40, Z:-0.01 [[ 9.99519701e-01 3.09897921e-02 0.00000000e+00 3.69884816e+01] [-3.09897921e-02 9.99519701e-01 0.00000000e+00 1.39909765e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.15844734e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.02, Y:1.40, Z:-0.01 [[ 9.99536848e-01 3.04317294e-02 0.00000000e+00 3.70212794e+01] [-3.04317294e-02 9.99536848e-01 0.00000000e+00 1.39768707e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.40006476e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.05, Y:1.40, Z:-0.00 [[ 9.99561914e-01 2.95969763e-02 0.00000000e+00 3.70537672e+01] [-2.95969763e-02 9.99561914e-01 0.00000000e+00 1.39738706e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.78495114e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.631400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.09, Y:1.40, Z:-0.00 [[ 9.99593716e-01 2.85026731e-02 0.00000000e+00 3.70872170e+01] [-2.85026731e-02 9.99593716e-01 0.00000000e+00 1.39785444e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.50026860e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.12, Y:1.40, Z:-0.00 [[ 9.99678005e-01 2.53749230e-02 0.00000000e+00 3.71192814e+01] [-2.53749230e-02 9.99678005e-01 0.00000000e+00 1.39885297e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.53516126e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.15, Y:1.40, Z:-0.00 [[ 9.99723614e-01 2.35094783e-02 0.00000000e+00 3.71518755e+01] [-2.35094783e-02 9.99723614e-01 0.00000000e+00 1.39923064e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.79352044e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.18, Y:1.40, Z:-0.01 [[ 9.99763786e-01 2.17341331e-02 0.00000000e+00 3.71849387e+01] [-2.17341331e-02 9.99763786e-01 0.00000000e+00 1.39893445e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.07370889e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.22, Y:1.40, Z:-0.00 [[ 9.99802299e-01 1.98837396e-02 0.00000000e+00 3.72169845e+01] [-1.98837396e-02 9.99802299e-01 0.00000000e+00 1.39862579e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.72682424e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.25, Y:1.40, Z:-0.00 [[ 9.99837542e-01 1.80247170e-02 0.00000000e+00 3.72487243e+01] [-1.80247170e-02 9.99837542e-01 0.00000000e+00 1.39883695e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.25567947e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.811400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.28, Y:1.40, Z:-0.00 [[ 9.99868133e-01 1.62393666e-02 0.00000000e+00 3.72815173e+01] [-1.62393666e-02 9.99868133e-01 0.00000000e+00 1.39974592e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.93456572e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.841400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.31, Y:1.40, Z:0.00 [[ 9.99925304e-01 1.22223669e-02 0.00000000e+00 3.73121957e+01] [-1.22223669e-02 9.99925304e-01 0.00000000e+00 1.40141498e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68953506e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.34, Y:1.40, Z:0.00 [[ 9.99946959e-01 1.02994663e-02 0.00000000e+00 3.73443448e+01] [-1.02994663e-02 9.99946959e-01 0.00000000e+00 1.40177332e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28186982e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.38, Y:1.40, Z:0.01 [[ 9.99965188e-01 8.34406500e-03 0.00000000e+00 3.73755428e+01] [-8.34406500e-03 9.99965188e-01 0.00000000e+00 1.40237079e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.92598079e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.41, Y:1.40, Z:0.01 [[ 9.99976496e-01 6.85625335e-03 0.00000000e+00 3.74081873e+01] [-6.85625335e-03 9.99976496e-01 0.00000000e+00 1.40285596e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.71476038e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.44, Y:1.40, Z:0.01 [[ 9.99982682e-01 5.88526325e-03 0.00000000e+00 3.74399456e+01] [-5.88526325e-03 9.99982682e-01 0.00000000e+00 1.40375508e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.04905047e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.991400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:37.47, Y:1.40, Z:0.00 [[ 9.99987118e-01 5.07587955e-03 0.00000000e+00 3.74708384e+01] [-5.07587955e-03 9.99987118e-01 0.00000000e+00 1.40485363e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12166814e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.021400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.50, Y:1.41, Z:0.00 [[ 9.99989158e-01 4.65668706e-03 0.00000000e+00 3.75021595e+01] [-4.65668706e-03 9.99989158e-01 0.00000000e+00 1.40562214e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.92265423e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.53, Y:1.41, Z:0.00 [[ 9.99996360e-01 2.69811579e-03 0.00000000e+00 3.75338013e+01] [-2.69811579e-03 9.99996360e-01 0.00000000e+00 1.40781506e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74851015e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.57, Y:1.41, Z:0.00 [[ 9.99998940e-01 1.45635088e-03 0.00000000e+00 3.75651374e+01] [-1.45635088e-03 9.99998940e-01 0.00000000e+00 1.40922600e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.54226863e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.60, Y:1.41, Z:0.00 [[ 9.99998940e-01 1.45635088e-03 0.00000000e+00 3.75961336e+01] [-1.45635088e-03 9.99998940e-01 0.00000000e+00 1.40967430e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.54226863e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.63, Y:1.41, Z:0.01 [[ 9.99999979e-01 -2.04918757e-04 0.00000000e+00 3.76260863e+01] [ 2.04918757e-04 9.99999979e-01 0.00000000e+00 1.41113040e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.30257270e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.66, Y:1.41, Z:0.01 [[ 9.99998047e-01 -1.97633760e-03 0.00000000e+00 3.76565928e+01] [ 1.97633760e-03 9.99998047e-01 0.00000000e+00 1.41236755e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.88854993e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.201400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.69, Y:1.41, Z:0.01 [[ 9.99992512e-01 -3.86975400e-03 0.00000000e+00 3.76861153e+01] [ 3.86975400e-03 9.99992512e-01 0.00000000e+00 1.41320077e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.84485565e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.72, Y:1.41, Z:0.01 [[ 9.99981283e-01 -6.11826035e-03 0.00000000e+00 3.77159555e+01] [ 6.11826035e-03 9.99981283e-01 0.00000000e+00 1.41394343e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.71887785e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.75, Y:1.41, Z:0.01 [[ 9.99929878e-01 -1.18422418e-02 0.00000000e+00 3.77451380e+01] [ 1.18422418e-02 9.99929878e-01 0.00000000e+00 1.41421573e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.71201810e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.77, Y:1.41, Z:0.01 [[ 9.99886064e-01 -1.50950176e-02 0.00000000e+00 3.77736498e+01] [ 1.50950176e-02 9.99886064e-01 0.00000000e+00 1.41481736e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.41085826e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.80, Y:1.42, Z:0.01 [[ 9.99840531e-01 -1.78581289e-02 0.00000000e+00 3.78016530e+01] [ 1.78581289e-02 9.99840531e-01 0.00000000e+00 1.41535396e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.91382457e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.83, Y:1.42, Z:0.01 [[ 9.99798195e-01 -2.00890405e-02 0.00000000e+00 3.78307001e+01] [ 2.00890405e-02 9.99798195e-01 0.00000000e+00 1.41581422e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.23648552e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.381400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.86, Y:1.42, Z:0.01 [[ 9.99767736e-01 -2.15516516e-02 0.00000000e+00 3.78588797e+01] [ 2.15516516e-02 9.99767736e-01 0.00000000e+00 1.41636456e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.93622184e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.89, Y:1.42, Z:0.01 [[ 9.99743062e-01 -2.26673922e-02 0.00000000e+00 3.78880963e+01] [ 2.26673922e-02 9.99743062e-01 0.00000000e+00 1.41701493e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.33798016e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.92, Y:1.42, Z:0.01 [[ 9.99708801e-01 -2.41311745e-02 0.00000000e+00 3.79159631e+01] [ 2.41311745e-02 9.99708801e-01 0.00000000e+00 1.41810953e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.57547808e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.94, Y:1.42, Z:0.01 [[ 9.99688072e-01 -2.49751501e-02 0.00000000e+00 3.79434488e+01] [ 2.49751501e-02 9.99688072e-01 0.00000000e+00 1.41952646e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.63809560e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.97, Y:1.42, Z:0.01 [[ 9.99662375e-01 -2.59833663e-02 0.00000000e+00 3.79710319e+01] [ 2.59833663e-02 9.99662375e-01 0.00000000e+00 1.42126931e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.56375126e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.00, Y:1.42, Z:0.00 [[ 9.99635910e-01 -2.69823396e-02 0.00000000e+00 3.79986724e+01] [ 2.69823396e-02 9.99635910e-01 0.00000000e+00 1.42267471e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.97204693e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.561400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.03, Y:1.42, Z:0.01 [[ 9.99625018e-01 -2.73829128e-02 0.00000000e+00 3.80251796e+01] [ 2.73829128e-02 9.99625018e-01 0.00000000e+00 1.42391172e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.53636155e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.591400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.05, Y:1.43, Z:0.01 [[ 9.99633469e-01 -2.70726217e-02 0.00000000e+00 3.80541635e+01] [ 2.70726217e-02 9.99633469e-01 0.00000000e+00 1.42564665e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.65933855e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.08, Y:1.43, Z:0.01 [[ 9.99723161e-01 -2.35287161e-02 0.00000000e+00 3.80826045e+01] [ 2.35287161e-02 9.99723161e-01 0.00000000e+00 1.43141025e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28449360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.11, Y:1.44, Z:0.01 [[ 9.99767331e-01 -2.15704372e-02 0.00000000e+00 3.81108958e+01] [ 2.15704372e-02 9.99767331e-01 0.00000000e+00 1.43545339e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30201856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.14, Y:1.44, Z:0.01 [[ 9.99799369e-01 -2.00305323e-02 0.00000000e+00 3.81400497e+01] [ 2.00305323e-02 9.99799369e-01 0.00000000e+00 1.43920943e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14067464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.711400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:38.17, Y:1.44, Z:0.01 [[ 9.99807860e-01 -1.96021010e-02 0.00000000e+00 3.81692626e+01] [ 1.96021010e-02 9.99807860e-01 0.00000000e+00 1.44312998e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.52701285e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.741400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:38.20, Y:1.45, Z:0.01 [[ 9.99803244e-01 -1.98361469e-02 0.00000000e+00 3.81965656e+01] [ 1.98361469e-02 9.99803244e-01 0.00000000e+00 1.44662730e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.34142481e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.771400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.22, Y:1.45, Z:0.01 [[ 9.99774294e-01 -2.12452467e-02 0.00000000e+00 3.82246129e+01] [ 2.12452467e-02 9.99774294e-01 0.00000000e+00 1.45000757e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.75274867e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.25, Y:1.46, Z:0.01 [[ 9.99671403e-01 -2.56336778e-02 0.00000000e+00 3.82521265e+01] [ 2.56336778e-02 9.99671403e-01 0.00000000e+00 1.45542788e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08325526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.28, Y:1.46, Z:0.01 [[ 9.99591112e-01 -2.85938487e-02 0.00000000e+00 3.82798156e+01] [ 2.85938487e-02 9.99591112e-01 0.00000000e+00 1.45835045e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15577473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.31, Y:1.46, Z:0.01 [[ 9.99507212e-01 -3.13900158e-02 0.00000000e+00 3.83079824e+01] [ 3.13900158e-02 9.99507212e-01 0.00000000e+00 1.46126836e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10763967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.34, Y:1.46, Z:0.01 [[ 9.99426327e-01 -3.38676324e-02 0.00000000e+00 3.83364567e+01] [ 3.38676324e-02 9.99426327e-01 0.00000000e+00 1.46445080e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.98079469e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.36, Y:1.47, Z:0.01 [[ 9.99370242e-01 -3.54840585e-02 0.00000000e+00 3.83639818e+01] [ 3.54840585e-02 9.99370242e-01 0.00000000e+00 1.46721282e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.12631686e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.951400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.39, Y:1.47, Z:0.01 [[ 9.99318106e-01 -3.69232048e-02 0.00000000e+00 3.83917120e+01] [ 3.69232048e-02 9.99318106e-01 0.00000000e+00 1.46995207e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.14426030e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.42, Y:1.47, Z:0.01 [[ 9.99265508e-01 -3.83202766e-02 0.00000000e+00 3.84207403e+01] [ 3.83202766e-02 9.99265508e-01 0.00000000e+00 1.47226494e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.64098351e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.45, Y:1.47, Z:0.01 [[ 9.99216116e-01 -3.95872848e-02 0.00000000e+00 3.84485194e+01] [ 3.95872848e-02 9.99216116e-01 0.00000000e+00 1.47483341e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25154953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.48, Y:1.48, Z:0.01 [[ 9.99141448e-01 -4.14290659e-02 0.00000000e+00 3.84774373e+01] [ 4.14290659e-02 9.99141448e-01 0.00000000e+00 1.48105539e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.42428392e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.071400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:38.51, Y:1.48, Z:0.01 [[ 9.99120083e-01 -4.19411502e-02 0.00000000e+00 3.85062588e+01] [ 4.19411502e-02 9.99120083e-01 0.00000000e+00 1.48450111e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.02360141e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.53, Y:1.49, Z:0.01 [[ 9.99118354e-01 -4.19823112e-02 0.00000000e+00 3.85342805e+01] [ 4.19823112e-02 9.99118354e-01 0.00000000e+00 1.48693363e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.25186517e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.131400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.56, Y:1.49, Z:0.01 [[ 9.99111581e-01 -4.21431892e-02 0.00000000e+00 3.85623981e+01] [ 4.21431892e-02 9.99111581e-01 0.00000000e+00 1.48889306e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.63772469e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.59, Y:1.49, Z:0.01 [[ 9.99122285e-01 -4.18886674e-02 0.00000000e+00 3.85905943e+01] [ 4.18886674e-02 9.99122285e-01 0.00000000e+00 1.49073459e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.81494189e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.62, Y:1.49, Z:0.01 [[ 9.99136414e-01 -4.15502846e-02 0.00000000e+00 3.86197272e+01] [ 4.15502846e-02 9.99136414e-01 0.00000000e+00 1.49288203e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08358483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.65, Y:1.50, Z:0.01 [[ 9.99264926e-01 -3.83354607e-02 0.00000000e+00 3.86489339e+01] [ 3.83354607e-02 9.99264926e-01 0.00000000e+00 1.49555692e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10117204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.68, Y:1.50, Z:0.01 [[ 9.99351407e-01 -3.60106186e-02 0.00000000e+00 3.86774516e+01] [ 3.60106186e-02 9.99351407e-01 0.00000000e+00 1.49586362e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05264628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.71, Y:1.50, Z:0.01 [[ 9.99442215e-01 -3.33955035e-02 0.00000000e+00 3.87057848e+01] [ 3.33955035e-02 9.99442215e-01 0.00000000e+00 1.49548588e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13259036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.311400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.73, Y:1.50, Z:0.01 [[ 9.99539694e-01 -3.03380982e-02 0.00000000e+00 3.87344539e+01] [ 3.03380982e-02 9.99539694e-01 0.00000000e+00 1.49555189e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24683779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.341400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.76, Y:1.50, Z:0.01 [[ 9.99644543e-01 -2.66606079e-02 0.00000000e+00 3.87631654e+01] [ 2.66606079e-02 9.99644543e-01 0.00000000e+00 1.49625127e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29622011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.79, Y:1.50, Z:0.01 [[ 9.99753675e-01 -2.21943673e-02 0.00000000e+00 3.87909834e+01] [ 2.21943673e-02 9.99753675e-01 0.00000000e+00 1.49742944e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43261739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.82, Y:1.50, Z:0.01 [[ 9.99918909e-01 -1.27347905e-02 0.00000000e+00 3.88192031e+01] [ 1.27347905e-02 9.99918909e-01 0.00000000e+00 1.49881048e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13203825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.85, Y:1.50, Z:0.01 [[ 9.99916466e-01 -1.29251716e-02 0.00000000e+00 3.88477107e+01] [ 1.29251716e-02 9.99916466e-01 0.00000000e+00 1.49953249e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13203825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.88, Y:1.50, Z:0.01 [[ 9.99995518e-01 -2.99387734e-03 0.00000000e+00 3.88753352e+01] [ 2.99387734e-03 9.99995518e-01 0.00000000e+00 1.50383639e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.41105462e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.90, Y:1.51, Z:0.01 [[ 9.99997894e-01 2.05226869e-03 0.00000000e+00 3.89045527e+01] [-2.05226869e-03 9.99997894e-01 0.00000000e+00 1.50701034e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.39562585e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.521400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.93, Y:1.51, Z:0.01 [[ 9.99977824e-01 6.65965753e-03 0.00000000e+00 3.89347793e+01] [-6.65965753e-03 9.99977824e-01 0.00000000e+00 1.50916147e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.33009450e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.97, Y:1.51, Z:0.01 [[ 9.99945076e-01 1.04806958e-02 0.00000000e+00 3.89660433e+01] [-1.04806958e-02 9.99945076e-01 0.00000000e+00 1.51121041e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.47819324e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.00, Y:1.51, Z:0.00 [[ 9.99908591e-01 1.35206987e-02 0.00000000e+00 3.89966627e+01] [-1.35206987e-02 9.99908591e-01 0.00000000e+00 1.51400844e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.52811634e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.03, Y:1.52, Z:0.00 [[ 9.99876554e-01 1.57123069e-02 0.00000000e+00 3.90279742e+01] [-1.57123069e-02 9.99876554e-01 0.00000000e+00 1.51748282e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49216929e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.641400513 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:39.06, Y:1.52, Z:-0.00 [[ 9.99849528e-01 1.73470982e-02 0.00000000e+00 3.90597650e+01] [-1.73470982e-02 9.99849528e-01 0.00000000e+00 1.52397707e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.00604136e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.09, Y:1.53, Z:-0.00 [[ 9.99853830e-01 1.70973297e-02 0.00000000e+00 3.90908183e+01] [-1.70973297e-02 9.99853830e-01 0.00000000e+00 1.52598662e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41041829e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.701400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.12, Y:1.53, Z:-0.00 [[ 9.99870221e-01 1.61102715e-02 0.00000000e+00 3.91228719e+01] [-1.61102715e-02 9.99870221e-01 0.00000000e+00 1.52790613e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.37805069e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.16, Y:1.53, Z:-0.00 [[ 9.99895281e-01 1.44716189e-02 0.00000000e+00 3.91557532e+01] [-1.44716189e-02 9.99895281e-01 0.00000000e+00 1.52995924e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49962094e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.19, Y:1.53, Z:-0.00 [[ 9.99918602e-01 1.27589067e-02 0.00000000e+00 3.91871908e+01] [-1.27589067e-02 9.99918602e-01 0.00000000e+00 1.53174443e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04616554e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.22, Y:1.53, Z:-0.01 [[ 9.99941146e-01 1.08491387e-02 0.00000000e+00 3.92191019e+01] [-1.08491387e-02 9.99941146e-01 0.00000000e+00 1.53332351e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.38643132e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.25, Y:1.54, Z:-0.01 [[ 9.99971411e-01 7.56161346e-03 0.00000000e+00 3.92514787e+01] [-7.56161346e-03 9.99971411e-01 0.00000000e+00 1.53588338e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49673247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.28, Y:1.54, Z:-0.02 [[ 9.99976020e-01 6.92531057e-03 0.00000000e+00 3.92821137e+01] [-6.92531057e-03 9.99976020e-01 0.00000000e+00 1.53758019e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60190248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.881400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.31, Y:1.54, Z:-0.02 [[ 9.99972325e-01 7.43966771e-03 0.00000000e+00 3.93128387e+01] [-7.43966771e-03 9.99972325e-01 0.00000000e+00 1.53891107e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63975796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.34, Y:1.54, Z:-0.02 [[ 9.99973552e-01 7.27285818e-03 0.00000000e+00 3.93443045e+01] [-7.27285818e-03 9.99973552e-01 0.00000000e+00 1.53963186e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62912417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.38, Y:1.54, Z:-0.02 [[ 9.99968881e-01 7.88899356e-03 0.00000000e+00 3.93750309e+01] [-7.88899356e-03 9.99968881e-01 0.00000000e+00 1.54092334e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70619527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.41, Y:1.54, Z:-0.02 [[ 9.99962745e-01 8.63182803e-03 0.00000000e+00 3.94065723e+01] [-8.63182803e-03 9.99962745e-01 0.00000000e+00 1.54348983e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86642450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.44, Y:1.55, Z:-0.02 [[ 9.99949247e-01 1.00748534e-02 0.00000000e+00 3.94378327e+01] [-1.00748534e-02 9.99949247e-01 0.00000000e+00 1.54613631e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05972147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.47, Y:1.55, Z:-0.02 [[ 9.99902446e-01 1.39677386e-02 0.00000000e+00 3.94695076e+01] [-1.39677386e-02 9.99902446e-01 0.00000000e+00 1.54837940e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.48449521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.061400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.50, Y:1.55, Z:-0.02 [[ 9.99900132e-01 1.41324224e-02 0.00000000e+00 3.95021610e+01] [-1.41324224e-02 9.99900132e-01 0.00000000e+00 1.54885903e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.48449521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.091400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.53, Y:1.55, Z:-0.03 [[ 9.99864752e-01 1.64462360e-02 0.00000000e+00 3.95327913e+01] [-1.64462360e-02 9.99864752e-01 0.00000000e+00 1.54968965e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.68713010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.57, Y:1.55, Z:-0.03 [[ 9.99835058e-01 1.81619395e-02 0.00000000e+00 3.95653111e+01] [-1.81619395e-02 9.99835058e-01 0.00000000e+00 1.55045563e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.04966498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.151400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:39.60, Y:1.55, Z:-0.03 [[ 9.99796505e-01 2.01729757e-02 0.00000000e+00 3.95971219e+01] [-2.01729757e-02 9.99796505e-01 0.00000000e+00 1.55207556e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.23348260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.63, Y:1.55, Z:-0.03 [[ 9.99732350e-01 2.31350120e-02 0.00000000e+00 3.96304816e+01] [-2.31350120e-02 9.99732350e-01 0.00000000e+00 1.55239802e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.19158801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.66, Y:1.55, Z:-0.03 [[ 9.99660187e-01 2.60674107e-02 0.00000000e+00 3.96616753e+01] [-2.60674107e-02 9.99660187e-01 0.00000000e+00 1.55157179e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.20214091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.69, Y:1.55, Z:-0.03 [[ 9.99478350e-01 3.22959268e-02 0.00000000e+00 3.96940457e+01] [-3.22959268e-02 9.99478350e-01 0.00000000e+00 1.54802163e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.65077513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.271400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.73, Y:1.55, Z:-0.03 [[ 9.99341528e-01 3.62837463e-02 0.00000000e+00 3.97259181e+01] [-3.62837463e-02 9.99341528e-01 0.00000000e+00 1.54830626e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.71955320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.76, Y:1.55, Z:-0.03 [[ 9.99173037e-01 4.06600783e-02 0.00000000e+00 3.97578629e+01] [-4.06600783e-02 9.99173037e-01 0.00000000e+00 1.54983931e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.84139958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.79, Y:1.55, Z:-0.03 [[ 9.98967414e-01 4.54324219e-02 0.00000000e+00 3.97893314e+01] [-4.54324219e-02 9.98967414e-01 0.00000000e+00 1.55149118e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.10906590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.82, Y:1.55, Z:-0.03 [[ 9.98738195e-01 5.02197054e-02 0.00000000e+00 3.98207381e+01] [-5.02197054e-02 9.98738195e-01 0.00000000e+00 1.55245527e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.32984779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.391400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:39.85, Y:1.55, Z:-0.03 [[ 9.98503050e-01 5.46960554e-02 0.00000000e+00 3.98532863e+01] [-5.46960554e-02 9.98503050e-01 0.00000000e+00 1.55334365e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.41993424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.89, Y:1.55, Z:-0.03 [[ 9.98024113e-01 6.28320688e-02 0.00000000e+00 3.98855208e+01] [-6.28320688e-02 9.98024113e-01 0.00000000e+00 1.55378532e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.44222389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.451400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.92, Y:1.56, Z:-0.03 [[ 9.97843898e-01 6.56319734e-02 0.00000000e+00 3.99172060e+01] [-6.56319734e-02 9.97843898e-01 0.00000000e+00 1.55536610e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.42126684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.95, Y:1.56, Z:-0.04 [[ 9.97729547e-01 6.73479831e-02 0.00000000e+00 3.99497633e+01] [-6.73479831e-02 9.97729547e-01 0.00000000e+00 1.55728809e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.52698654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.98, Y:1.56, Z:-0.04 [[ 9.97663923e-01 6.83132273e-02 0.00000000e+00 3.99821981e+01] [-6.83132273e-02 9.97663923e-01 0.00000000e+00 1.55915226e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.87401872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.01, Y:1.56, Z:-0.04 [[ 9.97619620e-01 6.89571928e-02 0.00000000e+00 4.00145136e+01] [-6.89571928e-02 9.97619620e-01 0.00000000e+00 1.56070500e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.75866146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.05, Y:1.56, Z:-0.04 [[ 9.97577653e-01 6.95616759e-02 0.00000000e+00 4.00472021e+01] [-6.95616759e-02 9.97577653e-01 0.00000000e+00 1.56205513e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.64200661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.08, Y:1.56, Z:-0.04 [[ 9.97573826e-01 6.96165309e-02 0.00000000e+00 4.00805476e+01] [-6.96165309e-02 9.97573826e-01 0.00000000e+00 1.56433163e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.55353076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.631400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.11, Y:1.56, Z:-0.04 [[ 9.97637189e-01 6.87025462e-02 0.00000000e+00 4.01130690e+01] [-6.87025462e-02 9.97637189e-01 0.00000000e+00 1.56478967e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.50208048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.14, Y:1.56, Z:-0.04 [[ 9.97764961e-01 6.68212801e-02 0.00000000e+00 4.01448271e+01] [-6.68212801e-02 9.97764961e-01 0.00000000e+00 1.56369580e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.63496254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.18, Y:1.56, Z:-0.03 [[ 9.97954456e-01 6.39288982e-02 0.00000000e+00 4.01777870e+01] [-6.39288982e-02 9.97954456e-01 0.00000000e+00 1.56129452e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.45147019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.21, Y:1.56, Z:-0.03 [[ 9.98177650e-01 6.03438336e-02 0.00000000e+00 4.02088432e+01] [-6.03438336e-02 9.98177650e-01 0.00000000e+00 1.55831857e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.37582792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.24, Y:1.56, Z:-0.03 [[ 9.98384166e-01 5.68247854e-02 0.00000000e+00 4.02401127e+01] [-5.68247854e-02 9.98384166e-01 0.00000000e+00 1.55512808e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.19330592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.27, Y:1.55, Z:-0.03 [[ 9.98547873e-01 5.38715573e-02 0.00000000e+00 4.02721529e+01] [-5.38715573e-02 9.98547873e-01 0.00000000e+00 1.55218702e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.06982392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.811400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.31, Y:1.55, Z:-0.03 [[ 9.98682174e-01 5.13216822e-02 0.00000000e+00 4.03056648e+01] [-5.13216822e-02 9.98682174e-01 0.00000000e+00 1.54987440e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.95533864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.841400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.34, Y:1.55, Z:-0.03 [[ 9.98708843e-01 5.08000662e-02 0.00000000e+00 4.03379008e+01] [-5.08000662e-02 9.98708843e-01 0.00000000e+00 1.54557979e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.08771250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.37, Y:1.54, Z:-0.03 [[ 9.98586546e-01 5.31498862e-02 0.00000000e+00 4.03688595e+01] [-5.31498862e-02 9.98586546e-01 0.00000000e+00 1.54432561e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.20378315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.40, Y:1.54, Z:-0.03 [[ 9.98426172e-01 5.60818943e-02 0.00000000e+00 4.04008512e+01] [-5.60818943e-02 9.98426172e-01 0.00000000e+00 1.54402106e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.36044978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.43, Y:1.54, Z:-0.03 [[ 9.98163393e-01 6.05792132e-02 0.00000000e+00 4.04318075e+01] [-6.05792132e-02 9.98163393e-01 0.00000000e+00 1.54487160e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.25400533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.46, Y:1.55, Z:-0.03 [[ 9.97883215e-01 6.50314492e-02 0.00000000e+00 4.04648289e+01] [-6.50314492e-02 9.97883215e-01 0.00000000e+00 1.54632187e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.28823939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.50, Y:1.55, Z:-0.03 [[ 9.97527971e-01 7.02705328e-02 0.00000000e+00 4.04965736e+01] [-7.02705328e-02 9.97527971e-01 0.00000000e+00 1.54791769e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.26156861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.021400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.53, Y:1.55, Z:-0.03 [[ 9.96843435e-01 7.93924858e-02 0.00000000e+00 4.05272832e+01] [-7.93924858e-02 9.96843435e-01 0.00000000e+00 1.55100765e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.90313546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.56, Y:1.55, Z:-0.03 [[ 9.96630925e-01 8.20170669e-02 0.00000000e+00 4.05599522e+01] [-8.20170669e-02 9.96630925e-01 0.00000000e+00 1.55243530e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.99991246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.59, Y:1.55, Z:-0.03 [[ 9.96442133e-01 8.42797454e-02 0.00000000e+00 4.05925820e+01] [-8.42797454e-02 9.96442133e-01 0.00000000e+00 1.55404467e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.02450684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.62, Y:1.56, Z:-0.03 [[ 9.96297865e-01 8.59683852e-02 0.00000000e+00 4.06236496e+01] [-8.59683852e-02 9.96297865e-01 0.00000000e+00 1.55582750e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.33109944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.66, Y:1.56, Z:-0.03 [[ 9.96161834e-01 8.75305640e-02 0.00000000e+00 4.06555442e+01] [-8.75305640e-02 9.96161834e-01 0.00000000e+00 1.55753753e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.14003692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.69, Y:1.56, Z:-0.03 [[ 9.96014855e-01 8.91874952e-02 0.00000000e+00 4.06863169e+01] [-8.91874952e-02 9.96014855e-01 0.00000000e+00 1.55951139e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.96690794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.201400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.72, Y:1.56, Z:-0.03 [[ 9.95869823e-01 9.07926000e-02 0.00000000e+00 4.07185816e+01] [-9.07926000e-02 9.95869823e-01 0.00000000e+00 1.56191413e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.68537420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.75, Y:1.56, Z:-0.03 [[ 9.95676820e-01 9.28852526e-02 0.00000000e+00 4.07499013e+01] [-9.28852526e-02 9.95676820e-01 0.00000000e+00 1.56454157e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.50636877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.78, Y:1.57, Z:-0.02 [[ 9.95320076e-01 9.66330461e-02 0.00000000e+00 4.07825467e+01] [-9.66330461e-02 9.95320076e-01 0.00000000e+00 1.56877309e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27550251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.81, Y:1.57, Z:-0.02 [[ 9.95173123e-01 9.81348857e-02 0.00000000e+00 4.08130885e+01] [-9.81348857e-02 9.95173123e-01 0.00000000e+00 1.57066623e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.24297345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.85, Y:1.57, Z:-0.02 [[ 9.95121705e-01 9.86549113e-02 0.00000000e+00 4.08467000e+01] [-9.86549113e-02 9.95121705e-01 0.00000000e+00 1.57262843e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11208148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.88, Y:1.58, Z:-0.02 [[ 9.95043801e-01 9.94375871e-02 0.00000000e+00 4.08785327e+01] [-9.94375871e-02 9.95043801e-01 0.00000000e+00 1.57513119e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.25070642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.381400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.91, Y:1.58, Z:-0.02 [[ 9.95010704e-01 9.97682304e-02 0.00000000e+00 4.09095809e+01] [-9.97682304e-02 9.95010704e-01 0.00000000e+00 1.57791867e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.18387886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.94, Y:1.58, Z:-0.02 [[ 9.95179761e-01 9.80675398e-02 0.00000000e+00 4.09435084e+01] [-9.80675398e-02 9.95179761e-01 0.00000000e+00 1.58096558e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12826205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.97, Y:1.58, Z:-0.02 [[ 9.95290172e-01 9.69405689e-02 0.00000000e+00 4.09744717e+01] [-9.69405689e-02 9.95290172e-01 0.00000000e+00 1.58311886e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99944735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.01, Y:1.59, Z:-0.02 [[ 9.95529585e-01 9.44502289e-02 0.00000000e+00 4.10083220e+01] [-9.44502289e-02 9.95529585e-01 0.00000000e+00 1.58568058e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90107431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.04, Y:1.59, Z:-0.02 [[ 9.95789024e-01 9.16745267e-02 0.00000000e+00 4.10404905e+01] [-9.16745267e-02 9.95789024e-01 0.00000000e+00 1.58826443e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61120894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.07, Y:1.59, Z:-0.02 [[ 9.96062464e-01 8.86542056e-02 0.00000000e+00 4.10725742e+01] [-8.86542056e-02 9.96062464e-01 0.00000000e+00 1.59002462e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53129076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.561400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.11, Y:1.59, Z:-0.01 [[ 9.96583853e-01 8.25870726e-02 0.00000000e+00 4.11060027e+01] [-8.25870726e-02 9.96583853e-01 0.00000000e+00 1.59020173e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45149951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.591400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.14, Y:1.59, Z:-0.01 [[ 9.96810824e-01 7.98008885e-02 0.00000000e+00 4.11356744e+01] [-7.98008885e-02 9.96810824e-01 0.00000000e+00 1.59025905e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29192216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.17, Y:1.59, Z:-0.01 [[ 9.97022257e-01 7.71143301e-02 0.00000000e+00 4.11684543e+01] [-7.71143301e-02 9.97022257e-01 0.00000000e+00 1.59178774e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25598149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.20, Y:1.59, Z:-0.01 [[ 9.97117195e-01 7.58768759e-02 0.00000000e+00 4.12017695e+01] [-7.58768759e-02 9.97117195e-01 0.00000000e+00 1.59457493e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22282802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.23, Y:1.60, Z:-0.02 [[ 9.97051785e-01 7.67315915e-02 0.00000000e+00 4.12332378e+01] [-7.67315915e-02 9.97051785e-01 0.00000000e+00 1.59716322e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61816214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.26, Y:1.60, Z:-0.02 [[ 9.96903113e-01 7.86395840e-02 0.00000000e+00 4.12632516e+01] [-7.86395840e-02 9.96903113e-01 0.00000000e+00 1.59794568e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68965349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.30, Y:1.60, Z:-0.02 [[ 9.96740555e-01 8.06738217e-02 0.00000000e+00 4.12965899e+01] [-8.06738217e-02 9.96740555e-01 0.00000000e+00 1.59956788e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54398568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.771400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.33, Y:1.60, Z:-0.01 [[ 9.96582074e-01 8.26085322e-02 0.00000000e+00 4.13297706e+01] [-8.26085322e-02 9.96582074e-01 0.00000000e+00 1.60167396e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45363369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.36, Y:1.61, Z:-0.01 [[ 9.96325028e-01 8.56530089e-02 0.00000000e+00 4.13614619e+01] [-8.56530089e-02 9.96325028e-01 0.00000000e+00 1.60502539e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16878530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.39, Y:1.61, Z:-0.01 [[ 9.96253215e-01 8.64842833e-02 0.00000000e+00 4.13941214e+01] [-8.64842833e-02 9.96253215e-01 0.00000000e+00 1.60549667e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15564799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.43, Y:1.61, Z:-0.01 [[ 9.96220438e-01 8.68610279e-02 0.00000000e+00 4.14262736e+01] [-8.68610279e-02 9.96220438e-01 0.00000000e+00 1.60632612e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28320416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.46, Y:1.61, Z:-0.01 [[ 9.96215449e-01 8.69182321e-02 0.00000000e+00 4.14585084e+01] [-8.69182321e-02 9.96215449e-01 0.00000000e+00 1.60822326e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36386122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.49, Y:1.61, Z:-0.01 [[ 9.96344836e-01 8.54222873e-02 0.00000000e+00 4.14907245e+01] [-8.54222873e-02 9.96344836e-01 0.00000000e+00 1.61258903e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41064406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.951400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.52, Y:1.61, Z:-0.01 [[ 9.96329844e-01 8.55969770e-02 0.00000000e+00 4.15242227e+01] [-8.55969770e-02 9.96329844e-01 0.00000000e+00 1.61274701e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41064406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.56, Y:1.61, Z:-0.01 [[ 9.96432247e-01 8.43965512e-02 0.00000000e+00 4.15571026e+01] [-8.43965512e-02 9.96432247e-01 0.00000000e+00 1.61357789e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30357258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.59, Y:1.61, Z:-0.01 [[ 9.96526992e-01 8.32703661e-02 0.00000000e+00 4.15902361e+01] [-8.32703661e-02 9.96526992e-01 0.00000000e+00 1.61360170e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22501473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.62, Y:1.61, Z:-0.01 [[ 9.96637576e-01 8.19362128e-02 0.00000000e+00 4.16221438e+01] [-8.19362128e-02 9.96637576e-01 0.00000000e+00 1.61386156e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45556051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.65, Y:1.61, Z:-0.02 [[ 9.96740180e-01 8.06784634e-02 0.00000000e+00 4.16547970e+01] [-8.06784634e-02 9.96740180e-01 0.00000000e+00 1.61453261e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51907269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.69, Y:1.61, Z:-0.02 [[ 9.96827035e-01 7.95981291e-02 0.00000000e+00 4.16882399e+01] [-7.95981291e-02 9.96827035e-01 0.00000000e+00 1.61483541e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58367291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.131400512999996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:41.72, Y:1.61, Z:-0.01 [[ 9.96961165e-01 7.79001695e-02 0.00000000e+00 4.17212104e+01] [-7.79001695e-02 9.96961165e-01 0.00000000e+00 1.61421402e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29421958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.75, Y:1.61, Z:-0.01 [[ 9.97024692e-01 7.70828336e-02 0.00000000e+00 4.17536193e+01] [-7.70828336e-02 9.97024692e-01 0.00000000e+00 1.61389173e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08440259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.79, Y:1.61, Z:-0.01 [[ 9.97027646e-01 7.70446164e-02 0.00000000e+00 4.17853442e+01] [-7.70446164e-02 9.97027646e-01 0.00000000e+00 1.61295025e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.63087728e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.82, Y:1.61, Z:-0.01 [[ 9.97003528e-01 7.73560924e-02 0.00000000e+00 4.18183249e+01] [-7.73560924e-02 9.97003528e-01 0.00000000e+00 1.61176329e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.72079400e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.85, Y:1.61, Z:-0.01 [[ 9.96842551e-01 7.94035837e-02 0.00000000e+00 4.18513051e+01] [-7.94035837e-02 9.96842551e-01 0.00000000e+00 1.60976131e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11481267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.88, Y:1.61, Z:-0.01 [[ 9.96737828e-01 8.07075069e-02 0.00000000e+00 4.18833832e+01] [-8.07075069e-02 9.96737828e-01 0.00000000e+00 1.60930737e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28850586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.311400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.92, Y:1.61, Z:-0.01 [[ 9.96589884e-01 8.25142581e-02 0.00000000e+00 4.19163232e+01] [-8.25142581e-02 9.96589884e-01 0.00000000e+00 1.60898639e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24220038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.341400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.94, Y:1.61, Z:-0.01 [[ 9.96224588e-01 8.68134239e-02 0.00000000e+00 4.19441764e+01] [-8.68134239e-02 9.96224588e-01 0.00000000e+00 1.60891886e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.66645183e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.98, Y:1.61, Z:-0.01 [[ 9.96160616e-01 8.75444312e-02 0.00000000e+00 4.19798104e+01] [-8.75444312e-02 9.96160616e-01 0.00000000e+00 1.60848202e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.67492566e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.01, Y:1.61, Z:-0.01 [[ 9.96082573e-01 8.84279840e-02 0.00000000e+00 4.20122850e+01] [-8.84279840e-02 9.96082573e-01 0.00000000e+00 1.60917798e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.63366892e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.05, Y:1.61, Z:-0.01 [[ 9.96058132e-01 8.87028626e-02 0.00000000e+00 4.20450599e+01] [-8.87028626e-02 9.96058132e-01 0.00000000e+00 1.61006805e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.65048783e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.08, Y:1.61, Z:-0.01 [[ 9.96072021e-01 8.85467627e-02 0.00000000e+00 4.20780177e+01] [-8.85467627e-02 9.96072021e-01 0.00000000e+00 1.61026399e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.03033879e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.11, Y:1.61, Z:-0.00 [[ 9.96139866e-01 8.77802196e-02 0.00000000e+00 4.21096428e+01] [-8.77802196e-02 9.96139866e-01 0.00000000e+00 1.60931625e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.67722206e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.521400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.14, Y:1.61, Z:-0.01 [[ 9.96314049e-01 8.57806269e-02 0.00000000e+00 4.21425715e+01] [-8.57806269e-02 9.96314049e-01 0.00000000e+00 1.60699995e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.60937543e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.18, Y:1.61, Z:-0.01 [[ 9.96420093e-01 8.45399239e-02 0.00000000e+00 4.21755629e+01] [-8.45399239e-02 9.96420093e-01 0.00000000e+00 1.60689342e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.43778261e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.21, Y:1.61, Z:-0.01 [[ 9.96561887e-01 8.28517037e-02 0.00000000e+00 4.22077412e+01] [-8.28517037e-02 9.96561887e-01 0.00000000e+00 1.60665796e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.24768956e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.24, Y:1.60, Z:-0.01 [[ 9.97031807e-01 7.69907499e-02 0.00000000e+00 4.22411057e+01] [-7.69907499e-02 9.97031807e-01 0.00000000e+00 1.60394685e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.62132715e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.27, Y:1.60, Z:-0.01 [[ 9.97278511e-01 7.37263248e-02 0.00000000e+00 4.22726719e+01] [-7.37263248e-02 9.97278511e-01 0.00000000e+00 1.60162516e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.93132845e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.31, Y:1.60, Z:-0.01 [[ 9.97485922e-01 7.08649058e-02 0.00000000e+00 4.23059390e+01] [-7.08649058e-02 9.97485922e-01 0.00000000e+00 1.59975953e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.66435933e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.701400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.33, Y:1.60, Z:-0.01 [[ 9.97629412e-01 6.88153741e-02 0.00000000e+00 4.23348502e+01] [-6.88153741e-02 9.97629412e-01 0.00000000e+00 1.59910819e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.35562971e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.37, Y:1.60, Z:-0.01 [[ 9.97812544e-01 6.61069352e-02 0.00000000e+00 4.23702766e+01] [-6.61069352e-02 9.97812544e-01 0.00000000e+00 1.59717207e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05685962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.40, Y:1.59, Z:-0.01 [[ 9.98013209e-01 6.30050329e-02 0.00000000e+00 4.24025682e+01] [-6.30050329e-02 9.98013209e-01 0.00000000e+00 1.59393565e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23944438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.44, Y:1.59, Z:-0.01 [[ 9.98058543e-01 6.22827848e-02 0.00000000e+00 4.24352978e+01] [-6.22827848e-02 9.98058543e-01 0.00000000e+00 1.59168813e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00775410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.47, Y:1.59, Z:-0.01 [[ 9.98081672e-01 6.19110390e-02 0.00000000e+00 4.24670024e+01] [-6.19110390e-02 9.98081672e-01 0.00000000e+00 1.58887417e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.13567324e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.50, Y:1.59, Z:-0.00 [[ 9.98054258e-01 6.23514054e-02 0.00000000e+00 4.24957408e+01] [-6.23514054e-02 9.98054258e-01 0.00000000e+00 1.58571312e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.22879121e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.881400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.53, Y:1.58, Z:-0.00 [[ 9.98121631e-01 6.12634497e-02 0.00000000e+00 4.25308769e+01] [-6.12634497e-02 9.98121631e-01 0.00000000e+00 1.58188719e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.63783479e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.56, Y:1.57, Z:-0.00 [[ 9.98190783e-01 6.01262085e-02 0.00000000e+00 4.25595089e+01] [-6.01262085e-02 9.98190783e-01 0.00000000e+00 1.57405180e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.52360835e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.60, Y:1.57, Z:-0.00 [[ 9.98295984e-01 5.83534844e-02 0.00000000e+00 4.25955116e+01] [-5.83534844e-02 9.98295984e-01 0.00000000e+00 1.56904210e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.49102368e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.63, Y:1.56, Z:-0.00 [[ 9.98337526e-01 5.76383940e-02 0.00000000e+00 4.26277840e+01] [-5.76383940e-02 9.98337526e-01 0.00000000e+00 1.56438807e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.51485763e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.66, Y:1.56, Z:-0.00 [[ 9.98363791e-01 5.71816472e-02 0.00000000e+00 4.26610312e+01] [-5.71816472e-02 9.98363791e-01 0.00000000e+00 1.55990176e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.90386610e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.69, Y:1.55, Z:-0.01 [[ 9.98344596e-01 5.75158007e-02 0.00000000e+00 4.26924213e+01] [-5.75158007e-02 9.98344596e-01 0.00000000e+00 1.55106056e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.19032337e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.061400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.72, Y:1.55, Z:-0.01 [[ 9.98291483e-01 5.84304234e-02 0.00000000e+00 4.27244065e+01] [-5.84304234e-02 9.98291483e-01 0.00000000e+00 1.54619484e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.84248292e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.091400512999996 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:42.76, Y:1.54, Z:-0.01 [[ 9.98238796e-01 5.93237360e-02 0.00000000e+00 4.27568778e+01] [-5.93237360e-02 9.98238796e-01 0.00000000e+00 1.54048110e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01672397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.79, Y:1.54, Z:-0.01 [[ 9.98168946e-01 6.04876386e-02 0.00000000e+00 4.27899913e+01] [-6.04876386e-02 9.98168946e-01 0.00000000e+00 1.53817008e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.45544754e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.82, Y:1.54, Z:-0.01 [[ 9.98067530e-01 6.21385990e-02 0.00000000e+00 4.28181513e+01] [-6.21385990e-02 9.98067530e-01 0.00000000e+00 1.53654546e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.80755422e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.85, Y:1.53, Z:-0.01 [[ 9.97898623e-01 6.47945850e-02 0.00000000e+00 4.28545830e+01] [-6.47945850e-02 9.97898623e-01 0.00000000e+00 1.53332993e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.17841157e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.89, Y:1.53, Z:-0.01 [[ 9.97731938e-01 6.73125501e-02 0.00000000e+00 4.28872357e+01] [-6.73125501e-02 9.97731938e-01 0.00000000e+00 1.53148214e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.55860639e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.241400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.92, Y:1.53, Z:-0.01 [[ 9.97558983e-01 6.98289046e-02 0.00000000e+00 4.29205226e+01] [-6.98289046e-02 9.97558983e-01 0.00000000e+00 1.52940561e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.71184231e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.271400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.95, Y:1.53, Z:-0.00 [[ 9.97373589e-01 7.24287536e-02 0.00000000e+00 4.29486521e+01] [-7.24287536e-02 9.97373589e-01 0.00000000e+00 1.52849830e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.84266316e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.98, Y:1.53, Z:-0.01 [[ 9.97228176e-01 7.44040629e-02 0.00000000e+00 4.29837938e+01] [-7.44040629e-02 9.97228176e-01 0.00000000e+00 1.52792396e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.41367646e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.01, Y:1.53, Z:-0.01 [[ 9.97125858e-01 7.57629387e-02 0.00000000e+00 4.30149572e+01] [-7.57629387e-02 9.97125858e-01 0.00000000e+00 1.52733240e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.26163576e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.04, Y:1.53, Z:-0.01 [[ 9.96993234e-01 7.74886532e-02 0.00000000e+00 4.30432046e+01] [-7.74886532e-02 9.96993234e-01 0.00000000e+00 1.52660510e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.97019415e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.08, Y:1.52, Z:-0.01 [[ 9.96974020e-01 7.77354675e-02 0.00000000e+00 4.30787668e+01] [-7.77354675e-02 9.96974020e-01 0.00000000e+00 1.52471207e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.99843724e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.11, Y:1.52, Z:-0.01 [[ 9.96940053e-01 7.81698789e-02 0.00000000e+00 4.31098381e+01] [-7.81698789e-02 9.96940053e-01 0.00000000e+00 1.52468454e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.09614075e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.451400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.14, Y:1.52, Z:-0.01 [[ 9.96954797e-01 7.79816227e-02 0.00000000e+00 4.31423366e+01] [-7.79816227e-02 9.96954797e-01 0.00000000e+00 1.52497055e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.92637400e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.18, Y:1.52, Z:-0.01 [[ 9.96988119e-01 7.75544417e-02 0.00000000e+00 4.31752314e+01] [-7.75544417e-02 9.96988119e-01 0.00000000e+00 1.52464055e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.69755055e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.21, Y:1.52, Z:-0.01 [[ 9.97045547e-01 7.68126123e-02 0.00000000e+00 4.32083846e+01] [-7.68126123e-02 9.97045547e-01 0.00000000e+00 1.52365050e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.77767860e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.24, Y:1.52, Z:-0.01 [[ 9.97118996e-01 7.58531982e-02 0.00000000e+00 4.32390743e+01] [-7.58531982e-02 9.97118996e-01 0.00000000e+00 1.52240145e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.40375559e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.27, Y:1.52, Z:-0.01 [[ 9.97220170e-01 7.45112889e-02 0.00000000e+00 4.32710555e+01] [-7.45112889e-02 9.97220170e-01 0.00000000e+00 1.52135179e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11814743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.30, Y:1.52, Z:-0.01 [[ 9.97354454e-01 7.26917712e-02 0.00000000e+00 4.33025488e+01] [-7.26917712e-02 9.97354454e-01 0.00000000e+00 1.51994868e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.67266460e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.631400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.33, Y:1.52, Z:-0.01 [[ 9.97344391e-01 7.28297078e-02 0.00000000e+00 4.33349026e+01] [-7.28297078e-02 9.97344391e-01 0.00000000e+00 1.51965197e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.59039572e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.37, Y:1.52, Z:-0.00 [[ 9.97160525e-01 7.53052957e-02 0.00000000e+00 4.33670637e+01] [-7.53052957e-02 9.97160525e-01 0.00000000e+00 1.52085801e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.87758277e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.40, Y:1.52, Z:-0.01 [[ 9.96956319e-01 7.79621576e-02 0.00000000e+00 4.33986650e+01] [-7.79621576e-02 9.96956319e-01 0.00000000e+00 1.52145508e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.16261999e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.43, Y:1.52, Z:-0.01 [[ 9.96715232e-01 8.09860917e-02 0.00000000e+00 4.34318173e+01] [-8.09860917e-02 9.96715232e-01 0.00000000e+00 1.52158285e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.75050038e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.47, Y:1.52, Z:-0.01 [[ 9.96467335e-01 8.39812517e-02 0.00000000e+00 4.34650649e+01] [-8.39812517e-02 9.96467335e-01 0.00000000e+00 1.52142536e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.38369195e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.50, Y:1.52, Z:-0.01 [[ 9.96246332e-01 8.65635376e-02 0.00000000e+00 4.34981383e+01] [-8.65635376e-02 9.96246332e-01 0.00000000e+00 1.52189058e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.05015711e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.811400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.53, Y:1.53, Z:-0.01 [[ 9.95997932e-01 8.93762828e-02 0.00000000e+00 4.35307126e+01] [-8.93762828e-02 9.95997932e-01 0.00000000e+00 1.52650394e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.99261906e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.841400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.56, Y:1.53, Z:-0.01 [[ 9.95982220e-01 8.95512045e-02 0.00000000e+00 4.35641957e+01] [-8.95512045e-02 9.95982220e-01 0.00000000e+00 1.52635001e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.99261906e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.60, Y:1.53, Z:-0.01 [[ 9.95974421e-01 8.96378944e-02 0.00000000e+00 4.35970637e+01] [-8.96378944e-02 9.95974421e-01 0.00000000e+00 1.52831918e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.46095611e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.63, Y:1.53, Z:-0.01 [[ 9.96024431e-01 8.90804896e-02 0.00000000e+00 4.36303717e+01] [-8.90804896e-02 9.96024431e-01 0.00000000e+00 1.52919561e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.99159627e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.66, Y:1.53, Z:-0.01 [[ 9.96103808e-01 8.81884558e-02 0.00000000e+00 4.36626841e+01] [-8.81884558e-02 9.96103808e-01 0.00000000e+00 1.52958995e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.84292274e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.69, Y:1.53, Z:-0.01 [[ 9.96203755e-01 8.70521652e-02 0.00000000e+00 4.36943895e+01] [-8.70521652e-02 9.96203755e-01 0.00000000e+00 1.53025229e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02136744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.991400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.73, Y:1.53, Z:-0.01 [[ 9.96324692e-01 8.56569256e-02 0.00000000e+00 4.37255382e+01] [-8.56569256e-02 9.96324692e-01 0.00000000e+00 1.53201195e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25540197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.021400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.76, Y:1.53, Z:-0.01 [[ 9.96324069e-01 8.56641656e-02 0.00000000e+00 4.37578367e+01] [-8.56641656e-02 9.96324069e-01 0.00000000e+00 1.53170633e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33757030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.79, Y:1.53, Z:-0.01 [[ 9.96342188e-01 8.54531734e-02 0.00000000e+00 4.37903961e+01] [-8.54531734e-02 9.96342188e-01 0.00000000e+00 1.53125509e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29604921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.82, Y:1.53, Z:-0.01 [[ 9.96329884e-01 8.55965138e-02 0.00000000e+00 4.38231776e+01] [-8.55965138e-02 9.96329884e-01 0.00000000e+00 1.53163682e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22486978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.85, Y:1.54, Z:-0.01 [[ 9.96230132e-01 8.67497769e-02 0.00000000e+00 4.38549204e+01] [-8.67497769e-02 9.96230132e-01 0.00000000e+00 1.53658893e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.63037258e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.88, Y:1.54, Z:-0.01 [[ 9.96098407e-01 8.82494359e-02 0.00000000e+00 4.38837761e+01] [-8.82494359e-02 9.96098407e-01 0.00000000e+00 1.54025911e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.66163069e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.92, Y:1.54, Z:-0.01 [[ 9.96025236e-01 8.90714827e-02 0.00000000e+00 4.39176848e+01] [-8.90714827e-02 9.96025236e-01 0.00000000e+00 1.54118072e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.47072047e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.201400512999996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:43.95, Y:1.54, Z:-0.01 [[ 9.96024759e-01 8.90768208e-02 0.00000000e+00 4.39502351e+01] [-8.90768208e-02 9.96024759e-01 0.00000000e+00 1.54411546e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.08108664e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.98, Y:1.55, Z:-0.01 [[ 9.95927710e-01 9.01553996e-02 0.00000000e+00 4.39810508e+01] [-9.01553996e-02 9.95927710e-01 0.00000000e+00 1.55183436e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01780594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.01, Y:1.56, Z:-0.01 [[ 9.95918813e-01 9.02536307e-02 0.00000000e+00 4.40137653e+01] [-9.02536307e-02 9.95918813e-01 0.00000000e+00 1.55579718e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04186742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.05, Y:1.56, Z:-0.01 [[ 9.95922419e-01 9.02138304e-02 0.00000000e+00 4.40461203e+01] [-9.02138304e-02 9.95922419e-01 0.00000000e+00 1.55921035e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21459431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.08, Y:1.56, Z:-0.01 [[ 9.95974485e-01 8.96371853e-02 0.00000000e+00 4.40792097e+01] [-8.96371853e-02 9.95974485e-01 0.00000000e+00 1.56310546e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.69133692e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.11, Y:1.57, Z:-0.01 [[ 9.96081338e-01 8.84418931e-02 0.00000000e+00 4.41089365e+01] [-8.84418931e-02 9.96081338e-01 0.00000000e+00 1.57281376e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.42480796e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.381400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.14, Y:1.58, Z:-0.01 [[ 9.96162337e-01 8.75248425e-02 0.00000000e+00 4.41417314e+01] [-8.75248425e-02 9.96162337e-01 0.00000000e+00 1.57622754e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.99459611e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.17, Y:1.58, Z:-0.01 [[ 9.96227163e-01 8.67838622e-02 0.00000000e+00 4.41720015e+01] [-8.67838622e-02 9.96227163e-01 0.00000000e+00 1.57956602e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.67936750e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.20, Y:1.58, Z:-0.01 [[ 9.96372367e-01 8.51005645e-02 0.00000000e+00 4.42046070e+01] [-8.51005645e-02 9.96372367e-01 0.00000000e+00 1.58125772e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.95281940e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.24, Y:1.59, Z:-0.01 [[ 9.96757223e-01 8.04676280e-02 0.00000000e+00 4.42372179e+01] [-8.04676280e-02 9.96757223e-01 0.00000000e+00 1.58618111e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.79702044e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.27, Y:1.59, Z:-0.01 [[ 9.96927008e-01 7.83360753e-02 0.00000000e+00 4.42692670e+01] [-7.83360753e-02 9.96927008e-01 0.00000000e+00 1.58985910e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.56962434e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.30, Y:1.59, Z:-0.01 [[ 9.97050942e-01 7.67425463e-02 0.00000000e+00 4.43009352e+01] [-7.67425463e-02 9.97050942e-01 0.00000000e+00 1.59237462e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.15582333e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.561400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.33, Y:1.59, Z:-0.00 [[ 9.97125602e-01 7.57663156e-02 0.00000000e+00 4.43324619e+01] [-7.57663156e-02 9.97125602e-01 0.00000000e+00 1.59438520e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.84904012e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.591400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.37, Y:1.60, Z:-0.00 [[ 9.97139878e-01 7.55782016e-02 0.00000000e+00 4.43658475e+01] [-7.55782016e-02 9.97139878e-01 0.00000000e+00 1.59841844e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.02736743e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.40, Y:1.60, Z:-0.00 [[ 9.97073999e-01 7.64423984e-02 0.00000000e+00 4.43972416e+01] [-7.64423984e-02 9.97073999e-01 0.00000000e+00 1.60189597e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.54959186e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.43, Y:1.60, Z:-0.00 [[ 9.97004562e-01 7.73427629e-02 0.00000000e+00 4.44307846e+01] [-7.73427629e-02 9.97004562e-01 0.00000000e+00 1.60441213e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59386709e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.46, Y:1.61, Z:-0.00 [[ 9.96887916e-01 7.88319978e-02 0.00000000e+00 4.44641755e+01] [-7.88319978e-02 9.96887916e-01 0.00000000e+00 1.60707452e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.10123995e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.50, Y:1.61, Z:-0.00 [[ 9.96775325e-01 8.02430776e-02 0.00000000e+00 4.44962761e+01] [-8.02430776e-02 9.96775325e-01 0.00000000e+00 1.60925997e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.97666898e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.741400512999995 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:44.53, Y:1.61, Z:-0.01 [[ 9.96740532e-01 8.06741064e-02 0.00000000e+00 4.45297415e+01] [-8.06741064e-02 9.96740532e-01 0.00000000e+00 1.61178688e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.76808524e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.771400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.56, Y:1.61, Z:-0.01 [[ 9.96609759e-01 8.22738598e-02 0.00000000e+00 4.45613273e+01] [-8.22738598e-02 9.96609759e-01 0.00000000e+00 1.61356805e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.47690163e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.59, Y:1.62, Z:-0.01 [[ 9.96626750e-01 8.20677842e-02 0.00000000e+00 4.45933654e+01] [-8.20677842e-02 9.96626750e-01 0.00000000e+00 1.61673542e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.26486926e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.62, Y:1.62, Z:-0.01 [[ 9.96718321e-01 8.09480569e-02 0.00000000e+00 4.46241544e+01] [-8.09480569e-02 9.96718321e-01 0.00000000e+00 1.61903057e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.20639120e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.66, Y:1.62, Z:-0.01 [[ 9.96876606e-01 7.89748855e-02 0.00000000e+00 4.46570011e+01] [-7.89748855e-02 9.96876606e-01 0.00000000e+00 1.61969379e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.29480770e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.69, Y:1.62, Z:-0.01 [[ 9.97322442e-01 7.31296506e-02 0.00000000e+00 4.46886481e+01] [-7.31296506e-02 9.97322442e-01 0.00000000e+00 1.61889947e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.69453936e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.72, Y:1.62, Z:-0.01 [[ 9.97568943e-01 6.96864730e-02 0.00000000e+00 4.47208125e+01] [-6.96864730e-02 9.97568943e-01 0.00000000e+00 1.61730526e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.63307387e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.951400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.75, Y:1.62, Z:-0.01 [[ 9.97790901e-01 6.64328041e-02 0.00000000e+00 4.47542940e+01] [-6.64328041e-02 9.97790901e-01 0.00000000e+00 1.61596133e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.25858472e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.79, Y:1.61, Z:-0.01 [[ 9.97901362e-01 6.47523911e-02 0.00000000e+00 4.47873561e+01] [-6.47523911e-02 9.97901362e-01 0.00000000e+00 1.61466938e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.35920891e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.82, Y:1.61, Z:-0.01 [[ 9.97810367e-01 6.61397817e-02 0.00000000e+00 4.48200474e+01] [-6.61397817e-02 9.97810367e-01 0.00000000e+00 1.61423579e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.48553947e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.85, Y:1.61, Z:-0.01 [[ 9.97664375e-01 6.83066298e-02 0.00000000e+00 4.48510631e+01] [-6.83066298e-02 9.97664375e-01 0.00000000e+00 1.61399442e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01712210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.88, Y:1.61, Z:-0.01 [[ 9.97478648e-01 7.09672172e-02 0.00000000e+00 4.48836767e+01] [-7.09672172e-02 9.97478648e-01 0.00000000e+00 1.61451508e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13406359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.92, Y:1.62, Z:-0.01 [[ 9.97283181e-01 7.36631277e-02 0.00000000e+00 4.49161853e+01] [-7.36631277e-02 9.97283181e-01 0.00000000e+00 1.61599531e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00779758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.131400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.95, Y:1.62, Z:-0.01 [[ 9.96881533e-01 7.89126666e-02 0.00000000e+00 4.49464021e+01] [-7.89126666e-02 9.96881533e-01 0.00000000e+00 1.62119387e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.32077141e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.98, Y:1.62, Z:-0.00 [[ 9.96718485e-01 8.09460449e-02 0.00000000e+00 4.49799212e+01] [-8.09460449e-02 9.96718485e-01 0.00000000e+00 1.62416448e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.93989264e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.01, Y:1.63, Z:-0.00 [[ 9.96509962e-01 8.34739242e-02 0.00000000e+00 4.50106066e+01] [-8.34739242e-02 9.96509962e-01 0.00000000e+00 1.62825891e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.06194691e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.04, Y:1.63, Z:-0.00 [[ 9.96343032e-01 8.54433325e-02 0.00000000e+00 4.50435470e+01] [-8.54433325e-02 9.96343032e-01 0.00000000e+00 1.63261567e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.84794450e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.07, Y:1.64, Z:-0.00 [[ 9.96120027e-01 8.80050627e-02 0.00000000e+00 4.50748126e+01] [-8.80050627e-02 9.96120027e-01 0.00000000e+00 1.64232898e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.49294481e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.11, Y:1.65, Z:0.00 [[ 9.96082207e-01 8.84321044e-02 0.00000000e+00 4.51065482e+01] [-8.84321044e-02 9.96082207e-01 0.00000000e+00 1.64556861e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.84138406e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.311400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.14, Y:1.65, Z:0.00 [[ 9.96137616e-01 8.78057556e-02 0.00000000e+00 4.51375653e+01] [-8.78057556e-02 9.96137616e-01 0.00000000e+00 1.64722094e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59197767e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.341400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.17, Y:1.65, Z:0.00 [[ 9.96295999e-01 8.59900142e-02 0.00000000e+00 4.51698090e+01] [-8.59900142e-02 9.96295999e-01 0.00000000e+00 1.64825327e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.19394345e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.371400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:45.20, Y:1.65, Z:-0.00 [[ 9.96761428e-01 8.04155141e-02 0.00000000e+00 4.52017923e+01] [-8.04155141e-02 9.96761428e-01 0.00000000e+00 1.65288689e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.32573501e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.23, Y:1.66, Z:-0.01 [[ 9.96947347e-01 7.80768073e-02 0.00000000e+00 4.52327071e+01] [-7.80768073e-02 9.96947347e-01 0.00000000e+00 1.65518586e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.16476683e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.26, Y:1.66, Z:-0.01 [[ 9.97104407e-01 7.60447398e-02 0.00000000e+00 4.52634690e+01] [-7.60447398e-02 9.97104407e-01 0.00000000e+00 1.65636871e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.21932116e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.30, Y:1.66, Z:-0.00 [[ 9.97206481e-01 7.46942726e-02 0.00000000e+00 4.52958565e+01] [-7.46942726e-02 9.97206481e-01 0.00000000e+00 1.65628598e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.66305216e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.491400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.33, Y:1.65, Z:-0.00 [[ 9.97204369e-01 7.47224570e-02 0.00000000e+00 4.53273235e+01] [-7.47224570e-02 9.97204369e-01 0.00000000e+00 1.65434873e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.52514819e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.521400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.36, Y:1.65, Z:-0.01 [[ 9.97162705e-01 7.52764234e-02 0.00000000e+00 4.53584974e+01] [-7.52764234e-02 9.97162705e-01 0.00000000e+00 1.65369029e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.07138573e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.39, Y:1.65, Z:-0.01 [[ 9.97112622e-01 7.59369414e-02 0.00000000e+00 4.53901044e+01] [-7.59369414e-02 9.97112622e-01 0.00000000e+00 1.65344144e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.12285795e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.42, Y:1.65, Z:-0.01 [[ 9.97054469e-01 7.66967118e-02 0.00000000e+00 4.54208030e+01] [-7.66967118e-02 9.97054469e-01 0.00000000e+00 1.65313475e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.99791586e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.45, Y:1.65, Z:-0.01 [[ 9.97027126e-01 7.70513495e-02 0.00000000e+00 4.54517865e+01] [-7.70513495e-02 9.97027126e-01 0.00000000e+00 1.65263496e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.03494661e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.48, Y:1.65, Z:-0.01 [[ 9.96978827e-01 7.76737946e-02 0.00000000e+00 4.54829730e+01] [-7.76737946e-02 9.96978827e-01 0.00000000e+00 1.65152292e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.09983858e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.51, Y:1.65, Z:-0.01 [[ 9.96966482e-01 7.78320933e-02 0.00000000e+00 4.55142395e+01] [-7.78320933e-02 9.96966482e-01 0.00000000e+00 1.64993707e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.51452605e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.701400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.55, Y:1.65, Z:-0.01 [[ 9.96928566e-01 7.83162410e-02 0.00000000e+00 4.55455605e+01] [-7.83162410e-02 9.96928566e-01 0.00000000e+00 1.64848921e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23088935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.58, Y:1.65, Z:-0.01 [[ 9.96926804e-01 7.83386669e-02 0.00000000e+00 4.55773923e+01] [-7.83386669e-02 9.96926804e-01 0.00000000e+00 1.64815696e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23088935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.61, Y:1.65, Z:-0.01 [[ 9.96833780e-01 7.95136217e-02 0.00000000e+00 4.56087182e+01] [-7.95136217e-02 9.96833780e-01 0.00000000e+00 1.64683431e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42229840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.64, Y:1.65, Z:-0.01 [[ 9.96529200e-01 8.32439362e-02 0.00000000e+00 4.56401272e+01] [-8.32439362e-02 9.96529200e-01 0.00000000e+00 1.64642761e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.50144866e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.67, Y:1.65, Z:-0.01 [[ 9.96324332e-01 8.56611139e-02 0.00000000e+00 4.56709368e+01] [-8.56611139e-02 9.96324332e-01 0.00000000e+00 1.64613451e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.05305136e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.70, Y:1.65, Z:-0.01 [[ 9.96119967e-01 8.80057431e-02 0.00000000e+00 4.57020503e+01] [-8.80057431e-02 9.96119967e-01 0.00000000e+00 1.64512214e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.48859938e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.881400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.73, Y:1.64, Z:-0.01 [[ 9.95958615e-01 8.98133514e-02 0.00000000e+00 4.57334161e+01] [-8.98133514e-02 9.95958615e-01 0.00000000e+00 1.64353965e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.17210437e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.76, Y:1.64, Z:-0.01 [[ 9.95866241e-01 9.08318796e-02 0.00000000e+00 4.57640190e+01] [-9.08318796e-02 9.95866241e-01 0.00000000e+00 1.64165110e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.57842025e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.80, Y:1.64, Z:-0.01 [[ 9.95877495e-01 9.07084039e-02 0.00000000e+00 4.57951037e+01] [-9.07084039e-02 9.95877495e-01 0.00000000e+00 1.64097143e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.38849854e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.83, Y:1.64, Z:-0.01 [[ 9.95872506e-01 9.07631684e-02 0.00000000e+00 4.58261725e+01] [-9.07631684e-02 9.95872506e-01 0.00000000e+00 1.64009427e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.46768167e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.86, Y:1.64, Z:-0.01 [[ 9.95862097e-01 9.08773025e-02 0.00000000e+00 4.58560070e+01] [-9.08773025e-02 9.95862097e-01 0.00000000e+00 1.63904431e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.09446572e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.89, Y:1.64, Z:-0.01 [[ 9.95793918e-01 9.16213553e-02 0.00000000e+00 4.58873250e+01] [-9.16213553e-02 9.95793918e-01 0.00000000e+00 1.63891233e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.30439034e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.061400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.92, Y:1.64, Z:-0.01 [[ 9.95686819e-01 9.27780042e-02 0.00000000e+00 4.59179742e+01] [-9.27780042e-02 9.95686819e-01 0.00000000e+00 1.64006948e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.67842695e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.091400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.95, Y:1.64, Z:-0.01 [[ 9.95550323e-01 9.42313881e-02 0.00000000e+00 4.59496635e+01] [-9.42313881e-02 9.95550323e-01 0.00000000e+00 1.64168496e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.63644927e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.98, Y:1.65, Z:-0.01 [[ 9.95380252e-01 9.60112209e-02 0.00000000e+00 4.59812180e+01] [-9.60112209e-02 9.95380252e-01 0.00000000e+00 1.64614354e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10947459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.01, Y:1.65, Z:-0.01 [[ 9.95426228e-01 9.55333738e-02 0.00000000e+00 4.60120558e+01] [-9.55333738e-02 9.95426228e-01 0.00000000e+00 1.64753964e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21712650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.04, Y:1.65, Z:-0.01 [[ 9.95564617e-01 9.40802534e-02 0.00000000e+00 4.60432451e+01] [-9.40802534e-02 9.95564617e-01 0.00000000e+00 1.64834594e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08316576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.07, Y:1.65, Z:-0.01 [[ 9.95752821e-01 9.20669281e-02 0.00000000e+00 4.60740761e+01] [-9.20669281e-02 9.95752821e-01 0.00000000e+00 1.64825353e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.10704334e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.241400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.10, Y:1.65, Z:-0.01 [[ 9.95968642e-01 8.97020825e-02 0.00000000e+00 4.61045295e+01] [-8.97020825e-02 9.95968642e-01 0.00000000e+00 1.64834628e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.50568536e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.271400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.14, Y:1.65, Z:-0.01 [[ 9.96173941e-01 8.73926732e-02 0.00000000e+00 4.61363162e+01] [-8.73926732e-02 9.96173941e-01 0.00000000e+00 1.64845386e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.36417111e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.17, Y:1.65, Z:-0.01 [[ 9.96580538e-01 8.26270655e-02 0.00000000e+00 4.61675712e+01] [-8.26270655e-02 9.96580538e-01 0.00000000e+00 1.64854675e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.52944133e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.20, Y:1.65, Z:-0.01 [[ 9.96747627e-01 8.05864032e-02 0.00000000e+00 4.61993412e+01] [-8.05864032e-02 9.96747627e-01 0.00000000e+00 1.64739937e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.90405604e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.23, Y:1.65, Z:-0.01 [[ 9.96864365e-01 7.91292438e-02 0.00000000e+00 4.62307530e+01] [-7.91292438e-02 9.96864365e-01 0.00000000e+00 1.64580476e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.31817808e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.26, Y:1.64, Z:-0.00 [[ 9.97047775e-01 7.67836905e-02 0.00000000e+00 4.62616221e+01] [-7.67836905e-02 9.97047775e-01 0.00000000e+00 1.64407775e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.82380991e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.29, Y:1.64, Z:-0.00 [[ 9.97137311e-01 7.56120527e-02 0.00000000e+00 4.62928568e+01] [-7.56120527e-02 9.97137311e-01 0.00000000e+00 1.64362603e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.71923566e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.451400512999996 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:46.32, Y:1.64, Z:-0.00 [[ 9.97266439e-01 7.38894409e-02 0.00000000e+00 4.63246871e+01] [-7.38894409e-02 9.97266439e-01 0.00000000e+00 1.64304091e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.16054595e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.36, Y:1.64, Z:-0.01 [[ 9.97315966e-01 7.32179272e-02 0.00000000e+00 4.63557789e+01] [-7.32179272e-02 9.97315966e-01 0.00000000e+00 1.64115680e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.20978017e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.39, Y:1.64, Z:-0.01 [[ 9.97452213e-01 7.13378054e-02 0.00000000e+00 4.63876733e+01] [-7.13378054e-02 9.97452213e-01 0.00000000e+00 1.63843822e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.02240867e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.42, Y:1.64, Z:-0.01 [[ 9.97446277e-01 7.14207547e-02 0.00000000e+00 4.64196741e+01] [-7.14207547e-02 9.97446277e-01 0.00000000e+00 1.63678441e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.37468151e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.45, Y:1.63, Z:-0.01 [[ 9.97389770e-01 7.22055869e-02 0.00000000e+00 4.64522528e+01] [-7.22055869e-02 9.97389770e-01 0.00000000e+00 1.63445465e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.14598688e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.48, Y:1.63, Z:-0.01 [[ 9.97304876e-01 7.33688247e-02 0.00000000e+00 4.64838773e+01] [-7.33688247e-02 9.97304876e-01 0.00000000e+00 1.63129738e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.90178323e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.631400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.52, Y:1.63, Z:-0.01 [[ 9.97208154e-01 7.46719362e-02 0.00000000e+00 4.65163992e+01] [-7.46719362e-02 9.97208154e-01 0.00000000e+00 1.62860964e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.50863815e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.55, Y:1.63, Z:-0.01 [[ 9.96942574e-01 7.81377234e-02 0.00000000e+00 4.65475281e+01] [-7.81377234e-02 9.96942574e-01 0.00000000e+00 1.62700676e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.78635745e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.58, Y:1.63, Z:-0.01 [[ 9.96720641e-01 8.09194950e-02 0.00000000e+00 4.65782943e+01] [-8.09194950e-02 9.96720641e-01 0.00000000e+00 1.62686792e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.52297898e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.61, Y:1.63, Z:-0.01 [[ 9.96413740e-01 8.46147701e-02 0.00000000e+00 4.66108877e+01] [-8.46147701e-02 9.96413740e-01 0.00000000e+00 1.62666903e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.62306725e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.64, Y:1.63, Z:-0.01 [[ 9.95739702e-01 9.22087103e-02 0.00000000e+00 4.66420233e+01] [-9.22087103e-02 9.95739702e-01 0.00000000e+00 1.62830821e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.00758719e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.67, Y:1.63, Z:-0.01 [[ 9.95427364e-01 9.55215364e-02 0.00000000e+00 4.66729496e+01] [-9.55215364e-02 9.95427364e-01 0.00000000e+00 1.62904986e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.33493126e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.811400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.70, Y:1.63, Z:-0.00 [[ 9.95208930e-01 9.77710922e-02 0.00000000e+00 4.67038353e+01] [-9.77710922e-02 9.95208930e-01 0.00000000e+00 1.62938354e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.97788146e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.841400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.74, Y:1.63, Z:-0.01 [[ 9.95069064e-01 9.91844612e-02 0.00000000e+00 4.67356624e+01] [-9.91844612e-02 9.95069064e-01 0.00000000e+00 1.62919307e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.38298639e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.77, Y:1.63, Z:-0.01 [[ 9.94987870e-01 9.99956944e-02 0.00000000e+00 4.67657671e+01] [-9.99956944e-02 9.94987870e-01 0.00000000e+00 1.62948584e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.59255557e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.901400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:46.80, Y:1.63, Z:-0.01 [[ 9.95037230e-01 9.95033189e-02 0.00000000e+00 4.67965667e+01] [-9.95033189e-02 9.95037230e-01 0.00000000e+00 1.63002806e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.64835489e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.83, Y:1.63, Z:-0.01 [[ 9.95091982e-01 9.89542707e-02 0.00000000e+00 4.68267877e+01] [-9.89542707e-02 9.95091982e-01 0.00000000e+00 1.63070623e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.23936449e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.86, Y:1.63, Z:-0.00 [[ 9.95247684e-01 9.73758074e-02 0.00000000e+00 4.68583372e+01] [-9.73758074e-02 9.95247684e-01 0.00000000e+00 1.63151979e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.36702991e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.991400512999995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:46.89, Y:1.63, Z:-0.00 [[ 9.95679234e-01 9.28593702e-02 0.00000000e+00 4.68895625e+01] [-9.28593702e-02 9.95679234e-01 0.00000000e+00 1.63281716e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72562592e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.021400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.92, Y:1.63, Z:-0.00 [[ 9.95848558e-01 9.10255407e-02 0.00000000e+00 4.69209083e+01] [-9.10255407e-02 9.95848558e-01 0.00000000e+00 1.63280077e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.46795354e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.95, Y:1.63, Z:-0.01 [[ 9.95996080e-01 8.93969130e-02 0.00000000e+00 4.69518929e+01] [-8.93969130e-02 9.95996080e-01 0.00000000e+00 1.63266117e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.81097837e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.98, Y:1.63, Z:-0.01 [[ 9.96317568e-01 8.57397492e-02 0.00000000e+00 4.69833930e+01] [-8.57397492e-02 9.96317568e-01 0.00000000e+00 1.63295187e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.01141178e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.01, Y:1.63, Z:-0.00 [[ 9.96500852e-01 8.35826051e-02 0.00000000e+00 4.70141859e+01] [-8.35826051e-02 9.96500852e-01 0.00000000e+00 1.63329332e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.06694443e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.05, Y:1.63, Z:-0.00 [[ 9.96660929e-01 8.16516497e-02 0.00000000e+00 4.70450950e+01] [-8.16516497e-02 9.96660929e-01 0.00000000e+00 1.63350583e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.55726960e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.08, Y:1.63, Z:-0.00 [[ 9.96771068e-01 8.02959373e-02 0.00000000e+00 4.70766714e+01] [-8.02959373e-02 9.96771068e-01 0.00000000e+00 1.63342116e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48133421e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.201400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.11, Y:1.63, Z:-0.00 [[ 9.96814273e-01 7.97577909e-02 0.00000000e+00 4.71083185e+01] [-7.97577909e-02 9.96814273e-01 0.00000000e+00 1.63381136e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.31260960e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.231400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:47.14, Y:1.63, Z:-0.00 [[ 9.96756390e-01 8.04779432e-02 0.00000000e+00 4.71394974e+01] [-8.04779432e-02 9.96756390e-01 0.00000000e+00 1.63437386e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.50552277e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.17, Y:1.63, Z:-0.01 [[ 9.96611663e-01 8.22507965e-02 0.00000000e+00 4.71706765e+01] [-8.22507965e-02 9.96611663e-01 0.00000000e+00 1.63443867e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.87829624e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.20, Y:1.64, Z:-0.01 [[ 9.96482130e-01 8.38055219e-02 0.00000000e+00 4.72012604e+01] [-8.38055219e-02 9.96482130e-01 0.00000000e+00 1.63517906e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.90410524e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.23, Y:1.64, Z:-0.01 [[ 9.96190157e-01 8.72076269e-02 0.00000000e+00 4.72315602e+01] [-8.72076269e-02 9.96190157e-01 0.00000000e+00 1.63950232e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.61306346e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.26, Y:1.64, Z:-0.01 [[ 9.95991492e-01 8.94480183e-02 0.00000000e+00 4.72610374e+01] [-8.94480183e-02 9.95991492e-01 0.00000000e+00 1.64156097e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.31188867e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.381400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.29, Y:1.64, Z:-0.01 [[ 9.95771630e-01 9.18632677e-02 0.00000000e+00 4.72914490e+01] [-9.18632677e-02 9.95771630e-01 0.00000000e+00 1.64355197e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.56217076e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.32, Y:1.65, Z:-0.01 [[ 9.95375296e-01 9.60625859e-02 0.00000000e+00 4.73214298e+01] [-9.60625859e-02 9.95375296e-01 0.00000000e+00 1.64879659e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.94960430e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.35, Y:1.65, Z:-0.01 [[ 9.95266922e-01 9.71789770e-02 0.00000000e+00 4.73519340e+01] [-9.71789770e-02 9.95266922e-01 0.00000000e+00 1.65118175e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.48605806e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.38, Y:1.65, Z:-0.01 [[ 9.95296706e-01 9.68734570e-02 0.00000000e+00 4.73815418e+01] [-9.68734570e-02 9.95296706e-01 0.00000000e+00 1.65261463e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.65698947e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.41, Y:1.65, Z:-0.01 [[ 9.95750123e-01 9.20961077e-02 0.00000000e+00 4.74117368e+01] [-9.20961077e-02 9.95750123e-01 0.00000000e+00 1.65269267e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.72562588e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.44, Y:1.65, Z:-0.01 [[ 9.96068193e-01 8.85898114e-02 0.00000000e+00 4.74418704e+01] [-8.85898114e-02 9.96068193e-01 0.00000000e+00 1.65146726e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.88047667e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.561400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.47, Y:1.65, Z:-0.00 [[ 9.96613585e-01 8.22275072e-02 0.00000000e+00 4.74736378e+01] [-8.22275072e-02 9.96613585e-01 0.00000000e+00 1.64920393e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.01691413e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.591400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.50, Y:1.65, Z:-0.00 [[ 9.96758411e-01 8.04529043e-02 0.00000000e+00 4.75027377e+01] [-8.04529043e-02 9.96758411e-01 0.00000000e+00 1.64726440e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17790744e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.53, Y:1.65, Z:-0.00 [[ 9.96821403e-01 7.96686291e-02 0.00000000e+00 4.75329243e+01] [-7.96686291e-02 9.96821403e-01 0.00000000e+00 1.64534917e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.52624454e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.56, Y:1.64, Z:-0.00 [[ 9.96821403e-01 7.96686291e-02 0.00000000e+00 4.75639218e+01] [-7.96686291e-02 9.96821403e-01 0.00000000e+00 1.64496139e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.52624454e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.59, Y:1.64, Z:-0.00 [[ 9.96846797e-01 7.93502606e-02 0.00000000e+00 4.75933106e+01] [-7.93502606e-02 9.96846797e-01 0.00000000e+00 1.64272057e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.23561209e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.62, Y:1.64, Z:-0.00 [[ 9.96946802e-01 7.80837616e-02 0.00000000e+00 4.76234681e+01] [-7.80837616e-02 9.96946802e-01 0.00000000e+00 1.63678549e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.96366336e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.741400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.65, Y:1.63, Z:-0.01 [[ 9.97120594e-01 7.58321839e-02 0.00000000e+00 4.76540900e+01] [-7.58321839e-02 9.97120594e-01 0.00000000e+00 1.63035053e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.55905596e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.771400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.68, Y:1.63, Z:-0.01 [[ 9.97201962e-01 7.47545767e-02 0.00000000e+00 4.76849876e+01] [-7.47545767e-02 9.97201962e-01 0.00000000e+00 1.62625143e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.55769059e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.72, Y:1.62, Z:-0.00 [[ 9.97255152e-01 7.40416212e-02 0.00000000e+00 4.77161107e+01] [-7.40416212e-02 9.97255152e-01 0.00000000e+00 1.62144551e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.86938642e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.75, Y:1.61, Z:-0.00 [[ 9.97278103e-01 7.37318482e-02 0.00000000e+00 4.77481348e+01] [-7.37318482e-02 9.97278103e-01 0.00000000e+00 1.61122635e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.77037802e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.78, Y:1.61, Z:-0.00 [[ 9.97206383e-01 7.46955806e-02 0.00000000e+00 4.77801798e+01] [-7.46955806e-02 9.97206383e-01 0.00000000e+00 1.60641872e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.24805695e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.81, Y:1.60, Z:-0.01 [[ 9.96909897e-01 7.85535331e-02 0.00000000e+00 4.78123068e+01] [-7.85535331e-02 9.96909897e-01 0.00000000e+00 1.59897474e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.75099254e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.85, Y:1.60, Z:-0.01 [[ 9.96681103e-01 8.14050347e-02 0.00000000e+00 4.78450520e+01] [-8.14050347e-02 9.96681103e-01 0.00000000e+00 1.59632599e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.50643906e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.951400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.88, Y:1.59, Z:-0.01 [[ 9.96406656e-01 8.46981468e-02 0.00000000e+00 4.78784909e+01] [-8.46981468e-02 9.96406656e-01 0.00000000e+00 1.59449234e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.99317206e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.91, Y:1.59, Z:-0.01 [[ 9.95752942e-01 9.20656177e-02 0.00000000e+00 4.79108363e+01] [-9.20656177e-02 9.95752942e-01 0.00000000e+00 1.59276803e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04022745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.94, Y:1.59, Z:-0.01 [[ 9.95417453e-01 9.56247546e-02 0.00000000e+00 4.79426467e+01] [-9.56247546e-02 9.95417453e-01 0.00000000e+00 1.59166544e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11768276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.98, Y:1.59, Z:-0.01 [[ 9.95042161e-01 9.94539969e-02 0.00000000e+00 4.79755531e+01] [-9.94539969e-02 9.95042161e-01 0.00000000e+00 1.59231410e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06492023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.01, Y:1.59, Z:-0.01 [[ 9.94910507e-01 1.00762505e-01 0.00000000e+00 4.80071215e+01] [-1.00762505e-01 9.94910507e-01 0.00000000e+00 1.59264286e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13293486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.04, Y:1.59, Z:-0.01 [[ 9.94825553e-01 1.01597833e-01 0.00000000e+00 4.80395366e+01] [-1.01597833e-01 9.94825553e-01 0.00000000e+00 1.59258439e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18241695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.131400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.07, Y:1.59, Z:-0.01 [[ 9.94730009e-01 1.02529064e-01 0.00000000e+00 4.80719736e+01] [-1.02529064e-01 9.94730009e-01 0.00000000e+00 1.59321210e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.24173673e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.10, Y:1.59, Z:-0.01 [[ 9.94716749e-01 1.02657633e-01 0.00000000e+00 4.81040210e+01] [-1.02657633e-01 9.94716749e-01 0.00000000e+00 1.59331717e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.76871204e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.14, Y:1.59, Z:-0.01 [[ 9.94699118e-01 1.02828331e-01 0.00000000e+00 4.81363614e+01] [-1.02828331e-01 9.94699118e-01 0.00000000e+00 1.59320052e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.82251788e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.17, Y:1.59, Z:-0.01 [[ 9.94595830e-01 1.03822610e-01 0.00000000e+00 4.81687919e+01] [-1.03822610e-01 9.94595830e-01 0.00000000e+00 1.59250063e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.99559475e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.20, Y:1.59, Z:-0.01 [[ 9.94494792e-01 1.04786010e-01 0.00000000e+00 4.82012421e+01] [-1.04786010e-01 9.94494792e-01 0.00000000e+00 1.59128707e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03415936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.23, Y:1.59, Z:-0.01 [[ 9.94391874e-01 1.05758224e-01 0.00000000e+00 4.82332337e+01] [-1.05758224e-01 9.94391874e-01 0.00000000e+00 1.58882535e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.69111350e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.311400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.27, Y:1.59, Z:-0.01 [[ 9.94393077e-01 1.05746905e-01 0.00000000e+00 4.82650228e+01] [-1.05746905e-01 9.94393077e-01 0.00000000e+00 1.58788089e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.74489843e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.341400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.30, Y:1.59, Z:-0.01 [[ 9.94421032e-01 1.05483701e-01 0.00000000e+00 4.82969706e+01] [-1.05483701e-01 9.94421032e-01 0.00000000e+00 1.58751231e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.07226338e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.33, Y:1.59, Z:-0.01 [[ 9.94418464e-01 1.05507905e-01 0.00000000e+00 4.83285873e+01] [-1.05507905e-01 9.94418464e-01 0.00000000e+00 1.58725981e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05547358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.36, Y:1.59, Z:-0.01 [[ 9.94437804e-01 1.05325464e-01 0.00000000e+00 4.83611635e+01] [-1.05325464e-01 9.94437804e-01 0.00000000e+00 1.58629633e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02804235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.39, Y:1.59, Z:-0.01 [[ 9.94562494e-01 1.04141466e-01 0.00000000e+00 4.83933874e+01] [-1.04141466e-01 9.94562494e-01 0.00000000e+00 1.58623116e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.19330148e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.461400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:48.43, Y:1.59, Z:-0.00 [[ 9.94636651e-01 1.03430815e-01 0.00000000e+00 4.84261038e+01] [-1.03430815e-01 9.94636651e-01 0.00000000e+00 1.58617534e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.36043498e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.491400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.46, Y:1.59, Z:-0.00 [[ 9.94677284e-01 1.03039315e-01 0.00000000e+00 4.84584611e+01] [-1.03039315e-01 9.94677284e-01 0.00000000e+00 1.58639575e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.54849886e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.521400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.49, Y:1.59, Z:-0.00 [[ 9.94713775e-01 1.02686441e-01 0.00000000e+00 4.84895839e+01] [-1.02686441e-01 9.94713775e-01 0.00000000e+00 1.58739793e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.35427282e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.52, Y:1.59, Z:-0.00 [[ 9.94874620e-01 1.01116220e-01 0.00000000e+00 4.85217021e+01] [-1.01116220e-01 9.94874620e-01 0.00000000e+00 1.59159603e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.32866439e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.55, Y:1.59, Z:-0.00 [[ 9.95013954e-01 9.97358115e-02 0.00000000e+00 4.85529663e+01] [-9.97358115e-02 9.95013954e-01 0.00000000e+00 1.59236271e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.91896593e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.59, Y:1.59, Z:-0.00 [[ 9.95424187e-01 9.55546317e-02 0.00000000e+00 4.85852295e+01] [-9.55546317e-02 9.95424187e-01 0.00000000e+00 1.59265909e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.68305332e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.62, Y:1.59, Z:-0.00 [[ 9.95645318e-01 9.32223215e-02 0.00000000e+00 4.86178732e+01] [-9.32223215e-02 9.95645318e-01 0.00000000e+00 1.59225812e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.16266142e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.65, Y:1.59, Z:-0.01 [[ 9.96088240e-01 8.83641240e-02 0.00000000e+00 4.86497790e+01] [-8.83641240e-02 9.96088240e-01 0.00000000e+00 1.59132569e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.41410217e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.701400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.68, Y:1.59, Z:-0.01 [[ 9.96246051e-01 8.65667759e-02 0.00000000e+00 4.86820004e+01] [-8.65667759e-02 9.96246051e-01 0.00000000e+00 1.59013058e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.56822916e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.71, Y:1.59, Z:-0.00 [[ 9.96353259e-01 8.53239930e-02 0.00000000e+00 4.87145211e+01] [-8.53239930e-02 9.96353259e-01 0.00000000e+00 1.58945258e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.26857663e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.75, Y:1.59, Z:-0.00 [[ 9.96336693e-01 8.55172161e-02 0.00000000e+00 4.87463440e+01] [-8.55172161e-02 9.96336693e-01 0.00000000e+00 1.58879682e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.57504212e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.78, Y:1.59, Z:-0.00 [[ 9.96233725e-01 8.67085034e-02 0.00000000e+00 4.87782615e+01] [-8.67085034e-02 9.96233725e-01 0.00000000e+00 1.58805666e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.66920706e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.81, Y:1.59, Z:-0.01 [[ 9.96013918e-01 8.91979517e-02 0.00000000e+00 4.88104908e+01] [-8.91979517e-02 9.96013918e-01 0.00000000e+00 1.58631035e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.09105577e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.84, Y:1.59, Z:-0.01 [[ 9.95922435e-01 9.02136514e-02 0.00000000e+00 4.88427430e+01] [-9.02136514e-02 9.95922435e-01 0.00000000e+00 1.58504792e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.98247990e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.881400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.87, Y:1.58, Z:-0.01 [[ 9.95839568e-01 9.11238485e-02 0.00000000e+00 4.88747199e+01] [-9.11238485e-02 9.95839568e-01 0.00000000e+00 1.58354517e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.48272165e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.91, Y:1.58, Z:-0.01 [[ 9.95793889e-01 9.16216739e-02 0.00000000e+00 4.89065561e+01] [-9.16216739e-02 9.95793889e-01 0.00000000e+00 1.57993735e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.18415002e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.94, Y:1.58, Z:-0.01 [[ 9.95840525e-01 9.11133856e-02 0.00000000e+00 4.89393807e+01] [-9.11133856e-02 9.95840525e-01 0.00000000e+00 1.57669631e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.93592017e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.97, Y:1.57, Z:-0.01 [[ 9.96111073e-01 8.81063530e-02 0.00000000e+00 4.89716125e+01] [-8.81063530e-02 9.96111073e-01 0.00000000e+00 1.57056728e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.83480155e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.00, Y:1.57, Z:-0.01 [[ 9.96244669e-01 8.65826725e-02 0.00000000e+00 4.90047399e+01] [-8.65826725e-02 9.96244669e-01 0.00000000e+00 1.56778099e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.94864919e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.04, Y:1.57, Z:-0.01 [[ 9.96288147e-01 8.60809358e-02 0.00000000e+00 4.90370474e+01] [-8.60809358e-02 9.96288147e-01 0.00000000e+00 1.56573820e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.33326562e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.061400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.07, Y:1.56, Z:-0.01 [[ 9.96092677e-01 8.83140960e-02 0.00000000e+00 4.90696419e+01] [-8.83140960e-02 9.96092677e-01 0.00000000e+00 1.56281705e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03463321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.091400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.10, Y:1.56, Z:-0.01 [[ 9.95911041e-01 9.03393479e-02 0.00000000e+00 4.91017268e+01] [-9.03393479e-02 9.95911041e-01 0.00000000e+00 1.56098537e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15891707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.13, Y:1.56, Z:-0.01 [[ 9.95667580e-01 9.29842430e-02 0.00000000e+00 4.91337653e+01] [-9.29842430e-02 9.95667580e-01 0.00000000e+00 1.55804670e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11426259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.17, Y:1.56, Z:-0.01 [[ 9.95573231e-01 9.39890540e-02 0.00000000e+00 4.91667259e+01] [-9.39890540e-02 9.95573231e-01 0.00000000e+00 1.55658155e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.88945731e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.20, Y:1.56, Z:-0.01 [[ 9.95493782e-01 9.48268421e-02 0.00000000e+00 4.91990439e+01] [-9.48268421e-02 9.95493782e-01 0.00000000e+00 1.55550476e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.93022499e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.23, Y:1.55, Z:-0.01 [[ 9.95255149e-01 9.72994767e-02 0.00000000e+00 4.92314230e+01] [-9.72994767e-02 9.95255149e-01 0.00000000e+00 1.55418456e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.91878021e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.241400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.26, Y:1.55, Z:-0.01 [[ 9.95081756e-01 9.90570523e-02 0.00000000e+00 4.92642049e+01] [-9.90570523e-02 9.95081756e-01 0.00000000e+00 1.55348582e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.94952391e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.271400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.30, Y:1.55, Z:-0.01 [[ 9.94753777e-01 1.02298211e-01 0.00000000e+00 4.92969901e+01] [-1.02298211e-01 9.94753777e-01 0.00000000e+00 1.55340951e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.72490225e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.33, Y:1.55, Z:-0.01 [[ 9.94591955e-01 1.03859727e-01 0.00000000e+00 4.93298602e+01] [-1.03859727e-01 9.94591955e-01 0.00000000e+00 1.55330171e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03434513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.36, Y:1.55, Z:-0.01 [[ 9.94438118e-01 1.05322506e-01 0.00000000e+00 4.93616410e+01] [-1.05322506e-01 9.94438118e-01 0.00000000e+00 1.55318208e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24433551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.39, Y:1.55, Z:-0.02 [[ 9.94254442e-01 1.07042535e-01 0.00000000e+00 4.93935930e+01] [-1.07042535e-01 9.94254442e-01 0.00000000e+00 1.55152094e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50162870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.43, Y:1.55, Z:-0.01 [[ 9.94259011e-01 1.07000087e-01 0.00000000e+00 4.94269171e+01] [-1.07000087e-01 9.94259011e-01 0.00000000e+00 1.55040492e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32455910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.46, Y:1.55, Z:-0.01 [[ 9.94512329e-01 1.04619441e-01 0.00000000e+00 4.94576553e+01] [-1.04619441e-01 9.94512329e-01 0.00000000e+00 1.55008413e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.84667047e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.451400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.49, Y:1.55, Z:-0.01 [[ 9.94734264e-01 1.02487775e-01 0.00000000e+00 4.94906850e+01] [-1.02487775e-01 9.94734264e-01 0.00000000e+00 1.54857083e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.47426388e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.52, Y:1.55, Z:-0.01 [[ 9.94973916e-01 1.00134442e-01 0.00000000e+00 4.95237748e+01] [-1.00134442e-01 9.94973916e-01 0.00000000e+00 1.54610020e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.34747041e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.56, Y:1.54, Z:-0.01 [[ 9.95558320e-01 9.41468586e-02 0.00000000e+00 4.95560624e+01] [-9.41468586e-02 9.95558320e-01 0.00000000e+00 1.54405414e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22694185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.59, Y:1.54, Z:-0.01 [[ 9.95541459e-01 9.43249894e-02 0.00000000e+00 4.95895521e+01] [-9.43249894e-02 9.95541459e-01 0.00000000e+00 1.54316501e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22694185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.62, Y:1.54, Z:-0.01 [[ 9.96144367e-01 8.77291291e-02 0.00000000e+00 4.96227703e+01] [-8.77291291e-02 9.96144367e-01 0.00000000e+00 1.54059055e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13125515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.65, Y:1.54, Z:-0.01 [[ 9.96385833e-01 8.49427514e-02 0.00000000e+00 4.96544575e+01] [-8.49427514e-02 9.96385833e-01 0.00000000e+00 1.53679450e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.53331525e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.631400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.69, Y:1.53, Z:-0.01 [[ 9.96608501e-01 8.22890950e-02 0.00000000e+00 4.96876225e+01] [-8.22890950e-02 9.96608501e-01 0.00000000e+00 1.53282176e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.87770871e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.72, Y:1.53, Z:-0.01 [[ 9.96897214e-01 7.87143185e-02 0.00000000e+00 4.97202682e+01] [-7.87143185e-02 9.96897214e-01 0.00000000e+00 1.52586018e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.13467823e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.75, Y:1.52, Z:-0.01 [[ 9.97006261e-01 7.73208652e-02 0.00000000e+00 4.97521301e+01] [-7.73208652e-02 9.97006261e-01 0.00000000e+00 1.52146246e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.49906960e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.78, Y:1.51, Z:-0.00 [[ 9.97305815e-01 7.33560611e-02 0.00000000e+00 4.97846836e+01] [-7.33560611e-02 9.97305815e-01 0.00000000e+00 1.51211738e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.76918534e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.82, Y:1.51, Z:-0.00 [[ 9.97447238e-01 7.14073291e-02 0.00000000e+00 4.98163198e+01] [-7.14073291e-02 9.97447238e-01 0.00000000e+00 1.50703314e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.56740745e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.85, Y:1.50, Z:-0.00 [[ 9.97586971e-01 6.94279122e-02 0.00000000e+00 4.98490848e+01] [-6.94279122e-02 9.97586971e-01 0.00000000e+00 1.50191485e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.55335991e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.811400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.88, Y:1.49, Z:-0.00 [[ 9.97754284e-01 6.69805171e-02 0.00000000e+00 4.98808661e+01] [-6.69805171e-02 9.97754284e-01 0.00000000e+00 1.49138635e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.50359479e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.841400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.91, Y:1.49, Z:-0.00 [[ 9.97766196e-01 6.68028339e-02 0.00000000e+00 4.99137720e+01] [-6.68028339e-02 9.97766196e-01 0.00000000e+00 1.48587251e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.98374659e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.95, Y:1.48, Z:-0.00 [[ 9.97728644e-01 6.73613602e-02 0.00000000e+00 4.99466412e+01] [-6.73613602e-02 9.97728644e-01 0.00000000e+00 1.47873609e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.46833464e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.98, Y:1.48, Z:-0.00 [[ 9.97708773e-01 6.76550356e-02 0.00000000e+00 4.99785342e+01] [-6.76550356e-02 9.97708773e-01 0.00000000e+00 1.47506489e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.67381078e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.931400513 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:50.01, Y:1.47, Z:-0.01 [[ 9.97722063e-01 6.74587673e-02 0.00000000e+00 5.00103168e+01] [-6.74587673e-02 9.97722063e-01 0.00000000e+00 1.46688601e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.59264687e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.04, Y:1.46, Z:-0.01 [[ 9.97823421e-01 6.59425585e-02 0.00000000e+00 5.00420088e+01] [-6.59425585e-02 9.97823421e-01 0.00000000e+00 1.46375445e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.76639192e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.991400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.07, Y:1.46, Z:-0.01 [[ 9.97892764e-01 6.48847611e-02 0.00000000e+00 5.00736227e+01] [-6.48847611e-02 9.97892764e-01 0.00000000e+00 1.45986901e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.43147446e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.021400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.11, Y:1.45, Z:-0.01 [[ 9.98155030e-01 6.07168483e-02 0.00000000e+00 5.01066674e+01] [-6.07168483e-02 9.98155030e-01 0.00000000e+00 1.45395363e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.06311298e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.14, Y:1.45, Z:-0.01 [[ 9.98337595e-01 5.76371961e-02 0.00000000e+00 5.01383142e+01] [-5.76371961e-02 9.98337595e-01 0.00000000e+00 1.44984469e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.28298772e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.17, Y:1.44, Z:-0.01 [[ 9.98676339e-01 5.14351055e-02 0.00000000e+00 5.01714992e+01] [-5.14351055e-02 9.98676339e-01 0.00000000e+00 1.44131631e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.11652685e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.20, Y:1.44, Z:-0.01 [[ 9.98812536e-01 4.87187654e-02 0.00000000e+00 5.02048493e+01] [-4.87187654e-02 9.98812536e-01 0.00000000e+00 1.43623503e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.63691483e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.24, Y:1.43, Z:-0.01 [[ 9.98922790e-01 4.64032389e-02 0.00000000e+00 5.02362323e+01] [-4.64032389e-02 9.98922790e-01 0.00000000e+00 1.43177410e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.46277139e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.27, Y:1.43, Z:-0.00 [[ 9.99029706e-01 4.40414265e-02 0.00000000e+00 5.02690210e+01] [-4.40414265e-02 9.99029706e-01 0.00000000e+00 1.42516645e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.58271541e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.201400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.30, Y:1.42, Z:-0.00 [[ 9.99024045e-01 4.41696346e-02 0.00000000e+00 5.03007121e+01] [-4.41696346e-02 9.99024045e-01 0.00000000e+00 1.42259783e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.25671763e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.33, Y:1.42, Z:-0.01 [[ 9.99025209e-01 4.41433002e-02 0.00000000e+00 5.03332957e+01] [-4.41433002e-02 9.99025209e-01 0.00000000e+00 1.41999694e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.01355577e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.37, Y:1.42, Z:-0.01 [[ 9.99059336e-01 4.33640776e-02 0.00000000e+00 5.03657979e+01] [-4.33640776e-02 9.99059336e-01 0.00000000e+00 1.41798948e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.31924988e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.40, Y:1.41, Z:-0.01 [[ 9.99184784e-01 4.03703885e-02 0.00000000e+00 5.03977510e+01] [-4.03703885e-02 9.99184784e-01 0.00000000e+00 1.41427602e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.27346817e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.43, Y:1.41, Z:-0.01 [[ 9.99243638e-01 3.88863861e-02 0.00000000e+00 5.04305187e+01] [-3.88863861e-02 9.99243638e-01 0.00000000e+00 1.41231277e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.03076381e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.46, Y:1.41, Z:-0.01 [[ 9.99305236e-01 3.72698900e-02 0.00000000e+00 5.04633256e+01] [-3.72698900e-02 9.99305236e-01 0.00000000e+00 1.41050448e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.38803313e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.381400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.50, Y:1.41, Z:-0.00 [[ 9.99447984e-01 3.32223993e-02 0.00000000e+00 5.04962497e+01] [-3.32223993e-02 9.99447984e-01 0.00000000e+00 1.40818490e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.16963117e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.53, Y:1.41, Z:-0.00 [[ 9.99536362e-01 3.04476703e-02 0.00000000e+00 5.05290067e+01] [-3.04476703e-02 9.99536362e-01 0.00000000e+00 1.40567078e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.65525861e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.56, Y:1.40, Z:-0.00 [[ 9.99627694e-01 2.72850217e-02 0.00000000e+00 5.05619974e+01] [-2.72850217e-02 9.99627694e-01 0.00000000e+00 1.40319627e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.06618946e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.59, Y:1.40, Z:0.00 [[ 9.99711736e-01 2.40092477e-02 0.00000000e+00 5.05944265e+01] [-2.40092477e-02 9.99711736e-01 0.00000000e+00 1.40098212e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.12549918e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.63, Y:1.40, Z:0.00 [[ 9.99825405e-01 1.86858263e-02 0.00000000e+00 5.06260622e+01] [-1.86858263e-02 9.99825405e-01 0.00000000e+00 1.39842516e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16341598e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.66, Y:1.40, Z:0.00 [[ 9.99850002e-01 1.73197356e-02 0.00000000e+00 5.06589213e+01] [-1.73197356e-02 9.99850002e-01 0.00000000e+00 1.39633430e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30900090e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.561400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.69, Y:1.39, Z:-0.00 [[ 9.99862659e-01 1.65729486e-02 0.00000000e+00 5.06921551e+01] [-1.65729486e-02 9.99862659e-01 0.00000000e+00 1.39409422e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.86521897e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.591400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.72, Y:1.39, Z:-0.00 [[ 9.99863140e-01 1.65438923e-02 0.00000000e+00 5.07244593e+01] [-1.65438923e-02 9.99863140e-01 0.00000000e+00 1.39162530e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04125533e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.76, Y:1.39, Z:-0.00 [[ 9.99853046e-01 1.71430977e-02 0.00000000e+00 5.07578059e+01] [-1.71430977e-02 9.99853046e-01 0.00000000e+00 1.38903256e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.95399383e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.651400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:50.79, Y:1.39, Z:-0.00 [[ 9.99791369e-01 2.04259366e-02 0.00000000e+00 5.07902886e+01] [-2.04259366e-02 9.99791369e-01 0.00000000e+00 1.38520363e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23700248e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.82, Y:1.38, Z:0.00 [[ 9.99726209e-01 2.33988887e-02 0.00000000e+00 5.08227505e+01] [-2.33988887e-02 9.99726209e-01 0.00000000e+00 1.38378802e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76147770e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.86, Y:1.38, Z:0.00 [[ 9.99638695e-01 2.68789907e-02 0.00000000e+00 5.08553656e+01] [-2.68789907e-02 9.99638695e-01 0.00000000e+00 1.38347960e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.66586122e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.741400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.89, Y:1.38, Z:-0.00 [[ 9.99529454e-01 3.06736191e-02 0.00000000e+00 5.08884229e+01] [-3.06736191e-02 9.99529454e-01 0.00000000e+00 1.38313477e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.18634515e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.771400512999996 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:50.92, Y:1.38, Z:-0.00 [[ 9.99263834e-01 3.83639130e-02 0.00000000e+00 5.09217086e+01] [-3.83639130e-02 9.99263834e-01 0.00000000e+00 1.38137942e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.18462172e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.95, Y:1.38, Z:-0.00 [[ 9.99123481e-01 4.18601313e-02 0.00000000e+00 5.09532127e+01] [-4.18601313e-02 9.99123481e-01 0.00000000e+00 1.38185551e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.65223497e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.99, Y:1.38, Z:-0.00 [[ 9.98985338e-01 4.50365979e-02 0.00000000e+00 5.09858119e+01] [-4.50365979e-02 9.98985338e-01 0.00000000e+00 1.38321189e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.77853889e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.02, Y:1.38, Z:-0.01 [[ 9.98851626e-01 4.79106370e-02 0.00000000e+00 5.10190431e+01] [-4.79106370e-02 9.98851626e-01 0.00000000e+00 1.38412606e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.16161099e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.05, Y:1.38, Z:-0.01 [[ 9.98744760e-01 5.00889561e-02 0.00000000e+00 5.10508257e+01] [-5.00889561e-02 9.98744760e-01 0.00000000e+00 1.38303371e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.61406455e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.08, Y:1.38, Z:-0.01 [[ 9.98747082e-01 5.00426408e-02 0.00000000e+00 5.10839904e+01] [-5.00426408e-02 9.98747082e-01 0.00000000e+00 1.38090581e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.90977109e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.951400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.12, Y:1.38, Z:-0.01 [[ 9.98746032e-01 5.00635998e-02 0.00000000e+00 5.11170335e+01] [-5.00635998e-02 9.98746032e-01 0.00000000e+00 1.38018114e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.56184094e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.15, Y:1.38, Z:-0.00 [[ 9.98744070e-01 5.01027281e-02 0.00000000e+00 5.11504661e+01] [-5.01027281e-02 9.98744070e-01 0.00000000e+00 1.38235227e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.94393285e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.18, Y:1.38, Z:-0.00 [[ 9.98720250e-01 5.05753046e-02 0.00000000e+00 5.11822755e+01] [-5.05753046e-02 9.98720250e-01 0.00000000e+00 1.38302376e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.66914531e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.22, Y:1.38, Z:-0.01 [[ 9.98689548e-01 5.11780002e-02 0.00000000e+00 5.12157507e+01] [-5.11780002e-02 9.98689548e-01 0.00000000e+00 1.38346041e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.69872052e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.25, Y:1.38, Z:-0.01 [[ 9.98632217e-01 5.22847529e-02 0.00000000e+00 5.12492206e+01] [-5.22847529e-02 9.98632217e-01 0.00000000e+00 1.38420529e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.63725677e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.101400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:51.28, Y:1.39, Z:-0.01 [[ 9.98493103e-01 5.48773424e-02 0.00000000e+00 5.12826702e+01] [-5.48773424e-02 9.98493103e-01 0.00000000e+00 1.38769703e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.50193115e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.131400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.31, Y:1.39, Z:-0.01 [[ 9.98397139e-01 5.65964051e-02 0.00000000e+00 5.13143258e+01] [-5.65964051e-02 9.98397139e-01 0.00000000e+00 1.38772441e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.24261591e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.35, Y:1.39, Z:-0.00 [[ 9.98322327e-01 5.79010401e-02 0.00000000e+00 5.13469499e+01] [-5.79010401e-02 9.98322327e-01 0.00000000e+00 1.38685107e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.13135767e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.38, Y:1.39, Z:-0.00 [[ 9.98288074e-01 5.84886367e-02 0.00000000e+00 5.13785134e+01] [-5.84886367e-02 9.98288074e-01 0.00000000e+00 1.38594644e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.57141237e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.41, Y:1.39, Z:-0.00 [[ 9.98314684e-01 5.80326784e-02 0.00000000e+00 5.14118802e+01] [-5.80326784e-02 9.98314684e-01 0.00000000e+00 1.38691371e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91708587e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.251400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:51.45, Y:1.39, Z:-0.00 [[ 9.98298889e-01 5.83037605e-02 0.00000000e+00 5.14451060e+01] [-5.83037605e-02 9.98298889e-01 0.00000000e+00 1.38690331e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.22267133e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.48, Y:1.39, Z:-0.01 [[ 9.98244491e-01 5.92278340e-02 0.00000000e+00 5.14773536e+01] [-5.92278340e-02 9.98244491e-01 0.00000000e+00 1.38587835e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.64167196e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.311400512999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:51.51, Y:1.38, Z:-0.00 [[ 9.98028257e-01 6.27662121e-02 0.00000000e+00 5.15104412e+01] [-6.27662121e-02 9.98028257e-01 0.00000000e+00 1.38369678e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.41330791e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.341400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.54, Y:1.38, Z:-0.00 [[ 9.97842055e-01 6.56599811e-02 0.00000000e+00 5.15429001e+01] [-6.56599811e-02 9.97842055e-01 0.00000000e+00 1.38274224e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.50701498e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.58, Y:1.38, Z:-0.00 [[ 9.97621977e-01 6.89230807e-02 0.00000000e+00 5.15758919e+01] [-6.89230807e-02 9.97621977e-01 0.00000000e+00 1.38222099e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38121326e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.61, Y:1.38, Z:-0.00 [[ 9.97401695e-01 7.20406784e-02 0.00000000e+00 5.16088023e+01] [-7.20406784e-02 9.97401695e-01 0.00000000e+00 1.38098859e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15526905e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.64, Y:1.38, Z:-0.00 [[ 9.97005305e-01 7.73331893e-02 0.00000000e+00 5.16421337e+01] [-7.73331893e-02 9.97005305e-01 0.00000000e+00 1.37748578e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35417009e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.68, Y:1.37, Z:-0.00 [[ 9.96835805e-01 7.94882259e-02 0.00000000e+00 5.16752267e+01] [-7.94882259e-02 9.96835805e-01 0.00000000e+00 1.37436065e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.44452894e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.491400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.71, Y:1.37, Z:-0.00 [[ 9.96820618e-01 7.96784495e-02 0.00000000e+00 5.17086841e+01] [-7.96784495e-02 9.96820618e-01 0.00000000e+00 1.37309919e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.44452894e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.521400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.74, Y:1.37, Z:-0.01 [[ 9.96706364e-01 8.10951569e-02 0.00000000e+00 5.17408793e+01] [-8.10951569e-02 9.96706364e-01 0.00000000e+00 1.36990259e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.80699644e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.77, Y:1.36, Z:-0.01 [[ 9.96633828e-01 8.19817896e-02 0.00000000e+00 5.17740137e+01] [-8.19817896e-02 9.96633828e-01 0.00000000e+00 1.36415486e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.10042638e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.81, Y:1.36, Z:-0.01 [[ 9.96610142e-01 8.22692236e-02 0.00000000e+00 5.18059135e+01] [-8.22692236e-02 9.96610142e-01 0.00000000e+00 1.36035620e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.82407910e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.84, Y:1.36, Z:-0.01 [[ 9.96566773e-01 8.27929132e-02 0.00000000e+00 5.18385800e+01] [-8.27929132e-02 9.96566773e-01 0.00000000e+00 1.35646321e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.70891104e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.87, Y:1.35, Z:-0.01 [[ 9.96498527e-01 8.36103247e-02 0.00000000e+00 5.18709876e+01] [-8.36103247e-02 9.96498527e-01 0.00000000e+00 1.35260398e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.21580347e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.671400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.90, Y:1.35, Z:-0.01 [[ 9.96237059e-01 8.66701924e-02 0.00000000e+00 5.19023995e+01] [-8.66701924e-02 9.96237059e-01 0.00000000e+00 1.34629676e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29824362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.701400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.94, Y:1.34, Z:-0.01 [[ 9.96039889e-01 8.89074778e-02 0.00000000e+00 5.19352213e+01] [-8.89074778e-02 9.96039889e-01 0.00000000e+00 1.34316973e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13364756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.97, Y:1.34, Z:-0.01 [[ 9.95838983e-01 9.11302341e-02 0.00000000e+00 5.19673068e+01] [-9.11302341e-02 9.95838983e-01 0.00000000e+00 1.34032991e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.88379611e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.00, Y:1.34, Z:-0.01 [[ 9.95660272e-01 9.30624650e-02 0.00000000e+00 5.19988079e+01] [-9.30624650e-02 9.95660272e-01 0.00000000e+00 1.33768739e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00934772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.03, Y:1.33, Z:-0.01 [[ 9.95478961e-01 9.49823095e-02 0.00000000e+00 5.20316464e+01] [-9.49823095e-02 9.95478961e-01 0.00000000e+00 1.33235998e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10041136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.06, Y:1.33, Z:-0.01 [[ 9.95532707e-01 9.44173157e-02 0.00000000e+00 5.20648263e+01] [-9.44173157e-02 9.95532707e-01 0.00000000e+00 1.32910855e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03194534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.10, Y:1.33, Z:-0.01 [[ 9.95649062e-01 9.31823284e-02 0.00000000e+00 5.20969839e+01] [-9.31823284e-02 9.95649062e-01 0.00000000e+00 1.32659040e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01417090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.881400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.13, Y:1.32, Z:-0.01 [[ 9.95930471e-01 9.01248998e-02 0.00000000e+00 5.21290717e+01] [-9.01248998e-02 9.95930471e-01 0.00000000e+00 1.32272639e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.67123420e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.16, Y:1.32, Z:-0.01 [[ 9.95988473e-01 8.94816244e-02 0.00000000e+00 5.21623330e+01] [-8.94816244e-02 9.95988473e-01 0.00000000e+00 1.32053062e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.13244409e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.20, Y:1.32, Z:-0.01 [[ 9.95959031e-01 8.98087332e-02 0.00000000e+00 5.21956825e+01] [-8.98087332e-02 9.95959031e-01 0.00000000e+00 1.31910137e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.43926160e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.23, Y:1.32, Z:-0.01 [[ 9.95874535e-01 9.07409011e-02 0.00000000e+00 5.22279768e+01] [-9.07409011e-02 9.95874535e-01 0.00000000e+00 1.31888018e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.30817599e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.26, Y:1.32, Z:-0.01 [[ 9.95773862e-01 9.18390731e-02 0.00000000e+00 5.22599296e+01] [-9.18390731e-02 9.95773862e-01 0.00000000e+00 1.31831980e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.49847716e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.29, Y:1.32, Z:-0.00 [[ 9.95683203e-01 9.28168087e-02 0.00000000e+00 5.22927447e+01] [-9.28168087e-02 9.95683203e-01 0.00000000e+00 1.31504779e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.85291435e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.061400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.32, Y:1.31, Z:-0.00 [[ 9.95672048e-01 9.29363942e-02 0.00000000e+00 5.23245963e+01] [-9.29363942e-02 9.95672048e-01 0.00000000e+00 1.31257111e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.43803372e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.091400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.36, Y:1.31, Z:0.00 [[ 9.95654246e-01 9.31269105e-02 0.00000000e+00 5.23579730e+01] [-9.31269105e-02 9.95654246e-01 0.00000000e+00 1.31081584e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.84751143e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.39, Y:1.31, Z:0.00 [[ 9.95648765e-01 9.31854984e-02 0.00000000e+00 5.23900009e+01] [-9.31854984e-02 9.95648765e-01 0.00000000e+00 1.30960707e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51881771e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.42, Y:1.31, Z:0.00 [[ 9.95562144e-01 9.41064106e-02 0.00000000e+00 5.24229416e+01] [-9.41064106e-02 9.95562144e-01 0.00000000e+00 1.30610806e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44484656e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.46, Y:1.30, Z:0.00 [[ 9.95449477e-01 9.52908165e-02 0.00000000e+00 5.24558336e+01] [-9.52908165e-02 9.95449477e-01 0.00000000e+00 1.30354704e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.94332483e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.49, Y:1.30, Z:-0.00 [[ 9.95282055e-01 9.70238647e-02 0.00000000e+00 5.24875043e+01] [-9.70238647e-02 9.95282055e-01 0.00000000e+00 1.30227190e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.98818905e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.241400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.52, Y:1.30, Z:-0.00 [[ 9.95056113e-01 9.93143041e-02 0.00000000e+00 5.25208560e+01] [-9.93143041e-02 9.95056113e-01 0.00000000e+00 1.30172791e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35899304e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.271400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.55, Y:1.30, Z:-0.01 [[ 9.94659854e-01 1.03207435e-01 0.00000000e+00 5.25527873e+01] [-1.03207435e-01 9.94659854e-01 0.00000000e+00 1.29889328e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.11225278e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.59, Y:1.30, Z:-0.01 [[ 9.94482727e-01 1.04900457e-01 0.00000000e+00 5.25856509e+01] [-1.04900457e-01 9.94482727e-01 0.00000000e+00 1.29607266e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.29730747e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.62, Y:1.29, Z:-0.01 [[ 9.94346754e-01 1.06181603e-01 0.00000000e+00 5.26182678e+01] [-1.06181603e-01 9.94346754e-01 0.00000000e+00 1.29386970e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.18951262e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.65, Y:1.29, Z:-0.01 [[ 9.94254316e-01 1.07043703e-01 0.00000000e+00 5.26502327e+01] [-1.07043703e-01 9.94254316e-01 0.00000000e+00 1.29264719e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.11413075e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.68, Y:1.29, Z:-0.01 [[ 9.94027025e-01 1.09134197e-01 0.00000000e+00 5.26828150e+01] [-1.09134197e-01 9.94027025e-01 0.00000000e+00 1.29109469e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.71243007e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.421400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.72, Y:1.29, Z:-0.01 [[ 9.93849441e-01 1.10739738e-01 0.00000000e+00 5.27161923e+01] [-1.10739738e-01 9.93849441e-01 0.00000000e+00 1.28949833e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.16417274e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.451400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.75, Y:1.29, Z:-0.01 [[ 9.93673181e-01 1.12310325e-01 0.00000000e+00 5.27484897e+01] [-1.12310325e-01 9.93673181e-01 0.00000000e+00 1.28848701e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.19064697e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.78, Y:1.29, Z:-0.01 [[ 9.93489430e-01 1.13924331e-01 0.00000000e+00 5.27803348e+01] [-1.13924331e-01 9.93489430e-01 0.00000000e+00 1.28865840e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.63369923e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.81, Y:1.29, Z:-0.01 [[ 9.93290470e-01 1.15646192e-01 0.00000000e+00 5.28128972e+01] [-1.15646192e-01 9.93290470e-01 0.00000000e+00 1.29000947e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.76850648e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.84, Y:1.29, Z:-0.01 [[ 9.93315484e-01 1.15431144e-01 0.00000000e+00 5.28445987e+01] [-1.15431144e-01 9.93315484e-01 0.00000000e+00 1.28903184e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.48333207e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.88, Y:1.29, Z:-0.01 [[ 9.93445874e-01 1.14303519e-01 0.00000000e+00 5.28771835e+01] [-1.14303519e-01 9.93445874e-01 0.00000000e+00 1.28813396e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.67111535e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.91, Y:1.29, Z:-0.01 [[ 9.93651736e-01 1.12499901e-01 0.00000000e+00 5.29097018e+01] [-1.12499901e-01 9.93651736e-01 0.00000000e+00 1.28708884e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.45923089e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.631400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.94, Y:1.29, Z:-0.01 [[ 9.94188145e-01 1.07656549e-01 0.00000000e+00 5.29419313e+01] [-1.07656549e-01 9.94188145e-01 0.00000000e+00 1.28813215e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.05201456e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.97, Y:1.29, Z:-0.01 [[ 9.94482851e-01 1.04899285e-01 0.00000000e+00 5.29745346e+01] [-1.04899285e-01 9.94482851e-01 0.00000000e+00 1.28835527e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.75184749e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.01, Y:1.29, Z:-0.01 [[ 9.94748768e-01 1.02346905e-01 0.00000000e+00 5.30075245e+01] [-1.02346905e-01 9.94748768e-01 0.00000000e+00 1.28869996e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.37472192e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.04, Y:1.29, Z:-0.01 [[ 9.94932221e-01 1.00547879e-01 0.00000000e+00 5.30408381e+01] [-1.00547879e-01 9.94932221e-01 0.00000000e+00 1.28966974e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.49505620e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.07, Y:1.29, Z:-0.00 [[ 9.95169368e-01 9.81729515e-02 0.00000000e+00 5.30732339e+01] [-9.81729515e-02 9.95169368e-01 0.00000000e+00 1.29334300e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.06316574e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.11, Y:1.29, Z:-0.00 [[ 9.95271686e-01 9.71301798e-02 0.00000000e+00 5.31054451e+01] [-9.71301798e-02 9.95271686e-01 0.00000000e+00 1.29283407e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.34374188e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.811400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.14, Y:1.29, Z:-0.00 [[ 9.95437565e-01 9.54151677e-02 0.00000000e+00 5.31372430e+01] [-9.54151677e-02 9.95437565e-01 0.00000000e+00 1.29164884e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.96916398e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.841400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.17, Y:1.29, Z:-0.00 [[ 9.95673295e-01 9.29230289e-02 0.00000000e+00 5.31698118e+01] [-9.29230289e-02 9.95673295e-01 0.00000000e+00 1.28981716e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.46425965e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.20, Y:1.29, Z:-0.00 [[ 9.96280187e-01 8.61730208e-02 0.00000000e+00 5.32018795e+01] [-8.61730208e-02 9.96280187e-01 0.00000000e+00 1.28757692e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28209026e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.23, Y:1.29, Z:-0.00 [[ 9.96566877e-01 8.27916677e-02 0.00000000e+00 5.32349291e+01] [-8.27916677e-02 9.96566877e-01 0.00000000e+00 1.28580808e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15295678e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.27, Y:1.28, Z:-0.00 [[ 9.96801325e-01 7.99194553e-02 0.00000000e+00 5.32673581e+01] [-7.99194553e-02 9.96801325e-01 0.00000000e+00 1.28370709e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.32350898e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.30, Y:1.28, Z:-0.00 [[ 9.97060570e-01 7.66173586e-02 0.00000000e+00 5.33005157e+01] [-7.66173586e-02 9.97060570e-01 0.00000000e+00 1.28156917e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.63774175e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.991400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.33, Y:1.28, Z:0.00 [[ 9.97062809e-01 7.65882214e-02 0.00000000e+00 5.33337656e+01] [-7.65882214e-02 9.97062809e-01 0.00000000e+00 1.28078882e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.70776933e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.021400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.37, Y:1.28, Z:0.00 [[ 9.97038303e-01 7.69065802e-02 0.00000000e+00 5.33660752e+01] [-7.69065802e-02 9.97038303e-01 0.00000000e+00 1.27998918e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22439360e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.40, Y:1.28, Z:0.00 [[ 9.97023583e-01 7.70971741e-02 0.00000000e+00 5.33993035e+01] [-7.70971741e-02 9.97023583e-01 0.00000000e+00 1.27827561e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20736040e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.43, Y:1.27, Z:0.00 [[ 9.97143816e-01 7.55262261e-02 0.00000000e+00 5.34306240e+01] [-7.55262261e-02 9.97143816e-01 0.00000000e+00 1.27340868e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49704973e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.46, Y:1.27, Z:0.00 [[ 9.97268363e-01 7.38634712e-02 0.00000000e+00 5.34633248e+01] [-7.38634712e-02 9.97268363e-01 0.00000000e+00 1.27033787e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62115962e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.50, Y:1.27, Z:-0.00 [[ 9.97417918e-01 7.18157111e-02 0.00000000e+00 5.34964945e+01] [-7.18157111e-02 9.97417918e-01 0.00000000e+00 1.26754117e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56306640e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.171400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.53, Y:1.26, Z:-0.00 [[ 9.97570850e-01 6.96591690e-02 0.00000000e+00 5.35282116e+01] [-6.96591690e-02 9.97570850e-01 0.00000000e+00 1.26353095e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21471287e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.201400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.56, Y:1.26, Z:-0.00 [[ 9.97516059e-01 7.04394211e-02 0.00000000e+00 5.35615516e+01] [-7.04394211e-02 9.97516059e-01 0.00000000e+00 1.26102382e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.26704389e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.59, Y:1.26, Z:-0.00 [[ 9.97396093e-01 7.21181866e-02 0.00000000e+00 5.35929985e+01] [-7.21181866e-02 9.97396093e-01 0.00000000e+00 1.25874992e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.56385202e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.63, Y:1.26, Z:-0.00 [[ 9.97242832e-01 7.42073780e-02 0.00000000e+00 5.36258428e+01] [-7.42073780e-02 9.97242832e-01 0.00000000e+00 1.25652230e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.26983111e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.66, Y:1.25, Z:-0.00 [[ 9.97094933e-01 7.61688528e-02 0.00000000e+00 5.36585975e+01] [-7.61688528e-02 9.97094933e-01 0.00000000e+00 1.25408061e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.45731571e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.69, Y:1.25, Z:-0.00 [[ 9.96848742e-01 7.93258211e-02 0.00000000e+00 5.36899237e+01] [-7.93258211e-02 9.96848742e-01 0.00000000e+00 1.24941735e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41793897e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.72, Y:1.25, Z:-0.00 [[ 9.96710150e-01 8.10486112e-02 0.00000000e+00 5.37226174e+01] [-8.10486112e-02 9.96710150e-01 0.00000000e+00 1.24639315e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99630674e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.381400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.76, Y:1.24, Z:-0.00 [[ 9.96694847e-01 8.12365842e-02 0.00000000e+00 5.37560520e+01] [-8.12365842e-02 9.96694847e-01 0.00000000e+00 1.24476557e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99630674e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.79, Y:1.24, Z:-0.00 [[ 9.96548010e-01 8.30184557e-02 0.00000000e+00 5.37884531e+01] [-8.30184557e-02 9.96548010e-01 0.00000000e+00 1.24202920e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.56965475e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.82, Y:1.24, Z:-0.00 [[ 9.96387679e-01 8.49211019e-02 0.00000000e+00 5.38205024e+01] [-8.49211019e-02 9.96387679e-01 0.00000000e+00 1.23894502e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.84330365e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.85, Y:1.23, Z:-0.01 [[ 9.96091496e-01 8.83274109e-02 0.00000000e+00 5.38528960e+01] [-8.83274109e-02 9.96091496e-01 0.00000000e+00 1.23474751e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.52036340e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.89, Y:1.23, Z:-0.01 [[ 9.95952292e-01 8.98834374e-02 0.00000000e+00 5.38858586e+01] [-8.98834374e-02 9.95952292e-01 0.00000000e+00 1.23275242e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.81786419e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.92, Y:1.23, Z:-0.01 [[ 9.95810328e-01 9.14428301e-02 0.00000000e+00 5.39178621e+01] [-9.14428301e-02 9.95810328e-01 0.00000000e+00 1.23060461e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.81606364e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.561400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.95, Y:1.23, Z:-0.01 [[ 9.95686180e-01 9.27848652e-02 0.00000000e+00 5.39499585e+01] [-9.27848652e-02 9.95686180e-01 0.00000000e+00 1.22841259e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.73518948e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.591400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.98, Y:1.23, Z:-0.01 [[ 9.95583817e-01 9.38768572e-02 0.00000000e+00 5.39830815e+01] [-9.38768572e-02 9.95583817e-01 0.00000000e+00 1.22622375e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.27913708e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.02, Y:1.22, Z:-0.01 [[ 9.95502719e-01 9.47329742e-02 0.00000000e+00 5.40151639e+01] [-9.47329742e-02 9.95502719e-01 0.00000000e+00 1.22338606e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.10209563e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.05, Y:1.22, Z:-0.01 [[ 9.95525816e-01 9.44899453e-02 0.00000000e+00 5.40470805e+01] [-9.44899453e-02 9.95525816e-01 0.00000000e+00 1.22102839e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.26068090e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.08, Y:1.22, Z:-0.00 [[ 9.95658778e-01 9.30784528e-02 0.00000000e+00 5.40799812e+01] [-9.30784528e-02 9.95658778e-01 0.00000000e+00 1.21957321e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.27962594e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.11, Y:1.22, Z:-0.00 [[ 9.95687412e-01 9.27716419e-02 0.00000000e+00 5.41115915e+01] [-9.27716419e-02 9.95687412e-01 0.00000000e+00 1.21836222e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.57203753e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.741400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.14, Y:1.22, Z:-0.00 [[ 9.95677226e-01 9.28809015e-02 0.00000000e+00 5.41442505e+01] [-9.28809015e-02 9.95677226e-01 0.00000000e+00 1.21723289e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.87186126e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.771400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.18, Y:1.22, Z:-0.00 [[ 9.95655024e-01 9.31186020e-02 0.00000000e+00 5.41773977e+01] [-9.31186020e-02 9.95655024e-01 0.00000000e+00 1.21662305e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.71847762e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.21, Y:1.22, Z:-0.00 [[ 9.95628853e-01 9.33980017e-02 0.00000000e+00 5.42091769e+01] [-9.33980017e-02 9.95628853e-01 0.00000000e+00 1.21740070e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41880035e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.24, Y:1.22, Z:-0.00 [[ 9.95602029e-01 9.36835136e-02 0.00000000e+00 5.42412198e+01] [-9.36835136e-02 9.95602029e-01 0.00000000e+00 1.22242071e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.97061539e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.27, Y:1.22, Z:-0.00 [[ 9.95589176e-01 9.38200062e-02 0.00000000e+00 5.42729069e+01] [-9.38200062e-02 9.95589176e-01 0.00000000e+00 1.22243215e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.27009486e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.31, Y:1.22, Z:-0.00 [[ 9.95649803e-01 9.31744086e-02 0.00000000e+00 5.43054093e+01] [-9.31744086e-02 9.95649803e-01 0.00000000e+00 1.22095974e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.95087191e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.921400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.34, Y:1.22, Z:-0.00 [[ 9.95806598e-01 9.14834426e-02 0.00000000e+00 5.43385368e+01] [-9.14834426e-02 9.95806598e-01 0.00000000e+00 1.21887469e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.68701227e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.951400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.37, Y:1.22, Z:-0.01 [[ 9.96049657e-01 8.87979722e-02 0.00000000e+00 5.43701726e+01] [-8.87979722e-02 9.96049657e-01 0.00000000e+00 1.21760854e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.80807155e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.40, Y:1.22, Z:-0.01 [[ 9.96574446e-01 8.27005074e-02 0.00000000e+00 5.44030411e+01] [-8.27005074e-02 9.96574446e-01 0.00000000e+00 1.21574600e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.68336537e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.44, Y:1.21, Z:-0.00 [[ 9.96761720e-01 8.04118966e-02 0.00000000e+00 5.44356610e+01] [-8.04118966e-02 9.96761720e-01 0.00000000e+00 1.21135131e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.31365670e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.47, Y:1.21, Z:-0.00 [[ 9.96873451e-01 7.90147051e-02 0.00000000e+00 5.44678574e+01] [-7.90147051e-02 9.96873451e-01 0.00000000e+00 1.20613801e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.58922175e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.50, Y:1.20, Z:-0.00 [[ 9.96920305e-01 7.84213372e-02 0.00000000e+00 5.45004461e+01] [-7.84213372e-02 9.96920305e-01 0.00000000e+00 1.20155732e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.19362196e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.53, Y:1.20, Z:-0.00 [[ 9.96820047e-01 7.96855893e-02 0.00000000e+00 5.45333094e+01] [-7.96855893e-02 9.96820047e-01 0.00000000e+00 1.19542947e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.64834676e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.131400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.57, Y:1.19, Z:-0.00 [[ 9.96681764e-01 8.13969308e-02 0.00000000e+00 5.45659719e+01] [-8.13969308e-02 9.96681764e-01 0.00000000e+00 1.19089427e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.91394628e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.60, Y:1.19, Z:-0.00 [[ 9.96454960e-01 8.41279545e-02 0.00000000e+00 5.45973726e+01] [-8.41279545e-02 9.96454960e-01 0.00000000e+00 1.18565969e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.17441331e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.63, Y:1.18, Z:-0.00 [[ 9.96135352e-01 8.78314333e-02 0.00000000e+00 5.46303710e+01] [-8.78314333e-02 9.96135352e-01 0.00000000e+00 1.18033300e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.56140418e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.66, Y:1.17, Z:-0.00 [[ 9.95362683e-01 9.61931834e-02 0.00000000e+00 5.46615745e+01] [-9.61931834e-02 9.95362683e-01 0.00000000e+00 1.17268348e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.79432386e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.69, Y:1.17, Z:-0.00 [[ 9.94941411e-01 1.00456901e-01 0.00000000e+00 5.46935842e+01] [-1.00456901e-01 9.94941411e-01 0.00000000e+00 1.16823001e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28337765e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.73, Y:1.16, Z:-0.00 [[ 9.94490035e-01 1.04831154e-01 0.00000000e+00 5.47268537e+01] [-1.04831154e-01 9.94490035e-01 0.00000000e+00 1.16412262e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60540004e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.311400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.76, Y:1.16, Z:-0.00 [[ 9.94061498e-01 1.08819749e-01 0.00000000e+00 5.47599932e+01] [-1.08819749e-01 9.94061498e-01 0.00000000e+00 1.16023577e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19975295e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.341400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.79, Y:1.15, Z:-0.00 [[ 9.93370197e-01 1.14959345e-01 0.00000000e+00 5.47915563e+01] [-1.14959345e-01 9.93370197e-01 0.00000000e+00 1.15429370e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.66579727e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.82, Y:1.15, Z:-0.00 [[ 9.93172446e-01 1.16655446e-01 0.00000000e+00 5.48247267e+01] [-1.16655446e-01 9.93172446e-01 0.00000000e+00 1.15064771e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.45287345e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.86, Y:1.15, Z:-0.00 [[ 9.93117882e-01 1.17119051e-01 0.00000000e+00 5.48572432e+01] [-1.17119051e-01 9.93117882e-01 0.00000000e+00 1.14719678e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19846024e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.89, Y:1.14, Z:-0.00 [[ 9.93215577e-01 1.16287653e-01 0.00000000e+00 5.48902804e+01] [-1.16287653e-01 9.93215577e-01 0.00000000e+00 1.14343983e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08091366e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.92, Y:1.14, Z:-0.00 [[ 9.93824228e-01 1.10965778e-01 0.00000000e+00 5.49222275e+01] [-1.10965778e-01 9.93824228e-01 0.00000000e+00 1.13573533e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52458470e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.491400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.95, Y:1.13, Z:-0.00 [[ 9.94218169e-01 1.07378917e-01 0.00000000e+00 5.49540602e+01] [-1.07378917e-01 9.94218169e-01 0.00000000e+00 1.13057756e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.08647960e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.521400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.99, Y:1.13, Z:-0.00 [[ 9.94569416e-01 1.04075341e-01 0.00000000e+00 5.49855352e+01] [-1.04075341e-01 9.94569416e-01 0.00000000e+00 1.12559141e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.82891623e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.02, Y:1.12, Z:-0.01 [[ 9.94874486e-01 1.01117539e-01 0.00000000e+00 5.50178871e+01] [-1.01117539e-01 9.94874486e-01 0.00000000e+00 1.12056453e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.69365943e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.05, Y:1.11, Z:-0.00 [[ 9.95420266e-01 9.55954746e-02 0.00000000e+00 5.50497029e+01] [-9.55954746e-02 9.95420266e-01 0.00000000e+00 1.11305753e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.89368087e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.08, Y:1.11, Z:-0.00 [[ 9.95681724e-01 9.28326710e-02 0.00000000e+00 5.50821431e+01] [-9.28326710e-02 9.95681724e-01 0.00000000e+00 1.10851059e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.72544904e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.11, Y:1.10, Z:-0.00 [[ 9.95923495e-01 9.02019556e-02 0.00000000e+00 5.51146673e+01] [-9.02019556e-02 9.95923495e-01 0.00000000e+00 1.10437117e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.94552044e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.671400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.15, Y:1.10, Z:-0.01 [[ 9.96119518e-01 8.80108253e-02 0.00000000e+00 5.51475390e+01] [-8.80108253e-02 9.96119518e-01 0.00000000e+00 1.10030326e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.00267402e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.701400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.18, Y:1.09, Z:-0.01 [[ 9.96389979e-01 8.48941142e-02 0.00000000e+00 5.51778617e+01] [-8.48941142e-02 9.96389979e-01 0.00000000e+00 1.09251486e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.09357934e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.21, Y:1.09, Z:-0.01 [[ 9.96421916e-01 8.45184353e-02 0.00000000e+00 5.52105149e+01] [-8.45184353e-02 9.96421916e-01 0.00000000e+00 1.08719597e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.04043207e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.24, Y:1.08, Z:-0.00 [[ 9.96398683e-01 8.47918843e-02 0.00000000e+00 5.52419354e+01] [-8.47918843e-02 9.96398683e-01 0.00000000e+00 1.08270615e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.34860668e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.27, Y:1.08, Z:-0.00 [[ 9.96322822e-01 8.56786687e-02 0.00000000e+00 5.52746293e+01] [-8.56786687e-02 9.96322822e-01 0.00000000e+00 1.07864465e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42051283e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.31, Y:1.08, Z:-0.00 [[ 9.96269344e-01 8.62982913e-02 0.00000000e+00 5.53061548e+01] [-8.62982913e-02 9.96269344e-01 0.00000000e+00 1.07649592e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.90952991e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.34, Y:1.07, Z:-0.00 [[ 9.96157280e-01 8.75823792e-02 0.00000000e+00 5.53391888e+01] [-8.75823792e-02 9.96157280e-01 0.00000000e+00 1.07397157e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.63839858e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.881400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.37, Y:1.07, Z:-0.00 [[ 9.96023350e-01 8.90925679e-02 0.00000000e+00 5.53714082e+01] [-8.90925679e-02 9.96023350e-01 0.00000000e+00 1.07113613e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.09710760e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.40, Y:1.07, Z:-0.00 [[ 9.95755576e-01 9.20371282e-02 0.00000000e+00 5.54039815e+01] [-9.20371282e-02 9.95755576e-01 0.00000000e+00 1.06963459e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.61830861e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.44, Y:1.07, Z:-0.00 [[ 9.95596627e-01 9.37408975e-02 0.00000000e+00 5.54364269e+01] [-9.37408975e-02 9.95596627e-01 0.00000000e+00 1.06941635e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.93195309e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.47, Y:1.07, Z:-0.01 [[ 9.95424453e-01 9.55518581e-02 0.00000000e+00 5.54695582e+01] [-9.55518581e-02 9.95424453e-01 0.00000000e+00 1.06957749e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.13475792e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.001400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:55.50, Y:1.07, Z:-0.00 [[ 9.95280434e-01 9.70404969e-02 0.00000000e+00 5.55026836e+01] [-9.70404969e-02 9.95280434e-01 0.00000000e+00 1.06884613e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.70578568e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.53, Y:1.07, Z:-0.00 [[ 9.95067042e-01 9.92047524e-02 0.00000000e+00 5.55344006e+01] [-9.92047524e-02 9.95067042e-01 0.00000000e+00 1.06876760e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.03194388e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.061400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.57, Y:1.07, Z:-0.00 [[ 9.95067999e-01 9.91951516e-02 0.00000000e+00 5.55675491e+01] [-9.91951516e-02 9.95067999e-01 0.00000000e+00 1.06827016e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.64738295e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.091400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.60, Y:1.07, Z:-0.00 [[ 9.95133868e-01 9.85321494e-02 0.00000000e+00 5.55997328e+01] [-9.85321494e-02 9.95133868e-01 0.00000000e+00 1.06747526e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29211385e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.63, Y:1.07, Z:-0.00 [[ 9.95209306e-01 9.77672617e-02 0.00000000e+00 5.56327948e+01] [-9.77672617e-02 9.95209306e-01 0.00000000e+00 1.06621548e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.69760058e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.67, Y:1.06, Z:-0.00 [[ 9.95243751e-01 9.74159957e-02 0.00000000e+00 5.56650500e+01] [-9.74159957e-02 9.95243751e-01 0.00000000e+00 1.06456380e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.80930998e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.70, Y:1.06, Z:-0.01 [[ 9.95203105e-01 9.78303660e-02 0.00000000e+00 5.56985379e+01] [-9.78303660e-02 9.95203105e-01 0.00000000e+00 1.06426037e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.58457260e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.73, Y:1.06, Z:-0.01 [[ 9.95141075e-01 9.84593385e-02 0.00000000e+00 5.57302558e+01] [-9.84593385e-02 9.95141075e-01 0.00000000e+00 1.06394003e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.24923952e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.241400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.76, Y:1.06, Z:-0.01 [[ 9.95050322e-01 9.93723120e-02 0.00000000e+00 5.57635142e+01] [-9.93723120e-02 9.95050322e-01 0.00000000e+00 1.06320065e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.88650407e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.271400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.80, Y:1.06, Z:-0.01 [[ 9.95031651e-01 9.95590997e-02 0.00000000e+00 5.57969160e+01] [-9.95590997e-02 9.95031651e-01 0.00000000e+00 1.06121636e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.88650407e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.83, Y:1.06, Z:-0.01 [[ 9.94896612e-01 1.00899611e-01 0.00000000e+00 5.58297087e+01] [-1.00899611e-01 9.94896612e-01 0.00000000e+00 1.06052445e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.96424870e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.86, Y:1.06, Z:-0.01 [[ 9.94664208e-01 1.03165470e-01 0.00000000e+00 5.58628455e+01] [-1.03165470e-01 9.94664208e-01 0.00000000e+00 1.05929746e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.28876892e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.89, Y:1.06, Z:-0.01 [[ 9.94592508e-01 1.03854431e-01 0.00000000e+00 5.58943333e+01] [-1.03854431e-01 9.94592508e-01 0.00000000e+00 1.05728631e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.41069487e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.391400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:55.93, Y:1.06, Z:-0.01 [[ 9.94567579e-01 1.04092892e-01 0.00000000e+00 5.59276990e+01] [-1.04092892e-01 9.94567579e-01 0.00000000e+00 1.05514277e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.53657435e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.421400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.96, Y:1.05, Z:-0.01 [[ 9.94581322e-01 1.03961499e-01 0.00000000e+00 5.59599187e+01] [-1.03961499e-01 9.94581322e-01 0.00000000e+00 1.05221670e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.86899705e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.451400512999996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:55.99, Y:1.05, Z:-0.01 [[ 9.94718218e-01 1.02643394e-01 0.00000000e+00 5.59926769e+01] [-1.02643394e-01 9.94718218e-01 0.00000000e+00 1.04913088e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.89039547e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.03, Y:1.05, Z:-0.01 [[ 9.94714922e-01 1.02675335e-01 0.00000000e+00 5.60257009e+01] [-1.02675335e-01 9.94714922e-01 0.00000000e+00 1.04779775e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.87567178e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.06, Y:1.05, Z:-0.01 [[ 9.94646926e-01 1.03331949e-01 0.00000000e+00 5.60582252e+01] [-1.03331949e-01 9.94646926e-01 0.00000000e+00 1.04676680e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.69609736e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.09, Y:1.05, Z:-0.00 [[ 9.94539853e-01 1.04357466e-01 0.00000000e+00 5.60897989e+01] [-1.04357466e-01 9.94539853e-01 0.00000000e+00 1.04552294e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.14826287e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.12, Y:1.04, Z:-0.00 [[ 9.94295491e-01 1.06660565e-01 0.00000000e+00 5.61205080e+01] [-1.06660565e-01 9.94295491e-01 0.00000000e+00 1.04291884e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.15501096e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.601400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:56.15, Y:1.04, Z:-0.00 [[ 9.94228603e-01 1.07282265e-01 0.00000000e+00 5.61531876e+01] [-1.07282265e-01 9.94228603e-01 0.00000000e+00 1.04027369e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.34865253e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.631400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.19, Y:1.04, Z:-0.00 [[ 9.94230635e-01 1.07263439e-01 0.00000000e+00 5.61863475e+01] [-1.07263439e-01 9.94230635e-01 0.00000000e+00 1.03752293e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21391548e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.22, Y:1.03, Z:-0.00 [[ 9.94301541e-01 1.06604157e-01 0.00000000e+00 5.62189552e+01] [-1.06604157e-01 9.94301541e-01 0.00000000e+00 1.03447491e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.72661623e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.25, Y:1.03, Z:-0.00 [[ 9.94455648e-01 1.05156856e-01 0.00000000e+00 5.62505734e+01] [-1.05156856e-01 9.94455648e-01 0.00000000e+00 1.03084297e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.24610099e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.28, Y:1.02, Z:-0.01 [[ 9.94937383e-01 1.00496785e-01 0.00000000e+00 5.62833603e+01] [-1.00496785e-01 9.94937383e-01 0.00000000e+00 1.02430853e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.22293935e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.32, Y:1.02, Z:-0.01 [[ 9.95092486e-01 9.89492022e-02 0.00000000e+00 5.63151595e+01] [-9.89492022e-02 9.95092486e-01 0.00000000e+00 1.02048603e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.42321060e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.781400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:56.35, Y:1.02, Z:-0.01 [[ 9.95181932e-01 9.80455080e-02 0.00000000e+00 5.63483815e+01] [-9.80455080e-02 9.95181932e-01 0.00000000e+00 1.01713628e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.42187740e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.811400512999995 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:56.38, Y:1.01, Z:-0.00 [[ 9.95171373e-01 9.81526303e-02 0.00000000e+00 5.63811176e+01] [-9.81526303e-02 9.95171373e-01 0.00000000e+00 1.01303604e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.91592783e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.841400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.41, Y:1.01, Z:-0.00 [[ 9.95088418e-01 9.89901026e-02 0.00000000e+00 5.64129957e+01] [-9.89901026e-02 9.95088418e-01 0.00000000e+00 1.01012666e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71074970e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.45, Y:1.01, Z:-0.00 [[ 9.94980397e-01 1.00070025e-01 0.00000000e+00 5.64456946e+01] [-1.00070025e-01 9.94980397e-01 0.00000000e+00 1.00809822e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18442169e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.48, Y:1.01, Z:-0.00 [[ 9.94859445e-01 1.01265422e-01 0.00000000e+00 5.64780445e+01] [-1.01265422e-01 9.94859445e-01 0.00000000e+00 1.00654010e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00847148e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.51, Y:1.00, Z:-0.00 [[ 9.94757579e-01 1.02261225e-01 0.00000000e+00 5.65105946e+01] [-1.02261225e-01 9.94757579e-01 0.00000000e+00 1.00481395e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91399403e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.54, Y:1.00, Z:-0.00 [[ 9.94791746e-01 1.01928322e-01 0.00000000e+00 5.65436877e+01] [-1.01928322e-01 9.94791746e-01 0.00000000e+00 1.00397507e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.20967450e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.991400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.58, Y:1.00, Z:-0.00 [[ 9.94912120e-01 1.00746579e-01 0.00000000e+00 5.65769825e+01] [-1.00746579e-01 9.94912120e-01 0.00000000e+00 1.00401489e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.96718052e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.021400512999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:56.61, Y:1.00, Z:-0.01 [[ 9.95051628e-01 9.93592338e-02 0.00000000e+00 5.66088998e+01] [-9.93592338e-02 9.95051628e-01 0.00000000e+00 1.00461345e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.15364868e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.64, Y:1.00, Z:-0.00 [[ 9.95155017e-01 9.83183237e-02 0.00000000e+00 5.66417911e+01] [-9.83183237e-02 9.95155017e-01 0.00000000e+00 1.00454585e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.12563713e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.081400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:56.67, Y:1.00, Z:-0.00 [[ 9.95273558e-01 9.71109942e-02 0.00000000e+00 5.66734237e+01] [-9.71109942e-02 9.95273558e-01 0.00000000e+00 1.00384849e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.44862048e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.71, Y:1.01, Z:-0.00 [[ 9.95648410e-01 9.31892921e-02 0.00000000e+00 5.67064680e+01] [-9.31892921e-02 9.95648410e-01 0.00000000e+00 1.00513913e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.60716969e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.141400513 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:56.74, Y:1.01, Z:-0.01 [[ 9.95866709e-01 9.08267470e-02 0.00000000e+00 5.67395926e+01] [-9.08267470e-02 9.95866709e-01 0.00000000e+00 1.00570096e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.91467129e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.171400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.77, Y:1.01, Z:-0.01 [[ 9.96089887e-01 8.83455557e-02 0.00000000e+00 5.67713450e+01] [-8.83455557e-02 9.96089887e-01 0.00000000e+00 1.00533918e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.64410374e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.201400512999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:56.80, Y:1.00, Z:-0.01 [[ 9.96342476e-01 8.54498112e-02 0.00000000e+00 5.68033837e+01] [-8.54498112e-02 9.96342476e-01 0.00000000e+00 1.00418336e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.56502345e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.84, Y:1.00, Z:-0.01 [[ 9.96908188e-01 7.85752110e-02 0.00000000e+00 5.68357936e+01] [-7.85752110e-02 9.96908188e-01 0.00000000e+00 1.00177423e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.10496357e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.87, Y:1.00, Z:-0.01 [[ 9.97157721e-01 7.53424087e-02 0.00000000e+00 5.68679647e+01] [-7.53424087e-02 9.97157721e-01 0.00000000e+00 1.00032973e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.81343968e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.90, Y:1.00, Z:-0.01 [[ 9.97333294e-01 7.29815103e-02 0.00000000e+00 5.69010671e+01] [-7.29815103e-02 9.97333294e-01 0.00000000e+00 9.99884935e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.05671119e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.93, Y:1.00, Z:-0.01 [[ 9.97443171e-01 7.14641276e-02 0.00000000e+00 5.69330227e+01] [-7.14641276e-02 9.97443171e-01 0.00000000e+00 1.00056229e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.98231256e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.351400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:56.97, Y:1.00, Z:-0.01 [[ 9.97455046e-01 7.12981854e-02 0.00000000e+00 5.69665155e+01] [-7.12981854e-02 9.97455046e-01 0.00000000e+00 1.00192239e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.74405894e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.381400512999996 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:57.00, Y:1.01, Z:-0.00 [[ 9.97301999e-01 7.34079203e-02 0.00000000e+00 5.69994316e+01] [-7.34079203e-02 9.97301999e-01 0.00000000e+00 1.00620305e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.02028633e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.411400513 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:57.03, Y:1.01, Z:-0.00 [[ 9.97211847e-01 7.46226045e-02 0.00000000e+00 5.70326686e+01] [-7.46226045e-02 9.97211847e-01 0.00000000e+00 1.00750270e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.33950081e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.06, Y:1.01, Z:-0.00 [[ 9.97141616e-01 7.55552567e-02 0.00000000e+00 5.70649965e+01] [-7.55552567e-02 9.97141616e-01 0.00000000e+00 1.01013157e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.40938535e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.10, Y:1.02, Z:-0.00 [[ 9.97139774e-01 7.55795624e-02 0.00000000e+00 5.70974684e+01] [-7.55795624e-02 9.97139774e-01 0.00000000e+00 1.01893332e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.99327570e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.13, Y:1.02, Z:-0.00 [[ 9.97230867e-01 7.43679874e-02 0.00000000e+00 5.71306246e+01] [-7.43679874e-02 9.97230867e-01 0.00000000e+00 1.02057497e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80248037e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.531400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:57.16, Y:1.02, Z:-0.00 [[ 9.97406388e-01 7.19756646e-02 0.00000000e+00 5.71623499e+01] [-7.19756646e-02 9.97406388e-01 0.00000000e+00 1.02212656e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.11144552e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.561400512999995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:57.20, Y:1.02, Z:0.00 [[ 9.97600552e-01 6.92325004e-02 0.00000000e+00 5.71950298e+01] [-6.92325004e-02 9.97600552e-01 0.00000000e+00 1.02313301e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10227426e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.591400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.23, Y:1.02, Z:-0.00 [[ 9.97806573e-01 6.61970019e-02 0.00000000e+00 5.72272436e+01] [-6.61970019e-02 9.97806573e-01 0.00000000e+00 1.02463430e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01726077e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.621400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:57.26, Y:1.03, Z:-0.00 [[ 9.98241995e-01 5.92698897e-02 0.00000000e+00 5.72591607e+01] [-5.92698897e-02 9.98241995e-01 0.00000000e+00 1.02900340e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.98367393e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.651400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:57.29, Y:1.03, Z:-0.00 [[ 9.98406768e-01 5.64262874e-02 0.00000000e+00 5.72924050e+01] [-5.64262874e-02 9.98406768e-01 0.00000000e+00 1.02928301e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.13643118e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.681400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:57.32, Y:1.03, Z:-0.00 [[ 9.98496970e-01 5.48069499e-02 0.00000000e+00 5.73248316e+01] [-5.48069499e-02 9.98496970e-01 0.00000000e+00 1.02961814e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.39211216e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.711400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:57.36, Y:1.03, Z:-0.00 [[ 9.98534815e-01 5.41130536e-02 0.00000000e+00 5.73574267e+01] [-5.41130536e-02 9.98534815e-01 0.00000000e+00 1.03046128e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.24800637e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.741400512999995 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:57.39, Y:1.03, Z:-0.00 [[ 9.98516101e-01 5.44572820e-02 0.00000000e+00 5.73901921e+01] [-5.44572820e-02 9.98516101e-01 0.00000000e+00 1.03152138e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.04276402e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.771400512999996 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:57.42, Y:1.04, Z:-0.01 [[ 9.98332397e-01 5.77271619e-02 0.00000000e+00 5.74226030e+01] [-5.77271619e-02 9.98332397e-01 0.00000000e+00 1.03572684e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.78437336e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.801400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:57.45, Y:1.04, Z:-0.01 [[ 9.98192719e-01 6.00940572e-02 0.00000000e+00 5.74542971e+01] [-6.00940572e-02 9.98192719e-01 0.00000000e+00 1.03571366e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.17526422e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.49, Y:1.04, Z:-0.01 [[ 9.98063202e-01 6.22080795e-02 0.00000000e+00 5.74861265e+01] [-6.22080795e-02 9.98063202e-01 0.00000000e+00 1.03570482e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.66452721e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.861400513 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:57.52, Y:1.04, Z:-0.01 [[ 9.97884976e-01 6.50044200e-02 0.00000000e+00 5.75181663e+01] [-6.50044200e-02 9.97884976e-01 0.00000000e+00 1.03871833e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.05093961e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.891400513 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:57.55, Y:1.04, Z:-0.01 [[ 9.97802990e-01 6.62509851e-02 0.00000000e+00 5.75501201e+01] [-6.62509851e-02 9.97802990e-01 0.00000000e+00 1.03962501e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.52507044e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.921400512999995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:57.58, Y:1.04, Z:-0.01 [[ 9.97730969e-01 6.73269140e-02 0.00000000e+00 5.75822657e+01] [-6.73269140e-02 9.97730969e-01 0.00000000e+00 1.03997709e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.37987136e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.951400512999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:57.61, Y:1.04, Z:-0.01 [[ 9.97688489e-01 6.79535040e-02 0.00000000e+00 5.76138617e+01] [-6.79535040e-02 9.97688489e-01 0.00000000e+00 1.03966224e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.55726728e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.981400513 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:57.65, Y:1.04, Z:-0.01 [[ 9.97682178e-01 6.80460973e-02 0.00000000e+00 5.76464534e+01] [-6.80460973e-02 9.97682178e-01 0.00000000e+00 1.03867280e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.99002918e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.011400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:57.68, Y:1.04, Z:-0.01 [[ 9.97746659e-01 6.70939944e-02 0.00000000e+00 5.76788525e+01] [-6.70939944e-02 9.97746659e-01 0.00000000e+00 1.03982760e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.36668041e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.041400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:57.71, Y:1.04, Z:-0.01 [[ 9.97757498e-01 6.69326221e-02 0.00000000e+00 5.77122325e+01] [-6.69326221e-02 9.97757498e-01 0.00000000e+00 1.03884235e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.05061579e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.74, Y:1.04, Z:-0.00 [[ 9.97727220e-01 6.73824534e-02 0.00000000e+00 5.77441292e+01] [-6.73824534e-02 9.97727220e-01 0.00000000e+00 1.03738990e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.58400220e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.78, Y:1.04, Z:-0.00 [[ 9.97638277e-01 6.86867433e-02 0.00000000e+00 5.77768976e+01] [-6.86867433e-02 9.97638277e-01 0.00000000e+00 1.03613407e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.65986580e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.131400512999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:57.81, Y:1.04, Z:-0.01 [[ 9.97507269e-01 7.05637890e-02 0.00000000e+00 5.78087237e+01] [-7.05637890e-02 9.97507269e-01 0.00000000e+00 1.03545578e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.79333450e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.161400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:57.84, Y:1.03, Z:-0.01 [[ 9.97494098e-01 7.07497356e-02 0.00000000e+00 5.78421190e+01] [-7.07497356e-02 9.97494098e-01 0.00000000e+00 1.03306402e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.79333450e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.191400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:57.88, Y:1.03, Z:-0.01 [[ 9.97196275e-01 7.48303994e-02 0.00000000e+00 5.78755175e+01] [-7.48303994e-02 9.97196275e-01 0.00000000e+00 1.03459386e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.89256490e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.91, Y:1.03, Z:-0.01 [[ 9.97055312e-01 7.66857481e-02 0.00000000e+00 5.79082648e+01] [-7.66857481e-02 9.97055312e-01 0.00000000e+00 1.03355184e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.07480128e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.251400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:57.94, Y:1.03, Z:-0.01 [[ 9.96909443e-01 7.85592937e-02 0.00000000e+00 5.79406521e+01] [-7.85592937e-02 9.96909443e-01 0.00000000e+00 1.03173945e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.01446290e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.281400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:57.97, Y:1.03, Z:-0.01 [[ 9.96662137e-01 8.16369098e-02 0.00000000e+00 5.79737047e+01] [-8.16369098e-02 9.96662137e-01 0.00000000e+00 1.03300858e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.47431803e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.311400512999995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:58.01, Y:1.03, Z:-0.01 [[ 9.96508079e-01 8.34964024e-02 0.00000000e+00 5.80053248e+01] [-8.34964024e-02 9.96508079e-01 0.00000000e+00 1.03275575e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08487888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.341400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.04, Y:1.03, Z:-0.01 [[ 9.96359336e-01 8.52529966e-02 0.00000000e+00 5.80378844e+01] [-8.52529966e-02 9.96359336e-01 0.00000000e+00 1.03183749e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09911327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.07, Y:1.03, Z:-0.01 [[ 9.96220624e-01 8.68588970e-02 0.00000000e+00 5.80700323e+01] [-8.68588970e-02 9.96220624e-01 0.00000000e+00 1.03070659e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10691253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.10, Y:1.03, Z:-0.01 [[ 9.96072641e-01 8.85397840e-02 0.00000000e+00 5.81031066e+01] [-8.85397840e-02 9.96072641e-01 0.00000000e+00 1.02975562e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.65419405e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.431400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.14, Y:1.03, Z:-0.01 [[ 9.95893351e-01 9.05341516e-02 0.00000000e+00 5.81357071e+01] [-9.05341516e-02 9.95893351e-01 0.00000000e+00 1.02919373e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.81201993e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.17, Y:1.03, Z:-0.00 [[ 9.95477729e-01 9.49952202e-02 0.00000000e+00 5.81675356e+01] [-9.49952202e-02 9.95477729e-01 0.00000000e+00 1.02982225e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.77314491e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.491400512999995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:58.20, Y:1.03, Z:-0.00 [[ 9.95193170e-01 9.79313761e-02 0.00000000e+00 5.82003960e+01] [-9.79313761e-02 9.95193170e-01 0.00000000e+00 1.02761013e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.69522156e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.521400512999996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:58.23, Y:1.03, Z:-0.00 [[ 9.94945918e-01 1.00412249e-01 0.00000000e+00 5.82331264e+01] [-1.00412249e-01 9.94945918e-01 0.00000000e+00 1.02607691e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.17872964e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.551400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:58.27, Y:1.03, Z:-0.00 [[ 9.94734501e-01 1.02485475e-01 0.00000000e+00 5.82658662e+01] [-1.02485475e-01 9.94734501e-01 0.00000000e+00 1.02505566e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.65516183e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.30, Y:1.03, Z:-0.00 [[ 9.94416372e-01 1.05527620e-01 0.00000000e+00 5.82993260e+01] [-1.05527620e-01 9.94416372e-01 0.00000000e+00 1.02515520e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.77829737e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.33, Y:1.02, Z:-0.00 [[ 9.94227161e-01 1.07295633e-01 0.00000000e+00 5.83312076e+01] [-1.07295633e-01 9.94227161e-01 0.00000000e+00 1.02297843e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.69322836e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.36, Y:1.02, Z:-0.00 [[ 9.94007376e-01 1.09313017e-01 0.00000000e+00 5.83635861e+01] [-1.09313017e-01 9.94007376e-01 0.00000000e+00 1.02069984e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.76678111e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.671400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.40, Y:1.02, Z:-0.01 [[ 9.93509905e-01 1.13745628e-01 0.00000000e+00 5.83960911e+01] [-1.13745628e-01 9.93509905e-01 0.00000000e+00 1.01904124e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.99464658e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.701400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.43, Y:1.02, Z:-0.01 [[ 9.93266514e-01 1.15851767e-01 0.00000000e+00 5.84282239e+01] [-1.15851767e-01 9.93266514e-01 0.00000000e+00 1.01610949e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.84380406e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.46, Y:1.01, Z:-0.01 [[ 9.93109289e-01 1.17191897e-01 0.00000000e+00 5.84612461e+01] [-1.17191897e-01 9.93109289e-01 0.00000000e+00 1.01296573e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.27351000e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.49, Y:1.01, Z:-0.01 [[ 9.93018139e-01 1.17961755e-01 0.00000000e+00 5.84943128e+01] [-1.17961755e-01 9.93018139e-01 0.00000000e+00 1.00956619e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.36580965e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.53, Y:1.01, Z:-0.00 [[ 9.92960666e-01 1.18444564e-01 0.00000000e+00 5.85257207e+01] [-1.18444564e-01 9.92960666e-01 0.00000000e+00 1.00631580e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.95433819e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.56, Y:1.00, Z:-0.01 [[ 9.92920671e-01 1.18779384e-01 0.00000000e+00 5.85590162e+01] [-1.18779384e-01 9.92920671e-01 0.00000000e+00 1.00274958e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.26553631e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.59, Y:1.00, Z:-0.01 [[ 9.92716588e-01 1.20473131e-01 0.00000000e+00 5.85910000e+01] [-1.20473131e-01 9.92716588e-01 0.00000000e+00 9.96403982e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.66720603e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.881400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.62, Y:0.99, Z:-0.01 [[ 9.92533291e-01 1.21974041e-01 0.00000000e+00 5.86232975e+01] [-1.21974041e-01 9.92533291e-01 0.00000000e+00 9.92360652e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.19963078e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.66, Y:0.99, Z:-0.01 [[ 9.92297926e-01 1.23874236e-01 0.00000000e+00 5.86552861e+01] [-1.23874236e-01 9.92297926e-01 0.00000000e+00 9.89037861e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.76458205e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.69, Y:0.99, Z:-0.01 [[ 9.92031747e-01 1.25988145e-01 0.00000000e+00 5.86879683e+01] [-1.25988145e-01 9.92031747e-01 0.00000000e+00 9.85731773e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.74740254e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.72, Y:0.98, Z:-0.01 [[ 9.91656654e-01 1.28907255e-01 0.00000000e+00 5.87197250e+01] [-1.28907255e-01 9.91656654e-01 0.00000000e+00 9.80885599e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28465673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.75, Y:0.98, Z:-0.01 [[ 9.91518920e-01 1.29962425e-01 0.00000000e+00 5.87516148e+01] [-1.29962425e-01 9.91518920e-01 0.00000000e+00 9.75834572e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37302512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.78, Y:0.97, Z:-0.01 [[ 9.91450904e-01 1.30480283e-01 0.00000000e+00 5.87844266e+01] [-1.30480283e-01 9.91450904e-01 0.00000000e+00 9.70331293e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30707940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.061400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.82, Y:0.96, Z:-0.01 [[ 9.91404873e-01 1.30829575e-01 0.00000000e+00 5.88173374e+01] [-1.30829575e-01 9.91404873e-01 0.00000000e+00 9.64830472e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12974738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.091400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.85, Y:0.96, Z:-0.01 [[ 9.91255766e-01 1.31954565e-01 0.00000000e+00 5.88493165e+01] [-1.31954565e-01 9.91255766e-01 0.00000000e+00 9.58981852e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.23788257e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.88, Y:0.96, Z:-0.01 [[ 9.91111206e-01 1.33036003e-01 0.00000000e+00 5.88818062e+01] [-1.33036003e-01 9.91111206e-01 0.00000000e+00 9.56084284e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.66567312e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.91, Y:0.95, Z:-0.01 [[ 9.90771273e-01 1.35544403e-01 0.00000000e+00 5.89135934e+01] [-1.35544403e-01 9.90771273e-01 0.00000000e+00 9.53441377e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.19666718e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.95, Y:0.95, Z:-0.00 [[ 9.90270332e-01 1.39156994e-01 0.00000000e+00 5.89465254e+01] [-1.39156994e-01 9.90270332e-01 0.00000000e+00 9.51168924e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.40958349e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.98, Y:0.95, Z:-0.01 [[ 9.89226140e-01 1.46395505e-01 0.00000000e+00 5.89794207e+01] [-1.46395505e-01 9.89226140e-01 0.00000000e+00 9.49123026e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.77254799e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.241400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.01, Y:0.95, Z:-0.01 [[ 9.88784583e-01 1.49348747e-01 0.00000000e+00 5.90123105e+01] [-1.49348747e-01 9.88784583e-01 0.00000000e+00 9.45697626e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.31704595e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.271400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.04, Y:0.94, Z:-0.01 [[ 9.88484497e-01 1.51322167e-01 0.00000000e+00 5.90445964e+01] [-1.51322167e-01 9.88484497e-01 0.00000000e+00 9.42515130e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14042933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.08, Y:0.94, Z:-0.01 [[ 9.88289899e-01 1.52587928e-01 0.00000000e+00 5.90776758e+01] [-1.52587928e-01 9.88289899e-01 0.00000000e+00 9.40252532e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26941721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.11, Y:0.94, Z:-0.01 [[ 9.88091252e-01 1.53869026e-01 0.00000000e+00 5.91104582e+01] [-1.53869026e-01 9.88091252e-01 0.00000000e+00 9.40663439e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06309015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.14, Y:0.94, Z:-0.01 [[ 9.87970314e-01 1.54643652e-01 0.00000000e+00 5.91437907e+01] [-1.54643652e-01 9.87970314e-01 0.00000000e+00 9.39108994e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01564153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.18, Y:0.94, Z:-0.01 [[ 9.87794005e-01 1.55765864e-01 0.00000000e+00 5.91758407e+01] [-1.55765864e-01 9.87794005e-01 0.00000000e+00 9.37157965e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09079794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.421400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.21, Y:0.94, Z:-0.01 [[ 9.87590566e-01 1.57050548e-01 0.00000000e+00 5.92093075e+01] [-1.57050548e-01 9.87590566e-01 0.00000000e+00 9.35534061e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09895933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.451400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.24, Y:0.94, Z:-0.01 [[ 9.87040580e-01 1.60470849e-01 0.00000000e+00 5.92424269e+01] [-1.60470849e-01 9.87040580e-01 0.00000000e+00 9.36860531e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04502930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.27, Y:0.94, Z:-0.01 [[ 9.86846211e-01 1.61661859e-01 0.00000000e+00 5.92739658e+01] [-1.61661859e-01 9.86846211e-01 0.00000000e+00 9.35281283e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08110184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.31, Y:0.93, Z:-0.01 [[ 9.86791183e-01 1.61997413e-01 0.00000000e+00 5.93072621e+01] [-1.61997413e-01 9.86791183e-01 0.00000000e+00 9.32928727e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12255898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.34, Y:0.93, Z:-0.01 [[ 9.86823057e-01 1.61803135e-01 0.00000000e+00 5.93398409e+01] [-1.61803135e-01 9.86823057e-01 0.00000000e+00 9.30996833e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16129834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.37, Y:0.93, Z:-0.01 [[ 9.87154550e-01 1.59768252e-01 0.00000000e+00 5.93722763e+01] [-1.59768252e-01 9.87154550e-01 0.00000000e+00 9.31831571e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22425641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.601400512999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.41, Y:0.93, Z:-0.01 [[ 9.87338525e-01 1.58627355e-01 0.00000000e+00 5.94051611e+01] [-1.58627355e-01 9.87338525e-01 0.00000000e+00 9.30471337e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15694683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.631400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.44, Y:0.93, Z:-0.01 [[ 9.87507091e-01 1.57574573e-01 0.00000000e+00 5.94371827e+01] [-1.57574573e-01 9.87507091e-01 0.00000000e+00 9.28749135e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07609068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.47, Y:0.93, Z:-0.01 [[ 9.87615574e-01 1.56893206e-01 0.00000000e+00 5.94705764e+01] [-1.56893206e-01 9.87615574e-01 0.00000000e+00 9.27501615e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00546511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.50, Y:0.93, Z:-0.01 [[ 9.87658582e-01 1.56622238e-01 0.00000000e+00 5.95027414e+01] [-1.56622238e-01 9.87658582e-01 0.00000000e+00 9.26902865e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01010261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.54, Y:0.93, Z:-0.01 [[ 9.87798933e-01 1.55734610e-01 0.00000000e+00 5.95354533e+01] [-1.55734610e-01 9.87798933e-01 0.00000000e+00 9.27630181e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06052287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.57, Y:0.93, Z:-0.01 [[ 9.87896691e-01 1.55113273e-01 0.00000000e+00 5.95673072e+01] [-1.55113273e-01 9.87896691e-01 0.00000000e+00 9.25097036e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.09022066e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.60, Y:0.92, Z:-0.01 [[ 9.87959714e-01 1.54711354e-01 0.00000000e+00 5.96000723e+01] [-1.54711354e-01 9.87959714e-01 0.00000000e+00 9.22173538e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.70731649e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.811400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.63, Y:0.92, Z:-0.01 [[ 9.87975929e-01 1.54607773e-01 0.00000000e+00 5.96315247e+01] [-1.54607773e-01 9.87975929e-01 0.00000000e+00 9.20072680e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.62473029e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.841400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.66, Y:0.92, Z:-0.01 [[ 9.87914223e-01 1.55001572e-01 0.00000000e+00 5.96649849e+01] [-1.55001572e-01 9.87914223e-01 0.00000000e+00 9.19605018e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.33059503e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.70, Y:0.92, Z:-0.01 [[ 9.87904731e-01 1.55062062e-01 0.00000000e+00 5.96974973e+01] [-1.55062062e-01 9.87904731e-01 0.00000000e+00 9.17639724e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.54087038e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.73, Y:0.92, Z:-0.01 [[ 9.88040050e-01 1.54197472e-01 0.00000000e+00 5.97308355e+01] [-1.54197472e-01 9.88040050e-01 0.00000000e+00 9.15006695e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.66891810e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.76, Y:0.91, Z:-0.00 [[ 9.88884828e-01 1.48683547e-01 0.00000000e+00 5.97624712e+01] [-1.48683547e-01 9.88884828e-01 0.00000000e+00 9.13393819e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.63869786e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.80, Y:0.91, Z:-0.00 [[ 9.89369761e-01 1.45421718e-01 0.00000000e+00 5.97957715e+01] [-1.45421718e-01 9.89369761e-01 0.00000000e+00 9.12001904e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13968711e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.991400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.83, Y:0.91, Z:-0.00 [[ 9.89872740e-01 1.41957591e-01 0.00000000e+00 5.98290755e+01] [-1.41957591e-01 9.89872740e-01 0.00000000e+00 9.10904556e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78261336e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.021400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.86, Y:0.91, Z:-0.00 [[ 9.90285293e-01 1.39050489e-01 0.00000000e+00 5.98614859e+01] [-1.39050489e-01 9.90285293e-01 0.00000000e+00 9.08960425e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.50711429e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.89, Y:0.91, Z:-0.01 [[ 9.90588856e-01 1.36871174e-01 0.00000000e+00 5.98940958e+01] [-1.36871174e-01 9.90588856e-01 0.00000000e+00 9.05334149e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.08275940e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.93, Y:0.90, Z:-0.01 [[ 9.90564304e-01 1.37048747e-01 0.00000000e+00 5.99274704e+01] [-1.37048747e-01 9.90564304e-01 0.00000000e+00 9.02587903e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.08275940e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.96, Y:0.90, Z:-0.01 [[ 9.90833024e-01 1.35092256e-01 0.00000000e+00 5.99604897e+01] [-1.35092256e-01 9.90833024e-01 0.00000000e+00 8.96372832e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.07587345e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.99, Y:0.89, Z:-0.01 [[ 9.90727830e-01 1.35861571e-01 0.00000000e+00 5.99936670e+01] [-1.35861571e-01 9.90727830e-01 0.00000000e+00 8.93027062e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.20987348e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.171400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.03, Y:0.89, Z:-0.01 [[ 9.90437448e-01 1.37962539e-01 0.00000000e+00 6.00254516e+01] [-1.37962539e-01 9.90437448e-01 0.00000000e+00 8.90573059e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.46452432e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.201400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.06, Y:0.89, Z:-0.01 [[ 9.89965654e-01 1.41308189e-01 0.00000000e+00 6.00580269e+01] [-1.41308189e-01 9.89965654e-01 0.00000000e+00 8.87584847e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.54613353e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.09, Y:0.88, Z:-0.01 [[ 9.89390851e-01 1.45278161e-01 0.00000000e+00 6.00899418e+01] [-1.45278161e-01 9.89390851e-01 0.00000000e+00 8.83646794e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12812771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.12, Y:0.88, Z:-0.01 [[ 9.88202931e-01 1.53150148e-01 0.00000000e+00 6.01228904e+01] [-1.53150148e-01 9.88202931e-01 0.00000000e+00 8.77635277e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.69026264e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.15, Y:0.87, Z:-0.01 [[ 9.87704558e-01 1.56332039e-01 0.00000000e+00 6.01544898e+01] [-1.56332039e-01 9.87704558e-01 0.00000000e+00 8.74596697e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.54715016e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.19, Y:0.87, Z:-0.01 [[ 9.87259919e-01 1.59115844e-01 0.00000000e+00 6.01874061e+01] [-1.59115844e-01 9.87259919e-01 0.00000000e+00 8.72498324e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.65686231e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.351400512999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.22, Y:0.87, Z:-0.01 [[ 9.86477080e-01 1.63899270e-01 0.00000000e+00 6.02202721e+01] [-1.63899270e-01 9.86477080e-01 0.00000000e+00 8.69430725e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11265999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.381400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.25, Y:0.87, Z:-0.01 [[ 9.86082819e-01 1.66254845e-01 0.00000000e+00 6.02518050e+01] [-1.66254845e-01 9.86082819e-01 0.00000000e+00 8.65694156e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03791899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.29, Y:0.86, Z:-0.01 [[ 9.85747611e-01 1.68230932e-01 0.00000000e+00 6.02851377e+01] [-1.68230932e-01 9.85747611e-01 0.00000000e+00 8.63763498e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.45939862e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.32, Y:0.86, Z:-0.01 [[ 9.85428061e-01 1.70092729e-01 0.00000000e+00 6.03175283e+01] [-1.70092729e-01 9.85428061e-01 0.00000000e+00 8.64107784e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.78392732e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.35, Y:0.87, Z:-0.01 [[ 9.85010043e-01 1.72497002e-01 0.00000000e+00 6.03495983e+01] [-1.72497002e-01 9.85010043e-01 0.00000000e+00 8.67233907e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.83356776e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.38, Y:0.86, Z:-0.01 [[ 9.85003762e-01 1.72532861e-01 0.00000000e+00 6.03826466e+01] [-1.72532861e-01 9.85003762e-01 0.00000000e+00 8.64472358e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.77078029e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.41, Y:0.86, Z:-0.01 [[ 9.85192262e-01 1.71453220e-01 0.00000000e+00 6.04144625e+01] [-1.71453220e-01 9.85192262e-01 0.00000000e+00 8.61004207e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.61982304e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.561400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.45, Y:0.86, Z:-0.00 [[ 9.85561730e-01 1.69316497e-01 0.00000000e+00 6.04470036e+01] [-1.69316497e-01 9.85561730e-01 0.00000000e+00 8.58299971e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.71088176e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.591400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.48, Y:0.86, Z:-0.00 [[ 9.86033700e-01 1.66545918e-01 0.00000000e+00 6.04795477e+01] [-1.66545918e-01 9.86033700e-01 0.00000000e+00 8.56213015e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.86357200e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.51, Y:0.85, Z:-0.00 [[ 9.86502419e-01 1.63746685e-01 0.00000000e+00 6.05117474e+01] [-1.63746685e-01 9.86502419e-01 0.00000000e+00 8.54071199e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.14734928e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.54, Y:0.85, Z:-0.00 [[ 9.87100767e-01 1.60100208e-01 0.00000000e+00 6.05432679e+01] [-1.60100208e-01 9.87100767e-01 0.00000000e+00 8.52892625e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.41926851e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.58, Y:0.85, Z:-0.00 [[ 9.87227632e-01 1.59316048e-01 0.00000000e+00 6.05758049e+01] [-1.59316048e-01 9.87227632e-01 0.00000000e+00 8.51434910e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.30942663e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.61, Y:0.85, Z:-0.00 [[ 9.87216076e-01 1.59387636e-01 0.00000000e+00 6.06084213e+01] [-1.59387636e-01 9.87216076e-01 0.00000000e+00 8.50442765e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.58355903e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.741400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.64, Y:0.85, Z:-0.00 [[ 9.87047189e-01 1.60430192e-01 0.00000000e+00 6.06410609e+01] [-1.60430192e-01 9.87047189e-01 0.00000000e+00 8.49337658e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16664988e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.771400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.67, Y:0.85, Z:-0.00 [[ 9.86385039e-01 1.64452288e-01 0.00000000e+00 6.06734885e+01] [-1.64452288e-01 9.86385039e-01 0.00000000e+00 8.48597914e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.19182527e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.71, Y:0.85, Z:-0.01 [[ 9.86016415e-01 1.66648221e-01 0.00000000e+00 6.07067294e+01] [-1.66648221e-01 9.86016415e-01 0.00000000e+00 8.47348008e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.06314797e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.74, Y:0.85, Z:-0.01 [[ 9.85680995e-01 1.68620807e-01 0.00000000e+00 6.07388374e+01] [-1.68620807e-01 9.85680995e-01 0.00000000e+00 8.47459227e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.41929199e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.77, Y:0.85, Z:-0.01 [[ 9.85413694e-01 1.70175942e-01 0.00000000e+00 6.07722359e+01] [-1.70175942e-01 9.85413694e-01 0.00000000e+00 8.47934620e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.15062507e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.891400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:60.81, Y:0.85, Z:-0.01 [[ 9.85129977e-01 1.71810733e-01 0.00000000e+00 6.08059548e+01] [-1.71810733e-01 9.85129977e-01 0.00000000e+00 8.49932230e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.16478738e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.921400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.84, Y:0.85, Z:-0.01 [[ 9.85114956e-01 1.71896839e-01 0.00000000e+00 6.08379851e+01] [-1.71896839e-01 9.85114956e-01 0.00000000e+00 8.48556687e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.42450027e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.951400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.87, Y:0.85, Z:-0.01 [[ 9.85094912e-01 1.72011671e-01 0.00000000e+00 6.08700152e+01] [-1.72011671e-01 9.85094912e-01 0.00000000e+00 8.47737252e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.46429295e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.981400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:60.90, Y:0.85, Z:-0.01 [[ 9.85067161e-01 1.72170522e-01 0.00000000e+00 6.09034685e+01] [-1.72170522e-01 9.85067161e-01 0.00000000e+00 8.47403597e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.46207497e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.94, Y:0.85, Z:-0.01 [[ 9.85072887e-01 1.72137756e-01 0.00000000e+00 6.09353752e+01] [-1.72137756e-01 9.85072887e-01 0.00000000e+00 8.46534108e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.90946013e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.97, Y:0.85, Z:-0.01 [[ 9.85065710e-01 1.72178821e-01 0.00000000e+00 6.09686503e+01] [-1.72178821e-01 9.85065710e-01 0.00000000e+00 8.45769716e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.81028985e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.00, Y:0.84, Z:-0.01 [[ 9.85130780e-01 1.71806130e-01 0.00000000e+00 6.10011169e+01] [-1.71806130e-01 9.85130780e-01 0.00000000e+00 8.44038072e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.40048551e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.101400512999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.03, Y:0.84, Z:-0.01 [[ 9.85261301e-01 1.71056040e-01 0.00000000e+00 6.10339284e+01] [-1.71056040e-01 9.85261301e-01 0.00000000e+00 8.42143468e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.46721291e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.131400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.07, Y:0.84, Z:-0.01 [[ 9.85763114e-01 1.68140072e-01 0.00000000e+00 6.10663245e+01] [-1.68140072e-01 9.85763114e-01 0.00000000e+00 8.39661710e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.24636993e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.161400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:61.10, Y:0.84, Z:-0.01 [[ 9.86034625e-01 1.66540442e-01 0.00000000e+00 6.10990125e+01] [-1.66540442e-01 9.86034625e-01 0.00000000e+00 8.35925300e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.45844342e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.13, Y:0.83, Z:-0.01 [[ 9.86311887e-01 1.64890452e-01 0.00000000e+00 6.11312118e+01] [-1.64890452e-01 9.86311887e-01 0.00000000e+00 8.32174815e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.02682349e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.16, Y:0.83, Z:-0.01 [[ 9.86470267e-01 1.63940270e-01 0.00000000e+00 6.11643231e+01] [-1.63940270e-01 9.86470267e-01 0.00000000e+00 8.29198908e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.30458215e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.20, Y:0.83, Z:-0.00 [[ 9.86482028e-01 1.63869488e-01 0.00000000e+00 6.11973787e+01] [-1.63869488e-01 9.86482028e-01 0.00000000e+00 8.27769620e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.90220095e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.23, Y:0.83, Z:-0.00 [[ 9.86358169e-01 1.64613372e-01 0.00000000e+00 6.12299798e+01] [-1.64613372e-01 9.86358169e-01 0.00000000e+00 8.26050543e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.73127487e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.311400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.26, Y:0.82, Z:-0.00 [[ 9.86228331e-01 1.65389477e-01 0.00000000e+00 6.12609231e+01] [-1.65389477e-01 9.86228331e-01 0.00000000e+00 8.24550128e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57200583e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.341400512999996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:61.29, Y:0.82, Z:0.00 [[ 9.86128775e-01 1.65982045e-01 0.00000000e+00 6.12924092e+01] [-1.65982045e-01 9.86128775e-01 0.00000000e+00 8.23033511e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83982023e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.32, Y:0.82, Z:0.00 [[ 9.86391211e-01 1.64415261e-01 0.00000000e+00 6.13243528e+01] [-1.64415261e-01 9.86391211e-01 0.00000000e+00 8.20945306e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15079597e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.36, Y:0.82, Z:0.00 [[ 9.86695374e-01 1.62579943e-01 0.00000000e+00 6.13560091e+01] [-1.62579943e-01 9.86695374e-01 0.00000000e+00 8.17540445e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.93114474e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.39, Y:0.81, Z:-0.00 [[ 9.86996811e-01 1.60739837e-01 0.00000000e+00 6.13887441e+01] [-1.60739837e-01 9.86996811e-01 0.00000000e+00 8.13720510e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47798042e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.42, Y:0.81, Z:-0.00 [[ 9.87320534e-01 1.58739296e-01 0.00000000e+00 6.14209648e+01] [-1.58739296e-01 9.87320534e-01 0.00000000e+00 8.09793162e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05647651e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.491400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.45, Y:0.81, Z:-0.00 [[ 9.87701385e-01 1.56352082e-01 0.00000000e+00 6.14536901e+01] [-1.56352082e-01 9.87701385e-01 0.00000000e+00 8.05856556e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11871262e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.521400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.49, Y:0.80, Z:-0.00 [[ 9.88159468e-01 1.53430329e-01 0.00000000e+00 6.14856892e+01] [-1.53430329e-01 9.88159468e-01 0.00000000e+00 8.01826632e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.98040754e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.52, Y:0.80, Z:-0.00 [[ 9.89188778e-01 1.46647746e-01 0.00000000e+00 6.15161586e+01] [-1.46647746e-01 9.89188778e-01 0.00000000e+00 7.95711378e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.76761078e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.55, Y:0.79, Z:-0.00 [[ 9.89681789e-01 1.43282785e-01 0.00000000e+00 6.15477250e+01] [-1.43282785e-01 9.89681789e-01 0.00000000e+00 7.90291402e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.66452829e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.58, Y:0.78, Z:-0.00 [[ 9.90735129e-01 1.35808334e-01 0.00000000e+00 6.15803565e+01] [-1.35808334e-01 9.90735129e-01 0.00000000e+00 7.81026763e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58999115e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.61, Y:0.78, Z:0.00 [[ 9.91174455e-01 1.32563945e-01 0.00000000e+00 6.16107343e+01] [-1.32563945e-01 9.91174455e-01 0.00000000e+00 7.75564021e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.90971007e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.671400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.64, Y:0.77, Z:0.00 [[ 9.91534267e-01 1.29845282e-01 0.00000000e+00 6.16429828e+01] [-1.29845282e-01 9.91534267e-01 0.00000000e+00 7.70686762e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53840134e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.701400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.67, Y:0.77, Z:0.00 [[ 9.91841606e-01 1.27476382e-01 0.00000000e+00 6.16744615e+01] [-1.27476382e-01 9.91841606e-01 0.00000000e+00 7.65602454e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.61144569e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.71, Y:0.76, Z:0.00 [[ 9.92095419e-01 1.25485775e-01 0.00000000e+00 6.17056501e+01] [-1.25485775e-01 9.92095419e-01 0.00000000e+00 7.60350427e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77454669e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.761400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:61.74, Y:0.75, Z:0.00 [[ 9.92330154e-01 1.23615799e-01 0.00000000e+00 6.17377940e+01] [-1.23615799e-01 9.92330154e-01 0.00000000e+00 7.53234787e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16493617e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.77, Y:0.75, Z:0.00 [[ 9.92331896e-01 1.23601815e-01 0.00000000e+00 6.17687453e+01] [-1.23601815e-01 9.92331896e-01 0.00000000e+00 7.48690532e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29908406e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.80, Y:0.74, Z:-0.00 [[ 9.92193052e-01 1.24711457e-01 0.00000000e+00 6.17991061e+01] [-1.24711457e-01 9.92193052e-01 0.00000000e+00 7.43862200e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.23015859e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.851400512999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.83, Y:0.74, Z:-0.00 [[ 9.91975464e-01 1.26430530e-01 0.00000000e+00 6.18318880e+01] [-1.26430530e-01 9.91975464e-01 0.00000000e+00 7.38710106e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36193544e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.881400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.86, Y:0.73, Z:-0.00 [[ 9.91763223e-01 1.28084772e-01 0.00000000e+00 6.18643178e+01] [-1.28084772e-01 9.91763223e-01 0.00000000e+00 7.34727888e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99051932e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.90, Y:0.73, Z:-0.00 [[ 9.91564573e-01 1.29613651e-01 0.00000000e+00 6.18952364e+01] [-1.29613651e-01 9.91564573e-01 0.00000000e+00 7.32608521e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.88928462e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.93, Y:0.73, Z:-0.00 [[ 9.91388473e-01 1.30953791e-01 0.00000000e+00 6.19279587e+01] [-1.30953791e-01 9.91388473e-01 0.00000000e+00 7.33190219e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.15857825e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.96, Y:0.73, Z:-0.00 [[ 9.91363931e-01 1.31139453e-01 0.00000000e+00 6.19613016e+01] [-1.31139453e-01 9.91363931e-01 0.00000000e+00 7.30107008e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.15857825e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.99, Y:0.73, Z:-0.00 [[ 9.91363813e-01 1.31140346e-01 0.00000000e+00 6.19934805e+01] [-1.31140346e-01 9.91363813e-01 0.00000000e+00 7.26861818e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.53460663e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.03, Y:0.72, Z:-0.00 [[ 9.91484506e-01 1.30224706e-01 0.00000000e+00 6.20258741e+01] [-1.30224706e-01 9.91484506e-01 0.00000000e+00 7.22113401e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.70062939e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.061400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.06, Y:0.72, Z:-0.00 [[ 9.92226094e-01 1.24448294e-01 0.00000000e+00 6.20567399e+01] [-1.24448294e-01 9.92226094e-01 0.00000000e+00 7.17532682e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41315367e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.091400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.09, Y:0.72, Z:-0.00 [[ 9.92713643e-01 1.20497402e-01 0.00000000e+00 6.20887000e+01] [-1.20497402e-01 9.92713643e-01 0.00000000e+00 7.15110489e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84386067e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.12, Y:0.71, Z:-0.00 [[ 9.93162508e-01 1.16740026e-01 0.00000000e+00 6.21202738e+01] [-1.16740026e-01 9.93162508e-01 0.00000000e+00 7.11980600e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.99966344e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.15, Y:0.71, Z:0.00 [[ 9.93489365e-01 1.13924893e-01 0.00000000e+00 6.21523374e+01] [-1.13924893e-01 9.93489365e-01 0.00000000e+00 7.07363155e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.34350456e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.18, Y:0.70, Z:-0.01 [[ 9.94073098e-01 1.08713737e-01 0.00000000e+00 6.21841600e+01] [-1.08713737e-01 9.94073098e-01 0.00000000e+00 7.00976509e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.29799985e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.22, Y:0.70, Z:-0.01 [[ 9.94339196e-01 1.06252361e-01 0.00000000e+00 6.22155165e+01] [-1.06252361e-01 9.94339196e-01 0.00000000e+00 6.98463306e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.31663377e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.241400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.25, Y:0.70, Z:-0.01 [[ 9.94574118e-01 1.04030394e-01 0.00000000e+00 6.22477580e+01] [-1.04030394e-01 9.94574118e-01 0.00000000e+00 6.96270244e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.31948387e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.271400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.28, Y:0.69, Z:-0.01 [[ 9.94746579e-01 1.02368174e-01 0.00000000e+00 6.22802726e+01] [-1.02368174e-01 9.94746579e-01 0.00000000e+00 6.92886207e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.35322890e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.31, Y:0.69, Z:-0.01 [[ 9.94922528e-01 1.00643742e-01 0.00000000e+00 6.23127268e+01] [-1.00643742e-01 9.94922528e-01 0.00000000e+00 6.88656610e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.42761816e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.35, Y:0.68, Z:-0.01 [[ 9.95351454e-01 9.63093080e-02 0.00000000e+00 6.23455308e+01] [-9.63093080e-02 9.95351454e-01 0.00000000e+00 6.84089516e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.31893175e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.38, Y:0.68, Z:-0.01 [[ 9.95570007e-01 9.40231898e-02 0.00000000e+00 6.23775946e+01] [-9.40231898e-02 9.95570007e-01 0.00000000e+00 6.81423580e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.01418612e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.41, Y:0.68, Z:-0.01 [[ 9.95746141e-01 9.21391535e-02 0.00000000e+00 6.24107908e+01] [-9.21391535e-02 9.95746141e-01 0.00000000e+00 6.78424251e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.21902364e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.421400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.44, Y:0.68, Z:-0.01 [[ 9.95913317e-01 9.03142595e-02 0.00000000e+00 6.24429365e+01] [-9.03142595e-02 9.95913317e-01 0.00000000e+00 6.75286476e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.18022043e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.451400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.48, Y:0.67, Z:-0.01 [[ 9.96242592e-01 8.66065749e-02 0.00000000e+00 6.24755281e+01] [-8.66065749e-02 9.96242592e-01 0.00000000e+00 6.74104058e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.04961736e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.51, Y:0.67, Z:-0.00 [[ 9.96411462e-01 8.46415886e-02 0.00000000e+00 6.25072235e+01] [-8.46415886e-02 9.96411462e-01 0.00000000e+00 6.73309228e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.34827093e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.511400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:62.54, Y:0.67, Z:-0.01 [[ 9.96543352e-01 8.30743501e-02 0.00000000e+00 6.25403181e+01] [-8.30743501e-02 9.96543352e-01 0.00000000e+00 6.72423692e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.55689204e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.57, Y:0.67, Z:-0.01 [[ 9.96659978e-01 8.16632660e-02 0.00000000e+00 6.25715719e+01] [-8.16632660e-02 9.96659978e-01 0.00000000e+00 6.69731328e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.13633596e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.571400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:62.60, Y:0.67, Z:-0.01 [[ 9.96884332e-01 7.88773019e-02 0.00000000e+00 6.26045243e+01] [-7.88773019e-02 9.96884332e-01 0.00000000e+00 6.68040403e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.61267280e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.601400512999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.64, Y:0.67, Z:-0.01 [[ 9.97025024e-01 7.70785367e-02 0.00000000e+00 6.26366345e+01] [-7.70785367e-02 9.97025024e-01 0.00000000e+00 6.65963201e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.46310014e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.631400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.67, Y:0.66, Z:-0.00 [[ 9.97145316e-01 7.55064099e-02 0.00000000e+00 6.26675412e+01] [-7.55064099e-02 9.97145316e-01 0.00000000e+00 6.64886958e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.57712058e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.70, Y:0.66, Z:-0.00 [[ 9.97229586e-01 7.43851672e-02 0.00000000e+00 6.27000672e+01] [-7.43851672e-02 9.97229586e-01 0.00000000e+00 6.63207496e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.28658331e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.73, Y:0.66, Z:-0.00 [[ 9.97280879e-01 7.36942833e-02 0.00000000e+00 6.27324624e+01] [-7.36942833e-02 9.97280879e-01 0.00000000e+00 6.60274167e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.65778689e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.721400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:62.76, Y:0.66, Z:-0.01 [[ 9.97282597e-01 7.36710394e-02 0.00000000e+00 6.27645414e+01] [-7.36710394e-02 9.97282597e-01 0.00000000e+00 6.59269264e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.39045736e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.80, Y:0.66, Z:-0.01 [[ 9.97232242e-01 7.43495447e-02 0.00000000e+00 6.27963934e+01] [-7.43495447e-02 9.97232242e-01 0.00000000e+00 6.58529902e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.80892206e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.83, Y:0.66, Z:-0.01 [[ 9.97138158e-01 7.56008903e-02 0.00000000e+00 6.28293920e+01] [-7.56008903e-02 9.97138158e-01 0.00000000e+00 6.58645093e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.79217780e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.811400512999995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:62.86, Y:0.66, Z:-0.01 [[ 9.96952637e-01 7.80092218e-02 0.00000000e+00 6.28614750e+01] [-7.80092218e-02 9.96952637e-01 0.00000000e+00 6.61499494e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.96575444e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.841400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.89, Y:0.66, Z:-0.01 [[ 9.96901943e-01 7.86544029e-02 0.00000000e+00 6.28925911e+01] [-7.86544029e-02 9.96901943e-01 0.00000000e+00 6.60105883e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01982749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.93, Y:0.66, Z:-0.01 [[ 9.96882458e-01 7.89009878e-02 0.00000000e+00 6.29256342e+01] [-7.89009878e-02 9.96882458e-01 0.00000000e+00 6.59702845e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26078466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.901400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:62.96, Y:0.66, Z:-0.01 [[ 9.96879158e-01 7.89426684e-02 0.00000000e+00 6.29576320e+01] [-7.89426684e-02 9.96879158e-01 0.00000000e+00 6.60262770e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25847458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.99, Y:0.66, Z:-0.01 [[ 9.96982859e-01 7.76220301e-02 0.00000000e+00 6.29911138e+01] [-7.76220301e-02 9.96982859e-01 0.00000000e+00 6.62156339e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43114134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.02, Y:0.66, Z:-0.01 [[ 9.97055503e-01 7.66832651e-02 0.00000000e+00 6.30235631e+01] [-7.66832651e-02 9.97055503e-01 0.00000000e+00 6.59311125e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46088025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.991400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.06, Y:0.66, Z:-0.01 [[ 9.97174847e-01 7.51154075e-02 0.00000000e+00 6.30552472e+01] [-7.51154075e-02 9.97174847e-01 0.00000000e+00 6.55532792e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48482348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.021400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.09, Y:0.65, Z:-0.01 [[ 9.97309395e-01 7.33073653e-02 0.00000000e+00 6.30870863e+01] [-7.33073653e-02 9.97309395e-01 0.00000000e+00 6.51674287e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46409024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.12, Y:0.65, Z:-0.01 [[ 9.97403205e-01 7.20197655e-02 0.00000000e+00 6.31197503e+01] [-7.20197655e-02 9.97403205e-01 0.00000000e+00 6.47968022e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45824599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.081400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:63.15, Y:0.64, Z:-0.02 [[ 9.97318749e-01 7.31799970e-02 0.00000000e+00 6.31532493e+01] [-7.31799970e-02 9.97318749e-01 0.00000000e+00 6.44311038e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73846833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.18, Y:0.64, Z:-0.01 [[ 9.97205398e-01 7.47087334e-02 0.00000000e+00 6.31836972e+01] [-7.47087334e-02 9.97205398e-01 0.00000000e+00 6.42163194e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47114151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.22, Y:0.64, Z:-0.02 [[ 9.97018222e-01 7.71664802e-02 0.00000000e+00 6.32161008e+01] [-7.71664802e-02 9.97018222e-01 0.00000000e+00 6.39588123e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58683555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.171400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.25, Y:0.64, Z:-0.02 [[ 9.96836791e-01 7.94758608e-02 0.00000000e+00 6.32485882e+01] [-7.94758608e-02 9.96836791e-01 0.00000000e+00 6.36784160e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61791937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.201400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.28, Y:0.63, Z:-0.02 [[ 9.96712035e-01 8.10254223e-02 0.00000000e+00 6.32816344e+01] [-8.10254223e-02 9.96712035e-01 0.00000000e+00 6.33854762e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61765947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.31, Y:0.63, Z:-0.02 [[ 9.96613121e-01 8.22331250e-02 0.00000000e+00 6.33126634e+01] [-8.22331250e-02 9.96613121e-01 0.00000000e+00 6.30480559e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70379221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.261400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:63.35, Y:0.63, Z:-0.02 [[ 9.96537590e-01 8.31434410e-02 0.00000000e+00 6.33456503e+01] [-8.31434410e-02 9.96537590e-01 0.00000000e+00 6.27348528e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73646879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.38, Y:0.62, Z:-0.02 [[ 9.96420563e-01 8.45343851e-02 0.00000000e+00 6.33773843e+01] [-8.45343851e-02 9.96420563e-01 0.00000000e+00 6.22419724e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.82979503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.41, Y:0.62, Z:-0.02 [[ 9.96262292e-01 8.63796610e-02 0.00000000e+00 6.34103652e+01] [-8.63796610e-02 9.96262292e-01 0.00000000e+00 6.19038671e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70697672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.351400512999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.44, Y:0.62, Z:-0.02 [[ 9.95993360e-01 8.94272204e-02 0.00000000e+00 6.34415289e+01] [-8.94272204e-02 9.95993360e-01 0.00000000e+00 6.16243100e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56969324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.381400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.47, Y:0.61, Z:-0.02 [[ 9.95628317e-01 9.34037187e-02 0.00000000e+00 6.34741507e+01] [-9.34037187e-02 9.95628317e-01 0.00000000e+00 6.13377118e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52403656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.51, Y:0.61, Z:-0.01 [[ 9.95235003e-01 9.75053309e-02 0.00000000e+00 6.35070764e+01] [-9.75053309e-02 9.95235003e-01 0.00000000e+00 6.09631769e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44946791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.441400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:63.54, Y:0.61, Z:-0.01 [[ 9.94502723e-01 1.04710714e-01 0.00000000e+00 6.35396393e+01] [-1.04710714e-01 9.94502723e-01 0.00000000e+00 6.05920555e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47494905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.57, Y:0.60, Z:-0.02 [[ 9.94214274e-01 1.07414982e-01 0.00000000e+00 6.35717062e+01] [-1.07414982e-01 9.94214274e-01 0.00000000e+00 6.03428531e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54153802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.60, Y:0.60, Z:-0.02 [[ 9.93864561e-01 1.10603954e-01 0.00000000e+00 6.36046425e+01] [-1.10603954e-01 9.93864561e-01 0.00000000e+00 6.01248516e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65081102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.64, Y:0.60, Z:-0.02 [[ 9.93605065e-01 1.12911357e-01 0.00000000e+00 6.36367063e+01] [-1.12911357e-01 9.93605065e-01 0.00000000e+00 5.97705800e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65083743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.561400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.67, Y:0.59, Z:-0.02 [[ 9.93380843e-01 1.14867315e-01 0.00000000e+00 6.36683322e+01] [-1.14867315e-01 9.93380843e-01 0.00000000e+00 5.91697917e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68658536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.591400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.70, Y:0.59, Z:-0.02 [[ 9.93384493e-01 1.14835752e-01 0.00000000e+00 6.36996116e+01] [-1.14835752e-01 9.93384493e-01 0.00000000e+00 5.87387848e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56099638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.73, Y:0.58, Z:-0.01 [[ 9.93371836e-01 1.14945184e-01 0.00000000e+00 6.37309673e+01] [-1.14945184e-01 9.93371836e-01 0.00000000e+00 5.83038042e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41345170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.76, Y:0.58, Z:-0.01 [[ 9.93242848e-01 1.16054488e-01 0.00000000e+00 6.37637986e+01] [-1.16054488e-01 9.93242848e-01 0.00000000e+00 5.78546677e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45050060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.80, Y:0.57, Z:-0.01 [[ 9.93055897e-01 1.17643466e-01 0.00000000e+00 6.37963871e+01] [-1.17643466e-01 9.93055897e-01 0.00000000e+00 5.73578708e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46898873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.83, Y:0.57, Z:-0.02 [[ 9.92628143e-01 1.21199707e-01 0.00000000e+00 6.38280115e+01] [-1.21199707e-01 9.92628143e-01 0.00000000e+00 5.68857472e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88561552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.741400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.86, Y:0.57, Z:-0.02 [[ 9.92388399e-01 1.23147334e-01 0.00000000e+00 6.38590652e+01] [-1.23147334e-01 9.92388399e-01 0.00000000e+00 5.67206208e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.15294269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.771400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.89, Y:0.57, Z:-0.02 [[ 9.92161347e-01 1.24963439e-01 0.00000000e+00 6.38919252e+01] [-1.24963439e-01 9.92161347e-01 0.00000000e+00 5.65161835e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.37182409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.92, Y:0.56, Z:-0.03 [[ 9.91825137e-01 1.27604455e-01 0.00000000e+00 6.39246843e+01] [-1.27604455e-01 9.91825137e-01 0.00000000e+00 5.61450754e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53069049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.96, Y:0.56, Z:-0.03 [[ 9.91711669e-01 1.28483331e-01 0.00000000e+00 6.39568911e+01] [-1.28483331e-01 9.91711669e-01 0.00000000e+00 5.58006448e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.64039935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.861400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:63.99, Y:0.56, Z:-0.03 [[ 9.91549690e-01 1.29727453e-01 0.00000000e+00 6.39893738e+01] [-1.29727453e-01 9.91549690e-01 0.00000000e+00 5.55188739e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74485020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.02, Y:0.55, Z:-0.03 [[ 9.91575342e-01 1.29531235e-01 0.00000000e+00 6.40234121e+01] [-1.29531235e-01 9.91575342e-01 0.00000000e+00 5.51491103e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.96591974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.921400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.06, Y:0.55, Z:-0.03 [[ 9.91568949e-01 1.29580163e-01 0.00000000e+00 6.40567398e+01] [-1.29580163e-01 9.91568949e-01 0.00000000e+00 5.48097639e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.96591974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.951400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.09, Y:0.55, Z:-0.03 [[ 9.91492256e-01 1.30165687e-01 0.00000000e+00 6.40876693e+01] [-1.30165687e-01 9.91492256e-01 0.00000000e+00 5.45069957e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.90280508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.12, Y:0.54, Z:-0.03 [[ 9.91420705e-01 1.30709550e-01 0.00000000e+00 6.41196154e+01] [-1.30709550e-01 9.91420705e-01 0.00000000e+00 5.41120405e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.87961393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.15, Y:0.54, Z:-0.03 [[ 9.91259501e-01 1.31926499e-01 0.00000000e+00 6.41510434e+01] [-1.31926499e-01 9.91259501e-01 0.00000000e+00 5.37399806e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.06998732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.18, Y:0.54, Z:-0.03 [[ 9.91207812e-01 1.32314295e-01 0.00000000e+00 6.41824816e+01] [-1.32314295e-01 9.91207812e-01 0.00000000e+00 5.35144268e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.37683835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.21, Y:0.53, Z:-0.04 [[ 9.91140958e-01 1.32814162e-01 0.00000000e+00 6.42144037e+01] [-1.32814162e-01 9.91140958e-01 0.00000000e+00 5.33650624e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.60102050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.101400512999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.25, Y:0.53, Z:-0.04 [[ 9.90713036e-01 1.35969410e-01 0.00000000e+00 6.42472866e+01] [-1.35969410e-01 9.90713036e-01 0.00000000e+00 5.34531236e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.50877005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.131400512999996 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:64.28, Y:0.53, Z:-0.03 [[ 9.90413609e-01 1.38133567e-01 0.00000000e+00 6.42802885e+01] [-1.38133567e-01 9.90413609e-01 0.00000000e+00 5.32233853e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.39878276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.31, Y:0.53, Z:-0.04 [[ 9.90379026e-01 1.38381300e-01 0.00000000e+00 6.43130007e+01] [-1.38381300e-01 9.90379026e-01 0.00000000e+00 5.28570250e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.59818638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.34, Y:0.52, Z:-0.04 [[ 9.90390606e-01 1.38298398e-01 0.00000000e+00 6.43448809e+01] [-1.38298398e-01 9.90390606e-01 0.00000000e+00 5.24896692e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.80171789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.38, Y:0.52, Z:-0.04 [[ 9.90624391e-01 1.36613746e-01 0.00000000e+00 6.43789915e+01] [-1.36613746e-01 9.90624391e-01 0.00000000e+00 5.20867029e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.96846779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.251400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:64.41, Y:0.52, Z:-0.04 [[ 9.90664469e-01 1.36322815e-01 0.00000000e+00 6.44086132e+01] [-1.36322815e-01 9.90664469e-01 0.00000000e+00 5.17746749e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.76718305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.44, Y:0.51, Z:-0.04 [[ 9.90890928e-01 1.34666882e-01 0.00000000e+00 6.44425662e+01] [-1.34666882e-01 9.90890928e-01 0.00000000e+00 5.13143283e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.51024220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.311400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.47, Y:0.51, Z:-0.03 [[ 9.90896377e-01 1.34626782e-01 0.00000000e+00 6.44732298e+01] [-1.34626782e-01 9.90896377e-01 0.00000000e+00 5.08644238e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.30475462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.341400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.50, Y:0.50, Z:-0.03 [[ 9.90611111e-01 1.36710006e-01 0.00000000e+00 6.45045134e+01] [-1.36710006e-01 9.90611111e-01 0.00000000e+00 5.02303324e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.16538267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.371400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:64.54, Y:0.50, Z:-0.03 [[ 9.90246773e-01 1.39324546e-01 0.00000000e+00 6.45360994e+01] [-1.39324546e-01 9.90246773e-01 0.00000000e+00 4.98685024e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.19335394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.401400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:64.57, Y:0.49, Z:-0.03 [[ 9.89848520e-01 1.42126376e-01 0.00000000e+00 6.45692266e+01] [-1.42126376e-01 9.89848520e-01 0.00000000e+00 4.94819809e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.41362137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.60, Y:0.49, Z:-0.04 [[ 9.89541741e-01 1.44246815e-01 0.00000000e+00 6.46008428e+01] [-1.44246815e-01 9.89541741e-01 0.00000000e+00 4.90651207e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.69744055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.63, Y:0.48, Z:-0.04 [[ 9.89147134e-01 1.46928378e-01 0.00000000e+00 6.46317045e+01] [-1.46928378e-01 9.89147134e-01 0.00000000e+00 4.83984679e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.16866973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.491400512999995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:64.66, Y:0.48, Z:-0.04 [[ 9.89073734e-01 1.47421668e-01 0.00000000e+00 6.46638163e+01] [-1.47421668e-01 9.89073734e-01 0.00000000e+00 4.79125751e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.20347718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.521400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.70, Y:0.47, Z:-0.04 [[ 9.89242085e-01 1.46287723e-01 0.00000000e+00 6.46968245e+01] [-1.46287723e-01 9.89242085e-01 0.00000000e+00 4.74747688e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.13864587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.73, Y:0.47, Z:-0.04 [[ 9.89362821e-01 1.45468923e-01 0.00000000e+00 6.47297737e+01] [-1.45468923e-01 9.89362821e-01 0.00000000e+00 4.70864902e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.00696234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.581400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:64.76, Y:0.47, Z:-0.04 [[ 9.89460848e-01 1.44800655e-01 0.00000000e+00 6.47605690e+01] [-1.44800655e-01 9.89460848e-01 0.00000000e+00 4.66745020e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.84015378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.611400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:64.79, Y:0.46, Z:-0.04 [[ 9.89365284e-01 1.45452173e-01 0.00000000e+00 6.47936762e+01] [-1.45452173e-01 9.89365284e-01 0.00000000e+00 4.61699933e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.80954395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.83, Y:0.46, Z:-0.04 [[ 9.89280243e-01 1.46029451e-01 0.00000000e+00 6.48256539e+01] [-1.46029451e-01 9.89280243e-01 0.00000000e+00 4.56930811e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.97848884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.671400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.86, Y:0.45, Z:-0.04 [[ 9.89087008e-01 1.47332585e-01 0.00000000e+00 6.48577450e+01] [-1.47332585e-01 9.89087008e-01 0.00000000e+00 4.52388190e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.14900896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.701400512999996 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:64.89, Y:0.45, Z:-0.04 [[ 9.88515299e-01 1.51120821e-01 0.00000000e+00 6.48899410e+01] [-1.51120821e-01 9.88515299e-01 0.00000000e+00 4.50060029e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.38965048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.731400513 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:64.92, Y:0.45, Z:-0.05 [[ 9.88312910e-01 1.52438817e-01 0.00000000e+00 6.49231415e+01] [-1.52438817e-01 9.88312910e-01 0.00000000e+00 4.47858815e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.61530399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.761400513 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:64.95, Y:0.45, Z:-0.05 [[ 9.87945747e-01 1.54800519e-01 0.00000000e+00 6.49532982e+01] [-1.54800519e-01 9.87945747e-01 0.00000000e+00 4.45329152e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.56753599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.99, Y:0.44, Z:-0.05 [[ 9.87800691e-01 1.55723459e-01 0.00000000e+00 6.49855431e+01] [-1.55723459e-01 9.87800691e-01 0.00000000e+00 4.41839342e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.63990771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.02, Y:0.44, Z:-0.05 [[ 9.87489793e-01 1.57682935e-01 0.00000000e+00 6.50166912e+01] [-1.57682935e-01 9.87489793e-01 0.00000000e+00 4.40439079e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.53166938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.851400512999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.05, Y:0.44, Z:-0.04 [[ 9.87265278e-01 1.59082592e-01 0.00000000e+00 6.50500554e+01] [-1.59082592e-01 9.87265278e-01 0.00000000e+00 4.38651897e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.34786212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.881400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.08, Y:0.44, Z:-0.04 [[ 9.87089075e-01 1.60172277e-01 0.00000000e+00 6.50820510e+01] [-1.60172277e-01 9.87089075e-01 0.00000000e+00 4.36915530e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.47483267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.11, Y:0.43, Z:-0.05 [[ 9.86929818e-01 1.61150655e-01 0.00000000e+00 6.51137812e+01] [-1.61150655e-01 9.86929818e-01 0.00000000e+00 4.34474107e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.53974716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.941400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:65.15, Y:0.43, Z:-0.05 [[ 9.86748618e-01 1.62256479e-01 0.00000000e+00 6.51465554e+01] [-1.62256479e-01 9.86748618e-01 0.00000000e+00 4.33001376e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.03546517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.18, Y:0.43, Z:-0.05 [[ 9.86798778e-01 1.61951141e-01 0.00000000e+00 6.51784598e+01] [-1.61951141e-01 9.86798778e-01 0.00000000e+00 4.30769487e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.17679372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.001400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:65.21, Y:0.43, Z:-0.05 [[ 9.86684932e-01 1.62643308e-01 0.00000000e+00 6.52108408e+01] [-1.62643308e-01 9.86684932e-01 0.00000000e+00 4.28735014e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.25025105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.24, Y:0.43, Z:-0.05 [[ 9.86601326e-01 1.63149699e-01 0.00000000e+00 6.52435721e+01] [-1.63149699e-01 9.86601326e-01 0.00000000e+00 4.26559932e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.07039007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.061400512999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:65.27, Y:0.43, Z:-0.05 [[ 9.86030277e-01 1.66566183e-01 0.00000000e+00 6.52748733e+01] [-1.66566183e-01 9.86030277e-01 0.00000000e+00 4.26734064e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.73040773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.091400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.31, Y:0.43, Z:-0.04 [[ 9.85826204e-01 1.67769771e-01 0.00000000e+00 6.53076122e+01] [-1.67769771e-01 9.85826204e-01 0.00000000e+00 4.25012970e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.49354728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.34, Y:0.43, Z:-0.05 [[ 9.85709720e-01 1.68452805e-01 0.00000000e+00 6.53391647e+01] [-1.68452805e-01 9.85709720e-01 0.00000000e+00 4.25101543e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.93807654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.37, Y:0.42, Z:-0.05 [[ 9.85855520e-01 1.67597415e-01 0.00000000e+00 6.53702322e+01] [-1.67597415e-01 9.85855520e-01 0.00000000e+00 4.23366990e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.31117704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.181400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:65.40, Y:0.42, Z:-0.05 [[ 9.86031072e-01 1.66561475e-01 0.00000000e+00 6.54024295e+01] [-1.66561475e-01 9.86031072e-01 0.00000000e+00 4.21238706e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.25112229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.211400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:65.43, Y:0.42, Z:-0.05 [[ 9.86381721e-01 1.64472185e-01 0.00000000e+00 6.54338489e+01] [-1.64472185e-01 9.86381721e-01 0.00000000e+00 4.18783887e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.38115838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.241400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.46, Y:0.42, Z:-0.05 [[ 9.87173153e-01 1.59653271e-01 0.00000000e+00 6.54644396e+01] [-1.59653271e-01 9.87173153e-01 0.00000000e+00 4.15669497e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.24744209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.271400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.50, Y:0.41, Z:-0.05 [[ 9.87557653e-01 1.57257374e-01 0.00000000e+00 6.54968659e+01] [-1.57257374e-01 9.87557653e-01 0.00000000e+00 4.11499707e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.03346202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.53, Y:0.41, Z:-0.05 [[ 9.87923733e-01 1.54940947e-01 0.00000000e+00 6.55288906e+01] [-1.54940947e-01 9.87923733e-01 0.00000000e+00 4.07602347e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.93089591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.331400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:65.56, Y:0.40, Z:-0.05 [[ 9.88111372e-01 1.53739771e-01 0.00000000e+00 6.55602483e+01] [-1.53739771e-01 9.88111372e-01 0.00000000e+00 4.03717065e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.87177827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.59, Y:0.40, Z:-0.05 [[ 9.88265873e-01 1.52743459e-01 0.00000000e+00 6.55920716e+01] [-1.52743459e-01 9.88265873e-01 0.00000000e+00 3.99427996e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.55806521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.62, Y:0.39, Z:-0.05 [[ 9.88273853e-01 1.52691819e-01 0.00000000e+00 6.56232381e+01] [-1.52691819e-01 9.88273853e-01 0.00000000e+00 3.94111472e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.55300185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.421400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.66, Y:0.39, Z:-0.04 [[ 9.88121689e-01 1.53673444e-01 0.00000000e+00 6.56563636e+01] [-1.53673444e-01 9.88121689e-01 0.00000000e+00 3.90325815e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.37338424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.451400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.69, Y:0.39, Z:-0.04 [[ 9.87967765e-01 1.54659937e-01 0.00000000e+00 6.56868806e+01] [-1.54659937e-01 9.87967765e-01 0.00000000e+00 3.87123086e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.47547763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.72, Y:0.38, Z:-0.04 [[ 9.87815595e-01 1.55628889e-01 0.00000000e+00 6.57188212e+01] [-1.55628889e-01 9.87815595e-01 0.00000000e+00 3.82620490e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.46818938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.75, Y:0.38, Z:-0.04 [[ 9.87637106e-01 1.56757603e-01 0.00000000e+00 6.57518727e+01] [-1.56757603e-01 9.87637106e-01 0.00000000e+00 3.77224919e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.25530637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.78, Y:0.37, Z:-0.04 [[ 9.87361684e-01 1.58483136e-01 0.00000000e+00 6.57823603e+01] [-1.58483136e-01 9.87361684e-01 0.00000000e+00 3.70547007e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.63565340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.82, Y:0.37, Z:-0.03 [[ 9.87040230e-01 1.60473001e-01 0.00000000e+00 6.58151873e+01] [-1.60473001e-01 9.87040230e-01 0.00000000e+00 3.66398717e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.33527747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.601400512999994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:65.85, Y:0.36, Z:-0.03 [[ 9.86580887e-01 1.63273249e-01 0.00000000e+00 6.58468516e+01] [-1.63273249e-01 9.86580887e-01 0.00000000e+00 3.62672582e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.41479766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.631400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.88, Y:0.36, Z:-0.03 [[ 9.86150286e-01 1.65854193e-01 0.00000000e+00 6.58792902e+01] [-1.65854193e-01 9.86150286e-01 0.00000000e+00 3.58910173e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.39842934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.91, Y:0.35, Z:-0.03 [[ 9.85339931e-01 1.70602519e-01 0.00000000e+00 6.59114050e+01] [-1.70602519e-01 9.85339931e-01 0.00000000e+00 3.54916428e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.40322944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.94, Y:0.35, Z:-0.03 [[ 9.85054309e-01 1.72244039e-01 0.00000000e+00 6.59435629e+01] [-1.72244039e-01 9.85054309e-01 0.00000000e+00 3.51099380e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.34583337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.98, Y:0.35, Z:-0.03 [[ 9.84779721e-01 1.73807083e-01 0.00000000e+00 6.59764606e+01] [-1.73807083e-01 9.84779721e-01 0.00000000e+00 3.46825761e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.10154003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.01, Y:0.34, Z:-0.03 [[ 9.84479595e-01 1.75499079e-01 0.00000000e+00 6.60077639e+01] [-1.75499079e-01 9.84479595e-01 0.00000000e+00 3.41851425e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.14932723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.04, Y:0.34, Z:-0.03 [[ 9.84484417e-01 1.75472029e-01 0.00000000e+00 6.60396811e+01] [-1.75472029e-01 9.84484417e-01 0.00000000e+00 3.36337124e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.29988495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.811400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.07, Y:0.33, Z:-0.03 [[ 9.84453080e-01 1.75647754e-01 0.00000000e+00 6.60729580e+01] [-1.75647754e-01 9.84453080e-01 0.00000000e+00 3.32548675e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.29988495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.841400512999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.11, Y:0.33, Z:-0.03 [[ 9.84627810e-01 1.74665611e-01 0.00000000e+00 6.61051580e+01] [-1.74665611e-01 9.84627810e-01 0.00000000e+00 3.25912517e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.27589067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.14, Y:0.32, Z:-0.03 [[ 9.84962311e-01 1.72769343e-01 0.00000000e+00 6.61361897e+01] [-1.72769343e-01 9.84962311e-01 0.00000000e+00 3.17961170e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.30497174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.901400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:66.17, Y:0.31, Z:-0.03 [[ 9.85418879e-01 1.70145915e-01 0.00000000e+00 6.61685888e+01] [-1.70145915e-01 9.85418879e-01 0.00000000e+00 3.09484607e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.14329973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.20, Y:0.30, Z:-0.03 [[ 9.86310766e-01 1.64897157e-01 0.00000000e+00 6.61992286e+01] [-1.64897157e-01 9.86310766e-01 0.00000000e+00 2.96244957e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.83231298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.23, Y:0.29, Z:-0.03 [[ 9.86568852e-01 1.63345952e-01 0.00000000e+00 6.62303823e+01] [-1.63345952e-01 9.86568852e-01 0.00000000e+00 2.87278731e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.04804652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.991400512999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.26, Y:0.28, Z:-0.03 [[ 9.86716973e-01 1.62448808e-01 0.00000000e+00 6.62623725e+01] [-1.62448808e-01 9.86716973e-01 0.00000000e+00 2.77237370e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.16130588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.29, Y:0.27, Z:-0.03 [[ 9.86746658e-01 1.62268397e-01 0.00000000e+00 6.62945526e+01] [-1.62268397e-01 9.86746658e-01 0.00000000e+00 2.67461027e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.23555424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.05140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.33, Y:0.25, Z:-0.03 [[ 9.86435507e-01 1.64149291e-01 0.00000000e+00 6.63261981e+01] [-1.64149291e-01 9.86435507e-01 0.00000000e+00 2.53301108e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.03160254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.36, Y:0.25, Z:-0.03 [[ 9.86200587e-01 1.65554833e-01 0.00000000e+00 6.63590461e+01] [-1.65554833e-01 9.86200587e-01 0.00000000e+00 2.45946838e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.84128532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.11140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.39, Y:0.24, Z:-0.03 [[ 9.85912638e-01 1.67261085e-01 0.00000000e+00 6.63903345e+01] [-1.67261085e-01 9.85912638e-01 0.00000000e+00 2.39830406e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74380893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.42, Y:0.23, Z:-0.03 [[ 9.85497694e-01 1.69688816e-01 0.00000000e+00 6.64208952e+01] [-1.69688816e-01 9.85497694e-01 0.00000000e+00 2.34214024e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.65534314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.45, Y:0.22, Z:-0.03 [[ 9.84596642e-01 1.74841223e-01 0.00000000e+00 6.64527087e+01] [-1.74841223e-01 9.84596642e-01 0.00000000e+00 2.24883953e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.63546385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.48, Y:0.22, Z:-0.03 [[ 9.84332721e-01 1.76320998e-01 0.00000000e+00 6.64847514e+01] [-1.76320998e-01 9.84332721e-01 0.00000000e+00 2.18764340e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.68137463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.52, Y:0.21, Z:-0.03 [[ 9.84186695e-01 1.77134268e-01 0.00000000e+00 6.65170749e+01] [-1.77134268e-01 9.84186695e-01 0.00000000e+00 2.13276954e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.64581380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.55, Y:0.21, Z:-0.02 [[ 9.84081719e-01 1.77716545e-01 0.00000000e+00 6.65484541e+01] [-1.77716545e-01 9.84081719e-01 0.00000000e+00 2.07476098e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42775161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.58, Y:0.20, Z:-0.02 [[ 9.84016895e-01 1.78075127e-01 0.00000000e+00 6.65810720e+01] [-1.78075127e-01 9.84016895e-01 0.00000000e+00 2.01915251e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14733278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.61, Y:0.20, Z:-0.02 [[ 9.83911873e-01 1.78654488e-01 0.00000000e+00 6.66128884e+01] [-1.78654488e-01 9.83911873e-01 0.00000000e+00 1.96264675e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02764690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.65, Y:0.19, Z:-0.02 [[ 9.83825959e-01 1.79127001e-01 0.00000000e+00 6.66459115e+01] [-1.79127001e-01 9.83825959e-01 0.00000000e+00 1.91018547e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06940372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.68, Y:0.19, Z:-0.02 [[ 9.83746895e-01 1.79560706e-01 0.00000000e+00 6.66766926e+01] [-1.79560706e-01 9.83746895e-01 0.00000000e+00 1.86864561e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.25772192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.41140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.71, Y:0.18, Z:-0.02 [[ 9.83591311e-01 1.80411013e-01 0.00000000e+00 6.67095216e+01] [-1.80411013e-01 9.83591311e-01 0.00000000e+00 1.82706420e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.37779604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.74, Y:0.18, Z:-0.02 [[ 9.83403107e-01 1.81434090e-01 0.00000000e+00 6.67413598e+01] [-1.81434090e-01 9.83403107e-01 0.00000000e+00 1.78282143e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29478202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.47140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.77, Y:0.17, Z:-0.02 [[ 9.82852770e-01 1.84392064e-01 0.00000000e+00 6.67739281e+01] [-1.84392064e-01 9.82852770e-01 0.00000000e+00 1.73271899e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.18814319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.81, Y:0.17, Z:-0.02 [[ 9.82517116e-01 1.86172277e-01 0.00000000e+00 6.68062921e+01] [-1.86172277e-01 9.82517116e-01 0.00000000e+00 1.69291942e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29392517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.84, Y:0.17, Z:-0.02 [[ 9.82310682e-01 1.87258440e-01 0.00000000e+00 6.68385955e+01] [-1.87258440e-01 9.82310682e-01 0.00000000e+00 1.66000973e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43737034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.87, Y:0.16, Z:-0.03 [[ 9.82218607e-01 1.87740799e-01 0.00000000e+00 6.68697243e+01] [-1.87740799e-01 9.82218607e-01 0.00000000e+00 1.63678204e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.65731555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.90, Y:0.16, Z:-0.03 [[ 9.82199257e-01 1.87842005e-01 0.00000000e+00 6.69018387e+01] [-1.87842005e-01 9.82199257e-01 0.00000000e+00 1.61846209e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.67806372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.93, Y:0.16, Z:-0.02 [[ 9.82324651e-01 1.87185148e-01 0.00000000e+00 6.69344858e+01] [-1.87185148e-01 9.82324651e-01 0.00000000e+00 1.61140760e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00910709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.65140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.97, Y:0.16, Z:-0.02 [[ 9.82425519e-01 1.86655029e-01 0.00000000e+00 6.69661097e+01] [-1.86655029e-01 9.82425519e-01 0.00000000e+00 1.57575309e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.82690855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.00, Y:0.15, Z:-0.02 [[ 9.82614513e-01 1.85657531e-01 0.00000000e+00 6.69985785e+01] [-1.85657531e-01 9.82614513e-01 0.00000000e+00 1.52867912e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88459398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.03, Y:0.15, Z:-0.02 [[ 9.82906719e-01 1.84104267e-01 0.00000000e+00 6.70311375e+01] [-1.84104267e-01 9.82906719e-01 0.00000000e+00 1.47720964e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03580940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.06, Y:0.14, Z:-0.02 [[ 9.83162099e-01 1.82735563e-01 0.00000000e+00 6.70630434e+01] [-1.82735563e-01 9.83162099e-01 0.00000000e+00 1.42544952e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17598679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.77140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.10, Y:0.14, Z:-0.02 [[ 9.83641868e-01 1.80135158e-01 0.00000000e+00 6.70952816e+01] [-1.80135158e-01 9.83641868e-01 0.00000000e+00 1.36506699e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23743949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.13, Y:0.13, Z:-0.02 [[ 9.83779165e-01 1.79383816e-01 0.00000000e+00 6.71270845e+01] [-1.79383816e-01 9.83779165e-01 0.00000000e+00 1.31049368e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.33602755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.83140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.16, Y:0.13, Z:-0.02 [[ 9.83834785e-01 1.79078518e-01 0.00000000e+00 6.71579338e+01] [-1.79078518e-01 9.83834785e-01 0.00000000e+00 1.25316626e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.45654877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.86140051299999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:67.19, Y:0.12, Z:-0.03 [[ 9.83858053e-01 1.78950641e-01 0.00000000e+00 6.71908934e+01] [-1.78950641e-01 9.83858053e-01 0.00000000e+00 1.19446222e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53291446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.22, Y:0.11, Z:-0.02 [[ 9.83753014e-01 1.79527176e-01 0.00000000e+00 6.72229006e+01] [-1.79527176e-01 9.83753014e-01 0.00000000e+00 1.12407676e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.20426558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.26, Y:0.11, Z:-0.02 [[ 9.83651128e-01 1.80084584e-01 0.00000000e+00 6.72558072e+01] [-1.80084584e-01 9.83651128e-01 0.00000000e+00 1.06924079e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95087778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.29, Y:0.10, Z:-0.02 [[ 9.83524636e-01 1.80774143e-01 0.00000000e+00 6.72885079e+01] [-1.80774143e-01 9.83524636e-01 0.00000000e+00 1.00643432e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75339934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.32, Y:0.09, Z:-0.02 [[ 9.83217684e-01 1.82436254e-01 0.00000000e+00 6.73207425e+01] [-1.82436254e-01 9.83217684e-01 0.00000000e+00 9.22548615e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70721882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.35, Y:0.09, Z:-0.02 [[ 9.83000332e-01 1.83603778e-01 0.00000000e+00 6.73527234e+01] [-1.83603778e-01 9.83000332e-01 0.00000000e+00 8.75238114e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86013731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.39, Y:0.08, Z:-0.02 [[ 9.82683006e-01 1.85294656e-01 0.00000000e+00 6.73852410e+01] [-1.85294656e-01 9.82683006e-01 0.00000000e+00 8.31096978e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.82352075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.42, Y:0.08, Z:-0.02 [[ 9.81670666e-01 1.90585160e-01 0.00000000e+00 6.74177367e+01] [-1.90585160e-01 9.81670666e-01 0.00000000e+00 7.71515896e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61899356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.45, Y:0.07, Z:-0.02 [[ 9.80851456e-01 1.94757338e-01 0.00000000e+00 6.74490474e+01] [-1.94757338e-01 9.80851456e-01 0.00000000e+00 7.13894915e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57090014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.13140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.48, Y:0.07, Z:-0.02 [[ 9.79864553e-01 1.99663363e-01 0.00000000e+00 6.74803310e+01] [-1.99663363e-01 9.79864553e-01 0.00000000e+00 6.58183926e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64821086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.51, Y:0.06, Z:-0.02 [[ 9.78904764e-01 2.04317067e-01 0.00000000e+00 6.75131796e+01] [-2.04317067e-01 9.78904764e-01 0.00000000e+00 6.12756338e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71335730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.19140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.54, Y:0.06, Z:-0.02 [[ 9.77083651e-01 2.12855675e-01 0.00000000e+00 6.75447077e+01] [-2.12855675e-01 9.77083651e-01 0.00000000e+00 5.86316292e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73514388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.58, Y:0.06, Z:-0.02 [[ 9.76354155e-01 2.16177159e-01 0.00000000e+00 6.75776244e+01] [-2.16177159e-01 9.76354155e-01 0.00000000e+00 5.60662001e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60797626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.61, Y:0.05, Z:-0.02 [[ 9.75889745e-01 2.18264075e-01 0.00000000e+00 6.76099180e+01] [-2.18264075e-01 9.75889745e-01 0.00000000e+00 5.34320835e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53710385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.281400513 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:67.64, Y:0.05, Z:-0.02 [[ 9.75760445e-01 2.18841388e-01 0.00000000e+00 6.76429417e+01] [-2.18841388e-01 9.75760445e-01 0.00000000e+00 5.01788405e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61509335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.68, Y:0.05, Z:-0.02 [[ 9.76010809e-01 2.17722073e-01 0.00000000e+00 6.76756836e+01] [-2.17722073e-01 9.76010809e-01 0.00000000e+00 4.61071190e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71644301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.71, Y:0.04, Z:-0.02 [[ 9.77109793e-01 2.12735638e-01 0.00000000e+00 6.77071842e+01] [-2.12735638e-01 9.77109793e-01 0.00000000e+00 4.02906383e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92992708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.74, Y:0.04, Z:-0.02 [[ 9.77868788e-01 2.09219103e-01 0.00000000e+00 6.77396453e+01] [-2.09219103e-01 9.77868788e-01 0.00000000e+00 3.52008612e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.82141908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.77, Y:0.03, Z:-0.02 [[ 9.78640671e-01 2.05578298e-01 0.00000000e+00 6.77719374e+01] [-2.05578298e-01 9.78640671e-01 0.00000000e+00 3.05987825e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63061383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.43140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.80, Y:0.03, Z:-0.01 [[ 9.79355300e-01 2.02146470e-01 0.00000000e+00 6.78045780e+01] [-2.02146470e-01 9.79355300e-01 0.00000000e+00 2.61961140e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45008543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.84, Y:0.02, Z:-0.01 [[ 9.79997060e-01 1.99011965e-01 0.00000000e+00 6.78376835e+01] [-1.99011965e-01 9.79997060e-01 0.00000000e+00 2.13876436e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32812292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.49140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.87, Y:0.01, Z:-0.01 [[ 9.81355595e-01 1.92200926e-01 0.00000000e+00 6.78690573e+01] [-1.92200926e-01 9.81355595e-01 0.00000000e+00 1.45870433e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42055247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.90, Y:0.01, Z:-0.02 [[ 9.82000817e-01 1.88876667e-01 0.00000000e+00 6.79018147e+01] [-1.88876667e-01 9.82000817e-01 0.00000000e+00 8.97966929e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56660892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.55140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.93, Y:0.00, Z:-0.02 [[ 9.83010931e-01 1.83547024e-01 0.00000000e+00 6.79328864e+01] [-1.83547024e-01 9.83010931e-01 0.00000000e+00 3.51449150e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81108323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.97, Y:-0.00, Z:-0.02 [[ 9.83324108e-01 1.81861759e-01 0.00000000e+00 6.79661187e+01] [-1.81861759e-01 9.83324108e-01 0.00000000e+00 -1.87262840e-05] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74197750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.61140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.00, Y:-0.00, Z:-0.02 [[ 9.83475498e-01 1.81041277e-01 0.00000000e+00 6.79994047e+01] [-1.81041277e-01 9.83475498e-01 0.00000000e+00 -2.59842605e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66175194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.03, Y:-0.00, Z:-0.02 [[ 9.83526842e-01 1.80762142e-01 0.00000000e+00 6.80328595e+01] [-1.80762142e-01 9.83526842e-01 0.00000000e+00 -4.62280671e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58840690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.07, Y:-0.01, Z:-0.02 [[ 9.83538967e-01 1.80696154e-01 0.00000000e+00 6.80650040e+01] [-1.80696154e-01 9.83538967e-01 0.00000000e+00 -6.25885731e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65322101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.10, Y:-0.01, Z:-0.02 [[ 9.83506817e-01 1.80871059e-01 0.00000000e+00 6.80982231e+01] [-1.80871059e-01 9.83506817e-01 0.00000000e+00 -1.03916504e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65322101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.13, Y:-0.01, Z:-0.02 [[ 9.83661960e-01 1.80025412e-01 0.00000000e+00 6.81315975e+01] [-1.80025412e-01 9.83661960e-01 0.00000000e+00 -1.04374376e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77042644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.16, Y:-0.01, Z:-0.02 [[ 9.83814942e-01 1.79187500e-01 0.00000000e+00 6.81639696e+01] [-1.79187500e-01 9.83814942e-01 0.00000000e+00 -1.23177928e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73634432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.20, Y:-0.01, Z:-0.02 [[ 9.84034289e-01 1.77978981e-01 0.00000000e+00 6.81965133e+01] [-1.77978981e-01 9.84034289e-01 0.00000000e+00 -1.47033526e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67795028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.23, Y:-0.02, Z:-0.02 [[ 9.84601982e-01 1.74811144e-01 0.00000000e+00 6.82293496e+01] [-1.74811144e-01 9.84601982e-01 0.00000000e+00 -1.68303504e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61856471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.26, Y:-0.02, Z:-0.01 [[ 9.84858688e-01 1.73359065e-01 0.00000000e+00 6.82619106e+01] [-1.73359065e-01 9.84858688e-01 0.00000000e+00 -1.90628199e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46307799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.30, Y:-0.02, Z:-0.01 [[ 9.85130447e-01 1.71808040e-01 0.00000000e+00 6.82953751e+01] [-1.71808040e-01 9.85130447e-01 0.00000000e+00 -2.09310070e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33339828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.91140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.33, Y:-0.02, Z:-0.01 [[ 9.85481013e-01 1.69785670e-01 0.00000000e+00 6.83269998e+01] [-1.69785670e-01 9.85481013e-01 0.00000000e+00 -2.31544968e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24519212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.36, Y:-0.03, Z:-0.01 [[ 9.85969377e-01 1.66926293e-01 0.00000000e+00 6.83601876e+01] [-1.66926293e-01 9.85969377e-01 0.00000000e+00 -2.64210467e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25662847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.97140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.39, Y:-0.03, Z:-0.01 [[ 9.86502566e-01 1.63745801e-01 0.00000000e+00 6.83932927e+01] [-1.63745801e-01 9.86502566e-01 0.00000000e+00 -2.96770166e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38446239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.42, Y:-0.03, Z:-0.02 [[ 9.87476876e-01 1.57763807e-01 0.00000000e+00 6.84249377e+01] [-1.57763807e-01 9.87476876e-01 0.00000000e+00 -3.15878267e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76590777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.46, Y:-0.04, Z:-0.02 [[ 9.87898197e-01 1.55103683e-01 0.00000000e+00 6.84577404e+01] [-1.55103683e-01 9.87898197e-01 0.00000000e+00 -3.58801301e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96259456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.49, Y:-0.04, Z:-0.02 [[ 9.88349909e-01 1.52198746e-01 0.00000000e+00 6.84903942e+01] [-1.52198746e-01 9.88349909e-01 0.00000000e+00 -4.09806786e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99317476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.52, Y:-0.05, Z:-0.02 [[ 9.89206546e-01 1.46527844e-01 0.00000000e+00 6.85231717e+01] [-1.46527844e-01 9.89206546e-01 0.00000000e+00 -4.58808786e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04281026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.56, Y:-0.05, Z:-0.02 [[ 9.89536961e-01 1.44279598e-01 0.00000000e+00 6.85551665e+01] [-1.44279598e-01 9.89536961e-01 0.00000000e+00 -5.01173041e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.07704269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.15140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.59, Y:-0.05, Z:-0.02 [[ 9.89861494e-01 1.42035993e-01 0.00000000e+00 6.85879958e+01] [-1.42035993e-01 9.89861494e-01 0.00000000e+00 -5.49606936e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01555742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.62, Y:-0.06, Z:-0.02 [[ 9.90194640e-01 1.39694577e-01 0.00000000e+00 6.86207724e+01] [-1.39694577e-01 9.90194640e-01 0.00000000e+00 -6.01777219e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89286417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21140051299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:68.65, Y:-0.07, Z:-0.02 [[ 9.90884455e-01 1.34714499e-01 0.00000000e+00 6.86522054e+01] [-1.34714499e-01 9.90884455e-01 0.00000000e+00 -6.57102255e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88531564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.68, Y:-0.07, Z:-0.02 [[ 9.91237474e-01 1.32091897e-01 0.00000000e+00 6.86842185e+01] [-1.32091897e-01 9.91237474e-01 0.00000000e+00 -6.99470244e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96397011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.27140051299999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:68.72, Y:-0.07, Z:-0.02 [[ 9.91514766e-01 1.29994109e-01 0.00000000e+00 6.87165673e+01] [-1.29994109e-01 9.91514766e-01 0.00000000e+00 -7.48315543e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01139696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.75, Y:-0.08, Z:-0.02 [[ 9.91789971e-01 1.27877493e-01 0.00000000e+00 6.87479107e+01] [-1.27877493e-01 9.91789971e-01 0.00000000e+00 -8.38872819e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88497209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.33140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.78, Y:-0.09, Z:-0.02 [[ 9.91784498e-01 1.27919934e-01 0.00000000e+00 6.87799975e+01] [-1.27919934e-01 9.91784498e-01 0.00000000e+00 -9.06781593e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79140311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.36140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.81, Y:-0.10, Z:-0.02 [[ 9.91692956e-01 1.28627682e-01 0.00000000e+00 6.88126749e+01] [-1.28627682e-01 9.91692956e-01 0.00000000e+00 -9.62675434e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72093627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.84, Y:-0.10, Z:-0.02 [[ 9.91529281e-01 1.29883353e-01 0.00000000e+00 6.88440895e+01] [-1.29883353e-01 9.91529281e-01 0.00000000e+00 -1.00196001e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76586012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.88, Y:-0.10, Z:-0.02 [[ 9.91037683e-01 1.33582599e-01 0.00000000e+00 6.88757345e+01] [-1.33582599e-01 9.91037683e-01 0.00000000e+00 -1.03361728e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96029448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.91, Y:-0.11, Z:-0.02 [[ 9.90798706e-01 1.35343728e-01 0.00000000e+00 6.89081869e+01] [-1.35343728e-01 9.90798706e-01 0.00000000e+00 -1.06886731e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89194232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.94, Y:-0.11, Z:-0.02 [[ 9.90588715e-01 1.36872193e-01 0.00000000e+00 6.89404019e+01] [-1.36872193e-01 9.90588715e-01 0.00000000e+00 -1.09984490e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76629538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.97, Y:-0.11, Z:-0.02 [[ 9.90434011e-01 1.37987208e-01 0.00000000e+00 6.89733412e+01] [-1.37987208e-01 9.90434011e-01 0.00000000e+00 -1.12249535e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62448936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.01, Y:-0.11, Z:-0.02 [[ 9.90365964e-01 1.38474753e-01 0.00000000e+00 6.90051995e+01] [-1.38474753e-01 9.90365964e-01 0.00000000e+00 -1.14498470e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56788547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.04, Y:-0.12, Z:-0.02 [[ 9.90768262e-01 1.35566407e-01 0.00000000e+00 6.90382934e+01] [-1.35566407e-01 9.90768262e-01 0.00000000e+00 -1.16981402e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70958737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.07, Y:-0.12, Z:-0.02 [[ 9.91183829e-01 1.32493839e-01 0.00000000e+00 6.90710185e+01] [-1.32493839e-01 9.91183829e-01 0.00000000e+00 -1.20604533e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74740874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.63140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.10, Y:-0.12, Z:-0.02 [[ 9.91661860e-01 1.28867199e-01 0.00000000e+00 6.91034315e+01] [-1.28867199e-01 9.91661860e-01 0.00000000e+00 -1.23979811e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73347269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.14, Y:-0.13, Z:-0.02 [[ 9.92095088e-01 1.25488388e-01 0.00000000e+00 6.91363628e+01] [-1.25488388e-01 9.92095088e-01 0.00000000e+00 -1.27505881e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73543681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.69140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.17, Y:-0.13, Z:-0.02 [[ 9.92408048e-01 1.22988885e-01 0.00000000e+00 6.91677854e+01] [-1.22988885e-01 9.92408048e-01 0.00000000e+00 -1.31073718e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.82942683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.20, Y:-0.14, Z:-0.02 [[ 9.92729419e-01 1.20367357e-01 0.00000000e+00 6.91997595e+01] [-1.20367357e-01 9.92729419e-01 0.00000000e+00 -1.35056217e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08880852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.23, Y:-0.14, Z:-0.02 [[ 9.92718386e-01 1.20458317e-01 0.00000000e+00 6.92321038e+01] [-1.20458317e-01 9.92718386e-01 0.00000000e+00 -1.38587915e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01352637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.781400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:69.27, Y:-0.14, Z:-0.02 [[ 9.92647076e-01 1.21044548e-01 0.00000000e+00 6.92653373e+01] [-1.21044548e-01 9.92647076e-01 0.00000000e+00 -1.41435537e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85021392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.30, Y:-0.14, Z:-0.01 [[ 9.92313941e-01 1.23745876e-01 0.00000000e+00 6.92981990e+01] [-1.23745876e-01 9.92313941e-01 0.00000000e+00 -1.43033988e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43994268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.33, Y:-0.15, Z:-0.01 [[ 9.92084256e-01 1.25573999e-01 0.00000000e+00 6.93298723e+01] [-1.25573999e-01 9.92084256e-01 0.00000000e+00 -1.45809614e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30623230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.36, Y:-0.15, Z:-0.01 [[ 9.91848613e-01 1.27421854e-01 0.00000000e+00 6.93629563e+01] [-1.27421854e-01 9.91848613e-01 0.00000000e+00 -1.48067107e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31592274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.39, Y:-0.15, Z:-0.01 [[ 9.91521385e-01 1.29943614e-01 0.00000000e+00 6.93948678e+01] [-1.29943614e-01 9.91521385e-01 0.00000000e+00 -1.46915926e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38428604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.93140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:69.43, Y:-0.15, Z:-0.01 [[ 9.91418159e-01 1.30728857e-01 0.00000000e+00 6.94283530e+01] [-1.30728857e-01 9.91418159e-01 0.00000000e+00 -1.48560467e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43967108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96140051299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:69.46, Y:-0.15, Z:-0.01 [[ 9.91368565e-01 1.31104414e-01 0.00000000e+00 6.94614584e+01] [-1.31104414e-01 9.91368565e-01 0.00000000e+00 -1.51202487e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49579489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.99140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.49, Y:-0.15, Z:-0.02 [[ 9.91356593e-01 1.31194916e-01 0.00000000e+00 6.94934134e+01] [-1.31194916e-01 9.91356593e-01 0.00000000e+00 -1.54570161e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59772841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.53, Y:-0.16, Z:-0.02 [[ 9.91414923e-01 1.30753398e-01 0.00000000e+00 6.95253032e+01] [-1.30753398e-01 9.91414923e-01 0.00000000e+00 -1.57720170e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97106979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.05140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.56, Y:-0.16, Z:-0.02 [[ 9.91455726e-01 1.30443637e-01 0.00000000e+00 6.95582621e+01] [-1.30443637e-01 9.91455726e-01 0.00000000e+00 -1.62175250e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13173482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.59, Y:-0.17, Z:-0.02 [[ 9.91521870e-01 1.29939913e-01 0.00000000e+00 6.95907208e+01] [-1.29939913e-01 9.91521870e-01 0.00000000e+00 -1.67047574e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.15054288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.11140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:69.62, Y:-0.17, Z:-0.02 [[ 9.91627893e-01 1.29128314e-01 0.00000000e+00 6.96227617e+01] [-1.29128314e-01 9.91627893e-01 0.00000000e+00 -1.71398595e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08134701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.65, Y:-0.18, Z:-0.02 [[ 9.91718478e-01 1.28430764e-01 0.00000000e+00 6.96541749e+01] [-1.28430764e-01 9.91718478e-01 0.00000000e+00 -1.75441620e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70198492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.69, Y:-0.18, Z:-0.02 [[ 9.91620853e-01 1.29182369e-01 0.00000000e+00 6.96864643e+01] [-1.29182369e-01 9.91620853e-01 0.00000000e+00 -1.79673530e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63201488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.72, Y:-0.18, Z:-0.02 [[ 9.91448675e-01 1.30497219e-01 0.00000000e+00 6.97191255e+01] [-1.30497219e-01 9.91448675e-01 0.00000000e+00 -1.84418665e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75718103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.75, Y:-0.19, Z:-0.02 [[ 9.91218870e-01 1.32231433e-01 0.00000000e+00 6.97509297e+01] [-1.32231433e-01 9.91218870e-01 0.00000000e+00 -1.88849521e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95644978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.78, Y:-0.19, Z:-0.02 [[ 9.90739734e-01 1.35774737e-01 0.00000000e+00 6.97841673e+01] [-1.35774737e-01 9.90739734e-01 0.00000000e+00 -1.92519295e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92036892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.82, Y:-0.20, Z:-0.02 [[ 9.90546192e-01 1.37179594e-01 0.00000000e+00 6.98162885e+01] [-1.37179594e-01 9.90546192e-01 0.00000000e+00 -1.96310761e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81806286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.85, Y:-0.20, Z:-0.02 [[ 9.90359698e-01 1.38519559e-01 0.00000000e+00 6.98491182e+01] [-1.38519559e-01 9.90359698e-01 0.00000000e+00 -2.00772260e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68436655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.35140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.88, Y:-0.21, Z:-0.02 [[ 9.90160927e-01 1.39933335e-01 0.00000000e+00 6.98807262e+01] [-1.39933335e-01 9.90160927e-01 0.00000000e+00 -2.05622592e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67806236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.91, Y:-0.21, Z:-0.02 [[ 9.89604679e-01 1.43814393e-01 0.00000000e+00 6.99131352e+01] [-1.43814393e-01 9.89604679e-01 0.00000000e+00 -2.10145522e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96708824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.41140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.95, Y:-0.21, Z:-0.02 [[ 9.89257718e-01 1.46181967e-01 0.00000000e+00 6.99460993e+01] [-1.46181967e-01 9.89257718e-01 0.00000000e+00 -2.13747956e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06537061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.98, Y:-0.22, Z:-0.02 [[ 9.88890720e-01 1.48644356e-01 0.00000000e+00 6.99789866e+01] [-1.48644356e-01 9.88890720e-01 0.00000000e+00 -2.16859777e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.98838547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.47140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.01, Y:-0.22, Z:-0.02 [[ 9.88491885e-01 1.51273901e-01 0.00000000e+00 7.00106199e+01] [-1.51273901e-01 9.88491885e-01 0.00000000e+00 -2.20121476e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87933051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.04, Y:-0.22, Z:-0.02 [[ 9.87567970e-01 1.57192572e-01 0.00000000e+00 7.00423570e+01] [-1.57192572e-01 9.87567970e-01 0.00000000e+00 -2.23759108e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.82284897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.07, Y:-0.23, Z:-0.02 [[ 9.87079606e-01 1.60230621e-01 0.00000000e+00 7.00747819e+01] [-1.60230621e-01 9.87079606e-01 0.00000000e+00 -2.27967219e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83104869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.11, Y:-0.23, Z:-0.02 [[ 9.86613172e-01 1.63078044e-01 0.00000000e+00 7.01075762e+01] [-1.63078044e-01 9.86613172e-01 0.00000000e+00 -2.30982979e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80663592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.14, Y:-0.24, Z:-0.02 [[ 9.86582487e-01 1.63263580e-01 0.00000000e+00 7.01407509e+01] [-1.63263580e-01 9.86582487e-01 0.00000000e+00 -2.35498644e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80663592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.17, Y:-0.24, Z:-0.02 [[ 9.86098031e-01 1.66164597e-01 0.00000000e+00 7.01730014e+01] [-1.66164597e-01 9.86098031e-01 0.00000000e+00 -2.37517036e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68292578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.65140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.21, Y:-0.24, Z:-0.01 [[ 9.85307403e-01 1.70790286e-01 0.00000000e+00 7.02059998e+01] [-1.70790286e-01 9.85307403e-01 0.00000000e+00 -2.38010786e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29421221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.24, Y:-0.24, Z:-0.01 [[ 9.84982760e-01 1.72652723e-01 0.00000000e+00 7.02388498e+01] [-1.72652723e-01 9.84982760e-01 0.00000000e+00 -2.41330382e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20375427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.71140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.27, Y:-0.24, Z:-0.01 [[ 9.84741197e-01 1.74025212e-01 0.00000000e+00 7.02704885e+01] [-1.74025212e-01 9.84741197e-01 0.00000000e+00 -2.44618111e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12756478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.30, Y:-0.25, Z:-0.01 [[ 9.84578784e-01 1.74941757e-01 0.00000000e+00 7.03036293e+01] [-1.74941757e-01 9.84578784e-01 0.00000000e+00 -2.46560257e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48472247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.77140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.34, Y:-0.25, Z:-0.02 [[ 9.84610278e-01 1.74764415e-01 0.00000000e+00 7.03364236e+01] [-1.74764415e-01 9.84610278e-01 0.00000000e+00 -2.50160884e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73607090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.37, Y:-0.25, Z:-0.02 [[ 9.84689570e-01 1.74317101e-01 0.00000000e+00 7.03685266e+01] [-1.74317101e-01 9.84689570e-01 0.00000000e+00 -2.54545969e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79452450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.83140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.40, Y:-0.26, Z:-0.02 [[ 9.84744090e-01 1.74008845e-01 0.00000000e+00 7.04005678e+01] [-1.74008845e-01 9.84744090e-01 0.00000000e+00 -2.58769177e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65800429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.86140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.43, Y:-0.26, Z:-0.01 [[ 9.84588248e-01 1.74888487e-01 0.00000000e+00 7.04327215e+01] [-1.74888487e-01 9.84588248e-01 0.00000000e+00 -2.60548479e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09656469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.47, Y:-0.26, Z:-0.01 [[ 9.84350221e-01 1.76223273e-01 0.00000000e+00 7.04653451e+01] [-1.76223273e-01 9.84350221e-01 0.00000000e+00 -2.63483255e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01741050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.50, Y:-0.27, Z:-0.01 [[ 9.84150865e-01 1.77333231e-01 0.00000000e+00 7.04969325e+01] [-1.77333231e-01 9.84150865e-01 0.00000000e+00 -2.66273962e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.02846291e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.53, Y:-0.27, Z:-0.01 [[ 9.83993507e-01 1.78204314e-01 0.00000000e+00 7.05302371e+01] [-1.78204314e-01 9.83993507e-01 0.00000000e+00 -2.69157998e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06778224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.56, Y:-0.27, Z:-0.01 [[ 9.83639336e-01 1.80148983e-01 0.00000000e+00 7.05630549e+01] [-1.80148983e-01 9.83639336e-01 0.00000000e+00 -2.70622048e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32470551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.60, Y:-0.27, Z:-0.01 [[ 9.83455979e-01 1.81147283e-01 0.00000000e+00 7.05957141e+01] [-1.81147283e-01 9.83455979e-01 0.00000000e+00 -2.74474816e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44791645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.63, Y:-0.28, Z:-0.02 [[ 9.83275204e-01 1.82125982e-01 0.00000000e+00 7.06276083e+01] [-1.82125982e-01 9.83275204e-01 0.00000000e+00 -2.78659692e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53002608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.66, Y:-0.28, Z:-0.02 [[ 9.83028103e-01 1.83455033e-01 0.00000000e+00 7.06605068e+01] [-1.83455033e-01 9.83028103e-01 0.00000000e+00 -2.82524576e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65082995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.69, Y:-0.28, Z:-0.02 [[ 9.82373648e-01 1.86927834e-01 0.00000000e+00 7.06942427e+01] [-1.86927834e-01 9.82373648e-01 0.00000000e+00 -2.82520995e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93695977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.13140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.73, Y:-0.28, Z:-0.02 [[ 9.81952112e-01 1.89129716e-01 0.00000000e+00 7.07260411e+01] [-1.89129716e-01 9.81952112e-01 0.00000000e+00 -2.84715117e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01808996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.76, Y:-0.29, Z:-0.02 [[ 9.81491057e-01 1.91507978e-01 0.00000000e+00 7.07584983e+01] [-1.91507978e-01 9.81491057e-01 0.00000000e+00 -2.87791974e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96973483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.19140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.79, Y:-0.29, Z:-0.02 [[ 9.81039482e-01 1.93807984e-01 0.00000000e+00 7.07898894e+01] [-1.93807984e-01 9.81039482e-01 0.00000000e+00 -2.91831414e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86770227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.82, Y:-0.29, Z:-0.02 [[ 9.80673631e-01 1.95650782e-01 0.00000000e+00 7.08226185e+01] [-1.95650782e-01 9.80673631e-01 0.00000000e+00 -2.94982815e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06429618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.86, Y:-0.30, Z:-0.02 [[ 9.80700425e-01 1.95516436e-01 0.00000000e+00 7.08550653e+01] [-1.95516436e-01 9.80700425e-01 0.00000000e+00 -2.97984474e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28065277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.89, Y:-0.30, Z:-0.02 [[ 9.80776399e-01 1.95134966e-01 0.00000000e+00 7.08879620e+01] [-1.95134966e-01 9.80776399e-01 0.00000000e+00 -3.01529492e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38953211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.92, Y:-0.31, Z:-0.02 [[ 9.80913287e-01 1.94445683e-01 0.00000000e+00 7.09195622e+01] [-1.94445683e-01 9.80913287e-01 0.00000000e+00 -3.05748351e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29361664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.95, Y:-0.31, Z:-0.02 [[ 9.81076296e-01 1.93621544e-01 0.00000000e+00 7.09523372e+01] [-1.93621544e-01 9.81076296e-01 0.00000000e+00 -3.11708453e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55744269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.98, Y:-0.32, Z:-0.01 [[ 9.81005593e-01 1.93979450e-01 0.00000000e+00 7.09841125e+01] [-1.93979450e-01 9.81005593e-01 0.00000000e+00 -3.15846418e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29800124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.02, Y:-0.32, Z:-0.01 [[ 9.80870177e-01 1.94663031e-01 0.00000000e+00 7.10172582e+01] [-1.94663031e-01 9.80870177e-01 0.00000000e+00 -3.19039578e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28635960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.43140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.05, Y:-0.32, Z:-0.01 [[ 9.80726337e-01 1.95386419e-01 0.00000000e+00 7.10505791e+01] [-1.95386419e-01 9.80726337e-01 0.00000000e+00 -3.22508401e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46843412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.08, Y:-0.33, Z:-0.02 [[ 9.80638272e-01 1.95827935e-01 0.00000000e+00 7.10830864e+01] [-1.95827935e-01 9.80638272e-01 0.00000000e+00 -3.29016503e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57958254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.49140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.11, Y:-0.34, Z:-0.01 [[ 9.80649234e-01 1.95773031e-01 0.00000000e+00 7.11140522e+01] [-1.95773031e-01 9.80649234e-01 0.00000000e+00 -3.36009606e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37003453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.15, Y:-0.34, Z:-0.01 [[ 9.80742372e-01 1.95305911e-01 0.00000000e+00 7.11453910e+01] [-1.95305911e-01 9.80742372e-01 0.00000000e+00 -3.42868893e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13956044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.55140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.18, Y:-0.35, Z:-0.01 [[ 9.80862923e-01 1.94699580e-01 0.00000000e+00 7.11758358e+01] [-1.94699580e-01 9.80862923e-01 0.00000000e+00 -3.49385739e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.16275246e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.21, Y:-0.36, Z:-0.01 [[ 9.81248410e-01 1.92747396e-01 0.00000000e+00 7.12066379e+01] [-1.92747396e-01 9.81248410e-01 0.00000000e+00 -3.58506694e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.46170893e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.61140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.24, Y:-0.37, Z:-0.01 [[ 9.81458309e-01 1.91675735e-01 0.00000000e+00 7.12375713e+01] [-1.91675735e-01 9.81458309e-01 0.00000000e+00 -3.66912490e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.79823726e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.27, Y:-0.38, Z:-0.01 [[ 9.81687599e-01 1.90497919e-01 0.00000000e+00 7.12695174e+01] [-1.90497919e-01 9.81687599e-01 0.00000000e+00 -3.75987299e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.92072712e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.30, Y:-0.39, Z:-0.01 [[ 9.82114564e-01 1.88284312e-01 0.00000000e+00 7.13016282e+01] [-1.88284312e-01 9.82114564e-01 0.00000000e+00 -3.87601211e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06978703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.33, Y:-0.40, Z:-0.01 [[ 9.82130127e-01 1.88203116e-01 0.00000000e+00 7.13331553e+01] [-1.88203116e-01 9.82130127e-01 0.00000000e+00 -3.95662934e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02170462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.36, Y:-0.40, Z:-0.01 [[ 9.81994407e-01 1.88909991e-01 0.00000000e+00 7.13641737e+01] [-1.88909991e-01 9.81994407e-01 0.00000000e+00 -4.04677935e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07433202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.40, Y:-0.41, Z:-0.01 [[ 9.81719341e-01 1.90334273e-01 0.00000000e+00 7.13960652e+01] [-1.90334273e-01 9.81719341e-01 0.00000000e+00 -4.13887635e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19699930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.43, Y:-0.43, Z:-0.01 [[ 9.80583733e-01 1.96100850e-01 0.00000000e+00 7.14272165e+01] [-1.96100850e-01 9.80583733e-01 0.00000000e+00 -4.26350562e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28932687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.46, Y:-0.43, Z:-0.01 [[ 9.79759280e-01 2.00179303e-01 0.00000000e+00 7.14595881e+01] [-2.00179303e-01 9.79759280e-01 0.00000000e+00 -4.34175024e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20268173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.85140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.49, Y:-0.44, Z:-0.01 [[ 9.78886474e-01 2.04404674e-01 0.00000000e+00 7.14919775e+01] [-2.04404674e-01 9.78886474e-01 0.00000000e+00 -4.41659804e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13256575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.52, Y:-0.45, Z:-0.01 [[ 9.77328559e-01 2.11728334e-01 0.00000000e+00 7.15245820e+01] [-2.11728334e-01 9.77328559e-01 0.00000000e+00 -4.48284039e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28853409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.91140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.56, Y:-0.45, Z:-0.02 [[ 9.76675946e-01 2.14718643e-01 0.00000000e+00 7.15572733e+01] [-2.14718643e-01 9.76675946e-01 0.00000000e+00 -4.52677408e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57156723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.59, Y:-0.46, Z:-0.02 [[ 9.76080263e-01 2.17410488e-01 0.00000000e+00 7.15885735e+01] [-2.17410488e-01 9.76080263e-01 0.00000000e+00 -4.57257868e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62155607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.97140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.62, Y:-0.46, Z:-0.02 [[ 9.75633077e-01 2.19408521e-01 0.00000000e+00 7.16211927e+01] [-2.19408521e-01 9.75633077e-01 0.00000000e+00 -4.61941179e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71856956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.65, Y:-0.47, Z:-0.02 [[ 9.75259122e-01 2.21064800e-01 0.00000000e+00 7.16534721e+01] [-2.21064800e-01 9.75259122e-01 0.00000000e+00 -4.65031553e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81430629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.031400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:71.69, Y:-0.47, Z:-0.02 [[ 9.75462179e-01 2.20167069e-01 0.00000000e+00 7.16861834e+01] [-2.20167069e-01 9.75462179e-01 0.00000000e+00 -4.68676221e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97755304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.72, Y:-0.47, Z:-0.02 [[ 9.75844650e-01 2.18465601e-01 0.00000000e+00 7.17192452e+01] [-2.18465601e-01 9.75844650e-01 0.00000000e+00 -4.73825378e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92383683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.75, Y:-0.48, Z:-0.02 [[ 9.76330725e-01 2.16282954e-01 0.00000000e+00 7.17511127e+01] [-2.16282954e-01 9.76330725e-01 0.00000000e+00 -4.79324647e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76861224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.78, Y:-0.48, Z:-0.01 [[ 9.77492163e-01 2.10971732e-01 0.00000000e+00 7.17814329e+01] [-2.10971732e-01 9.77492163e-01 0.00000000e+00 -4.84200930e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37796471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.81, Y:-0.49, Z:-0.01 [[ 9.78065298e-01 2.08298518e-01 0.00000000e+00 7.18143524e+01] [-2.08298518e-01 9.78065298e-01 0.00000000e+00 -4.88452668e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34648590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.85, Y:-0.49, Z:-0.01 [[ 9.78497501e-01 2.06258676e-01 0.00000000e+00 7.18471565e+01] [-2.06258676e-01 9.78497501e-01 0.00000000e+00 -4.92752416e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46452737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.88, Y:-0.50, Z:-0.02 [[ 9.78697794e-01 2.05306181e-01 0.00000000e+00 7.18779193e+01] [-2.05306181e-01 9.78697794e-01 0.00000000e+00 -4.96633345e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78736214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.91, Y:-0.50, Z:-0.02 [[ 9.78583558e-01 2.05849992e-01 0.00000000e+00 7.19104390e+01] [-2.05849992e-01 9.78583558e-01 0.00000000e+00 -5.00006402e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95777153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.27140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.94, Y:-0.50, Z:-0.02 [[ 9.78455989e-01 2.06455511e-01 0.00000000e+00 7.19439039e+01] [-2.06455511e-01 9.78455989e-01 0.00000000e+00 -5.02386104e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01108876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.98, Y:-0.50, Z:-0.02 [[ 9.78311362e-01 2.07139758e-01 0.00000000e+00 7.19774299e+01] [-2.07139758e-01 9.78311362e-01 0.00000000e+00 -5.04411662e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99501249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.33140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.01, Y:-0.50, Z:-0.02 [[ 9.78102325e-01 2.08124581e-01 0.00000000e+00 7.20098833e+01] [-2.08124581e-01 9.78102325e-01 0.00000000e+00 -5.04136287e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85440253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.04, Y:-0.51, Z:-0.02 [[ 9.78069896e-01 2.08276926e-01 0.00000000e+00 7.20433228e+01] [-2.08276926e-01 9.78069896e-01 0.00000000e+00 -5.06727011e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96631368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.08, Y:-0.51, Z:-0.02 [[ 9.78095051e-01 2.08158766e-01 0.00000000e+00 7.20764907e+01] [-2.08158766e-01 9.78095051e-01 0.00000000e+00 -5.08964376e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09146178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.11, Y:-0.51, Z:-0.02 [[ 9.78266512e-01 2.07351471e-01 0.00000000e+00 7.21081744e+01] [-2.07351471e-01 9.78266512e-01 0.00000000e+00 -5.11176987e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21540699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.14, Y:-0.51, Z:-0.02 [[ 9.79172703e-01 2.03029104e-01 0.00000000e+00 7.21407233e+01] [-2.03029104e-01 9.79172703e-01 0.00000000e+00 -5.14007668e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.34315742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.17, Y:-0.52, Z:-0.02 [[ 9.79668556e-01 2.00622833e-01 0.00000000e+00 7.21731466e+01] [-2.00622833e-01 9.79668556e-01 0.00000000e+00 -5.17962859e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.36229689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.21, Y:-0.52, Z:-0.02 [[ 9.79631987e-01 2.00801322e-01 0.00000000e+00 7.22062721e+01] [-2.00801322e-01 9.79631987e-01 0.00000000e+00 -5.22839892e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.36229689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.24, Y:-0.53, Z:-0.02 [[ 9.80021031e-01 1.98893888e-01 0.00000000e+00 7.22389076e+01] [-1.98893888e-01 9.80021031e-01 0.00000000e+00 -5.26717123e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.36654834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.27, Y:-0.53, Z:-0.02 [[ 9.80309384e-01 1.97467749e-01 0.00000000e+00 7.22702567e+01] [-1.97467749e-01 9.80309384e-01 0.00000000e+00 -5.30393528e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.39414460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.30, Y:-0.53, Z:-0.03 [[ 9.80201825e-01 1.98000968e-01 0.00000000e+00 7.23032939e+01] [-1.98000968e-01 9.80201825e-01 0.00000000e+00 -5.34906401e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.52095377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.63140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.34, Y:-0.54, Z:-0.03 [[ 9.79967639e-01 1.99156788e-01 0.00000000e+00 7.23364572e+01] [-1.99156788e-01 9.79967639e-01 0.00000000e+00 -5.38774959e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.71955632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.37, Y:-0.54, Z:-0.03 [[ 9.79607805e-01 2.00919259e-01 0.00000000e+00 7.23683034e+01] [-2.00919259e-01 9.79607805e-01 0.00000000e+00 -5.42068512e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.92441734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.69140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.40, Y:-0.55, Z:-0.03 [[ 9.79114872e-01 2.03307816e-01 0.00000000e+00 7.24007393e+01] [-2.03307816e-01 9.79114872e-01 0.00000000e+00 -5.45799070e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.98446293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.43, Y:-0.55, Z:-0.03 [[ 9.78148780e-01 2.07906143e-01 0.00000000e+00 7.24333507e+01] [-2.07906143e-01 9.78148780e-01 0.00000000e+00 -5.49992902e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.89360266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.47, Y:-0.55, Z:-0.03 [[ 9.77709274e-01 2.09963273e-01 0.00000000e+00 7.24654573e+01] [-2.09963273e-01 9.77709274e-01 0.00000000e+00 -5.54091541e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.96724275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.50, Y:-0.56, Z:-0.03 [[ 9.77253263e-01 2.12075599e-01 0.00000000e+00 7.24987023e+01] [-2.12075599e-01 9.77253263e-01 0.00000000e+00 -5.58052369e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.10136036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.53, Y:-0.56, Z:-0.03 [[ 9.76452067e-01 2.15734467e-01 0.00000000e+00 7.25308821e+01] [-2.15734467e-01 9.76452067e-01 0.00000000e+00 -5.59813663e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.30849414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.56, Y:-0.56, Z:-0.03 [[ 9.76113818e-01 2.17259785e-01 0.00000000e+00 7.25643220e+01] [-2.17259785e-01 9.76113818e-01 0.00000000e+00 -5.62592156e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.37647304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.60, Y:-0.57, Z:-0.03 [[ 9.75907429e-01 2.18184989e-01 0.00000000e+00 7.25969201e+01] [-2.18184989e-01 9.75907429e-01 0.00000000e+00 -5.65380496e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.46617062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.63, Y:-0.57, Z:-0.04 [[ 9.75846492e-01 2.18457372e-01 0.00000000e+00 7.26286611e+01] [-2.18457372e-01 9.75846492e-01 0.00000000e+00 -5.69466098e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.64519805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.93140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.66, Y:-0.58, Z:-0.04 [[ 9.76279067e-01 2.16516013e-01 0.00000000e+00 7.26615460e+01] [-2.16516013e-01 9.76279067e-01 0.00000000e+00 -5.75193810e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.64919710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.69, Y:-0.58, Z:-0.04 [[ 9.76624869e-01 2.14950845e-01 0.00000000e+00 7.26941179e+01] [-2.14950845e-01 9.76624869e-01 0.00000000e+00 -5.80316600e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.65637495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.99140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.73, Y:-0.58, Z:-0.04 [[ 9.76910386e-01 2.13649474e-01 0.00000000e+00 7.27254717e+01] [-2.13649474e-01 9.76910386e-01 0.00000000e+00 -5.83975621e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.79573820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.76, Y:-0.59, Z:-0.04 [[ 9.76974887e-01 2.13354331e-01 0.00000000e+00 7.27579359e+01] [-2.13354331e-01 9.76974887e-01 0.00000000e+00 -5.87020236e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.78688771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.05140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.79, Y:-0.59, Z:-0.04 [[ 9.76658239e-01 2.14799171e-01 0.00000000e+00 7.27914363e+01] [-2.14799171e-01 9.76658239e-01 0.00000000e+00 -5.87430794e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.78822551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.82, Y:-0.59, Z:-0.04 [[ 9.76317127e-01 2.16344325e-01 0.00000000e+00 7.28228387e+01] [-2.16344325e-01 9.76317127e-01 0.00000000e+00 -5.90736887e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.96651568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.11140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.85, Y:-0.59, Z:-0.04 [[ 9.75960543e-01 2.17947282e-01 0.00000000e+00 7.28543849e+01] [-2.17947282e-01 9.75960543e-01 0.00000000e+00 -5.94421714e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.97177912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.89, Y:-0.60, Z:-0.04 [[ 9.75896713e-01 2.18232918e-01 0.00000000e+00 7.28858291e+01] [-2.18232918e-01 9.75896713e-01 0.00000000e+00 -5.96987919e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.09751364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.171400513 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:72.92, Y:-0.60, Z:-0.04 [[ 9.76068313e-01 2.17464133e-01 0.00000000e+00 7.29172352e+01] [-2.17464133e-01 9.76068313e-01 0.00000000e+00 -6.00898068e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.13510020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.95, Y:-0.60, Z:-0.04 [[ 9.76554564e-01 2.15270026e-01 0.00000000e+00 7.29495181e+01] [-2.15270026e-01 9.76554564e-01 0.00000000e+00 -6.04194537e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.99803790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.98, Y:-0.61, Z:-0.04 [[ 9.76878151e-01 2.13796815e-01 0.00000000e+00 7.29825948e+01] [-2.13796815e-01 9.76878151e-01 0.00000000e+00 -6.08227461e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.83636925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.01, Y:-0.61, Z:-0.04 [[ 9.77266166e-01 2.12016133e-01 0.00000000e+00 7.30132738e+01] [-2.12016133e-01 9.77266166e-01 0.00000000e+00 -6.12044310e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.78161309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.29140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:73.05, Y:-0.61, Z:-0.04 [[ 9.78140292e-01 2.07946075e-01 0.00000000e+00 7.30459422e+01] [-2.07946075e-01 9.78140292e-01 0.00000000e+00 -6.13486281e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.60848489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.08, Y:-0.62, Z:-0.04 [[ 9.78367180e-01 2.06875956e-01 0.00000000e+00 7.30789588e+01] [-2.06875956e-01 9.78367180e-01 0.00000000e+00 -6.17326018e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.56288708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.35140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.11, Y:-0.62, Z:-0.04 [[ 9.78460712e-01 2.06433125e-01 0.00000000e+00 7.31104011e+01] [-2.06433125e-01 9.78460712e-01 0.00000000e+00 -6.22268109e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.77430656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.14, Y:-0.63, Z:-0.04 [[ 9.78397890e-01 2.06730669e-01 0.00000000e+00 7.31418133e+01] [-2.06730669e-01 9.78397890e-01 0.00000000e+00 -6.29777058e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.97676642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.41140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.17, Y:-0.64, Z:-0.04 [[ 9.78218098e-01 2.07579750e-01 0.00000000e+00 7.31732540e+01] [-2.07579750e-01 9.78218098e-01 0.00000000e+00 -6.35200358e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.97535946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.21, Y:-0.64, Z:-0.04 [[ 9.77965407e-01 2.08767004e-01 0.00000000e+00 7.32059759e+01] [-2.08767004e-01 9.77965407e-01 0.00000000e+00 -6.39810747e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.92694759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.47140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.24, Y:-0.64, Z:-0.04 [[ 9.77491530e-01 2.10974662e-01 0.00000000e+00 7.32364500e+01] [-2.10974662e-01 9.77491530e-01 0.00000000e+00 -6.43165733e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.80029089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.27, Y:-0.65, Z:-0.03 [[ 9.77218832e-01 2.12234197e-01 0.00000000e+00 7.32676733e+01] [-2.12234197e-01 9.77218832e-01 0.00000000e+00 -6.48558624e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.47611603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.30, Y:-0.65, Z:-0.03 [[ 9.77021207e-01 2.13142114e-01 0.00000000e+00 7.32983959e+01] [-2.13142114e-01 9.77021207e-01 0.00000000e+00 -6.54131325e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.35829513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.33, Y:-0.66, Z:-0.03 [[ 9.76972598e-01 2.13364810e-01 0.00000000e+00 7.33310566e+01] [-2.13364810e-01 9.76972598e-01 0.00000000e+00 -6.59975752e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.27778739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.36, Y:-0.67, Z:-0.03 [[ 9.77346043e-01 2.11647613e-01 0.00000000e+00 7.33611486e+01] [-2.11647613e-01 9.77346043e-01 0.00000000e+00 -6.66584082e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.48761393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.39, Y:-0.67, Z:-0.04 [[ 9.77719200e-01 2.09917044e-01 0.00000000e+00 7.33932484e+01] [-2.09917044e-01 9.77719200e-01 0.00000000e+00 -6.73049499e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.50182592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.65140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.42, Y:-0.68, Z:-0.04 [[ 9.78217233e-01 2.07583827e-01 0.00000000e+00 7.34248463e+01] [-2.07583827e-01 9.78217233e-01 0.00000000e+00 -6.79417687e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.55121840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.46, Y:-0.69, Z:-0.04 [[ 9.79097757e-01 2.03390220e-01 0.00000000e+00 7.34566725e+01] [-2.03390220e-01 9.79097757e-01 0.00000000e+00 -6.86744905e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.58348057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.49, Y:-0.69, Z:-0.04 [[ 9.79356197e-01 2.02142126e-01 0.00000000e+00 7.34870404e+01] [-2.02142126e-01 9.79356197e-01 0.00000000e+00 -6.93155667e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.80151728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.52, Y:-0.70, Z:-0.04 [[ 9.79494723e-01 2.01469818e-01 0.00000000e+00 7.35180416e+01] [-2.01469818e-01 9.79494723e-01 0.00000000e+00 -7.00710161e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.91977404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.77140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.55, Y:-0.71, Z:-0.04 [[ 9.79429279e-01 2.01787731e-01 0.00000000e+00 7.35503564e+01] [-2.01787731e-01 9.79429279e-01 0.00000000e+00 -7.08282153e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.83316866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.58, Y:-0.71, Z:-0.03 [[ 9.78575677e-01 2.05887455e-01 0.00000000e+00 7.35820452e+01] [-2.05887455e-01 9.78575677e-01 0.00000000e+00 -7.14883286e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.42874616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.83140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.61, Y:-0.72, Z:-0.04 [[ 9.77926042e-01 2.08951328e-01 0.00000000e+00 7.36139884e+01] [-2.08951328e-01 9.77926042e-01 0.00000000e+00 -7.20022245e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.61892480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.86140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.65, Y:-0.72, Z:-0.04 [[ 9.77213079e-01 2.12260685e-01 0.00000000e+00 7.36463007e+01] [-2.12260685e-01 9.77213079e-01 0.00000000e+00 -7.24874356e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.66923265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.68, Y:-0.73, Z:-0.04 [[ 9.76353489e-01 2.16180167e-01 0.00000000e+00 7.36769986e+01] [-2.16180167e-01 9.76353489e-01 0.00000000e+00 -7.28611769e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.77165436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.71, Y:-0.73, Z:-0.04 [[ 9.74643195e-01 2.23764703e-01 0.00000000e+00 7.37095596e+01] [-2.23764703e-01 9.74643195e-01 0.00000000e+00 -7.29258560e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.74596440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.74, Y:-0.73, Z:-0.03 [[ 9.73972202e-01 2.26667487e-01 0.00000000e+00 7.37419036e+01] [-2.26667487e-01 9.73972202e-01 0.00000000e+00 -7.32266111e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.47456078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.77, Y:-0.74, Z:-0.03 [[ 9.73602498e-01 2.28250247e-01 0.00000000e+00 7.37727377e+01] [-2.28250247e-01 9.73602498e-01 0.00000000e+00 -7.35803233e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.27770497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.01140051299998 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:73.80, Y:-0.74, Z:-0.03 [[ 9.73812557e-01 2.27352380e-01 0.00000000e+00 7.38030507e+01] [-2.27352380e-01 9.73812557e-01 0.00000000e+00 -7.40362465e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.91388046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.84, Y:-0.75, Z:-0.03 [[ 9.74038353e-01 2.26383053e-01 0.00000000e+00 7.38355989e+01] [-2.26383053e-01 9.74038353e-01 0.00000000e+00 -7.45322918e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.79740069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.07140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.87, Y:-0.75, Z:-0.03 [[ 9.74262957e-01 2.25414488e-01 0.00000000e+00 7.38668610e+01] [-2.25414488e-01 9.74262957e-01 0.00000000e+00 -7.49615255e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.96153461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.90, Y:-0.76, Z:-0.03 [[ 9.74390397e-01 2.24862966e-01 0.00000000e+00 7.38978877e+01] [-2.24862966e-01 9.74390397e-01 0.00000000e+00 -7.55974168e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.02780609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.13140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.93, Y:-0.76, Z:-0.03 [[ 9.74399544e-01 2.24823328e-01 0.00000000e+00 7.39305191e+01] [-2.24823328e-01 9.74399544e-01 0.00000000e+00 -7.62216957e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.83268648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.96, Y:-0.77, Z:-0.03 [[ 9.74343425e-01 2.25066413e-01 0.00000000e+00 7.39617562e+01] [-2.25066413e-01 9.74343425e-01 0.00000000e+00 -7.68171063e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.92403029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.19140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.99, Y:-0.77, Z:-0.03 [[ 9.74250546e-01 2.25468120e-01 0.00000000e+00 7.39940563e+01] [-2.25468120e-01 9.74250546e-01 0.00000000e+00 -7.73872687e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.79703669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.02, Y:-0.78, Z:-0.03 [[ 9.74191395e-01 2.25723563e-01 0.00000000e+00 7.40241628e+01] [-2.25723563e-01 9.74191395e-01 0.00000000e+00 -7.80282990e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.50291736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.06, Y:-0.79, Z:-0.02 [[ 9.74158200e-01 2.25866780e-01 0.00000000e+00 7.40562778e+01] [-2.25866780e-01 9.74158200e-01 0.00000000e+00 -7.86510317e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35166063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.09, Y:-0.79, Z:-0.02 [[ 9.74169771e-01 2.25816868e-01 0.00000000e+00 7.40883326e+01] [-2.25816868e-01 9.74169771e-01 0.00000000e+00 -7.93251334e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30848555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.12, Y:-0.80, Z:-0.02 [[ 9.74310226e-01 2.25210086e-01 0.00000000e+00 7.41195904e+01] [-2.25210086e-01 9.74310226e-01 0.00000000e+00 -8.00289602e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42190564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.15, Y:-0.81, Z:-0.03 [[ 9.75197065e-01 2.21338394e-01 0.00000000e+00 7.41513206e+01] [-2.21338394e-01 9.75197065e-01 0.00000000e+00 -8.08667984e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53933249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.37140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.18, Y:-0.82, Z:-0.03 [[ 9.75703425e-01 2.19095472e-01 0.00000000e+00 7.41831283e+01] [-2.19095472e-01 9.75703425e-01 0.00000000e+00 -8.15447083e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.64027034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.22, Y:-0.82, Z:-0.03 [[ 9.75664651e-01 2.19268077e-01 0.00000000e+00 7.42162060e+01] [-2.19268077e-01 9.75664651e-01 0.00000000e+00 -8.20651422e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.64027034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.43140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.25, Y:-0.83, Z:-0.03 [[ 9.76090286e-01 2.17365484e-01 0.00000000e+00 7.42470691e+01] [-2.17365484e-01 9.76090286e-01 0.00000000e+00 -8.27949740e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.77617866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.28, Y:-0.84, Z:-0.03 [[ 9.76775767e-01 2.14264092e-01 0.00000000e+00 7.42776178e+01] [-2.14264092e-01 9.76775767e-01 0.00000000e+00 -8.39050832e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.84893373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.49140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.31, Y:-0.85, Z:-0.03 [[ 9.76953000e-01 2.13454527e-01 0.00000000e+00 7.43087313e+01] [-2.13454527e-01 9.76953000e-01 0.00000000e+00 -8.47340554e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.80524492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.34, Y:-0.86, Z:-0.03 [[ 9.76929955e-01 2.13559975e-01 0.00000000e+00 7.43405085e+01] [-2.13559975e-01 9.76929955e-01 0.00000000e+00 -8.55227770e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.67266643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.55140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.37, Y:-0.86, Z:-0.03 [[ 9.76628995e-01 2.14932096e-01 0.00000000e+00 7.43715965e+01] [-2.14932096e-01 9.76628995e-01 0.00000000e+00 -8.62569390e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53233866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:74.40, Y:-0.87, Z:-0.02 [[ 9.75479033e-01 2.20092379e-01 0.00000000e+00 7.44035683e+01] [-2.20092379e-01 9.75479033e-01 0.00000000e+00 -8.72247073e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47666774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.61140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.44, Y:-0.88, Z:-0.03 [[ 9.74705278e-01 2.23494121e-01 0.00000000e+00 7.44356026e+01] [-2.23494121e-01 9.74705278e-01 0.00000000e+00 -8.79080305e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.51931084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.47, Y:-0.89, Z:-0.03 [[ 9.73943838e-01 2.26789330e-01 0.00000000e+00 7.44665220e+01] [-2.26789330e-01 9.73943838e-01 0.00000000e+00 -8.85209411e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.57720208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.50, Y:-0.89, Z:-0.02 [[ 9.73214133e-01 2.29900525e-01 0.00000000e+00 7.44975300e+01] [-2.29900525e-01 9.73214133e-01 0.00000000e+00 -8.91107618e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42916410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.53, Y:-0.90, Z:-0.02 [[ 9.72103495e-01 2.34552327e-01 0.00000000e+00 7.45294196e+01] [-2.34552327e-01 9.72103495e-01 0.00000000e+00 -8.97166781e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97081108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.56, Y:-0.90, Z:-0.02 [[ 9.71598865e-01 2.36633992e-01 0.00000000e+00 7.45610442e+01] [-2.36633992e-01 9.71598865e-01 0.00000000e+00 -9.01753144e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97590671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.59, Y:-0.91, Z:-0.02 [[ 9.70870144e-01 2.39606266e-01 0.00000000e+00 7.45928966e+01] [-2.39606266e-01 9.70870144e-01 0.00000000e+00 -9.05923338e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.37627052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.63, Y:-0.91, Z:-0.02 [[ 9.70589737e-01 2.40739614e-01 0.00000000e+00 7.46256021e+01] [-2.40739614e-01 9.70589737e-01 0.00000000e+00 -9.11997299e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43639634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.66, Y:-0.92, Z:-0.03 [[ 9.70402447e-01 2.41493461e-01 0.00000000e+00 7.46572699e+01] [-2.41493461e-01 9.70402447e-01 0.00000000e+00 -9.18962255e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.50130824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.85140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.69, Y:-0.93, Z:-0.03 [[ 9.70344272e-01 2.41727105e-01 0.00000000e+00 7.46891392e+01] [-2.41727105e-01 9.70344272e-01 0.00000000e+00 -9.25963834e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.51019103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.72, Y:-0.93, Z:-0.03 [[ 9.70473460e-01 2.41207926e-01 0.00000000e+00 7.47202185e+01] [-2.41207926e-01 9.70473460e-01 0.00000000e+00 -9.32755881e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.51944069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.91140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.75, Y:-0.94, Z:-0.02 [[ 9.70371879e-01 2.41616258e-01 0.00000000e+00 7.47526165e+01] [-2.41616258e-01 9.70371879e-01 0.00000000e+00 -9.38142506e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28865393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.78, Y:-0.94, Z:-0.02 [[ 9.70190396e-01 2.42343960e-01 0.00000000e+00 7.47846369e+01] [-2.42343960e-01 9.70190396e-01 0.00000000e+00 -9.43302666e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10013490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.97140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.82, Y:-0.95, Z:-0.02 [[ 9.69912445e-01 2.43453996e-01 0.00000000e+00 7.48162299e+01] [-2.43453996e-01 9.69912445e-01 0.00000000e+00 -9.48682607e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95922151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.85, Y:-0.95, Z:-0.02 [[ 9.69582164e-01 2.44766064e-01 0.00000000e+00 7.48490366e+01] [-2.44766064e-01 9.69582164e-01 0.00000000e+00 -9.54034630e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28493350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.88, Y:-0.96, Z:-0.03 [[ 9.69706186e-01 2.44274259e-01 0.00000000e+00 7.48804335e+01] [-2.44274259e-01 9.69706186e-01 0.00000000e+00 -9.59359855e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.58638862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.91, Y:-0.97, Z:-0.03 [[ 9.70045713e-01 2.42922444e-01 0.00000000e+00 7.49127291e+01] [-2.42922444e-01 9.70045713e-01 0.00000000e+00 -9.65846225e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.69627131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.94, Y:-0.97, Z:-0.02 [[ 9.71326516e-01 2.37749446e-01 0.00000000e+00 7.49426898e+01] [-2.37749446e-01 9.71326516e-01 0.00000000e+00 -9.73049825e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.31400824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.97, Y:-0.98, Z:-0.02 [[ 9.72100622e-01 2.34564235e-01 0.00000000e+00 7.49746892e+01] [-2.34564235e-01 9.72100622e-01 0.00000000e+00 -9.78387421e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03603320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.15140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.01, Y:-0.98, Z:-0.02 [[ 9.72852590e-01 2.31425665e-01 0.00000000e+00 7.50060576e+01] [-2.31425665e-01 9.72852590e-01 0.00000000e+00 -9.83874512e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93488577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.04, Y:-0.99, Z:-0.02 [[ 9.73940027e-01 2.26805698e-01 0.00000000e+00 7.50373871e+01] [-2.26805698e-01 9.73940027e-01 0.00000000e+00 -9.92262936e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38798756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.21140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.07, Y:-1.00, Z:-0.03 [[ 9.74132910e-01 2.25975824e-01 0.00000000e+00 7.50693692e+01] [-2.25975824e-01 9.74132910e-01 0.00000000e+00 -9.99116220e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.77040234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.10, Y:-1.00, Z:-0.03 [[ 9.74138017e-01 2.25953807e-01 0.00000000e+00 7.51012532e+01] [-2.25953807e-01 9.74138017e-01 0.00000000e+00 -1.00495924e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.94235331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.27140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.13, Y:-1.01, Z:-0.03 [[ 9.74026296e-01 2.26434926e-01 0.00000000e+00 7.51328208e+01] [-2.26434926e-01 9.74026296e-01 0.00000000e+00 -1.01124664e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.02542436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.16, Y:-1.02, Z:-0.03 [[ 9.73999828e-01 2.26548747e-01 0.00000000e+00 7.51649354e+01] [-2.26548747e-01 9.73999828e-01 0.00000000e+00 -1.01820868e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.90196507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.33140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.20, Y:-1.03, Z:-0.03 [[ 9.73956598e-01 2.26734526e-01 0.00000000e+00 7.51957420e+01] [-2.26734526e-01 9.73956598e-01 0.00000000e+00 -1.02556988e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.99288718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.36140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.23, Y:-1.03, Z:-0.03 [[ 9.73930204e-01 2.26847875e-01 0.00000000e+00 7.52270629e+01] [-2.26847875e-01 9.73930204e-01 0.00000000e+00 -1.03251662e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.13501831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.26, Y:-1.04, Z:-0.03 [[ 9.73519685e-01 2.28603198e-01 0.00000000e+00 7.52589774e+01] [-2.28603198e-01 9.73519685e-01 0.00000000e+00 -1.03825996e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.83138358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.29, Y:-1.04, Z:-0.03 [[ 9.73084035e-01 2.30450559e-01 0.00000000e+00 7.52895478e+01] [-2.30450559e-01 9.73084035e-01 0.00000000e+00 -1.04318455e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.55878826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.32, Y:-1.05, Z:-0.02 [[ 9.72597694e-01 2.32494570e-01 0.00000000e+00 7.53223978e+01] [-2.32494570e-01 9.72597694e-01 0.00000000e+00 -1.04862772e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23571149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.35, Y:-1.05, Z:-0.02 [[ 9.72198419e-01 2.34158566e-01 0.00000000e+00 7.53546472e+01] [-2.34158566e-01 9.72198419e-01 0.00000000e+00 -1.05373941e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.07448817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.39, Y:-1.06, Z:-0.02 [[ 9.71929683e-01 2.35271528e-01 0.00000000e+00 7.53877783e+01] [-2.35271528e-01 9.71929683e-01 0.00000000e+00 -1.05734790e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.07698307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.42, Y:-1.06, Z:-0.02 [[ 9.71951093e-01 2.35183061e-01 0.00000000e+00 7.54195997e+01] [-2.35183061e-01 9.71951093e-01 0.00000000e+00 -1.06279213e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.15846175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.57140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.45, Y:-1.07, Z:-0.02 [[ 9.72047856e-01 2.34782804e-01 0.00000000e+00 7.54523815e+01] [-2.34782804e-01 9.72047856e-01 0.00000000e+00 -1.06970919e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23153026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.48, Y:-1.08, Z:-0.02 [[ 9.72866898e-01 2.31365510e-01 0.00000000e+00 7.54844786e+01] [-2.31365510e-01 9.72866898e-01 0.00000000e+00 -1.07825034e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35900456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.63140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.52, Y:-1.08, Z:-0.02 [[ 9.73315160e-01 2.29472439e-01 0.00000000e+00 7.55155869e+01] [-2.29472439e-01 9.73315160e-01 0.00000000e+00 -1.08392062e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43285697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.55, Y:-1.09, Z:-0.02 [[ 9.73642979e-01 2.28077509e-01 0.00000000e+00 7.55478183e+01] [-2.28077509e-01 9.73642979e-01 0.00000000e+00 -1.09005940e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28319678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.69140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.58, Y:-1.10, Z:-0.02 [[ 9.73800298e-01 2.27404881e-01 0.00000000e+00 7.55786562e+01] [-2.27404881e-01 9.73800298e-01 0.00000000e+00 -1.09654414e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08559040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.61, Y:-1.10, Z:-0.02 [[ 9.73556080e-01 2.28448154e-01 0.00000000e+00 7.56106225e+01] [-2.28448154e-01 9.73556080e-01 0.00000000e+00 -1.10388740e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04392162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.751400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:75.64, Y:-1.11, Z:-0.02 [[ 9.73279326e-01 2.29624374e-01 0.00000000e+00 7.56436361e+01] [-2.29624374e-01 9.73279326e-01 0.00000000e+00 -1.10783124e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.24189126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.68, Y:-1.11, Z:-0.02 [[ 9.72958267e-01 2.30980974e-01 0.00000000e+00 7.56755887e+01] [-2.30980974e-01 9.72958267e-01 0.00000000e+00 -1.11118299e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.39532506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.71, Y:-1.12, Z:-0.02 [[ 9.72446804e-01 2.33124886e-01 0.00000000e+00 7.57077141e+01] [-2.33124886e-01 9.72446804e-01 0.00000000e+00 -1.11603103e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30002804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.74, Y:-1.12, Z:-0.02 [[ 9.72211052e-01 2.34106111e-01 0.00000000e+00 7.57402180e+01] [-2.34106111e-01 9.72211052e-01 0.00000000e+00 -1.12251420e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01703642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.87140051299998 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:75.77, Y:-1.13, Z:-0.02 [[ 9.71932399e-01 2.35260307e-01 0.00000000e+00 7.57714216e+01] [-2.35260307e-01 9.71932399e-01 0.00000000e+00 -1.12825445e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76325836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.80, Y:-1.13, Z:-0.02 [[ 9.71021712e-01 2.38991287e-01 0.00000000e+00 7.58048798e+01] [-2.38991287e-01 9.71021712e-01 0.00000000e+00 -1.13043907e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59707756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.93140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.84, Y:-1.13, Z:-0.02 [[ 9.70356271e-01 2.41678934e-01 0.00000000e+00 7.58363271e+01] [-2.41678934e-01 9.70356271e-01 0.00000000e+00 -1.13349184e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79079026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.87, Y:-1.14, Z:-0.02 [[ 9.69595585e-01 2.44712898e-01 0.00000000e+00 7.58691098e+01] [-2.44712898e-01 9.69595585e-01 0.00000000e+00 -1.13827062e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97930215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.99140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.90, Y:-1.15, Z:-0.02 [[ 9.68451616e-01 2.49201661e-01 0.00000000e+00 7.59005495e+01] [-2.49201661e-01 9.68451616e-01 0.00000000e+00 -1.14657390e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04181029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.93, Y:-1.15, Z:-0.02 [[ 9.68297746e-01 2.49798869e-01 0.00000000e+00 7.59327397e+01] [-2.49798869e-01 9.68297746e-01 0.00000000e+00 -1.15320830e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88025703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.05140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.96, Y:-1.16, Z:-0.02 [[ 9.68451727e-01 2.49201230e-01 0.00000000e+00 7.59647813e+01] [-2.49201230e-01 9.68451727e-01 0.00000000e+00 -1.15916996e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75645707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.00, Y:-1.17, Z:-0.02 [[ 9.68881958e-01 2.47523234e-01 0.00000000e+00 7.59969568e+01] [-2.47523234e-01 9.68881958e-01 0.00000000e+00 -1.16548838e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.82833168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.11140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.03, Y:-1.17, Z:-0.02 [[ 9.70173798e-01 2.42410397e-01 0.00000000e+00 7.60287710e+01] [-2.42410397e-01 9.70173798e-01 0.00000000e+00 -1.17429448e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99763233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.06, Y:-1.18, Z:-0.02 [[ 9.70733926e-01 2.40157543e-01 0.00000000e+00 7.60602974e+01] [-2.40157543e-01 9.70733926e-01 0.00000000e+00 -1.18021329e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87259812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.09, Y:-1.19, Z:-0.02 [[ 9.71044809e-01 2.38897422e-01 0.00000000e+00 7.60933392e+01] [-2.38897422e-01 9.71044809e-01 0.00000000e+00 -1.18546233e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77438669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.12, Y:-1.19, Z:-0.02 [[ 9.71102773e-01 2.38661695e-01 0.00000000e+00 7.61247162e+01] [-2.38661695e-01 9.71102773e-01 0.00000000e+00 -1.19008928e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61742943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.16, Y:-1.19, Z:-0.02 [[ 9.71000582e-01 2.39077119e-01 0.00000000e+00 7.61574543e+01] [-2.39077119e-01 9.71000582e-01 0.00000000e+00 -1.19451851e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50693958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.19, Y:-1.20, Z:-0.01 [[ 9.70776359e-01 2.39985961e-01 0.00000000e+00 7.61889385e+01] [-2.39985961e-01 9.70776359e-01 0.00000000e+00 -1.19736051e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42177870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.22, Y:-1.20, Z:-0.01 [[ 9.70500365e-01 2.41099652e-01 0.00000000e+00 7.62224916e+01] [-2.41099652e-01 9.70500365e-01 0.00000000e+00 -1.19952598e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41339129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.26, Y:-1.21, Z:-0.01 [[ 9.70457812e-01 2.41270876e-01 0.00000000e+00 7.62555071e+01] [-2.41270876e-01 9.70457812e-01 0.00000000e+00 -1.20505816e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41339129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.35140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.29, Y:-1.20, Z:-0.02 [[ 9.70604660e-01 2.40679440e-01 0.00000000e+00 7.62881888e+01] [-2.40679440e-01 9.70604660e-01 0.00000000e+00 -1.20387124e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64542908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.32, Y:-1.21, Z:-0.02 [[ 9.71133918e-01 2.38534931e-01 0.00000000e+00 7.63210405e+01] [-2.38534931e-01 9.71133918e-01 0.00000000e+00 -1.20669780e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74518123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.41140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.35, Y:-1.21, Z:-0.02 [[ 9.71922821e-01 2.35299871e-01 0.00000000e+00 7.63531284e+01] [-2.35299871e-01 9.71922821e-01 0.00000000e+00 -1.20964291e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.82243353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.39, Y:-1.21, Z:-0.02 [[ 9.73840451e-01 2.27232866e-01 0.00000000e+00 7.63851209e+01] [-2.27232866e-01 9.73840451e-01 0.00000000e+00 -1.21138698e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90293350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.47140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.42, Y:-1.22, Z:-0.02 [[ 9.74839315e-01 2.22908749e-01 0.00000000e+00 7.64181183e+01] [-2.22908749e-01 9.74839315e-01 0.00000000e+00 -1.21596441e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87231850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.45, Y:-1.22, Z:-0.02 [[ 9.75751041e-01 2.18883315e-01 0.00000000e+00 7.64495021e+01] [-2.18883315e-01 9.75751041e-01 0.00000000e+00 -1.21990883e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83145917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.48, Y:-1.22, Z:-0.02 [[ 9.77161618e-01 2.12497466e-01 0.00000000e+00 7.64828051e+01] [-2.12497466e-01 9.77161618e-01 0.00000000e+00 -1.22257395e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86981562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.51, Y:-1.23, Z:-0.02 [[ 9.77579067e-01 2.10568675e-01 0.00000000e+00 7.65146447e+01] [-2.10568675e-01 9.77579067e-01 0.00000000e+00 -1.22805990e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92889651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.55, Y:-1.24, Z:-0.02 [[ 9.77770892e-01 2.09676137e-01 0.00000000e+00 7.65470737e+01] [-2.09676137e-01 9.77770892e-01 0.00000000e+00 -1.23507938e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87349437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.58, Y:-1.24, Z:-0.02 [[ 9.77861637e-01 2.09252523e-01 0.00000000e+00 7.65798324e+01] [-2.09252523e-01 9.77861637e-01 0.00000000e+00 -1.24227926e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97977261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.65140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.61, Y:-1.25, Z:-0.02 [[ 9.77716785e-01 2.09928292e-01 0.00000000e+00 7.66116859e+01] [-2.09928292e-01 9.77716785e-01 0.00000000e+00 -1.24716796e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04517122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.64, Y:-1.25, Z:-0.02 [[ 9.77353209e-01 2.11614519e-01 0.00000000e+00 7.66441604e+01] [-2.11614519e-01 9.77353209e-01 0.00000000e+00 -1.25340772e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02061125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.67, Y:-1.26, Z:-0.02 [[ 9.76275703e-01 2.16531179e-01 0.00000000e+00 7.66745518e+01] [-2.16531179e-01 9.76275703e-01 0.00000000e+00 -1.26413742e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01681937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.71, Y:-1.27, Z:-0.02 [[ 9.75643751e-01 2.19361054e-01 0.00000000e+00 7.67060434e+01] [-2.19361054e-01 9.75643751e-01 0.00000000e+00 -1.27217267e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03390824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.77140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.74, Y:-1.28, Z:-0.02 [[ 9.75009723e-01 2.22162195e-01 0.00000000e+00 7.67386144e+01] [-2.22162195e-01 9.75009723e-01 0.00000000e+00 -1.27938887e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99538948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.77, Y:-1.29, Z:-0.02 [[ 9.73600254e-01 2.28259821e-01 0.00000000e+00 7.67693520e+01] [-2.28259821e-01 9.73600254e-01 0.00000000e+00 -1.28767738e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05568990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.83140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.80, Y:-1.30, Z:-0.02 [[ 9.72897600e-01 2.31236373e-01 0.00000000e+00 7.68007798e+01] [-2.31236373e-01 9.72897600e-01 0.00000000e+00 -1.29588740e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.94834370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.86140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.83, Y:-1.30, Z:-0.02 [[ 9.72228959e-01 2.34031730e-01 0.00000000e+00 7.68331489e+01] [-2.34031730e-01 9.72228959e-01 0.00000000e+00 -1.30409216e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74991687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.87, Y:-1.31, Z:-0.02 [[ 9.71558056e-01 2.36801488e-01 0.00000000e+00 7.68652093e+01] [-2.36801488e-01 9.71558056e-01 0.00000000e+00 -1.31111342e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74808384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.90, Y:-1.32, Z:-0.02 [[ 9.70576346e-01 2.40793599e-01 0.00000000e+00 7.68954134e+01] [-2.40793599e-01 9.70576346e-01 0.00000000e+00 -1.31876751e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.44639089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.93, Y:-1.33, Z:-0.03 [[ 9.70269321e-01 2.42027776e-01 0.00000000e+00 7.69268246e+01] [-2.42027776e-01 9.70269321e-01 0.00000000e+00 -1.32685553e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.75402330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.96, Y:-1.34, Z:-0.03 [[ 9.70077041e-01 2.42797313e-01 0.00000000e+00 7.69568720e+01] [-2.42797313e-01 9.70077041e-01 0.00000000e+00 -1.33554342e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.00071987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.99, Y:-1.34, Z:-0.03 [[ 9.70001108e-01 2.43100496e-01 0.00000000e+00 7.69889105e+01] [-2.43100496e-01 9.70001108e-01 0.00000000e+00 -1.34438690e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.89977155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.02, Y:-1.36, Z:-0.02 [[ 9.70107070e-01 2.42677300e-01 0.00000000e+00 7.70199491e+01] [-2.42677300e-01 9.70107070e-01 0.00000000e+00 -1.35551610e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.49515401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.07140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.05, Y:-1.36, Z:-0.02 [[ 9.70282296e-01 2.41975756e-01 0.00000000e+00 7.70506960e+01] [-2.41975756e-01 9.70282296e-01 0.00000000e+00 -1.36380754e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.45667485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.08, Y:-1.37, Z:-0.03 [[ 9.70661251e-01 2.40451110e-01 0.00000000e+00 7.70810854e+01] [-2.40451110e-01 9.70661251e-01 0.00000000e+00 -1.37410942e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.69272321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.13140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.11, Y:-1.38, Z:-0.03 [[ 9.70900984e-01 2.39481273e-01 0.00000000e+00 7.71129270e+01] [-2.39481273e-01 9.70900984e-01 0.00000000e+00 -1.38209121e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.65418174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.14, Y:-1.39, Z:-0.03 [[ 9.71154826e-01 2.38449791e-01 0.00000000e+00 7.71440189e+01] [-2.38449791e-01 9.71154826e-01 0.00000000e+00 -1.39009189e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.56242084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.19140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.17, Y:-1.40, Z:-0.02 [[ 9.71431549e-01 2.37319921e-01 0.00000000e+00 7.71742999e+01] [-2.37319921e-01 9.71431549e-01 0.00000000e+00 -1.39789627e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21073149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.21, Y:-1.41, Z:-0.02 [[ 9.72072029e-01 2.34682700e-01 0.00000000e+00 7.72061636e+01] [-2.34682700e-01 9.72072029e-01 0.00000000e+00 -1.40814529e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64777759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.24, Y:-1.42, Z:-0.02 [[ 9.72304514e-01 2.33717632e-01 0.00000000e+00 7.72370908e+01] [-2.33717632e-01 9.72304514e-01 0.00000000e+00 -1.41589472e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67431228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.27, Y:-1.42, Z:-0.02 [[ 9.72376780e-01 2.33416790e-01 0.00000000e+00 7.72696600e+01] [-2.33416790e-01 9.72376780e-01 0.00000000e+00 -1.42355686e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83767054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.30, Y:-1.43, Z:-0.02 [[ 9.72086741e-01 2.34621753e-01 0.00000000e+00 7.73011286e+01] [-2.34621753e-01 9.72086741e-01 0.00000000e+00 -1.43101321e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91914232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.33, Y:-1.44, Z:-0.02 [[ 9.71629341e-01 2.36508826e-01 0.00000000e+00 7.73323224e+01] [-2.36508826e-01 9.71629341e-01 0.00000000e+00 -1.43743533e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83214972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.37, Y:-1.44, Z:-0.02 [[ 9.71032997e-01 2.38945429e-01 0.00000000e+00 7.73650214e+01] [-2.38945429e-01 9.71032997e-01 0.00000000e+00 -1.44451650e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88203311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.40, Y:-1.45, Z:-0.02 [[ 9.69792831e-01 2.43930040e-01 0.00000000e+00 7.73969959e+01] [-2.43930040e-01 9.69792831e-01 0.00000000e+00 -1.45496925e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96468449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.43140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.43, Y:-1.46, Z:-0.02 [[ 9.69301542e-01 2.45875012e-01 0.00000000e+00 7.74293852e+01] [-2.45875012e-01 9.69301542e-01 0.00000000e+00 -1.46223181e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86770498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.46, Y:-1.47, Z:-0.02 [[ 9.69001682e-01 2.47054123e-01 0.00000000e+00 7.74615092e+01] [-2.47054123e-01 9.69001682e-01 0.00000000e+00 -1.46837112e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73073551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.49140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.49, Y:-1.48, Z:-0.02 [[ 9.68667046e-01 2.48362949e-01 0.00000000e+00 7.74929198e+01] [-2.48362949e-01 9.68667046e-01 0.00000000e+00 -1.47700432e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75604236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.52, Y:-1.49, Z:-0.02 [[ 9.68585636e-01 2.48680248e-01 0.00000000e+00 7.75245798e+01] [-2.48680248e-01 9.68585636e-01 0.00000000e+00 -1.48533949e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91744351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.55140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.56, Y:-1.49, Z:-0.02 [[ 9.68531933e-01 2.48889321e-01 0.00000000e+00 7.75553430e+01] [-2.48889321e-01 9.68531933e-01 0.00000000e+00 -1.49320294e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03187889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.59, Y:-1.50, Z:-0.02 [[ 9.68637600e-01 2.48477763e-01 0.00000000e+00 7.75872227e+01] [-2.48477763e-01 9.68637600e-01 0.00000000e+00 -1.49913285e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27241413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.61140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.62, Y:-1.51, Z:-0.02 [[ 9.68527534e-01 2.48906441e-01 0.00000000e+00 7.76184791e+01] [-2.48906441e-01 9.68527534e-01 0.00000000e+00 -1.50526265e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41343545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.65, Y:-1.51, Z:-0.02 [[ 9.68309290e-01 2.49754118e-01 0.00000000e+00 7.76509289e+01] [-2.49754118e-01 9.68309290e-01 0.00000000e+00 -1.51317067e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47132829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.68, Y:-1.52, Z:-0.02 [[ 9.67996995e-01 2.50961784e-01 0.00000000e+00 7.76833321e+01] [-2.50961784e-01 9.67996995e-01 0.00000000e+00 -1.52186428e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.46894719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.71, Y:-1.53, Z:-0.02 [[ 9.67144917e-01 2.54225705e-01 0.00000000e+00 7.77145567e+01] [-2.54225705e-01 9.67144917e-01 0.00000000e+00 -1.53122362e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.36368475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.75, Y:-1.54, Z:-0.02 [[ 9.66692980e-01 2.55938824e-01 0.00000000e+00 7.77457782e+01] [-2.55938824e-01 9.66692980e-01 0.00000000e+00 -1.53765377e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30300773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.78, Y:-1.54, Z:-0.02 [[ 9.66360571e-01 2.57191070e-01 0.00000000e+00 7.77781479e+01] [-2.57191070e-01 9.66360571e-01 0.00000000e+00 -1.54451235e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17100523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.81, Y:-1.55, Z:-0.02 [[ 9.66275191e-01 2.57511659e-01 0.00000000e+00 7.78102775e+01] [-2.57511659e-01 9.66275191e-01 0.00000000e+00 -1.55425363e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11263652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.84, Y:-1.56, Z:-0.02 [[ 9.66376070e-01 2.57132830e-01 0.00000000e+00 7.78426162e+01] [-2.57132830e-01 9.66376070e-01 0.00000000e+00 -1.56072161e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19111717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.85140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.87, Y:-1.57, Z:-0.02 [[ 9.66582281e-01 2.56356577e-01 0.00000000e+00 7.78740774e+01] [-2.56356577e-01 9.66582281e-01 0.00000000e+00 -1.56524995e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35835476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.91, Y:-1.57, Z:-0.02 [[ 9.67015565e-01 2.54717289e-01 0.00000000e+00 7.79069731e+01] [-2.54717289e-01 9.67015565e-01 0.00000000e+00 -1.57108123e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32757304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.91140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.94, Y:-1.58, Z:-0.02 [[ 9.67213896e-01 2.53963145e-01 0.00000000e+00 7.79385608e+01] [-2.53963145e-01 9.67213896e-01 0.00000000e+00 -1.57776152e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22686649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.97, Y:-1.58, Z:-0.02 [[ 9.67157364e-01 2.54178349e-01 0.00000000e+00 7.79713882e+01] [-2.54178349e-01 9.67157364e-01 0.00000000e+00 -1.58229965e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.24685053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.97140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.00, Y:-1.59, Z:-0.02 [[ 9.67048095e-01 2.54593760e-01 0.00000000e+00 7.80038462e+01] [-2.54593760e-01 9.67048095e-01 0.00000000e+00 -1.58599795e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.37262878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.04, Y:-1.59, Z:-0.02 [[ 9.66952323e-01 2.54957259e-01 0.00000000e+00 7.80355261e+01] [-2.54957259e-01 9.66952323e-01 0.00000000e+00 -1.58959753e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.37407473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.07, Y:-1.59, Z:-0.02 [[ 9.66820344e-01 2.55457280e-01 0.00000000e+00 7.80672204e+01] [-2.55457280e-01 9.66820344e-01 0.00000000e+00 -1.59350481e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23626452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.10, Y:-1.60, Z:-0.02 [[ 9.66860935e-01 2.55303607e-01 0.00000000e+00 7.81007604e+01] [-2.55303607e-01 9.66860935e-01 0.00000000e+00 -1.59529751e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97870861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.13, Y:-1.60, Z:-0.02 [[ 9.67043672e-01 2.54610557e-01 0.00000000e+00 7.81335955e+01] [-2.54610557e-01 9.67043672e-01 0.00000000e+00 -1.59856416e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08469441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.17, Y:-1.60, Z:-0.02 [[ 9.67435330e-01 2.53118315e-01 0.00000000e+00 7.81652516e+01] [-2.53118315e-01 9.67435330e-01 0.00000000e+00 -1.60216924e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32410621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.15140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.20, Y:-1.61, Z:-0.02 [[ 9.67830267e-01 2.51604003e-01 0.00000000e+00 7.81977642e+01] [-2.51604003e-01 9.67830267e-01 0.00000000e+00 -1.60698888e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.33950724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.23, Y:-1.61, Z:-0.02 [[ 9.68622218e-01 2.48537723e-01 0.00000000e+00 7.82299332e+01] [-2.48537723e-01 9.68622218e-01 0.00000000e+00 -1.61108949e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.18015098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.21140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.26, Y:-1.62, Z:-0.02 [[ 9.68580691e-01 2.48699508e-01 0.00000000e+00 7.82628818e+01] [-2.48699508e-01 9.68580691e-01 0.00000000e+00 -1.61695799e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.18015098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.30, Y:-1.62, Z:-0.02 [[ 9.68841122e-01 2.47683022e-01 0.00000000e+00 7.82954724e+01] [-2.47683022e-01 9.68841122e-01 0.00000000e+00 -1.62063915e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03733500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.27140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.33, Y:-1.62, Z:-0.02 [[ 9.68736177e-01 2.48093166e-01 0.00000000e+00 7.83282032e+01] [-2.48093166e-01 9.68736177e-01 0.00000000e+00 -1.62178086e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17934112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.36, Y:-1.63, Z:-0.02 [[ 9.68248893e-01 2.49988163e-01 0.00000000e+00 7.83608840e+01] [-2.49988163e-01 9.68248893e-01 0.00000000e+00 -1.62693201e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.20638534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.33140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.39, Y:-1.63, Z:-0.02 [[ 9.67272532e-01 2.53739728e-01 0.00000000e+00 7.83932067e+01] [-2.53739728e-01 9.67272532e-01 0.00000000e+00 -1.63192822e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00379362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.36140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.43, Y:-1.64, Z:-0.02 [[ 9.66960626e-01 2.54925770e-01 0.00000000e+00 7.84262420e+01] [-2.54925770e-01 9.66960626e-01 0.00000000e+00 -1.63572101e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89991144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.46, Y:-1.64, Z:-0.02 [[ 9.66676584e-01 2.56000746e-01 0.00000000e+00 7.84580927e+01] [-2.56000746e-01 9.66676584e-01 0.00000000e+00 -1.63938300e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85172902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.49, Y:-1.64, Z:-0.02 [[ 9.66535557e-01 2.56532681e-01 0.00000000e+00 7.84892111e+01] [-2.56532681e-01 9.66535557e-01 0.00000000e+00 -1.64424178e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91293310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.451400513 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:78.52, Y:-1.65, Z:-0.02 [[ 9.67127926e-01 2.54290337e-01 0.00000000e+00 7.85204806e+01] [-2.54290337e-01 9.67127926e-01 0.00000000e+00 -1.65129190e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.31690921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.55, Y:-1.66, Z:-0.02 [[ 9.67680373e-01 2.52179888e-01 0.00000000e+00 7.85529664e+01] [-2.52179888e-01 9.67680373e-01 0.00000000e+00 -1.65717063e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.40237632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.58, Y:-1.66, Z:-0.03 [[ 9.68325148e-01 2.49692626e-01 0.00000000e+00 7.85846264e+01] [-2.49692626e-01 9.68325148e-01 0.00000000e+00 -1.66273010e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.52821160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.62, Y:-1.67, Z:-0.02 [[ 9.69734996e-01 2.44159862e-01 0.00000000e+00 7.86157580e+01] [-2.44159862e-01 9.69734996e-01 0.00000000e+00 -1.67138510e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.94296840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.57140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.65, Y:-1.68, Z:-0.02 [[ 9.70326538e-01 2.41798283e-01 0.00000000e+00 7.86482483e+01] [-2.41798283e-01 9.70326538e-01 0.00000000e+00 -1.67891983e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71441107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.68, Y:-1.69, Z:-0.02 [[ 9.70749826e-01 2.40093262e-01 0.00000000e+00 7.86804671e+01] [-2.40093262e-01 9.70749826e-01 0.00000000e+00 -1.68517520e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69566252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.63140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.71, Y:-1.69, Z:-0.02 [[ 9.70732076e-01 2.40165019e-01 0.00000000e+00 7.87134561e+01] [-2.40165019e-01 9.70732076e-01 0.00000000e+00 -1.68837785e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01830070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.75, Y:-1.69, Z:-0.02 [[ 9.70322336e-01 2.41815143e-01 0.00000000e+00 7.87460746e+01] [-2.41815143e-01 9.70322336e-01 0.00000000e+00 -1.69350448e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12406747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.69140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.78, Y:-1.70, Z:-0.02 [[ 9.69538946e-01 2.44937200e-01 0.00000000e+00 7.87786965e+01] [-2.44937200e-01 9.69538946e-01 0.00000000e+00 -1.70089407e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96395862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.81, Y:-1.71, Z:-0.02 [[ 9.69277025e-01 2.45971643e-01 0.00000000e+00 7.88097648e+01] [-2.45971643e-01 9.69277025e-01 0.00000000e+00 -1.70644726e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92737429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.84, Y:-1.71, Z:-0.02 [[ 9.69266162e-01 2.46014446e-01 0.00000000e+00 7.88409998e+01] [-2.46014446e-01 9.69266162e-01 0.00000000e+00 -1.71083496e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05447238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.87, Y:-1.72, Z:-0.02 [[ 9.69483887e-01 2.45155038e-01 0.00000000e+00 7.88734697e+01] [-2.45155038e-01 9.69483887e-01 0.00000000e+00 -1.71561591e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.24868237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.811400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:78.91, Y:-1.72, Z:-0.02 [[ 9.70511646e-01 2.41054237e-01 0.00000000e+00 7.89050303e+01] [-2.41054237e-01 9.70511646e-01 0.00000000e+00 -1.72100791e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.31652266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.94, Y:-1.73, Z:-0.02 [[ 9.71153069e-01 2.38456950e-01 0.00000000e+00 7.89363754e+01] [-2.38456950e-01 9.71153069e-01 0.00000000e+00 -1.72689006e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32853237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.87140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.97, Y:-1.73, Z:-0.02 [[ 9.71977125e-01 2.35075452e-01 0.00000000e+00 7.89686060e+01] [-2.35075452e-01 9.71977125e-01 0.00000000e+00 -1.73271393e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.20411777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.00, Y:-1.74, Z:-0.02 [[ 9.74127488e-01 2.25999197e-01 0.00000000e+00 7.90002900e+01] [-2.25999197e-01 9.74127488e-01 0.00000000e+00 -1.74039934e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75562399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.93140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.03, Y:-1.75, Z:-0.02 [[ 9.75168360e-01 2.21464827e-01 0.00000000e+00 7.90325087e+01] [-2.21464827e-01 9.75168360e-01 0.00000000e+00 -1.74880722e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59643356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.06, Y:-1.76, Z:-0.02 [[ 9.76220708e-01 2.16778988e-01 0.00000000e+00 7.90635753e+01] [-2.16778988e-01 9.76220708e-01 0.00000000e+00 -1.75752876e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55900381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.99140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.10, Y:-1.77, Z:-0.02 [[ 9.77821389e-01 2.09440517e-01 0.00000000e+00 7.90952259e+01] [-2.09440517e-01 9.77821389e-01 0.00000000e+00 -1.76579524e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73908487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.13, Y:-1.77, Z:-0.02 [[ 9.78216319e-01 2.07588136e-01 0.00000000e+00 7.91275315e+01] [-2.07588136e-01 9.78216319e-01 0.00000000e+00 -1.77131293e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84150093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.05140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.16, Y:-1.78, Z:-0.02 [[ 9.78427176e-01 2.06592016e-01 0.00000000e+00 7.91586818e+01] [-2.06592016e-01 9.78427176e-01 0.00000000e+00 -1.77658937e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91963437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.19, Y:-1.78, Z:-0.02 [[ 9.78431885e-01 2.06569712e-01 0.00000000e+00 7.91907899e+01] [-2.06569712e-01 9.78431885e-01 0.00000000e+00 -1.78290638e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.82389656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.11140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.22, Y:-1.79, Z:-0.02 [[ 9.78186108e-01 2.07730444e-01 0.00000000e+00 7.92222444e+01] [-2.07730444e-01 9.78186108e-01 0.00000000e+00 -1.78862279e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69466584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.26, Y:-1.79, Z:-0.02 [[ 9.78109866e-01 2.08089142e-01 0.00000000e+00 7.92550830e+01] [-2.08089142e-01 9.78109866e-01 0.00000000e+00 -1.79394289e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80125234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.29, Y:-1.80, Z:-0.02 [[ 9.78399636e-01 2.06722406e-01 0.00000000e+00 7.92873063e+01] [-2.06722406e-01 9.78399636e-01 0.00000000e+00 -1.80089953e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96188256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.32, Y:-1.81, Z:-0.02 [[ 9.78686794e-01 2.05358610e-01 0.00000000e+00 7.93197417e+01] [-2.05358610e-01 9.78686794e-01 0.00000000e+00 -1.80792875e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95834163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.35, Y:-1.81, Z:-0.02 [[ 9.79041457e-01 2.03661054e-01 0.00000000e+00 7.93511449e+01] [-2.03661054e-01 9.79041457e-01 0.00000000e+00 -1.81392476e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99214212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.38, Y:-1.82, Z:-0.02 [[ 9.79670198e-01 2.00614812e-01 0.00000000e+00 7.93836953e+01] [-2.00614812e-01 9.79670198e-01 0.00000000e+00 -1.81778816e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.98876424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.29140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:79.42, Y:-1.82, Z:-0.02 [[ 9.79863522e-01 1.99668422e-01 0.00000000e+00 7.94166737e+01] [-1.99668422e-01 9.79863522e-01 0.00000000e+00 -1.82260031e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83315497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.45, Y:-1.83, Z:-0.02 [[ 9.79996030e-01 1.99017036e-01 0.00000000e+00 7.94481145e+01] [-1.99017036e-01 9.79996030e-01 0.00000000e+00 -1.82785890e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59572550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.35140051299999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:79.48, Y:-1.83, Z:-0.02 [[ 9.80373357e-01 1.97149893e-01 0.00000000e+00 7.94807373e+01] [-1.97149893e-01 9.80373357e-01 0.00000000e+00 -1.83232533e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61382605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.51, Y:-1.84, Z:-0.02 [[ 9.80522883e-01 1.96404879e-01 0.00000000e+00 7.95128629e+01] [-1.96404879e-01 9.80522883e-01 0.00000000e+00 -1.83715908e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70628076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.41140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.54, Y:-1.84, Z:-0.02 [[ 9.80607691e-01 1.95981009e-01 0.00000000e+00 7.95445943e+01] [-1.95981009e-01 9.80607691e-01 0.00000000e+00 -1.84266953e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90379153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.58, Y:-1.85, Z:-0.02 [[ 9.80635659e-01 1.95841019e-01 0.00000000e+00 7.95763715e+01] [-1.95841019e-01 9.80635659e-01 0.00000000e+00 -1.84881979e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.07917060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.47140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.61, Y:-1.85, Z:-0.02 [[ 9.80513222e-01 1.96453100e-01 0.00000000e+00 7.96088563e+01] [-1.96453100e-01 9.80513222e-01 0.00000000e+00 -1.85435555e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02081671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.64, Y:-1.86, Z:-0.02 [[ 9.80290567e-01 1.97561142e-01 0.00000000e+00 7.96406635e+01] [-1.97561142e-01 9.80290567e-01 0.00000000e+00 -1.85872986e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02056746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.67, Y:-1.86, Z:-0.02 [[ 9.79789627e-01 2.00030714e-01 0.00000000e+00 7.96734626e+01] [-2.00030714e-01 9.79789627e-01 0.00000000e+00 -1.86379896e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88644817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.71, Y:-1.87, Z:-0.02 [[ 9.79598243e-01 2.00965872e-01 0.00000000e+00 7.97057708e+01] [-2.00965872e-01 9.79598243e-01 0.00000000e+00 -1.87015559e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89398378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.74, Y:-1.88, Z:-0.02 [[ 9.79466455e-01 2.01607203e-01 0.00000000e+00 7.97382496e+01] [-2.01607203e-01 9.79466455e-01 0.00000000e+00 -1.87573011e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91893692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.77, Y:-1.88, Z:-0.02 [[ 9.79559687e-01 2.01153721e-01 0.00000000e+00 7.97698434e+01] [-2.01153721e-01 9.79559687e-01 0.00000000e+00 -1.87903326e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91077274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.65140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.80, Y:-1.88, Z:-0.02 [[ 9.79786027e-01 2.00048346e-01 0.00000000e+00 7.98014249e+01] [-2.00048346e-01 9.79786027e-01 0.00000000e+00 -1.88315242e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83175190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.83, Y:-1.89, Z:-0.02 [[ 9.80031505e-01 1.98842270e-01 0.00000000e+00 7.98337845e+01] [-1.98842270e-01 9.80031505e-01 0.00000000e+00 -1.88756447e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66572577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.87, Y:-1.89, Z:-0.02 [[ 9.80443107e-01 1.96802730e-01 0.00000000e+00 7.98670385e+01] [-1.96802730e-01 9.80443107e-01 0.00000000e+00 -1.88859225e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69786388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.90, Y:-1.89, Z:-0.02 [[ 9.80548448e-01 1.96277206e-01 0.00000000e+00 7.98991850e+01] [-1.96277206e-01 9.80548448e-01 0.00000000e+00 -1.89132694e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84494505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.77140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.93, Y:-1.89, Z:-0.02 [[ 9.81097365e-01 1.93514755e-01 0.00000000e+00 7.99312392e+01] [-1.93514755e-01 9.81097365e-01 0.00000000e+00 -1.89329505e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91665047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.96, Y:-1.90, Z:-0.02 [[ 9.81624257e-01 1.90824051e-01 0.00000000e+00 7.99640939e+01] [-1.90824051e-01 9.81624257e-01 0.00000000e+00 -1.89923056e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79405318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.83140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.00, Y:-1.91, Z:-0.02 [[ 9.82336019e-01 1.87125483e-01 0.00000000e+00 7.99958430e+01] [-1.87125483e-01 9.82336019e-01 0.00000000e+00 -1.90507986e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81166713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.86140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.03, Y:-1.91, Z:-0.02 [[ 9.84168051e-01 1.77237826e-01 0.00000000e+00 8.00278612e+01] [-1.77237826e-01 9.84168051e-01 0.00000000e+00 -1.91065920e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.98085732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.06, Y:-1.92, Z:-0.02 [[ 9.85018449e-01 1.72448995e-01 0.00000000e+00 8.00602793e+01] [-1.72448995e-01 9.85018449e-01 0.00000000e+00 -1.91782156e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03442843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.09, Y:-1.93, Z:-0.02 [[ 9.85715715e-01 1.68417720e-01 0.00000000e+00 8.00918668e+01] [-1.68417720e-01 9.85715715e-01 0.00000000e+00 -1.92606494e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02921566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.12, Y:-1.94, Z:-0.02 [[ 9.86649133e-01 1.62860333e-01 0.00000000e+00 8.01225623e+01] [-1.62860333e-01 9.86649133e-01 0.00000000e+00 -1.93665556e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83487832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.15, Y:-1.94, Z:-0.02 [[ 9.86828780e-01 1.61768223e-01 0.00000000e+00 8.01542672e+01] [-1.61768223e-01 9.86828780e-01 0.00000000e+00 -1.94330217e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71218301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.19, Y:-1.95, Z:-0.02 [[ 9.86788170e-01 1.62015763e-01 0.00000000e+00 8.01861063e+01] [-1.62015763e-01 9.86788170e-01 0.00000000e+00 -1.94971892e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58067318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.22, Y:-1.96, Z:-0.01 [[ 9.86169551e-01 1.65739602e-01 0.00000000e+00 8.02182286e+01] [-1.65739602e-01 9.86169551e-01 0.00000000e+00 -1.95793612e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49967565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.07140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.25, Y:-1.96, Z:-0.01 [[ 9.85649285e-01 1.68806063e-01 0.00000000e+00 8.02501945e+01] [-1.68806063e-01 9.85649285e-01 0.00000000e+00 -1.96460649e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47426480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.28, Y:-1.97, Z:-0.02 [[ 9.85026704e-01 1.72401835e-01 0.00000000e+00 8.02813916e+01] [-1.72401835e-01 9.85026704e-01 0.00000000e+00 -1.96971329e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51623320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.13140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.31, Y:-1.98, Z:-0.02 [[ 9.84994996e-01 1.72582904e-01 0.00000000e+00 8.03142699e+01] [-1.72582904e-01 9.84994996e-01 0.00000000e+00 -1.97595258e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51623320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.35, Y:-1.98, Z:-0.02 [[ 9.84005595e-01 1.78137555e-01 0.00000000e+00 8.03470848e+01] [-1.78137555e-01 9.84005595e-01 0.00000000e+00 -1.97820519e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66887882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.19140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.38, Y:-1.98, Z:-0.02 [[ 9.83695818e-01 1.79840313e-01 0.00000000e+00 8.03794937e+01] [-1.79840313e-01 9.83695818e-01 0.00000000e+00 -1.98354000e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68083296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.41, Y:-1.99, Z:-0.02 [[ 9.83461476e-01 1.81117435e-01 0.00000000e+00 8.04120919e+01] [-1.81117435e-01 9.83461476e-01 0.00000000e+00 -1.98957060e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63215328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.44, Y:-1.99, Z:-0.02 [[ 9.82767626e-01 1.84845321e-01 0.00000000e+00 8.04437734e+01] [-1.84845321e-01 9.82767626e-01 0.00000000e+00 -1.99340679e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68992985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.48, Y:-2.00, Z:-0.02 [[ 9.82240387e-01 1.87626819e-01 0.00000000e+00 8.04765203e+01] [-1.87626819e-01 9.82240387e-01 0.00000000e+00 -1.99684617e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76468507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.51, Y:-2.00, Z:-0.02 [[ 9.81125581e-01 1.93371648e-01 0.00000000e+00 8.05090408e+01] [-1.93371648e-01 9.81125581e-01 0.00000000e+00 -1.99894929e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05582170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.54, Y:-2.00, Z:-0.02 [[ 9.80604768e-01 1.95995636e-01 0.00000000e+00 8.05398256e+01] [-1.95995636e-01 9.80604768e-01 0.00000000e+00 -2.00348099e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27785299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.37140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.57, Y:-2.01, Z:-0.03 [[ 9.79588434e-01 2.01013680e-01 0.00000000e+00 8.05717574e+01] [-2.01013680e-01 9.79588434e-01 0.00000000e+00 -2.00527186e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.50370326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.60, Y:-2.01, Z:-0.02 [[ 9.78878743e-01 2.04441693e-01 0.00000000e+00 8.06047579e+01] [-2.04441693e-01 9.78878743e-01 0.00000000e+00 -2.00966102e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.25498248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.43140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.64, Y:-2.01, Z:-0.02 [[ 9.78080733e-01 2.08226029e-01 0.00000000e+00 8.06365583e+01] [-2.08226029e-01 9.78080733e-01 0.00000000e+00 -2.01459678e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16769466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.67, Y:-2.02, Z:-0.02 [[ 9.77303750e-01 2.11842821e-01 0.00000000e+00 8.06677361e+01] [-2.11842821e-01 9.77303750e-01 0.00000000e+00 -2.01911976e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00341565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.49140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.70, Y:-2.02, Z:-0.02 [[ 9.76414153e-01 2.15906002e-01 0.00000000e+00 8.07003900e+01] [-2.15906002e-01 9.76414153e-01 0.00000000e+00 -2.02271229e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67430605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.73, Y:-2.02, Z:-0.02 [[ 9.74171311e-01 2.25810222e-01 0.00000000e+00 8.07336033e+01] [-2.25810222e-01 9.74171311e-01 0.00000000e+00 -2.01904023e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54426295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.55140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.77, Y:-2.02, Z:-0.02 [[ 9.72786311e-01 2.31704107e-01 0.00000000e+00 8.07658379e+01] [-2.31704107e-01 9.72786311e-01 0.00000000e+00 -2.01895980e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58277646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.80, Y:-2.02, Z:-0.02 [[ 9.69991825e-01 2.43137532e-01 0.00000000e+00 8.08002882e+01] [-2.43137532e-01 9.69991825e-01 0.00000000e+00 -2.01555443e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70253675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.61140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.83, Y:-2.02, Z:-0.02 [[ 9.69135671e-01 2.46527993e-01 0.00000000e+00 8.08329083e+01] [-2.46527993e-01 9.69135671e-01 0.00000000e+00 -2.01811759e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85705932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.86, Y:-2.02, Z:-0.02 [[ 9.68720012e-01 2.48156276e-01 0.00000000e+00 8.08637425e+01] [-2.48156276e-01 9.68720012e-01 0.00000000e+00 -2.02050693e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.20926000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.90, Y:-2.02, Z:-0.02 [[ 9.69003531e-01 2.47046871e-01 0.00000000e+00 8.08966602e+01] [-2.47046871e-01 9.69003531e-01 0.00000000e+00 -2.01822460e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41780391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.93, Y:-2.02, Z:-0.02 [[ 9.69350896e-01 2.45680361e-01 0.00000000e+00 8.09294197e+01] [-2.45680361e-01 9.69350896e-01 0.00000000e+00 -2.02056095e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.26664020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.96, Y:-2.02, Z:-0.02 [[ 9.69693739e-01 2.44323665e-01 0.00000000e+00 8.09618167e+01] [-2.44323665e-01 9.69693739e-01 0.00000000e+00 -2.02304667e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01104712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.00, Y:-2.02, Z:-0.02 [[ 9.69803377e-01 2.43888108e-01 0.00000000e+00 8.09959470e+01] [-2.43888108e-01 9.69803377e-01 0.00000000e+00 -2.02210128e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76355832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.03, Y:-2.02, Z:-0.02 [[ 9.69605355e-01 2.44674184e-01 0.00000000e+00 8.10292193e+01] [-2.44674184e-01 9.69605355e-01 0.00000000e+00 -2.02355969e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78519903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.06, Y:-2.03, Z:-0.02 [[ 9.69431788e-01 2.45360975e-01 0.00000000e+00 8.10617123e+01] [-2.45360975e-01 9.69431788e-01 0.00000000e+00 -2.02522946e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90344695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85140051299999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:81.10, Y:-2.02, Z:-0.02 [[ 9.69508714e-01 2.45056838e-01 0.00000000e+00 8.10952621e+01] [-2.45056838e-01 9.69508714e-01 0.00000000e+00 -2.02296710e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02761743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.13, Y:-2.03, Z:-0.02 [[ 9.69672444e-01 2.44408167e-01 0.00000000e+00 8.11275078e+01] [-2.44408167e-01 9.69672444e-01 0.00000000e+00 -2.02568153e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04803773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.91140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.16, Y:-2.03, Z:-0.02 [[ 9.70069226e-01 2.42828534e-01 0.00000000e+00 8.11592468e+01] [-2.42828534e-01 9.70069226e-01 0.00000000e+00 -2.02890565e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11011279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.19, Y:-2.03, Z:-0.02 [[ 9.71254644e-01 2.38042888e-01 0.00000000e+00 8.11921059e+01] [-2.38042888e-01 9.71254644e-01 0.00000000e+00 -2.03379143e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87744578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.97140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.22, Y:-2.04, Z:-0.02 [[ 9.71767258e-01 2.35941509e-01 0.00000000e+00 8.12233488e+01] [-2.35941509e-01 9.71767258e-01 0.00000000e+00 -2.04019508e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87468143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.001400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:81.26, Y:-2.05, Z:-0.02 [[ 9.72207373e-01 2.34121386e-01 0.00000000e+00 8.12554297e+01] [-2.34121386e-01 9.72207373e-01 0.00000000e+00 -2.04646212e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96162577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.29, Y:-2.05, Z:-0.02 [[ 9.72538824e-01 2.32740704e-01 0.00000000e+00 8.12856185e+01] [-2.32740704e-01 9.72538824e-01 0.00000000e+00 -2.05217957e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.31318607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.32, Y:-2.06, Z:-0.02 [[ 9.72228055e-01 2.34035487e-01 0.00000000e+00 8.13182019e+01] [-2.34035487e-01 9.72228055e-01 0.00000000e+00 -2.05836798e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28198007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.35, Y:-2.06, Z:-0.02 [[ 9.70944853e-01 2.39303348e-01 0.00000000e+00 8.13487835e+01] [-2.39303348e-01 9.70944853e-01 0.00000000e+00 -2.06414394e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96840835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.38, Y:-2.07, Z:-0.02 [[ 9.70293374e-01 2.41931332e-01 0.00000000e+00 8.13809454e+01] [-2.41931332e-01 9.70293374e-01 0.00000000e+00 -2.07099749e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84892838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.15140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.41, Y:-2.08, Z:-0.02 [[ 9.69817293e-01 2.43832766e-01 0.00000000e+00 8.14122048e+01] [-2.43832766e-01 9.69817293e-01 0.00000000e+00 -2.07887685e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87799533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.44, Y:-2.09, Z:-0.02 [[ 9.69502802e-01 2.45080225e-01 0.00000000e+00 8.14438450e+01] [-2.45080225e-01 9.69502802e-01 0.00000000e+00 -2.08683693e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88087004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.47, Y:-2.09, Z:-0.02 [[ 9.69009218e-01 2.47024566e-01 0.00000000e+00 8.14745141e+01] [-2.47024566e-01 9.69009218e-01 0.00000000e+00 -2.09452416e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80514246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.51, Y:-2.10, Z:-0.02 [[ 9.68464280e-01 2.49152440e-01 0.00000000e+00 8.15054831e+01] [-2.49152440e-01 9.68464280e-01 0.00000000e+00 -2.10000802e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64374720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.27140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.54, Y:-2.11, Z:-0.01 [[ 9.67384511e-01 2.53312470e-01 0.00000000e+00 8.15380803e+01] [-2.53312470e-01 9.67384511e-01 0.00000000e+00 -2.10545474e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37530746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.57, Y:-2.11, Z:-0.01 [[ 9.66722891e-01 2.55825824e-01 0.00000000e+00 8.15706641e+01] [-2.55825824e-01 9.66722891e-01 0.00000000e+00 -2.11044203e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47090728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.33140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.60, Y:-2.11, Z:-0.02 [[ 9.66097353e-01 2.58178048e-01 0.00000000e+00 8.16011092e+01] [-2.58178048e-01 9.66097353e-01 0.00000000e+00 -2.11394598e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59716890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.36140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.63, Y:-2.12, Z:-0.02 [[ 9.65630657e-01 2.59918130e-01 0.00000000e+00 8.16337532e+01] [-2.59918130e-01 9.65630657e-01 0.00000000e+00 -2.11880670e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79516856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.66, Y:-2.13, Z:-0.02 [[ 9.65674043e-01 2.59756892e-01 0.00000000e+00 8.16645988e+01] [-2.59756892e-01 9.65674043e-01 0.00000000e+00 -2.12519603e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62927576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.70, Y:-2.13, Z:-0.02 [[ 9.66004911e-01 2.58523716e-01 0.00000000e+00 8.16960031e+01] [-2.58523716e-01 9.66004911e-01 0.00000000e+00 -2.13271255e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54285623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.73, Y:-2.14, Z:-0.02 [[ 9.66660851e-01 2.56060149e-01 0.00000000e+00 8.17276121e+01] [-2.56060149e-01 9.66660851e-01 0.00000000e+00 -2.14046092e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57051335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.76, Y:-2.15, Z:-0.02 [[ 9.68396841e-01 2.49414431e-01 0.00000000e+00 8.17587065e+01] [-2.49414431e-01 9.68396841e-01 0.00000000e+00 -2.14974036e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83045748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.79, Y:-2.16, Z:-0.02 [[ 9.69031923e-01 2.46935480e-01 0.00000000e+00 8.17877010e+01] [-2.46935480e-01 9.69031923e-01 0.00000000e+00 -2.15605660e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62706384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.82, Y:-2.17, Z:-0.01 [[ 9.69892671e-01 2.43532765e-01 0.00000000e+00 8.18198799e+01] [-2.43532765e-01 9.69892671e-01 0.00000000e+00 -2.16638793e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33100916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.85, Y:-2.18, Z:-0.01 [[ 9.69890594e-01 2.43541036e-01 0.00000000e+00 8.18507685e+01] [-2.43541036e-01 9.69890594e-01 0.00000000e+00 -2.17544459e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38380465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.88, Y:-2.19, Z:-0.02 [[ 9.69666384e-01 2.44432207e-01 0.00000000e+00 8.18812696e+01] [-2.44432207e-01 9.69666384e-01 0.00000000e+00 -2.18739371e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10485969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.63140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.91, Y:-2.20, Z:-0.02 [[ 9.69419809e-01 2.45408300e-01 0.00000000e+00 8.19121995e+01] [-2.45408300e-01 9.69419809e-01 0.00000000e+00 -2.19636303e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.45730518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.94, Y:-2.21, Z:-0.03 [[ 9.69125741e-01 2.46567027e-01 0.00000000e+00 8.19426875e+01] [-2.46567027e-01 9.69125741e-01 0.00000000e+00 -2.20583994e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.58769456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.69140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.97, Y:-2.22, Z:-0.02 [[ 9.68840920e-01 2.47683815e-01 0.00000000e+00 8.19741633e+01] [-2.47683815e-01 9.68840920e-01 0.00000000e+00 -2.21557112e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32154449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.00, Y:-2.23, Z:-0.02 [[ 9.68508465e-01 2.48980630e-01 0.00000000e+00 8.20034853e+01] [-2.48980630e-01 9.68508465e-01 0.00000000e+00 -2.22553734e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.20148536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.04, Y:-2.23, Z:-0.02 [[ 9.68363901e-01 2.49542293e-01 0.00000000e+00 8.20353272e+01] [-2.49542293e-01 9.68363901e-01 0.00000000e+00 -2.23286585e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19605455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.07, Y:-2.24, Z:-0.02 [[ 9.67962889e-01 2.51093300e-01 0.00000000e+00 8.20666049e+01] [-2.51093300e-01 9.67962889e-01 0.00000000e+00 -2.24319961e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02060138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.10, Y:-2.25, Z:-0.02 [[ 9.67757485e-01 2.51883803e-01 0.00000000e+00 8.20975194e+01] [-2.51883803e-01 9.67757485e-01 0.00000000e+00 -2.25142000e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08055203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.13, Y:-2.26, Z:-0.02 [[ 9.67728221e-01 2.51996212e-01 0.00000000e+00 8.21300422e+01] [-2.51996212e-01 9.67728221e-01 0.00000000e+00 -2.25904021e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16932017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.87140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.16, Y:-2.27, Z:-0.03 [[ 9.68232285e-01 2.50052478e-01 0.00000000e+00 8.21605088e+01] [-2.50052478e-01 9.68232285e-01 0.00000000e+00 -2.26670606e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.58716435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.19, Y:-2.27, Z:-0.02 [[ 9.68681810e-01 2.48305360e-01 0.00000000e+00 8.21927894e+01] [-2.48305360e-01 9.68681810e-01 0.00000000e+00 -2.27446953e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47026401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.93140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.22, Y:-2.28, Z:-0.02 [[ 9.69248362e-01 2.46084565e-01 0.00000000e+00 8.22238651e+01] [-2.46084565e-01 9.69248362e-01 0.00000000e+00 -2.28231165e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.46954870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.25, Y:-2.29, Z:-0.03 [[ 9.70564147e-01 2.40842762e-01 0.00000000e+00 8.22539890e+01] [-2.40842762e-01 9.70564147e-01 0.00000000e+00 -2.28943479e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61963695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.99140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.29, Y:-2.30, Z:-0.02 [[ 9.70991030e-01 2.39115911e-01 0.00000000e+00 8.22853439e+01] [-2.39115911e-01 9.70991030e-01 0.00000000e+00 -2.29588013e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21239629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.32, Y:-2.30, Z:-0.02 [[ 9.70947517e-01 2.39292539e-01 0.00000000e+00 8.23181728e+01] [-2.39292539e-01 9.70947517e-01 0.00000000e+00 -2.30242578e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21239629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.05140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.35, Y:-2.31, Z:-0.02 [[ 9.71236685e-01 2.38116152e-01 0.00000000e+00 8.23498024e+01] [-2.38116152e-01 9.71236685e-01 0.00000000e+00 -2.31000176e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.94991028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.38, Y:-2.32, Z:-0.02 [[ 9.71567508e-01 2.36762703e-01 0.00000000e+00 8.23792764e+01] [-2.36762703e-01 9.71567508e-01 0.00000000e+00 -2.32044084e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.82973987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.11140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.41, Y:-2.33, Z:-0.02 [[ 9.71661047e-01 2.36378530e-01 0.00000000e+00 8.24116546e+01] [-2.36378530e-01 9.71661047e-01 0.00000000e+00 -2.32808505e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81640337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.44, Y:-2.34, Z:-0.02 [[ 9.71682877e-01 2.36288780e-01 0.00000000e+00 8.24430645e+01] [-2.36288780e-01 9.71682877e-01 0.00000000e+00 -2.33529495e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.82068901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.47, Y:-2.35, Z:-0.01 [[ 9.71693941e-01 2.36243276e-01 0.00000000e+00 8.24748158e+01] [-2.36243276e-01 9.71693941e-01 0.00000000e+00 -2.34582286e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48483322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.50, Y:-2.35, Z:-0.02 [[ 9.71470573e-01 2.37160125e-01 0.00000000e+00 8.25039117e+01] [-2.37160125e-01 9.71470573e-01 0.00000000e+00 -2.35455887e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60815714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.54, Y:-2.36, Z:-0.02 [[ 9.71415812e-01 2.37384328e-01 0.00000000e+00 8.25365445e+01] [-2.37384328e-01 9.71415812e-01 0.00000000e+00 -2.36382448e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58421033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.57, Y:-2.37, Z:-0.02 [[ 9.70333151e-01 2.41771745e-01 0.00000000e+00 8.25679432e+01] [-2.41771745e-01 9.70333151e-01 0.00000000e+00 -2.37289416e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63145355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.60, Y:-2.38, Z:-0.02 [[ 9.69600566e-01 2.44693160e-01 0.00000000e+00 8.26005041e+01] [-2.44693160e-01 9.69600566e-01 0.00000000e+00 -2.38068533e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62328051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.63, Y:-2.39, Z:-0.02 [[ 9.68906617e-01 2.47426693e-01 0.00000000e+00 8.26305650e+01] [-2.47426693e-01 9.68906617e-01 0.00000000e+00 -2.38862476e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64177442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.35140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.66, Y:-2.40, Z:-0.02 [[ 9.67899158e-01 2.51338856e-01 0.00000000e+00 8.26628180e+01] [-2.51338856e-01 9.67899158e-01 0.00000000e+00 -2.39696601e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50307889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.69, Y:-2.40, Z:-0.02 [[ 9.67440463e-01 2.53098699e-01 0.00000000e+00 8.26943515e+01] [-2.53098699e-01 9.67440463e-01 0.00000000e+00 -2.40259269e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61495516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.41140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.73, Y:-2.41, Z:-0.02 [[ 9.66424800e-01 2.56949616e-01 0.00000000e+00 8.27251304e+01] [-2.56949616e-01 9.66424800e-01 0.00000000e+00 -2.40697559e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08327300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.76, Y:-2.41, Z:-0.02 [[ 9.65709431e-01 2.59625298e-01 0.00000000e+00 8.27577281e+01] [-2.59625298e-01 9.65709431e-01 0.00000000e+00 -2.41253518e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96449692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.47140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.79, Y:-2.42, Z:-0.02 [[ 9.65040687e-01 2.62100119e-01 0.00000000e+00 8.27888143e+01] [-2.62100119e-01 9.65040687e-01 0.00000000e+00 -2.41711720e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97449798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.82, Y:-2.42, Z:-0.02 [[ 9.64400295e-01 2.64446727e-01 0.00000000e+00 8.28212970e+01] [-2.64446727e-01 9.64400295e-01 0.00000000e+00 -2.41820112e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52448554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.85, Y:-2.42, Z:-0.01 [[ 9.64693712e-01 2.63374337e-01 0.00000000e+00 8.28531950e+01] [-2.63374337e-01 9.64693712e-01 0.00000000e+00 -2.42212385e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46449504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.88, Y:-2.43, Z:-0.02 [[ 9.65354269e-01 2.60942782e-01 0.00000000e+00 8.28845574e+01] [-2.60942782e-01 9.65354269e-01 0.00000000e+00 -2.42687549e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54477604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.591400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:82.92, Y:-2.43, Z:-0.02 [[ 9.66322395e-01 2.57334468e-01 0.00000000e+00 8.29164774e+01] [-2.57334468e-01 9.66322395e-01 0.00000000e+00 -2.43235965e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68823640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62140051299998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:82.95, Y:-2.44, Z:-0.02 [[ 9.68109868e-01 2.50526014e-01 0.00000000e+00 8.29476031e+01] [-2.50526014e-01 9.68109868e-01 0.00000000e+00 -2.43986448e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.94657260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.65140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.98, Y:-2.45, Z:-0.02 [[ 9.68789571e-01 2.47884583e-01 0.00000000e+00 8.29774822e+01] [-2.47884583e-01 9.68789571e-01 0.00000000e+00 -2.44689431e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.20073118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68140051299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:83.01, Y:-2.45, Z:-0.02 [[ 9.69533536e-01 2.44958613e-01 0.00000000e+00 8.30088670e+01] [-2.44958613e-01 9.69533536e-01 0.00000000e+00 -2.45372968e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95118208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.71140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.04, Y:-2.46, Z:-0.02 [[ 9.69996449e-01 2.43119083e-01 0.00000000e+00 8.30396263e+01] [-2.43119083e-01 9.69996449e-01 0.00000000e+00 -2.46152174e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71998987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.07, Y:-2.47, Z:-0.01 [[ 9.70130082e-01 2.42585291e-01 0.00000000e+00 8.30694940e+01] [-2.42585291e-01 9.70130082e-01 0.00000000e+00 -2.47062748e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46508518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.77140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.10, Y:-2.48, Z:-0.02 [[ 9.69838171e-01 2.43749712e-01 0.00000000e+00 8.31013801e+01] [-2.43749712e-01 9.69838171e-01 0.00000000e+00 -2.47831696e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57088736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.13, Y:-2.49, Z:-0.02 [[ 9.69329851e-01 2.45763381e-01 0.00000000e+00 8.31327744e+01] [-2.45763381e-01 9.69329851e-01 0.00000000e+00 -2.48564819e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75923568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.83140051299999 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:83.16, Y:-2.49, Z:-0.02 [[ 9.68802411e-01 2.47834397e-01 0.00000000e+00 8.31641781e+01] [-2.47834397e-01 9.68802411e-01 0.00000000e+00 -2.49210186e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77698236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.86140051299999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:83.19, Y:-2.50, Z:-0.01 [[ 9.67825705e-01 2.51621550e-01 0.00000000e+00 8.31926762e+01] [-2.51621550e-01 9.67825705e-01 0.00000000e+00 -2.49839023e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47998078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.23, Y:-2.51, Z:-0.01 [[ 9.65303754e-01 2.61129590e-01 0.00000000e+00 8.32261548e+01] [-2.61129590e-01 9.65303754e-01 0.00000000e+00 -2.50951307e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17306685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.921400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:83.26, Y:-2.52, Z:-0.01 [[ 9.63919725e-01 2.66193094e-01 0.00000000e+00 8.32582851e+01] [-2.66193094e-01 9.63919725e-01 0.00000000e+00 -2.51685400e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07500819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.29, Y:-2.52, Z:-0.01 [[ 9.62396833e-01 2.71647446e-01 0.00000000e+00 8.32887090e+01] [-2.71647446e-01 9.62396833e-01 0.00000000e+00 -2.52472821e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.80721913e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.32, Y:-2.53, Z:-0.01 [[ 9.60043944e-01 2.79849290e-01 0.00000000e+00 8.33210354e+01] [-2.79849290e-01 9.60043944e-01 0.00000000e+00 -2.52994633e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.71045712e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.35, Y:-2.53, Z:-0.01 [[ 9.58925561e-01 2.83657838e-01 0.00000000e+00 8.33515232e+01] [-2.83657838e-01 9.58925561e-01 0.00000000e+00 -2.53412668e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32315064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.38, Y:-2.54, Z:-0.02 [[ 9.58030654e-01 2.86665775e-01 0.00000000e+00 8.33838008e+01] [-2.86665775e-01 9.58030654e-01 0.00000000e+00 -2.53741720e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62814916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.07140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.42, Y:-2.54, Z:-0.02 [[ 9.57383561e-01 2.88819523e-01 0.00000000e+00 8.34158854e+01] [-2.88819523e-01 9.57383561e-01 0.00000000e+00 -2.53958278e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96263034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.45, Y:-2.54, Z:-0.02 [[ 9.56915638e-01 2.90366082e-01 0.00000000e+00 8.34482409e+01] [-2.90366082e-01 9.56915638e-01 0.00000000e+00 -2.54151485e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09428016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.13140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.48, Y:-2.54, Z:-0.02 [[ 9.56804298e-01 2.90732757e-01 0.00000000e+00 8.34814411e+01] [-2.90732757e-01 9.56804298e-01 0.00000000e+00 -2.54106384e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88759349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.51, Y:-2.54, Z:-0.02 [[ 9.57326231e-01 2.89009495e-01 0.00000000e+00 8.35132169e+01] [-2.89009495e-01 9.57326231e-01 0.00000000e+00 -2.54416679e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68147692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.19140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.54, Y:-2.55, Z:-0.02 [[ 9.57922162e-01 2.87028103e-01 0.00000000e+00 8.35449422e+01] [-2.87028103e-01 9.57922162e-01 0.00000000e+00 -2.54626886e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62612636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.58, Y:-2.54, Z:-0.02 [[ 9.59624094e-01 2.81285618e-01 0.00000000e+00 8.35794429e+01] [-2.81285618e-01 9.59624094e-01 0.00000000e+00 -2.54416883e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65947058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.61, Y:-2.55, Z:-0.02 [[ 9.60714706e-01 2.77537843e-01 0.00000000e+00 8.36117557e+01] [-2.77537843e-01 9.60714706e-01 0.00000000e+00 -2.54746586e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58800749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.65, Y:-2.55, Z:-0.01 [[ 9.61965528e-01 2.73170869e-01 0.00000000e+00 8.36450363e+01] [-2.73170869e-01 9.61965528e-01 0.00000000e+00 -2.55100930e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42909404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.68, Y:-2.55, Z:-0.01 [[ 9.64296604e-01 2.64824582e-01 0.00000000e+00 8.36781342e+01] [-2.64824582e-01 9.64296604e-01 0.00000000e+00 -2.54895686e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40277594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.71, Y:-2.55, Z:-0.01 [[ 9.65058643e-01 2.62033998e-01 0.00000000e+00 8.37111357e+01] [-2.62033998e-01 9.65058643e-01 0.00000000e+00 -2.55102068e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45050280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.74, Y:-2.55, Z:-0.02 [[ 9.65505870e-01 2.60381287e-01 0.00000000e+00 8.37423862e+01] [-2.60381287e-01 9.65505870e-01 0.00000000e+00 -2.55402074e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72351242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.77, Y:-2.56, Z:-0.02 [[ 9.65866751e-01 2.59039417e-01 0.00000000e+00 8.37740505e+01] [-2.59039417e-01 9.65866751e-01 0.00000000e+00 -2.55793098e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.82491605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.43140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.81, Y:-2.56, Z:-0.02 [[ 9.66096896e-01 2.58179757e-01 0.00000000e+00 8.38069194e+01] [-2.58179757e-01 9.66096896e-01 0.00000000e+00 -2.56224726e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61313830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.84, Y:-2.56, Z:-0.02 [[ 9.66392865e-01 2.57069700e-01 0.00000000e+00 8.38392957e+01] [-2.57069700e-01 9.66392865e-01 0.00000000e+00 -2.56112771e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65659835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.49140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.87, Y:-2.56, Z:-0.02 [[ 9.66271089e-01 2.57527053e-01 0.00000000e+00 8.38702812e+01] [-2.57527053e-01 9.66271089e-01 0.00000000e+00 -2.56391198e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59239646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.90, Y:-2.57, Z:-0.01 [[ 9.66007572e-01 2.58513774e-01 0.00000000e+00 8.39027633e+01] [-2.58513774e-01 9.66007572e-01 0.00000000e+00 -2.56824590e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40189168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.55140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.93, Y:-2.57, Z:-0.01 [[ 9.65665791e-01 2.59787567e-01 0.00000000e+00 8.39349980e+01] [-2.59787567e-01 9.65665791e-01 0.00000000e+00 -2.57328687e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30739333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.97, Y:-2.58, Z:-0.01 [[ 9.65323308e-01 2.61057293e-01 0.00000000e+00 8.39665962e+01] [-2.61057293e-01 9.65323308e-01 0.00000000e+00 -2.57793055e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39248037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.61140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.00, Y:-2.58, Z:-0.02 [[ 9.64945812e-01 2.62449194e-01 0.00000000e+00 8.39989908e+01] [-2.62449194e-01 9.64945812e-01 0.00000000e+00 -2.58142959e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53463557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.03, Y:-2.59, Z:-0.02 [[ 9.64921058e-01 2.62540189e-01 0.00000000e+00 8.40317803e+01] [-2.62540189e-01 9.64921058e-01 0.00000000e+00 -2.58705906e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60311763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.06, Y:-2.59, Z:-0.02 [[ 9.64962339e-01 2.62388424e-01 0.00000000e+00 8.40640912e+01] [-2.62388424e-01 9.64962339e-01 0.00000000e+00 -2.59290188e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69650428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.10, Y:-2.60, Z:-0.02 [[ 9.65227312e-01 2.61412006e-01 0.00000000e+00 8.40951984e+01] [-2.61412006e-01 9.65227312e-01 0.00000000e+00 -2.59991386e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67384303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.13, Y:-2.61, Z:-0.02 [[ 9.65401824e-01 2.60766791e-01 0.00000000e+00 8.41251611e+01] [-2.60766791e-01 9.65401824e-01 0.00000000e+00 -2.60695746e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51096364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.16, Y:-2.61, Z:-0.01 [[ 9.65372963e-01 2.60873614e-01 0.00000000e+00 8.41560371e+01] [-2.60873614e-01 9.65372963e-01 0.00000000e+00 -2.61431878e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28629616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.19, Y:-2.62, Z:-0.01 [[ 9.65154953e-01 2.61679032e-01 0.00000000e+00 8.41871530e+01] [-2.61679032e-01 9.65154953e-01 0.00000000e+00 -2.62142711e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23856223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.22, Y:-2.63, Z:-0.01 [[ 9.64956707e-01 2.62409136e-01 0.00000000e+00 8.42191047e+01] [-2.62409136e-01 9.64956707e-01 0.00000000e+00 -2.62810716e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21251161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.85140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.25, Y:-2.63, Z:-0.01 [[ 9.64885206e-01 2.62671923e-01 0.00000000e+00 8.42501877e+01] [-2.62671923e-01 9.64885206e-01 0.00000000e+00 -2.63426446e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36103242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.28, Y:-2.64, Z:-0.01 [[ 9.65177408e-01 2.61596199e-01 0.00000000e+00 8.42815524e+01] [-2.61596199e-01 9.65177408e-01 0.00000000e+00 -2.64223289e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05277690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.91140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.31, Y:-2.65, Z:-0.01 [[ 9.65431306e-01 2.60657618e-01 0.00000000e+00 8.43137569e+01] [-2.60657618e-01 9.65431306e-01 0.00000000e+00 -2.65143299e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.63955428e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.35, Y:-2.66, Z:-0.01 [[ 9.65382750e-01 2.60837392e-01 0.00000000e+00 8.43465325e+01] [-2.60837392e-01 9.65382750e-01 0.00000000e+00 -2.65829468e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.63955428e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.97140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.38, Y:-2.67, Z:-0.01 [[ 9.65713916e-01 2.59608612e-01 0.00000000e+00 8.43775188e+01] [-2.59608612e-01 9.65713916e-01 0.00000000e+00 -2.66802499e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.02638490e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.41, Y:-2.68, Z:-0.01 [[ 9.66885961e-01 2.55208815e-01 0.00000000e+00 8.44087230e+01] [-2.55208815e-01 9.66885961e-01 0.00000000e+00 -2.67838685e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.22423105e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.44, Y:-2.69, Z:-0.01 [[ 9.67351119e-01 2.53439957e-01 0.00000000e+00 8.44400911e+01] [-2.53439957e-01 9.67351119e-01 0.00000000e+00 -2.68614321e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.83497208e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.47, Y:-2.69, Z:-0.01 [[ 9.67419185e-01 2.53180018e-01 0.00000000e+00 8.44714614e+01] [-2.53180018e-01 9.67419185e-01 0.00000000e+00 -2.69428650e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11171130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.50, Y:-2.70, Z:-0.01 [[ 9.67299917e-01 2.53635309e-01 0.00000000e+00 8.45028744e+01] [-2.53635309e-01 9.67299917e-01 0.00000000e+00 -2.70359711e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04440244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.53, Y:-2.71, Z:-0.01 [[ 9.66929128e-01 2.55045216e-01 0.00000000e+00 8.45347363e+01] [-2.55045216e-01 9.66929128e-01 0.00000000e+00 -2.71322608e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03151029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.15140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.57, Y:-2.72, Z:-0.01 [[ 9.66398659e-01 2.57047917e-01 0.00000000e+00 8.45663748e+01] [-2.57047917e-01 9.66398659e-01 0.00000000e+00 -2.72189587e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02956283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.60, Y:-2.73, Z:-0.01 [[ 9.64915666e-01 2.62560007e-01 0.00000000e+00 8.45970796e+01] [-2.62560007e-01 9.64915666e-01 0.00000000e+00 -2.72988422e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23262850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.21140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.63, Y:-2.74, Z:-0.01 [[ 9.63939760e-01 2.66120533e-01 0.00000000e+00 8.46284646e+01] [-2.66120533e-01 9.63939760e-01 0.00000000e+00 -2.73757596e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22935934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24140051299999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:84.66, Y:-2.75, Z:-0.01 [[ 9.62991127e-01 2.69533095e-01 0.00000000e+00 8.46608778e+01] [-2.69533095e-01 9.62991127e-01 0.00000000e+00 -2.74537538e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22237816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.27140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.69, Y:-2.75, Z:-0.01 [[ 9.62004373e-01 2.73034039e-01 0.00000000e+00 8.46922578e+01] [-2.73034039e-01 9.62004373e-01 0.00000000e+00 -2.75443210e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.78838001e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.72, Y:-2.76, Z:-0.01 [[ 9.61200598e-01 2.75850340e-01 0.00000000e+00 8.47244083e+01] [-2.75850340e-01 9.61200598e-01 0.00000000e+00 -2.76310509e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.12541206e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.33140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.76, Y:-2.77, Z:-0.01 [[ 9.60615261e-01 2.77881848e-01 0.00000000e+00 8.47559086e+01] [-2.77881848e-01 9.60615261e-01 0.00000000e+00 -2.77091778e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.68508238e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.36140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.79, Y:-2.78, Z:-0.01 [[ 9.59979845e-01 2.80069095e-01 0.00000000e+00 8.47874325e+01] [-2.80069095e-01 9.59979845e-01 0.00000000e+00 -2.77857957e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07613857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.391400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.82, Y:-2.79, Z:-0.01 [[ 9.59986753e-01 2.80045415e-01 0.00000000e+00 8.48195979e+01] [-2.80045415e-01 9.59986753e-01 0.00000000e+00 -2.78606055e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23774869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.421400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:84.85, Y:-2.79, Z:-0.01 [[ 9.60050314e-01 2.79827436e-01 0.00000000e+00 8.48505949e+01] [-2.79827436e-01 9.60050314e-01 0.00000000e+00 -2.79391452e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42210695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.88, Y:-2.80, Z:-0.01 [[ 9.60062170e-01 2.79786759e-01 0.00000000e+00 8.48820805e+01] [-2.79786759e-01 9.60062170e-01 0.00000000e+00 -2.80279162e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42262205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.91, Y:-2.81, Z:-0.01 [[ 9.60559979e-01 2.78072882e-01 0.00000000e+00 8.49125456e+01] [-2.78072882e-01 9.60559979e-01 0.00000000e+00 -2.81356387e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35665196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.94, Y:-2.82, Z:-0.01 [[ 9.60945865e-01 2.76736417e-01 0.00000000e+00 8.49445102e+01] [-2.76736417e-01 9.60945865e-01 0.00000000e+00 -2.82326064e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28350065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.98, Y:-2.83, Z:-0.01 [[ 9.61382336e-01 2.75216284e-01 0.00000000e+00 8.49764288e+01] [-2.75216284e-01 9.61382336e-01 0.00000000e+00 -2.83256253e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26016943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.57140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.01, Y:-2.84, Z:-0.01 [[ 9.61715489e-01 2.74049848e-01 0.00000000e+00 8.50069351e+01] [-2.74049848e-01 9.61715489e-01 0.00000000e+00 -2.84159660e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38276300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.04, Y:-2.85, Z:-0.02 [[ 9.62033150e-01 2.72932626e-01 0.00000000e+00 8.50384965e+01] [-2.72932626e-01 9.62033150e-01 0.00000000e+00 -2.85095119e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53713614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.63140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.07, Y:-2.86, Z:-0.02 [[ 9.62284262e-01 2.72045949e-01 0.00000000e+00 8.50701718e+01] [-2.72045949e-01 9.62284262e-01 0.00000000e+00 -2.86047023e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53357451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.10, Y:-2.87, Z:-0.01 [[ 9.62980168e-01 2.69572246e-01 0.00000000e+00 8.51008826e+01] [-2.69572246e-01 9.62980168e-01 0.00000000e+00 -2.87291085e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36522784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.69140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.13, Y:-2.88, Z:-0.01 [[ 9.63470240e-01 2.67815415e-01 0.00000000e+00 8.51314718e+01] [-2.67815415e-01 9.63470240e-01 0.00000000e+00 -2.88170188e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39645558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72140051299999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:85.16, Y:-2.89, Z:-0.01 [[ 9.64078486e-01 2.65617530e-01 0.00000000e+00 8.51632145e+01] [-2.65617530e-01 9.64078486e-01 0.00000000e+00 -2.89012219e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47758715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.19, Y:-2.90, Z:-0.02 [[ 9.64895971e-01 2.62632376e-01 0.00000000e+00 8.51942596e+01] [-2.62632376e-01 9.64895971e-01 0.00000000e+00 -2.89958512e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63611435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.23, Y:-2.91, Z:-0.02 [[ 9.65899217e-01 2.58918331e-01 0.00000000e+00 8.52264143e+01] [-2.58918331e-01 9.65899217e-01 0.00000000e+00 -2.90858082e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69322609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.26, Y:-2.92, Z:-0.02 [[ 9.66923927e-01 2.55064931e-01 0.00000000e+00 8.52583992e+01] [-2.55064931e-01 9.66923927e-01 0.00000000e+00 -2.91792198e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61053630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.29, Y:-2.93, Z:-0.01 [[ 9.68657222e-01 2.48401261e-01 0.00000000e+00 8.52895831e+01] [-2.48401261e-01 9.68657222e-01 0.00000000e+00 -2.93023484e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34699918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.32, Y:-2.94, Z:-0.01 [[ 9.69305055e-01 2.45861161e-01 0.00000000e+00 8.53210195e+01] [-2.45861161e-01 9.69305055e-01 0.00000000e+00 -2.93968486e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26805931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.35, Y:-2.95, Z:-0.01 [[ 9.69896193e-01 2.43518738e-01 0.00000000e+00 8.53521982e+01] [-2.43518738e-01 9.69896193e-01 0.00000000e+00 -2.94860375e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39831951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.93140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.38, Y:-2.96, Z:-0.02 [[ 9.70783545e-01 2.39956891e-01 0.00000000e+00 8.53839018e+01] [-2.39956891e-01 9.70783545e-01 0.00000000e+00 -2.95802735e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51299053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.41, Y:-2.97, Z:-0.02 [[ 9.70998010e-01 2.39087568e-01 0.00000000e+00 8.54144588e+01] [-2.39087568e-01 9.70998010e-01 0.00000000e+00 -2.96665992e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53930642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.99140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.45, Y:-2.98, Z:-0.01 [[ 9.71155501e-01 2.38447043e-01 0.00000000e+00 8.54451806e+01] [-2.38447043e-01 9.71155501e-01 0.00000000e+00 -2.97579462e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48656470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02140051299999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:85.48, Y:-2.98, Z:-0.01 [[ 9.71335389e-01 2.37713195e-01 0.00000000e+00 8.54774228e+01] [-2.37713195e-01 9.71335389e-01 0.00000000e+00 -2.98436290e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27471232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.05140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.51, Y:-2.99, Z:-0.01 [[ 9.71386579e-01 2.37503924e-01 0.00000000e+00 8.55086042e+01] [-2.37503924e-01 9.71386579e-01 0.00000000e+00 -2.99287248e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22116028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.54, Y:-3.00, Z:-0.01 [[ 9.71491654e-01 2.37073757e-01 0.00000000e+00 8.55397451e+01] [-2.37073757e-01 9.71491654e-01 0.00000000e+00 -3.00002867e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15087313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.11140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.57, Y:-3.01, Z:-0.01 [[ 9.71779646e-01 2.35890483e-01 0.00000000e+00 8.55714380e+01] [-2.35890483e-01 9.71779646e-01 0.00000000e+00 -3.00822292e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38604189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.141400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:85.60, Y:-3.02, Z:-0.01 [[ 9.72021596e-01 2.34891502e-01 0.00000000e+00 8.56032794e+01] [-2.34891502e-01 9.72021596e-01 0.00000000e+00 -3.01683270e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39538264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.171400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.63, Y:-3.03, Z:-0.01 [[ 9.72398376e-01 2.33326806e-01 0.00000000e+00 8.56337085e+01] [-2.33326806e-01 9.72398376e-01 0.00000000e+00 -3.02551512e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38412560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.67, Y:-3.03, Z:-0.01 [[ 9.72843924e-01 2.31462093e-01 0.00000000e+00 8.56656568e+01] [-2.31462093e-01 9.72843924e-01 0.00000000e+00 -3.03420933e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28792424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.70, Y:-3.04, Z:-0.01 [[ 9.73345235e-01 2.29344837e-01 0.00000000e+00 8.56972659e+01] [-2.29344837e-01 9.73345235e-01 0.00000000e+00 -3.04188286e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16054437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.73, Y:-3.05, Z:-0.01 [[ 9.74166267e-01 2.25831983e-01 0.00000000e+00 8.57281572e+01] [-2.25831983e-01 9.74166267e-01 0.00000000e+00 -3.05010301e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16203265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.76, Y:-3.06, Z:-0.01 [[ 9.74419579e-01 2.24736476e-01 0.00000000e+00 8.57596832e+01] [-2.24736476e-01 9.74419579e-01 0.00000000e+00 -3.05761310e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23491718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.79, Y:-3.06, Z:-0.01 [[ 9.74731588e-01 2.23379345e-01 0.00000000e+00 8.57917998e+01] [-2.23379345e-01 9.74731588e-01 0.00000000e+00 -3.06461972e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28618017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.35140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.82, Y:-3.07, Z:-0.01 [[ 9.75148725e-01 2.21551266e-01 0.00000000e+00 8.58239667e+01] [-2.21551266e-01 9.75148725e-01 0.00000000e+00 -3.07151053e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25933067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38140051299999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:85.86, Y:-3.08, Z:-0.01 [[ 9.76434764e-01 2.15812772e-01 0.00000000e+00 8.58561647e+01] [-2.15812772e-01 9.76434764e-01 0.00000000e+00 -3.07832708e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.90364397e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.41140051299999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:85.89, Y:-3.09, Z:-0.01 [[ 9.77134237e-01 2.12623336e-01 0.00000000e+00 8.58874261e+01] [-2.12623336e-01 9.77134237e-01 0.00000000e+00 -3.08504076e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.74775320e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44140051299999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:85.92, Y:-3.09, Z:-0.01 [[ 9.77831652e-01 2.09392601e-01 0.00000000e+00 8.59197190e+01] [-2.09392601e-01 9.77831652e-01 0.00000000e+00 -3.09140022e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.66945180e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.47140051299999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:85.95, Y:-3.10, Z:-0.01 [[ 9.78481022e-01 2.06336837e-01 0.00000000e+00 8.59523149e+01] [-2.06336837e-01 9.78481022e-01 0.00000000e+00 -3.09747481e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.83840948e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.501400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:85.98, Y:-3.10, Z:-0.01 [[ 9.79104004e-01 2.03360146e-01 0.00000000e+00 8.59841379e+01] [-2.03360146e-01 9.79104004e-01 0.00000000e+00 -3.10322923e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.71189632e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.531400513 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:86.02, Y:-3.11, Z:-0.01 [[ 9.79675506e-01 2.00588889e-01 0.00000000e+00 8.60160742e+01] [-2.00588889e-01 9.79675506e-01 0.00000000e+00 -3.10920840e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.75372813e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.561400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:86.05, Y:-3.12, Z:-0.01 [[ 9.80849446e-01 1.94767463e-01 0.00000000e+00 8.60466438e+01] [-1.94767463e-01 9.80849446e-01 0.00000000e+00 -3.11704181e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.69228909e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.591400513 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:86.08, Y:-3.13, Z:-0.01 [[ 9.81434701e-01 1.91796578e-01 0.00000000e+00 8.60779793e+01] [-1.91796578e-01 9.81434701e-01 0.00000000e+00 -3.12527038e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.59310351e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62140051299998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:86.11, Y:-3.13, Z:-0.01 [[ 9.82040847e-01 1.88668426e-01 0.00000000e+00 8.61098021e+01] [-1.88668426e-01 9.82040847e-01 0.00000000e+00 -3.13318242e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14075048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.65140051299998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:86.14, Y:-3.14, Z:-0.01 [[ 9.82659824e-01 1.85417558e-01 0.00000000e+00 8.61424098e+01] [-1.85417558e-01 9.82659824e-01 0.00000000e+00 -3.13998930e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19169713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68140051299999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:86.17, Y:-3.15, Z:-0.01 [[ 9.83220118e-01 1.82423133e-01 0.00000000e+00 8.61739833e+01] [-1.82423133e-01 9.83220118e-01 0.00000000e+00 -3.14612379e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09250901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71140051299999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:86.21, Y:-3.15, Z:-0.01 [[ 9.83663337e-01 1.80017886e-01 0.00000000e+00 8.62062577e+01] [-1.80017886e-01 9.83663337e-01 0.00000000e+00 -3.15326156e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.61538604e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74140051299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:86.24, Y:-3.16, Z:-0.01 [[ 9.84000398e-01 1.78166264e-01 0.00000000e+00 8.62377623e+01] [-1.78166264e-01 9.84000398e-01 0.00000000e+00 -3.16194536e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.17718682e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.77140051299999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:86.27, Y:-3.17, Z:-0.01 [[ 9.83829376e-01 1.79108231e-01 0.00000000e+00 8.62703810e+01] [-1.79108231e-01 9.83829376e-01 0.00000000e+00 -3.16932214e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.53505217e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80140051299999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:86.30, Y:-3.18, Z:-0.01 [[ 9.83592637e-01 1.80403781e-01 0.00000000e+00 8.63012388e+01] [-1.80403781e-01 9.83592637e-01 0.00000000e+00 -3.17575541e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.09647393e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.83140051299999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:86.33, Y:-3.18, Z:-0.01 [[ 9.83557318e-01 1.80596243e-01 0.00000000e+00 8.63339103e+01] [-1.80596243e-01 9.83557318e-01 0.00000000e+00 -3.18300552e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.09647393e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.86140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.37, Y:-3.19, Z:-0.01 [[ 9.83112929e-01 1.82999915e-01 0.00000000e+00 8.63659379e+01] [-1.82999915e-01 9.83112929e-01 0.00000000e+00 -3.18959365e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.46308675e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.891400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:86.40, Y:-3.20, Z:-0.01 [[ 9.83104850e-01 1.83043309e-01 0.00000000e+00 8.63975728e+01] [-1.83043309e-01 9.83104850e-01 0.00000000e+00 -3.19509538e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.04923222e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.921400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:86.43, Y:-3.20, Z:-0.01 [[ 9.83133323e-01 1.82890323e-01 0.00000000e+00 8.64296830e+01] [-1.82890323e-01 9.83133323e-01 0.00000000e+00 -3.20170534e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.36192764e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.951400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:86.46, Y:-3.21, Z:-0.01 [[ 9.83188125e-01 1.82595483e-01 0.00000000e+00 8.64618546e+01] [-1.82595483e-01 9.83188125e-01 0.00000000e+00 -3.20922501e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.21053540e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.981400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:86.49, Y:-3.22, Z:-0.01 [[ 9.83284183e-01 1.82077496e-01 0.00000000e+00 8.64930146e+01] [-1.82077496e-01 9.83284183e-01 0.00000000e+00 -3.21660089e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.92282187e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.01140051299998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:86.53, Y:-3.22, Z:-0.01 [[ 9.83405837e-01 1.81419294e-01 0.00000000e+00 8.65252324e+01] [-1.81419294e-01 9.83405837e-01 0.00000000e+00 -3.22442681e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.33593890e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04140051299999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:86.56, Y:-3.23, Z:-0.01 [[ 9.83810844e-01 1.79209998e-01 0.00000000e+00 8.65564048e+01] [-1.79209998e-01 9.83810844e-01 0.00000000e+00 -3.23052573e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23393464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.07140051299999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:86.59, Y:-3.24, Z:-0.01 [[ 9.84013527e-01 1.78093737e-01 0.00000000e+00 8.65873548e+01] [-1.78093737e-01 9.84013527e-01 0.00000000e+00 -3.23739349e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30808965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10140051299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:86.62, Y:-3.25, Z:-0.01 [[ 9.84295258e-01 1.76530013e-01 0.00000000e+00 8.66195150e+01] [-1.76530013e-01 9.84295258e-01 0.00000000e+00 -3.24573839e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28978979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.13140051299999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:86.65, Y:-3.25, Z:-0.01 [[ 9.84566439e-01 1.75011219e-01 0.00000000e+00 8.66499416e+01] [-1.75011219e-01 9.84566439e-01 0.00000000e+00 -3.25446509e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32678220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:86.68, Y:-3.26, Z:-0.01 [[ 9.84953471e-01 1.72819733e-01 0.00000000e+00 8.66810742e+01] [-1.72819733e-01 9.84953471e-01 0.00000000e+00 -3.26144651e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48992030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.19140051299999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:86.71, Y:-3.27, Z:-0.01 [[ 9.84943980e-01 1.72873815e-01 0.00000000e+00 8.67138559e+01] [-1.72873815e-01 9.84943980e-01 0.00000000e+00 -3.26780375e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48391141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22140051299999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:86.75, Y:-3.27, Z:-0.01 [[ 9.84828484e-01 1.73530567e-01 0.00000000e+00 8.67451645e+01] [-1.73530567e-01 9.84828484e-01 0.00000000e+00 -3.27439235e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31152441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.251400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:86.78, Y:-3.28, Z:-0.01 [[ 9.84644837e-01 1.74569599e-01 0.00000000e+00 8.67766979e+01] [-1.74569599e-01 9.84644837e-01 0.00000000e+00 -3.28128431e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13628615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.281400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:86.81, Y:-3.29, Z:-0.01 [[ 9.84430913e-01 1.75771945e-01 0.00000000e+00 8.68086478e+01] [-1.75771945e-01 9.84430913e-01 0.00000000e+00 -3.28791020e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06919434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.311400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:86.84, Y:-3.29, Z:-0.01 [[ 9.84226985e-01 1.76910265e-01 0.00000000e+00 8.68411444e+01] [-1.76910265e-01 9.84226985e-01 0.00000000e+00 -3.29367233e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12986640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.341400513 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:86.87, Y:-3.30, Z:-0.01 [[ 9.83997841e-01 1.78180383e-01 0.00000000e+00 8.68743646e+01] [-1.78180383e-01 9.83997841e-01 0.00000000e+00 -3.29515640e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27220513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37140051299998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:86.91, Y:-3.30, Z:-0.01 [[ 9.83867360e-01 1.78899463e-01 0.00000000e+00 8.69068211e+01] [-1.78899463e-01 9.83867360e-01 0.00000000e+00 -3.29990262e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21011725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40140051299998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:86.94, Y:-3.30, Z:-0.01 [[ 9.84018418e-01 1.78066711e-01 0.00000000e+00 8.69402123e+01] [-1.78066711e-01 9.84018418e-01 0.00000000e+00 -3.30312439e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13456236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.43140051299999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:86.97, Y:-3.31, Z:-0.01 [[ 9.84164246e-01 1.77258954e-01 0.00000000e+00 8.69723217e+01] [-1.77258954e-01 9.84164246e-01 0.00000000e+00 -3.30764379e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21318896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46140051299999 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:87.00, Y:-3.31, Z:-0.01 [[ 9.84231002e-01 1.76887914e-01 0.00000000e+00 8.70043204e+01] [-1.76887914e-01 9.84231002e-01 0.00000000e+00 -3.31207108e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25977564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.49140051299999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:87.04, Y:-3.32, Z:-0.01 [[ 9.84268826e-01 1.76677328e-01 0.00000000e+00 8.70367627e+01] [-1.76677328e-01 9.84268826e-01 0.00000000e+00 -3.31569388e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21598487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:87.07, Y:-3.32, Z:-0.01 [[ 9.84260431e-01 1.76724089e-01 0.00000000e+00 8.70694447e+01] [-1.76724089e-01 9.84260431e-01 0.00000000e+00 -3.32025506e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01333986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.55140051299999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:87.10, Y:-3.33, Z:-0.01 [[ 9.84245614e-01 1.76806592e-01 0.00000000e+00 8.71018031e+01] [-1.76806592e-01 9.84245614e-01 0.00000000e+00 -3.32514199e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.00814441e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58140051299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:87.13, Y:-3.33, Z:-0.01 [[ 9.84213019e-01 1.76987945e-01 0.00000000e+00 8.71342007e+01] [-1.76987945e-01 9.84213019e-01 0.00000000e+00 -3.32790310e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.74282288e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.61140051299999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:87.17, Y:-3.33, Z:-0.01 [[ 9.84341475e-01 1.76272121e-01 0.00000000e+00 8.71660180e+01] [-1.76272121e-01 9.84341475e-01 0.00000000e+00 -3.33120818e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.59130593e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.641400513 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:87.20, Y:-3.34, Z:-0.01 [[ 9.84465436e-01 1.75578488e-01 0.00000000e+00 8.71988985e+01] [-1.75578488e-01 9.84465436e-01 0.00000000e+00 -3.33532069e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.70491962e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.671400513 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:87.23, Y:-3.34, Z:-0.01 [[ 9.84632287e-01 1.74640374e-01 0.00000000e+00 8.72317409e+01] [-1.74640374e-01 9.84632287e-01 0.00000000e+00 -3.34009997e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.03845442e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.701400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:87.26, Y:-3.34, Z:-0.01 [[ 9.85124521e-01 1.71842012e-01 0.00000000e+00 8.72637411e+01] [-1.71842012e-01 9.85124521e-01 0.00000000e+00 -3.34303100e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.15160557e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.30, Y:-3.35, Z:-0.01 [[ 9.85346937e-01 1.70562054e-01 0.00000000e+00 8.72966837e+01] [-1.70562054e-01 9.85346937e-01 0.00000000e+00 -3.34807643e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.79885863e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76140051299998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:87.33, Y:-3.35, Z:-0.01 [[ 9.85559920e-01 1.69327035e-01 0.00000000e+00 8.73298340e+01] [-1.69327035e-01 9.85559920e-01 0.00000000e+00 -3.35168681e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12501948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.79140051299999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:87.36, Y:-3.36, Z:-0.01 [[ 9.85590254e-01 1.69150383e-01 0.00000000e+00 8.73613401e+01] [-1.69150383e-01 9.85590254e-01 0.00000000e+00 -3.35506019e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45008169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82140051299999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:87.39, Y:-3.36, Z:-0.02 [[ 9.85516255e-01 1.69580984e-01 0.00000000e+00 8.73933538e+01] [-1.69580984e-01 9.85516255e-01 0.00000000e+00 -3.35917904e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63879532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85140051299999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:87.43, Y:-3.36, Z:-0.02 [[ 9.85451779e-01 1.69955264e-01 0.00000000e+00 8.74257137e+01] [-1.69955264e-01 9.85451779e-01 0.00000000e+00 -3.36385492e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57017528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:87.46, Y:-3.37, Z:-0.01 [[ 9.85426189e-01 1.70103576e-01 0.00000000e+00 8.74582691e+01] [-1.70103576e-01 9.85426189e-01 0.00000000e+00 -3.36552513e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10613989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.91140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.49, Y:-3.37, Z:-0.01 [[ 9.85377693e-01 1.70384278e-01 0.00000000e+00 8.74907369e+01] [-1.70384278e-01 9.85377693e-01 0.00000000e+00 -3.36941441e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.86007168e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:87.52, Y:-3.37, Z:-0.01 [[ 9.85462818e-01 1.69891242e-01 0.00000000e+00 8.75225776e+01] [-1.69891242e-01 9.85462818e-01 0.00000000e+00 -3.37287436e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.56648845e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.97140051299999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:87.55, Y:-3.38, Z:-0.01 [[ 9.85645916e-01 1.68825733e-01 0.00000000e+00 8.75549702e+01] [-1.68825733e-01 9.85645916e-01 0.00000000e+00 -3.37756462e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.43139825e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.001400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:87.59, Y:-3.38, Z:-0.01 [[ 9.86431917e-01 1.64170864e-01 0.00000000e+00 8.75876486e+01] [-1.64170864e-01 9.86431917e-01 0.00000000e+00 -3.37965123e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12383951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.62, Y:-3.39, Z:-0.01 [[ 9.86759348e-01 1.62191212e-01 0.00000000e+00 8.76199267e+01] [-1.62191212e-01 9.86759348e-01 0.00000000e+00 -3.38504247e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22826369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.061400513 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:87.65, Y:-3.39, Z:-0.01 [[ 9.87056331e-01 1.60373937e-01 0.00000000e+00 8.76525735e+01] [-1.60373937e-01 9.87056331e-01 0.00000000e+00 -3.39022545e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26062227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.68, Y:-3.40, Z:-0.01 [[ 9.87167952e-01 1.59685424e-01 0.00000000e+00 8.76839179e+01] [-1.59685424e-01 9.87167952e-01 0.00000000e+00 -3.39611402e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32738210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.72, Y:-3.40, Z:-0.01 [[ 9.87192918e-01 1.59531006e-01 0.00000000e+00 8.77157932e+01] [-1.59531006e-01 9.87192918e-01 0.00000000e+00 -3.40118630e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46956433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.15140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.75, Y:-3.40, Z:-0.02 [[ 9.86988575e-01 1.60790400e-01 0.00000000e+00 8.77488295e+01] [-1.60790400e-01 9.86988575e-01 0.00000000e+00 -3.40321420e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70491002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18140051299999 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:87.78, Y:-3.41, Z:-0.02 [[ 9.86820110e-01 1.61821108e-01 0.00000000e+00 8.77784775e+01] [-1.61821108e-01 9.86820110e-01 0.00000000e+00 -3.40761566e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85544790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.21140051299999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:87.81, Y:-3.41, Z:-0.02 [[ 9.86830273e-01 1.61759115e-01 0.00000000e+00 8.78109253e+01] [-1.61759115e-01 9.86830273e-01 0.00000000e+00 -3.41368747e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64273267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24140051299999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:87.84, Y:-3.42, Z:-0.02 [[ 9.86842922e-01 1.61681933e-01 0.00000000e+00 8.78423671e+01] [-1.61681933e-01 9.86842922e-01 0.00000000e+00 -3.42024674e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57460142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.27140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:87.87, Y:-3.43, Z:-0.02 [[ 9.86939969e-01 1.61088475e-01 0.00000000e+00 8.78738191e+01] [-1.61088475e-01 9.86939969e-01 0.00000000e+00 -3.42720372e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53510640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30140051299999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:87.91, Y:-3.43, Z:-0.01 [[ 9.87121561e-01 1.59971948e-01 0.00000000e+00 8.79064560e+01] [-1.59971948e-01 9.87121561e-01 0.00000000e+00 -3.43350793e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24121906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.33140051299999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:87.94, Y:-3.44, Z:-0.01 [[ 9.87059420e-01 1.60354924e-01 0.00000000e+00 8.79373819e+01] [-1.60354924e-01 9.87059420e-01 0.00000000e+00 -3.44053579e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11426462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:87.97, Y:-3.45, Z:-0.01 [[ 9.86936259e-01 1.61111208e-01 0.00000000e+00 8.79685179e+01] [-1.61111208e-01 9.86936259e-01 0.00000000e+00 -3.44814627e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.96271752e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.391400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:88.00, Y:-3.46, Z:-0.01 [[ 9.86783210e-01 1.62045969e-01 0.00000000e+00 8.80011538e+01] [-1.62045969e-01 9.86783210e-01 0.00000000e+00 -3.45547637e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.29228704e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.03, Y:-3.46, Z:-0.01 [[ 9.86553958e-01 1.63435886e-01 0.00000000e+00 8.80336658e+01] [-1.63435886e-01 9.86553958e-01 0.00000000e+00 -3.46156434e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01547691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.451400513 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:88.07, Y:-3.46, Z:-0.01 [[ 9.85983865e-01 1.66840697e-01 0.00000000e+00 8.80665344e+01] [-1.66840697e-01 9.85983865e-01 0.00000000e+00 -3.46067805e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17216528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.10, Y:-3.46, Z:-0.01 [[ 9.85572484e-01 1.69253888e-01 0.00000000e+00 8.80991420e+01] [-1.69253888e-01 9.85572484e-01 0.00000000e+00 -3.46431836e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27683301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.51140051299998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:88.13, Y:-3.47, Z:-0.01 [[ 9.85399222e-01 1.70259721e-01 0.00000000e+00 8.81305016e+01] [-1.70259721e-01 9.85399222e-01 0.00000000e+00 -3.46849198e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20304776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.16, Y:-3.47, Z:-0.01 [[ 9.85892284e-01 1.67381013e-01 0.00000000e+00 8.81635172e+01] [-1.67381013e-01 9.85892284e-01 0.00000000e+00 -3.47180167e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.25866573e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.57140051299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:88.20, Y:-3.48, Z:-0.01 [[ 9.86503078e-01 1.63742718e-01 0.00000000e+00 8.81960742e+01] [-1.63742718e-01 9.86503078e-01 0.00000000e+00 -3.47663138e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.45100681e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.23, Y:-3.48, Z:-0.01 [[ 9.87142271e-01 1.59844100e-01 0.00000000e+00 8.82271328e+01] [-1.59844100e-01 9.87142271e-01 0.00000000e+00 -3.48220280e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.69049993e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.63140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:88.26, Y:-3.49, Z:-0.01 [[ 9.87879854e-01 1.55220472e-01 0.00000000e+00 8.82582754e+01] [-1.55220472e-01 9.87879854e-01 0.00000000e+00 -3.48863736e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15473601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66140051299999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:88.29, Y:-3.50, Z:-0.01 [[ 9.88627497e-01 1.50385078e-01 0.00000000e+00 8.82905478e+01] [-1.50385078e-01 9.88627497e-01 0.00000000e+00 -3.49684491e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30256933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.69140051299999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:88.32, Y:-3.51, Z:-0.01 [[ 9.89307639e-01 1.45843739e-01 0.00000000e+00 8.83217602e+01] [-1.45843739e-01 9.89307639e-01 0.00000000e+00 -3.50511966e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49489192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.35, Y:-3.51, Z:-0.02 [[ 9.90125640e-01 1.40182799e-01 0.00000000e+00 8.83528642e+01] [-1.40182799e-01 9.90125640e-01 0.00000000e+00 -3.51273662e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81024489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.39, Y:-3.52, Z:-0.02 [[ 9.90098724e-01 1.40372780e-01 0.00000000e+00 8.83854810e+01] [-1.40372780e-01 9.90098724e-01 0.00000000e+00 -3.52033617e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81024489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.42, Y:-3.53, Z:-0.02 [[ 9.90209397e-01 1.39589939e-01 0.00000000e+00 8.84163430e+01] [-1.39589939e-01 9.90209397e-01 0.00000000e+00 -3.52746472e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03268006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.45, Y:-3.54, Z:-0.02 [[ 9.90213089e-01 1.39563743e-01 0.00000000e+00 8.84487035e+01] [-1.39563743e-01 9.90213089e-01 0.00000000e+00 -3.53556287e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90562343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.841400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:88.48, Y:-3.54, Z:-0.02 [[ 9.90129144e-01 1.40158047e-01 0.00000000e+00 8.84798223e+01] [-1.40158047e-01 9.90129144e-01 0.00000000e+00 -3.54279315e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84164651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.87140051299998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:88.51, Y:-3.55, Z:-0.02 [[ 9.89889626e-01 1.41839797e-01 0.00000000e+00 8.85110746e+01] [-1.41839797e-01 9.89889626e-01 0.00000000e+00 -3.55010667e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68347134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.54, Y:-3.56, Z:-0.01 [[ 9.89348719e-01 1.45564804e-01 0.00000000e+00 8.85410168e+01] [-1.45564804e-01 9.89348719e-01 0.00000000e+00 -3.55819403e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47764698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.93140051299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:88.57, Y:-3.57, Z:-0.01 [[ 9.89146534e-01 1.46932413e-01 0.00000000e+00 8.85725158e+01] [-1.46932413e-01 9.89146534e-01 0.00000000e+00 -3.56703122e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16470072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:88.60, Y:-3.58, Z:-0.01 [[ 9.88927267e-01 1.48401014e-01 0.00000000e+00 8.86040358e+01] [-1.48401014e-01 9.88927267e-01 0.00000000e+00 -3.57626983e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06054729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.99140051299999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:88.64, Y:-3.59, Z:-0.01 [[ 9.88774307e-01 1.49416763e-01 0.00000000e+00 8.86352613e+01] [-1.49416763e-01 9.88774307e-01 0.00000000e+00 -3.58517487e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13085599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.67, Y:-3.60, Z:-0.02 [[ 9.88785209e-01 1.49344601e-01 0.00000000e+00 8.86661198e+01] [-1.49344601e-01 9.88785209e-01 0.00000000e+00 -3.59647668e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79108587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.05140051299999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:88.70, Y:-3.61, Z:-0.02 [[ 9.88884018e-01 1.48688933e-01 0.00000000e+00 8.86962884e+01] [-1.48688933e-01 9.88884018e-01 0.00000000e+00 -3.60573062e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97471997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:88.73, Y:-3.62, Z:-0.02 [[ 9.88909034e-01 1.48522462e-01 0.00000000e+00 8.87279680e+01] [-1.48522462e-01 9.88909034e-01 0.00000000e+00 -3.61641416e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83877242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.11140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.76, Y:-3.63, Z:-0.02 [[ 9.88856620e-01 1.48871034e-01 0.00000000e+00 8.87588149e+01] [-1.48871034e-01 9.88856620e-01 0.00000000e+00 -3.62734546e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64927089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.141400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:88.79, Y:-3.64, Z:-0.01 [[ 9.88427732e-01 1.51692514e-01 0.00000000e+00 8.87883054e+01] [-1.51692514e-01 9.88427732e-01 0.00000000e+00 -3.63780547e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19013898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.171400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:88.82, Y:-3.65, Z:-0.01 [[ 9.88034810e-01 1.54231040e-01 0.00000000e+00 8.88206671e+01] [-1.54231040e-01 9.88034810e-01 0.00000000e+00 -3.64636353e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09129810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.201400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:88.85, Y:-3.65, Z:-0.01 [[ 9.87675726e-01 1.56514087e-01 0.00000000e+00 8.88518299e+01] [-1.56514087e-01 9.87675726e-01 0.00000000e+00 -3.65472255e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25763696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:88.88, Y:-3.66, Z:-0.01 [[ 9.87392154e-01 1.58293188e-01 0.00000000e+00 8.88832767e+01] [-1.58293188e-01 9.87392154e-01 0.00000000e+00 -3.66398689e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31371780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.91, Y:-3.67, Z:-0.01 [[ 9.87267290e-01 1.59070104e-01 0.00000000e+00 8.89143354e+01] [-1.59070104e-01 9.87267290e-01 0.00000000e+00 -3.67364323e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22169853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.95, Y:-3.68, Z:-0.01 [[ 9.87441673e-01 1.57983992e-01 0.00000000e+00 8.89465361e+01] [-1.57983992e-01 9.87441673e-01 0.00000000e+00 -3.68029515e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.97377328e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:88.98, Y:-3.69, Z:-0.01 [[ 9.87762298e-01 1.55966802e-01 0.00000000e+00 8.89791829e+01] [-1.55966802e-01 9.87762298e-01 0.00000000e+00 -3.68631475e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.72991351e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.35140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.01, Y:-3.69, Z:-0.01 [[ 9.88095052e-01 1.53844621e-01 0.00000000e+00 8.90105097e+01] [-1.53844621e-01 9.88095052e-01 0.00000000e+00 -3.69403974e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.94736088e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38140051299999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:89.04, Y:-3.70, Z:-0.01 [[ 9.88495693e-01 1.51249017e-01 0.00000000e+00 8.90415662e+01] [-1.51249017e-01 9.88495693e-01 0.00000000e+00 -3.70297366e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25052573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.41140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:89.07, Y:-3.71, Z:-0.02 [[ 9.89079432e-01 1.47383433e-01 0.00000000e+00 8.90718767e+01] [-1.47383433e-01 9.89079432e-01 0.00000000e+00 -3.71461813e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66172511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.10, Y:-3.72, Z:-0.02 [[ 9.89138919e-01 1.46983667e-01 0.00000000e+00 8.91032364e+01] [-1.46983667e-01 9.89138919e-01 0.00000000e+00 -3.72184338e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58753691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.47140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.14, Y:-3.73, Z:-0.01 [[ 9.89035975e-01 1.47674779e-01 0.00000000e+00 8.91353568e+01] [-1.47674779e-01 9.89035975e-01 0.00000000e+00 -3.72798953e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32588310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.17, Y:-3.73, Z:-0.01 [[ 9.88869227e-01 1.48787273e-01 0.00000000e+00 8.91680130e+01] [-1.48787273e-01 9.88869227e-01 0.00000000e+00 -3.73419145e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16077029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.20, Y:-3.74, Z:-0.01 [[ 9.88331281e-01 1.52319660e-01 0.00000000e+00 8.91987674e+01] [-1.52319660e-01 9.88331281e-01 0.00000000e+00 -3.73939479e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30478521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.23, Y:-3.74, Z:-0.01 [[ 9.87935404e-01 1.54866518e-01 0.00000000e+00 8.92300626e+01] [-1.54866518e-01 9.87935404e-01 0.00000000e+00 -3.74478821e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43516928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.26, Y:-3.75, Z:-0.01 [[ 9.87552306e-01 1.57290949e-01 0.00000000e+00 8.92625484e+01] [-1.57290949e-01 9.87552306e-01 0.00000000e+00 -3.74927086e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39651913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.29, Y:-3.75, Z:-0.01 [[ 9.87270408e-01 1.59050754e-01 0.00000000e+00 8.92945247e+01] [-1.59050754e-01 9.87270408e-01 0.00000000e+00 -3.75371072e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33159794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.65140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.33, Y:-3.76, Z:-0.01 [[ 9.87265775e-01 1.59079508e-01 0.00000000e+00 8.93271570e+01] [-1.59079508e-01 9.87265775e-01 0.00000000e+00 -3.75702565e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25073763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.36, Y:-3.76, Z:-0.01 [[ 9.87365446e-01 1.58459697e-01 0.00000000e+00 8.93594943e+01] [-1.58459697e-01 9.87365446e-01 0.00000000e+00 -3.76456800e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40991022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:89.39, Y:-3.77, Z:-0.02 [[ 9.87452740e-01 1.57914805e-01 0.00000000e+00 8.93899743e+01] [-1.57914805e-01 9.87452740e-01 0.00000000e+00 -3.77105579e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64248073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:89.42, Y:-3.78, Z:-0.02 [[ 9.87555905e-01 1.57268352e-01 0.00000000e+00 8.94229409e+01] [-1.57268352e-01 9.87555905e-01 0.00000000e+00 -3.77759006e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57948287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.77140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.45, Y:-3.78, Z:-0.02 [[ 9.87489622e-01 1.57684010e-01 0.00000000e+00 8.94547970e+01] [-1.57684010e-01 9.87489622e-01 0.00000000e+00 -3.78428457e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53238295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.49, Y:-3.79, Z:-0.01 [[ 9.87350256e-01 1.58554317e-01 0.00000000e+00 8.94863163e+01] [-1.58554317e-01 9.87350256e-01 0.00000000e+00 -3.79194357e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45284425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.83140051299999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:89.52, Y:-3.80, Z:-0.02 [[ 9.87185441e-01 1.59577271e-01 0.00000000e+00 8.95183386e+01] [-1.59577271e-01 9.87185441e-01 0.00000000e+00 -3.80036375e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54961465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.55, Y:-3.81, Z:-0.02 [[ 9.86975379e-01 1.60871381e-01 0.00000000e+00 8.95491739e+01] [-1.60871381e-01 9.86975379e-01 0.00000000e+00 -3.80750219e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72076507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.58, Y:-3.81, Z:-0.02 [[ 9.86335772e-01 1.64747516e-01 0.00000000e+00 8.95813521e+01] [-1.64747516e-01 9.86335772e-01 0.00000000e+00 -3.81149910e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76164834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.61, Y:-3.82, Z:-0.02 [[ 9.85869410e-01 1.67515693e-01 0.00000000e+00 8.96140101e+01] [-1.67515693e-01 9.85869410e-01 0.00000000e+00 -3.81824736e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61625626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.65, Y:-3.82, Z:-0.01 [[ 9.85408515e-01 1.70205932e-01 0.00000000e+00 8.96462424e+01] [-1.70205932e-01 9.85408515e-01 0.00000000e+00 -3.82463320e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44422584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98140051299998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:89.68, Y:-3.83, Z:-0.01 [[ 9.85075276e-01 1.72124083e-01 0.00000000e+00 8.96781268e+01] [-1.72124083e-01 9.85075276e-01 0.00000000e+00 -3.82946020e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31769144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.71, Y:-3.83, Z:-0.01 [[ 9.84744818e-01 1.74004723e-01 0.00000000e+00 8.97109705e+01] [-1.74004723e-01 9.84744818e-01 0.00000000e+00 -3.83424262e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20036451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.74, Y:-3.83, Z:-0.01 [[ 9.84460465e-01 1.75606356e-01 0.00000000e+00 8.97442870e+01] [-1.75606356e-01 9.84460465e-01 0.00000000e+00 -3.83430849e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25074894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.07140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.78, Y:-3.84, Z:-0.01 [[ 9.84485346e-01 1.75466816e-01 0.00000000e+00 8.97766124e+01] [-1.75466816e-01 9.84485346e-01 0.00000000e+00 -3.83871970e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28300183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10140051299999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:89.81, Y:-3.84, Z:-0.01 [[ 9.84716616e-01 1.74164248e-01 0.00000000e+00 8.98096006e+01] [-1.74164248e-01 9.84716616e-01 0.00000000e+00 -3.84318149e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31573608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.13140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.84, Y:-3.85, Z:-0.01 [[ 9.84990497e-01 1.72608576e-01 0.00000000e+00 8.98418291e+01] [-1.72608576e-01 9.84990497e-01 0.00000000e+00 -3.84845358e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32829395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.87, Y:-3.85, Z:-0.01 [[ 9.85421954e-01 1.70128107e-01 0.00000000e+00 8.98740719e+01] [-1.70128107e-01 9.85421954e-01 0.00000000e+00 -3.85275193e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41106001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.19140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.91, Y:-3.86, Z:-0.02 [[ 9.85891536e-01 1.67385423e-01 0.00000000e+00 8.99066554e+01] [-1.67385423e-01 9.85891536e-01 0.00000000e+00 -3.85697797e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50691650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.94, Y:-3.86, Z:-0.02 [[ 9.86685984e-01 1.62636923e-01 0.00000000e+00 8.99388488e+01] [-1.62636923e-01 9.86685984e-01 0.00000000e+00 -3.85807007e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93450809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.97, Y:-3.86, Z:-0.02 [[ 9.87011557e-01 1.60649266e-01 0.00000000e+00 8.99707671e+01] [-1.60649266e-01 9.87011557e-01 0.00000000e+00 -3.86397265e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11583358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.00, Y:-3.87, Z:-0.02 [[ 9.87340790e-01 1.58613253e-01 0.00000000e+00 9.00035429e+01] [-1.58613253e-01 9.87340790e-01 0.00000000e+00 -3.87051003e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05056125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.311400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:90.04, Y:-3.87, Z:-0.02 [[ 9.87993044e-01 1.54498365e-01 0.00000000e+00 9.00360432e+01] [-1.54498365e-01 9.87993044e-01 0.00000000e+00 -3.87238448e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56189531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.07, Y:-3.88, Z:-0.01 [[ 9.88164561e-01 1.53397522e-01 0.00000000e+00 9.00675776e+01] [-1.53397522e-01 9.88164561e-01 0.00000000e+00 -3.87605991e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43725877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.37140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.10, Y:-3.88, Z:-0.02 [[ 9.88336977e-01 1.52282697e-01 0.00000000e+00 9.00984360e+01] [-1.52282697e-01 9.88336977e-01 0.00000000e+00 -3.87988212e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52481031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.13, Y:-3.89, Z:-0.02 [[ 9.88710295e-01 1.49839756e-01 0.00000000e+00 9.01296423e+01] [-1.49839756e-01 9.88710295e-01 0.00000000e+00 -3.88517205e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92690289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.43140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.16, Y:-3.89, Z:-0.02 [[ 9.88994512e-01 1.47952207e-01 0.00000000e+00 9.01610526e+01] [-1.47952207e-01 9.88994512e-01 0.00000000e+00 -3.89337492e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88262666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.19, Y:-3.90, Z:-0.02 [[ 9.89289161e-01 1.45969026e-01 0.00000000e+00 9.01920151e+01] [-1.45969026e-01 9.89289161e-01 0.00000000e+00 -3.90095336e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76625954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.49140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-3.91, Z:-0.02 [[ 9.89513936e-01 1.44437426e-01 0.00000000e+00 9.02234384e+01] [-1.44437426e-01 9.89513936e-01 0.00000000e+00 -3.90736387e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63852466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-3.91, Z:-0.01 [[ 9.89531409e-01 1.44317674e-01 0.00000000e+00 9.02550639e+01] [-1.44317674e-01 9.89531409e-01 0.00000000e+00 -3.91329672e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46877054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.55140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.29, Y:-3.92, Z:-0.01 [[ 9.89048194e-01 1.47592920e-01 0.00000000e+00 9.02863633e+01] [-1.47592920e-01 9.89048194e-01 0.00000000e+00 -3.91711768e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16570298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.32, Y:-3.92, Z:-0.01 [[ 9.88674890e-01 1.50073188e-01 0.00000000e+00 9.03172673e+01] [-1.50073188e-01 9.88674890e-01 0.00000000e+00 -3.92351200e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24463149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.61140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.35, Y:-3.93, Z:-0.01 [[ 9.88359220e-01 1.52138264e-01 0.00000000e+00 9.03478837e+01] [-1.52138264e-01 9.88359220e-01 0.00000000e+00 -3.92976518e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26746337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.38, Y:-3.94, Z:-0.01 [[ 9.88333972e-01 1.52302199e-01 0.00000000e+00 9.03796309e+01] [-1.52302199e-01 9.88333972e-01 0.00000000e+00 -3.93746772e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26746337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.41, Y:-3.94, Z:-0.02 [[ 9.87977731e-01 1.54596257e-01 0.00000000e+00 9.04081547e+01] [-1.54596257e-01 9.87977731e-01 0.00000000e+00 -3.94245311e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59754870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.701400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:90.44, Y:-3.95, Z:-0.02 [[ 9.87825566e-01 1.55565583e-01 0.00000000e+00 9.04386825e+01] [-1.55565583e-01 9.87825566e-01 0.00000000e+00 -3.94683961e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61807580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.47, Y:-3.95, Z:-0.02 [[ 9.87820568e-01 1.55597320e-01 0.00000000e+00 9.04697964e+01] [-1.55597320e-01 9.87820568e-01 0.00000000e+00 -3.94897290e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50313587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.50, Y:-3.95, Z:-0.01 [[ 9.87996749e-01 1.54474672e-01 0.00000000e+00 9.04997474e+01] [-1.54474672e-01 9.87996749e-01 0.00000000e+00 -3.95471653e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48325539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.53, Y:-3.96, Z:-0.02 [[ 9.88299693e-01 1.52524476e-01 0.00000000e+00 9.05286632e+01] [-1.52524476e-01 9.88299693e-01 0.00000000e+00 -3.96098368e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56589020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.56, Y:-3.97, Z:-0.02 [[ 9.89010012e-01 1.47848556e-01 0.00000000e+00 9.05585449e+01] [-1.47848556e-01 9.89010012e-01 0.00000000e+00 -3.96690312e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71568710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.85140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.59, Y:-3.97, Z:-0.02 [[ 9.89299954e-01 1.45895855e-01 0.00000000e+00 9.05885248e+01] [-1.45895855e-01 9.89299954e-01 0.00000000e+00 -3.97285823e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58173363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.62, Y:-3.98, Z:-0.02 [[ 9.89457511e-01 1.44823459e-01 0.00000000e+00 9.06183875e+01] [-1.44823459e-01 9.89457511e-01 0.00000000e+00 -3.97976381e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60576408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.91140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.65, Y:-3.99, Z:-0.02 [[ 9.89531284e-01 1.44318529e-01 0.00000000e+00 9.06482635e+01] [-1.44318529e-01 9.89531284e-01 0.00000000e+00 -3.98696497e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51549368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94140051299999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:90.68, Y:-3.99, Z:-0.02 [[ 9.89401207e-01 1.45207615e-01 0.00000000e+00 9.06777960e+01] [-1.45207615e-01 9.89401207e-01 0.00000000e+00 -3.99410984e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65838666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.97140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.71, Y:-4.00, Z:-0.02 [[ 9.89252168e-01 1.46219521e-01 0.00000000e+00 9.07069451e+01] [-1.46219521e-01 9.89252168e-01 0.00000000e+00 -4.00186253e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77953603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.74, Y:-4.01, Z:-0.02 [[ 9.89161377e-01 1.46832457e-01 0.00000000e+00 9.07370031e+01] [-1.46832457e-01 9.89161377e-01 0.00000000e+00 -4.00925858e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71748122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.77, Y:-4.02, Z:-0.02 [[ 9.89115971e-01 1.47138017e-01 0.00000000e+00 9.07660536e+01] [-1.47138017e-01 9.89115971e-01 0.00000000e+00 -4.01686479e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74099468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.80, Y:-4.02, Z:-0.02 [[ 9.89156531e-01 1.46865101e-01 0.00000000e+00 9.07967671e+01] [-1.46865101e-01 9.89156531e-01 0.00000000e+00 -4.02481252e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65474523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.83, Y:-4.03, Z:-0.02 [[ 9.89247360e-01 1.46252046e-01 0.00000000e+00 9.08269718e+01] [-1.46252046e-01 9.89247360e-01 0.00000000e+00 -4.03223582e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65020654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.86, Y:-4.04, Z:-0.02 [[ 9.89372825e-01 1.45400868e-01 0.00000000e+00 9.08574173e+01] [-1.45400868e-01 9.89372825e-01 0.00000000e+00 -4.04009438e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.82644589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.15140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.89, Y:-4.05, Z:-0.02 [[ 9.89486770e-01 1.44623416e-01 0.00000000e+00 9.08853388e+01] [-1.44623416e-01 9.89486770e-01 0.00000000e+00 -4.04781403e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92937353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.92, Y:-4.06, Z:-0.02 [[ 9.89695550e-01 1.43187706e-01 0.00000000e+00 9.09153861e+01] [-1.43187706e-01 9.89695550e-01 0.00000000e+00 -4.05627958e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68758601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.21140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.95, Y:-4.07, Z:-0.02 [[ 9.90298663e-01 1.38955235e-01 0.00000000e+00 9.09457156e+01] [-1.38955235e-01 9.90298663e-01 0.00000000e+00 -4.06809613e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76408230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.98, Y:-4.08, Z:-0.02 [[ 9.90610542e-01 1.36714134e-01 0.00000000e+00 9.09755962e+01] [-1.36714134e-01 9.90610542e-01 0.00000000e+00 -4.07848592e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00139693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.27140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.00, Y:-4.09, Z:-0.02 [[ 9.90897606e-01 1.34617733e-01 0.00000000e+00 9.10048049e+01] [-1.34617733e-01 9.90897606e-01 0.00000000e+00 -4.08904158e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95383028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.04, Y:-4.10, Z:-0.02 [[ 9.91026664e-01 1.33664321e-01 0.00000000e+00 9.10355385e+01] [-1.33664321e-01 9.91026664e-01 0.00000000e+00 -4.09937467e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66136744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.33140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.07, Y:-4.11, Z:-0.01 [[ 9.90726069e-01 1.35874415e-01 0.00000000e+00 9.10663407e+01] [-1.35874415e-01 9.90726069e-01 0.00000000e+00 -4.11011258e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34464586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:91.10, Y:-4.12, Z:-0.01 [[ 9.90442866e-01 1.37923637e-01 0.00000000e+00 9.10979377e+01] [-1.37923637e-01 9.90442866e-01 0.00000000e+00 -4.11845895e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08321891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.13, Y:-4.13, Z:-0.01 [[ 9.89991158e-01 1.41129399e-01 0.00000000e+00 9.11288934e+01] [-1.41129399e-01 9.89991158e-01 0.00000000e+00 -4.12745314e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08821794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.16, Y:-4.14, Z:-0.01 [[ 9.89234809e-01 1.46336912e-01 0.00000000e+00 9.11579579e+01] [-1.46336912e-01 9.89234809e-01 0.00000000e+00 -4.13603027e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35240163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.19, Y:-4.14, Z:-0.01 [[ 9.88872001e-01 1.48768831e-01 0.00000000e+00 9.11888969e+01] [-1.48768831e-01 9.88872001e-01 0.00000000e+00 -4.14400734e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40734230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.22, Y:-4.15, Z:-0.02 [[ 9.88633826e-01 1.50343466e-01 0.00000000e+00 9.12190672e+01] [-1.50343466e-01 9.88633826e-01 0.00000000e+00 -4.15231886e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69824665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.25, Y:-4.16, Z:-0.02 [[ 9.88543347e-01 1.50937245e-01 0.00000000e+00 9.12498097e+01] [-1.50937245e-01 9.88543347e-01 0.00000000e+00 -4.16211095e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85060713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.28, Y:-4.17, Z:-0.01 [[ 9.88748562e-01 1.49587037e-01 0.00000000e+00 9.12812420e+01] [-1.49587037e-01 9.88748562e-01 0.00000000e+00 -4.17461899e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36629851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.57140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.31, Y:-4.18, Z:-0.01 [[ 9.88875161e-01 1.48747828e-01 0.00000000e+00 9.13118399e+01] [-1.48747828e-01 9.88875161e-01 0.00000000e+00 -4.18308075e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29457902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.34, Y:-4.19, Z:-0.01 [[ 9.88960828e-01 1.48177193e-01 0.00000000e+00 9.13433557e+01] [-1.48177193e-01 9.88960828e-01 0.00000000e+00 -4.19106139e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29187835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.63140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.38, Y:-4.20, Z:-0.01 [[ 9.88949411e-01 1.48253373e-01 0.00000000e+00 9.13754401e+01] [-1.48253373e-01 9.88949411e-01 0.00000000e+00 -4.19943152e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24483718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.41, Y:-4.21, Z:-0.01 [[ 9.88911066e-01 1.48508933e-01 0.00000000e+00 9.14057796e+01] [-1.48508933e-01 9.88911066e-01 0.00000000e+00 -4.20800504e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39596300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.69140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.44, Y:-4.22, Z:-0.01 [[ 9.88845517e-01 1.48944770e-01 0.00000000e+00 9.14364841e+01] [-1.48944770e-01 9.88845517e-01 0.00000000e+00 -4.21621385e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42777870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.47, Y:-4.22, Z:-0.01 [[ 9.88608923e-01 1.50507135e-01 0.00000000e+00 9.14674760e+01] [-1.50507135e-01 9.88608923e-01 0.00000000e+00 -4.22436892e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.86206870e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.50, Y:-4.23, Z:-0.01 [[ 9.88503205e-01 1.51199911e-01 0.00000000e+00 9.14984974e+01] [-1.51199911e-01 9.88503205e-01 0.00000000e+00 -4.23184867e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.06115708e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.53, Y:-4.24, Z:-0.01 [[ 9.88442526e-01 1.51596087e-01 0.00000000e+00 9.15298867e+01] [-1.51596087e-01 9.88442526e-01 0.00000000e+00 -4.24020674e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.97557043e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.56, Y:-4.25, Z:-0.01 [[ 9.88398129e-01 1.51885281e-01 0.00000000e+00 9.15602606e+01] [-1.51885281e-01 9.88398129e-01 0.00000000e+00 -4.24920824e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24955954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.841400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:91.59, Y:-4.26, Z:-0.01 [[ 9.88482977e-01 1.51332099e-01 0.00000000e+00 9.15914644e+01] [-1.51332099e-01 9.88482977e-01 0.00000000e+00 -4.25823423e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34350563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87140051299998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:91.62, Y:-4.27, Z:-0.01 [[ 9.88539434e-01 1.50962871e-01 0.00000000e+00 9.16235647e+01] [-1.50962871e-01 9.88539434e-01 0.00000000e+00 -4.26664699e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22795961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.65, Y:-4.28, Z:-0.01 [[ 9.88590170e-01 1.50630259e-01 0.00000000e+00 9.16544484e+01] [-1.50630259e-01 9.88590170e-01 0.00000000e+00 -4.27618316e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27983360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.93140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.68, Y:-4.29, Z:-0.01 [[ 9.88740903e-01 1.49637649e-01 0.00000000e+00 9.16843755e+01] [-1.49637649e-01 9.88740903e-01 0.00000000e+00 -4.28772274e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36209190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96140051299999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:91.72, Y:-4.30, Z:-0.01 [[ 9.88739272e-01 1.49648429e-01 0.00000000e+00 9.17165390e+01] [-1.49648429e-01 9.88739272e-01 0.00000000e+00 -4.29533933e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22287483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.99140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.75, Y:-4.30, Z:-0.01 [[ 9.88499914e-01 1.51221425e-01 0.00000000e+00 9.17471167e+01] [-1.51221425e-01 9.88499914e-01 0.00000000e+00 -4.30296642e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40099359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.78, Y:-4.31, Z:-0.01 [[ 9.88205327e-01 1.53134686e-01 0.00000000e+00 9.17787608e+01] [-1.53134686e-01 9.88205327e-01 0.00000000e+00 -4.31045685e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23570923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.05140051299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:91.81, Y:-4.32, Z:-0.01 [[ 9.87950647e-01 1.54769247e-01 0.00000000e+00 9.18111066e+01] [-1.54769247e-01 9.87950647e-01 0.00000000e+00 -4.31913190e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03941786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08140051299999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:91.84, Y:-4.33, Z:-0.02 [[ 9.87480962e-01 1.57738229e-01 0.00000000e+00 9.18396856e+01] [-1.57738229e-01 9.87480962e-01 0.00000000e+00 -4.32812600e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56362999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.11140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.87, Y:-4.34, Z:-0.02 [[ 9.87410495e-01 1.58178741e-01 0.00000000e+00 9.18713187e+01] [-1.58178741e-01 9.87410495e-01 0.00000000e+00 -4.33532117e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51593027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.141400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:91.90, Y:-4.34, Z:-0.01 [[ 9.87328817e-01 1.58687765e-01 0.00000000e+00 9.19027240e+01] [-1.58687765e-01 9.87328817e-01 0.00000000e+00 -4.34299588e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34907263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.171400513 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:91.93, Y:-4.35, Z:-0.01 [[ 9.87319236e-01 1.58747364e-01 0.00000000e+00 9.19343622e+01] [-1.58747364e-01 9.87319236e-01 0.00000000e+00 -4.35074780e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.92706733e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.201400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:91.97, Y:-4.36, Z:-0.01 [[ 9.87437319e-01 1.58011204e-01 0.00000000e+00 9.19653412e+01] [-1.58011204e-01 9.87437319e-01 0.00000000e+00 -4.36069610e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13263274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23140051299998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:92.00, Y:-4.37, Z:-0.01 [[ 9.87571917e-01 1.57167770e-01 0.00000000e+00 9.19968302e+01] [-1.57167770e-01 9.87571917e-01 0.00000000e+00 -4.36901705e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37495319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:92.03, Y:-4.38, Z:-0.02 [[ 9.87683092e-01 1.56467601e-01 0.00000000e+00 9.20285998e+01] [-1.56467601e-01 9.87683092e-01 0.00000000e+00 -4.37723573e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52892912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.29140051299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:92.06, Y:-4.39, Z:-0.02 [[ 9.87666151e-01 1.56574500e-01 0.00000000e+00 9.20587532e+01] [-1.56574500e-01 9.87666151e-01 0.00000000e+00 -4.38645360e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95932340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32140051299999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:92.09, Y:-4.40, Z:-0.02 [[ 9.87672534e-01 1.56534232e-01 0.00000000e+00 9.20897338e+01] [-1.56534232e-01 9.87672534e-01 0.00000000e+00 -4.39606946e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08013554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.35140051299999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:92.12, Y:-4.41, Z:-0.02 [[ 9.87615271e-01 1.56895114e-01 0.00000000e+00 9.21210997e+01] [-1.56895114e-01 9.87615271e-01 0.00000000e+00 -4.40597390e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51667841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:92.15, Y:-4.41, Z:-0.01 [[ 9.87333618e-01 1.58657893e-01 0.00000000e+00 9.21521203e+01] [-1.58657893e-01 9.87333618e-01 0.00000000e+00 -4.41433644e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30622385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.41140051299999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:92.18, Y:-4.42, Z:-0.01 [[ 9.86862816e-01 1.61560461e-01 0.00000000e+00 9.21831539e+01] [-1.61560461e-01 9.86862816e-01 0.00000000e+00 -4.42262187e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39207150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.21, Y:-4.43, Z:-0.01 [[ 9.86327944e-01 1.64794377e-01 0.00000000e+00 9.22144582e+01] [-1.64794377e-01 9.86327944e-01 0.00000000e+00 -4.43037463e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33338958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.47140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:92.25, Y:-4.43, Z:-0.02 [[ 9.85252123e-01 1.71108893e-01 0.00000000e+00 9.22459951e+01] [-1.71108893e-01 9.85252123e-01 0.00000000e+00 -4.43436782e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63589380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.28, Y:-4.44, Z:-0.01 [[ 9.84690674e-01 1.74310863e-01 0.00000000e+00 9.22778476e+01] [-1.74310863e-01 9.84690674e-01 0.00000000e+00 -4.44007133e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37475224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.531400513 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:92.31, Y:-4.45, Z:-0.02 [[ 9.84225054e-01 1.76921009e-01 0.00000000e+00 9.23076379e+01] [-1.76921009e-01 9.84225054e-01 0.00000000e+00 -4.44565091e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71290523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.561400513 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:92.34, Y:-4.45, Z:-0.02 [[ 9.84188101e-01 1.77126456e-01 0.00000000e+00 9.23391355e+01] [-1.77126456e-01 9.84188101e-01 0.00000000e+00 -4.45363255e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71290523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.591400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:92.37, Y:-4.46, Z:-0.02 [[ 9.83980189e-01 1.78277839e-01 0.00000000e+00 9.23701911e+01] [-1.78277839e-01 9.83980189e-01 0.00000000e+00 -4.45967680e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92729224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62140051299998 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:92.40, Y:-4.46, Z:-0.02 [[ 9.84037590e-01 1.77960730e-01 0.00000000e+00 9.24019307e+01] [-1.77960730e-01 9.84037590e-01 0.00000000e+00 -4.46341708e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78126336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.65140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:92.43, Y:-4.47, Z:-0.02 [[ 9.84209037e-01 1.77010090e-01 0.00000000e+00 9.24314719e+01] [-1.77010090e-01 9.84209037e-01 0.00000000e+00 -4.46921347e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77456318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68140051299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:92.46, Y:-4.48, Z:-0.02 [[ 9.84582208e-01 1.74922485e-01 0.00000000e+00 9.24636505e+01] [-1.74922485e-01 9.84582208e-01 0.00000000e+00 -4.47739764e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51419088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:92.49, Y:-4.49, Z:-0.02 [[ 9.85008097e-01 1.72508113e-01 0.00000000e+00 9.24949444e+01] [-1.72508113e-01 9.85008097e-01 0.00000000e+00 -4.48635731e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57748428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:92.52, Y:-4.49, Z:-0.01 [[ 9.85515399e-01 1.69585964e-01 0.00000000e+00 9.25248396e+01] [-1.69585964e-01 9.85515399e-01 0.00000000e+00 -4.49390787e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45161791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.77140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:92.56, Y:-4.50, Z:-0.02 [[ 9.85860591e-01 1.67567584e-01 0.00000000e+00 9.25557392e+01] [-1.67567584e-01 9.85860591e-01 0.00000000e+00 -4.50110150e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71485404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80140051299999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:92.59, Y:-4.51, Z:-0.02 [[ 9.86206438e-01 1.65519974e-01 0.00000000e+00 9.25861206e+01] [-1.65519974e-01 9.86206438e-01 0.00000000e+00 -4.50711589e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75338141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.83140051299999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:92.62, Y:-4.51, Z:-0.02 [[ 9.86153383e-01 1.65835777e-01 0.00000000e+00 9.26185620e+01] [-1.65835777e-01 9.86153383e-01 0.00000000e+00 -4.51484389e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52566879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:92.65, Y:-4.52, Z:-0.01 [[ 9.86098537e-01 1.66161593e-01 0.00000000e+00 9.26498065e+01] [-1.66161593e-01 9.86098537e-01 0.00000000e+00 -4.52195305e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26004215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.891400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:92.68, Y:-4.53, Z:-0.02 [[ 9.85810737e-01 1.67860629e-01 0.00000000e+00 9.26793429e+01] [-1.67860629e-01 9.85810737e-01 0.00000000e+00 -4.52971589e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51315422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.71, Y:-4.54, Z:-0.02 [[ 9.85701778e-01 1.68499275e-01 0.00000000e+00 9.27097684e+01] [-1.68499275e-01 9.85701778e-01 0.00000000e+00 -4.53732575e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50135350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.951400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:92.74, Y:-4.54, Z:-0.01 [[ 9.85728078e-01 1.68345350e-01 0.00000000e+00 9.27409798e+01] [-1.68345350e-01 9.85728078e-01 0.00000000e+00 -4.54446501e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23942636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:92.77, Y:-4.55, Z:-0.01 [[ 9.86010812e-01 1.66681369e-01 0.00000000e+00 9.27734913e+01] [-1.66681369e-01 9.86010812e-01 0.00000000e+00 -4.55169522e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15166375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.81, Y:-4.56, Z:-0.01 [[ 9.86077033e-01 1.66289162e-01 0.00000000e+00 9.28052859e+01] [-1.66289162e-01 9.86077033e-01 0.00000000e+00 -4.55900790e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24962022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:92.84, Y:-4.57, Z:-0.01 [[ 9.86063988e-01 1.66366496e-01 0.00000000e+00 9.28364002e+01] [-1.66366496e-01 9.86063988e-01 0.00000000e+00 -4.56742938e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35365795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.07140051299999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:92.87, Y:-4.57, Z:-0.01 [[ 9.86272044e-01 1.65128600e-01 0.00000000e+00 9.28673437e+01] [-1.65128600e-01 9.86272044e-01 0.00000000e+00 -4.57273315e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17297887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:92.90, Y:-4.58, Z:-0.01 [[ 9.86296581e-01 1.64981980e-01 0.00000000e+00 9.28986877e+01] [-1.64981980e-01 9.86296581e-01 0.00000000e+00 -4.57865512e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27921514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.13140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.93, Y:-4.58, Z:-0.01 [[ 9.86210257e-01 1.65497218e-01 0.00000000e+00 9.29297206e+01] [-1.65497218e-01 9.86210257e-01 0.00000000e+00 -4.58469289e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49043929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.96, Y:-4.59, Z:-0.01 [[ 9.86065655e-01 1.66356614e-01 0.00000000e+00 9.29604409e+01] [-1.66356614e-01 9.86065655e-01 0.00000000e+00 -4.59185273e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48582178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.19140051299999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:92.99, Y:-4.60, Z:-0.02 [[ 9.85915902e-01 1.67241845e-01 0.00000000e+00 9.29902891e+01] [-1.67241845e-01 9.85915902e-01 0.00000000e+00 -4.59889266e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54640764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.02, Y:-4.61, Z:-0.01 [[ 9.85766187e-01 1.68122054e-01 0.00000000e+00 9.30207682e+01] [-1.68122054e-01 9.85766187e-01 0.00000000e+00 -4.60623365e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06900413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.251400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.05, Y:-4.61, Z:-0.01 [[ 9.85693311e-01 1.68548798e-01 0.00000000e+00 9.30514873e+01] [-1.68548798e-01 9.85693311e-01 0.00000000e+00 -4.61048295e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.72554951e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.08, Y:-4.62, Z:-0.01 [[ 9.85761852e-01 1.68147466e-01 0.00000000e+00 9.30809421e+01] [-1.68147466e-01 9.85761852e-01 0.00000000e+00 -4.61641105e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28476399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.311400513 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:93.11, Y:-4.62, Z:-0.01 [[ 9.85704656e-01 1.68482436e-01 0.00000000e+00 9.31107287e+01] [-1.68482436e-01 9.85704656e-01 0.00000000e+00 -4.62414474e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48585110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.341400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:93.14, Y:-4.63, Z:-0.02 [[ 9.85836702e-01 1.67708073e-01 0.00000000e+00 9.31411147e+01] [-1.67708073e-01 9.85836702e-01 0.00000000e+00 -4.63173593e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60091539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:93.17, Y:-4.64, Z:-0.02 [[ 9.85836789e-01 1.67707562e-01 0.00000000e+00 9.31707290e+01] [-1.67707562e-01 9.85836789e-01 0.00000000e+00 -4.63922047e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68565002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40140051299998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:93.20, Y:-4.65, Z:-0.01 [[ 9.85972112e-01 1.66910136e-01 0.00000000e+00 9.32014896e+01] [-1.66910136e-01 9.85972112e-01 0.00000000e+00 -4.64611391e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43117518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.43140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.23, Y:-4.65, Z:-0.02 [[ 9.85555360e-01 1.69353571e-01 0.00000000e+00 9.32294044e+01] [-1.69353571e-01 9.85555360e-01 0.00000000e+00 -4.65063790e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76862479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46140051299999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:93.26, Y:-4.66, Z:-0.02 [[ 9.85248107e-01 1.71132019e-01 0.00000000e+00 9.32595830e+01] [-1.71132019e-01 9.85248107e-01 0.00000000e+00 -4.65599904e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64361155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.49140051299999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:93.29, Y:-4.66, Z:-0.02 [[ 9.84861491e-01 1.73343136e-01 0.00000000e+00 9.32883359e+01] [-1.73343136e-01 9.84861491e-01 0.00000000e+00 -4.66094123e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55989654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.32, Y:-4.67, Z:-0.01 [[ 9.84695697e-01 1.74282485e-01 0.00000000e+00 9.33201864e+01] [-1.74282485e-01 9.84695697e-01 0.00000000e+00 -4.66580215e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48164107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.55140051299999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:93.35, Y:-4.67, Z:-0.02 [[ 9.84397047e-01 1.75961510e-01 0.00000000e+00 9.33485243e+01] [-1.75961510e-01 9.84397047e-01 0.00000000e+00 -4.67011430e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66886292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58140051299999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:93.38, Y:-4.67, Z:-0.02 [[ 9.84196281e-01 1.77081001e-01 0.00000000e+00 9.33770772e+01] [-1.77081001e-01 9.84196281e-01 0.00000000e+00 -4.67372319e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71480966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.61140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:93.41, Y:-4.67, Z:-0.02 [[ 9.83842604e-01 1.79035559e-01 0.00000000e+00 9.34057548e+01] [-1.79035559e-01 9.83842604e-01 0.00000000e+00 -4.67493717e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77760362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.641400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:93.43, Y:-4.68, Z:-0.02 [[ 9.83548129e-01 1.80646277e-01 0.00000000e+00 9.34332375e+01] [-1.80646277e-01 9.83548129e-01 0.00000000e+00 -4.68161016e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78400064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.671400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:93.46, Y:-4.69, Z:-0.02 [[ 9.83487905e-01 1.80973867e-01 0.00000000e+00 9.34598219e+01] [-1.80973867e-01 9.83487905e-01 0.00000000e+00 -4.68540550e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52497149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.701400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:93.49, Y:-4.69, Z:-0.01 [[ 9.83658997e-01 1.80041600e-01 0.00000000e+00 9.34906369e+01] [-1.80041600e-01 9.83658997e-01 0.00000000e+00 -4.68979450e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45862316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.73140051299998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:93.52, Y:-4.69, Z:-0.01 [[ 9.83484222e-01 1.80993880e-01 0.00000000e+00 9.35183623e+01] [-1.80993880e-01 9.83484222e-01 0.00000000e+00 -4.69264553e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42404829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:93.54, Y:-4.69, Z:-0.02 [[ 9.82598385e-01 1.85742871e-01 0.00000000e+00 9.35446499e+01] [-1.85742871e-01 9.82598385e-01 0.00000000e+00 -4.69285548e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73844787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.79140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:93.57, Y:-4.70, Z:-0.02 [[ 9.82041836e-01 1.88663278e-01 0.00000000e+00 9.35731696e+01] [-1.88663278e-01 9.82041836e-01 0.00000000e+00 -4.69673733e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52866571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82140051299999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:93.60, Y:-4.70, Z:-0.02 [[ 9.81350565e-01 1.92226606e-01 0.00000000e+00 9.35997427e+01] [-1.92226606e-01 9.81350565e-01 0.00000000e+00 -4.69976090e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51793317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.85140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.63, Y:-4.70, Z:-0.01 [[ 9.80599886e-01 1.96020057e-01 0.00000000e+00 9.36300551e+01] [-1.96020057e-01 9.80599886e-01 0.00000000e+00 -4.70334846e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.63018459e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:93.66, Y:-4.70, Z:-0.00 [[ 9.78861844e-01 2.04522589e-01 0.00000000e+00 9.36608707e+01] [-2.04522589e-01 9.78861844e-01 0.00000000e+00 -4.70316040e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.37264689e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.91140051299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:93.69, Y:-4.70, Z:-0.00 [[ 9.78027147e-01 2.08477577e-01 0.00000000e+00 9.36861965e+01] [-2.08477577e-01 9.78027147e-01 0.00000000e+00 -4.70290369e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28824108e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.72, Y:-4.70, Z:-0.00 [[ 9.77415518e-01 2.11326537e-01 0.00000000e+00 9.37166689e+01] [-2.11326537e-01 9.77415518e-01 0.00000000e+00 -4.70421748e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16505114e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.97140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.75, Y:-4.71, Z:-0.00 [[ 9.76819387e-01 2.14065143e-01 0.00000000e+00 9.37459703e+01] [-2.14065143e-01 9.76819387e-01 0.00000000e+00 -4.70625875e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.80794387e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.77, Y:-4.71, Z:-0.01 [[ 9.76528788e-01 2.15386922e-01 0.00000000e+00 9.37732325e+01] [-2.15386922e-01 9.76528788e-01 0.00000000e+00 -4.70795379e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.04702854e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.031400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.80, Y:-4.71, Z:-0.01 [[ 9.76403239e-01 2.15955353e-01 0.00000000e+00 9.38022952e+01] [-2.15955353e-01 9.76403239e-01 0.00000000e+00 -4.71208643e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.35660958e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.061400513 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:93.83, Y:-4.72, Z:-0.01 [[ 9.76304776e-01 2.16400058e-01 0.00000000e+00 9.38305855e+01] [-2.16400058e-01 9.76304776e-01 0.00000000e+00 -4.71508047e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.57635567e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.86, Y:-4.72, Z:-0.01 [[ 9.76282933e-01 2.16498580e-01 0.00000000e+00 9.38575442e+01] [-2.16498580e-01 9.76282933e-01 0.00000000e+00 -4.71894725e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.15842827e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12140051299998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:93.89, Y:-4.72, Z:-0.00 [[ 9.76462722e-01 2.15686237e-01 0.00000000e+00 9.38864346e+01] [-2.15686237e-01 9.76462722e-01 0.00000000e+00 -4.72293945e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.46617044e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.15140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.91, Y:-4.73, Z:-0.00 [[ 9.76340682e-01 2.16237998e-01 0.00000000e+00 9.39145373e+01] [-2.16237998e-01 9.76340682e-01 0.00000000e+00 -4.72838340e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26719800e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.94, Y:-4.73, Z:-0.00 [[ 9.76357786e-01 2.16160761e-01 0.00000000e+00 9.39406648e+01] [-2.16160761e-01 9.76357786e-01 0.00000000e+00 -4.73267301e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02065033e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.97, Y:-4.74, Z:-0.00 [[ 9.76285247e-01 2.16488143e-01 0.00000000e+00 9.39690178e+01] [-2.16488143e-01 9.76285247e-01 0.00000000e+00 -4.73913681e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90055306e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.99, Y:-4.74, Z:-0.00 [[ 9.75809246e-01 2.18623686e-01 0.00000000e+00 9.39946397e+01] [-2.18623686e-01 9.75809246e-01 0.00000000e+00 -4.74417254e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.09093470e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.27140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.02, Y:-4.75, Z:-0.01 [[ 9.75736777e-01 2.18946894e-01 0.00000000e+00 9.40239998e+01] [-2.18946894e-01 9.75736777e-01 0.00000000e+00 -4.74935889e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.13890746e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.05, Y:-4.76, Z:-0.01 [[ 9.75361950e-01 2.20610669e-01 0.00000000e+00 9.40525661e+01] [-2.20610669e-01 9.75361950e-01 0.00000000e+00 -4.75501401e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.56154057e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.33140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:94.08, Y:-4.76, Z:-0.01 [[ 9.74607120e-01 2.23921775e-01 0.00000000e+00 9.40764232e+01] [-2.23921775e-01 9.74607120e-01 0.00000000e+00 -4.76067750e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.31558350e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.11, Y:-4.77, Z:-0.01 [[ 9.73795774e-01 2.27424251e-01 0.00000000e+00 9.41059055e+01] [-2.27424251e-01 9.73795774e-01 0.00000000e+00 -4.76957504e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.47901653e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.13, Y:-4.78, Z:-0.01 [[ 9.72448390e-01 2.33118273e-01 0.00000000e+00 9.41311746e+01] [-2.33118273e-01 9.72448390e-01 0.00000000e+00 -4.77757650e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.82544145e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.16, Y:-4.78, Z:-0.01 [[ 9.71748042e-01 2.36020641e-01 0.00000000e+00 9.41581287e+01] [-2.36020641e-01 9.71748042e-01 0.00000000e+00 -4.78439224e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.76955110e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.18, Y:-4.79, Z:-0.01 [[ 9.71766119e-01 2.35946199e-01 0.00000000e+00 9.41848399e+01] [-2.35946199e-01 9.71766119e-01 0.00000000e+00 -4.79090255e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.76955110e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.21, Y:-4.80, Z:-0.01 [[ 9.70965191e-01 2.39220814e-01 0.00000000e+00 9.42118148e+01] [-2.39220814e-01 9.70965191e-01 0.00000000e+00 -4.79713087e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13258150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.24, Y:-4.80, Z:-0.01 [[ 9.70119325e-01 2.42628307e-01 0.00000000e+00 9.42391806e+01] [-2.42628307e-01 9.70119325e-01 0.00000000e+00 -4.80443827e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38039643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.27, Y:-4.81, Z:-0.01 [[ 9.68655249e-01 2.48408955e-01 0.00000000e+00 9.42691774e+01] [-2.48408955e-01 9.68655249e-01 0.00000000e+00 -4.81382345e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22051864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.57140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.30, Y:-4.82, Z:-0.01 [[ 9.67649713e-01 2.52297510e-01 0.00000000e+00 9.42953760e+01] [-2.52297510e-01 9.67649713e-01 0.00000000e+00 -4.82062391e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19044381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.32, Y:-4.83, Z:-0.01 [[ 9.66742067e-01 2.55753350e-01 0.00000000e+00 9.43228929e+01] [-2.55753350e-01 9.66742067e-01 0.00000000e+00 -4.82724025e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09101777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.63140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.35, Y:-4.83, Z:-0.01 [[ 9.65966236e-01 2.58668188e-01 0.00000000e+00 9.43499127e+01] [-2.58668188e-01 9.65966236e-01 0.00000000e+00 -4.83447933e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23000323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.38, Y:-4.84, Z:-0.01 [[ 9.65407801e-01 2.60744658e-01 0.00000000e+00 9.43778858e+01] [-2.60744658e-01 9.65407801e-01 0.00000000e+00 -4.84156221e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28154469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.69140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.40, Y:-4.85, Z:-0.01 [[ 9.64865311e-01 2.62744993e-01 0.00000000e+00 9.44043528e+01] [-2.62744993e-01 9.64865311e-01 0.00000000e+00 -4.84806791e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38513192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.43, Y:-4.86, Z:-0.01 [[ 9.64696884e-01 2.63362718e-01 0.00000000e+00 9.44312654e+01] [-2.63362718e-01 9.64696884e-01 0.00000000e+00 -4.85666254e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49924680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.46, Y:-4.86, Z:-0.01 [[ 9.65285546e-01 2.61196890e-01 0.00000000e+00 9.44579656e+01] [-2.61196890e-01 9.65285546e-01 0.00000000e+00 -4.86464659e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45089501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.49, Y:-4.87, Z:-0.01 [[ 9.65968036e-01 2.58661464e-01 0.00000000e+00 9.44853356e+01] [-2.58661464e-01 9.65968036e-01 0.00000000e+00 -4.87332401e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18189337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.51, Y:-4.88, Z:-0.01 [[ 9.66515085e-01 2.56609801e-01 0.00000000e+00 9.45125132e+01] [-2.56609801e-01 9.66515085e-01 0.00000000e+00 -4.88059483e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03861374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.54, Y:-4.89, Z:-0.01 [[ 9.66685724e-01 2.55966229e-01 0.00000000e+00 9.45392133e+01] [-2.55966229e-01 9.66685724e-01 0.00000000e+00 -4.88680235e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02857785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.87140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.57, Y:-4.89, Z:-0.01 [[ 9.66730748e-01 2.55796131e-01 0.00000000e+00 9.45677851e+01] [-2.55796131e-01 9.66730748e-01 0.00000000e+00 -4.89297217e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.74290980e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90140051299998 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:94.59, Y:-4.90, Z:-0.00 [[ 9.66309628e-01 2.57382406e-01 0.00000000e+00 9.45947364e+01] [-2.57382406e-01 9.66309628e-01 0.00000000e+00 -4.90038132e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.71911503e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.93140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.62, Y:-4.91, Z:-0.00 [[ 9.65822284e-01 2.59205163e-01 0.00000000e+00 9.46222445e+01] [-2.59205163e-01 9.65822284e-01 0.00000000e+00 -4.90757405e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81004087e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96140051299999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:94.65, Y:-4.91, Z:-0.00 [[ 9.65648192e-01 2.59852978e-01 0.00000000e+00 9.46488048e+01] [-2.59852978e-01 9.65648192e-01 0.00000000e+00 -4.91312645e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.59359351e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.99140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.68, Y:-4.92, Z:-0.01 [[ 9.65041547e-01 2.62096953e-01 0.00000000e+00 9.46750188e+01] [-2.62096953e-01 9.65041547e-01 0.00000000e+00 -4.91790278e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.12990672e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02140051299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:94.70, Y:-4.93, Z:-0.01 [[ 9.65290610e-01 2.61178174e-01 0.00000000e+00 9.47036726e+01] [-2.61178174e-01 9.65290610e-01 0.00000000e+00 -4.92529232e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.38690161e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.05140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.73, Y:-4.93, Z:-0.01 [[ 9.65410269e-01 2.60735522e-01 0.00000000e+00 9.47282377e+01] [-2.60735522e-01 9.65410269e-01 0.00000000e+00 -4.93258525e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.16546049e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.76, Y:-4.94, Z:-0.01 [[ 9.65834416e-01 2.59159953e-01 0.00000000e+00 9.47575688e+01] [-2.59159953e-01 9.65834416e-01 0.00000000e+00 -4.93969807e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.62085184e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.11140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:94.78, Y:-4.95, Z:-0.01 [[ 9.65906383e-01 2.58891598e-01 0.00000000e+00 9.47832428e+01] [-2.58891598e-01 9.65906383e-01 0.00000000e+00 -4.94576354e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.89483455e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.81, Y:-4.95, Z:-0.01 [[ 9.65992844e-01 2.58568801e-01 0.00000000e+00 9.48113235e+01] [-2.58568801e-01 9.65992844e-01 0.00000000e+00 -4.95327412e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.37858847e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.84, Y:-4.97, Z:-0.01 [[ 9.66293654e-01 2.57442371e-01 0.00000000e+00 9.48376256e+01] [-2.57442371e-01 9.66293654e-01 0.00000000e+00 -4.96577612e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.56613802e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.86, Y:-4.98, Z:-0.01 [[ 9.66598310e-01 2.56296132e-01 0.00000000e+00 9.48620187e+01] [-2.56296132e-01 9.66598310e-01 0.00000000e+00 -4.97602968e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.25873952e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.89, Y:-4.99, Z:-0.00 [[ 9.66990822e-01 2.54811205e-01 0.00000000e+00 9.48863152e+01] [-2.54811205e-01 9.66990822e-01 0.00000000e+00 -4.98561156e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.85221274e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.92, Y:-5.00, Z:-0.00 [[ 9.67885270e-01 2.51392331e-01 0.00000000e+00 9.49151651e+01] [-2.51392331e-01 9.67885270e-01 0.00000000e+00 -4.99583264e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.17927798e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.29140051299999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:94.94, Y:-5.01, Z:-0.01 [[ 9.68365624e-01 2.49535604e-01 0.00000000e+00 9.49414495e+01] [-2.49535604e-01 9.68365624e-01 0.00000000e+00 -5.00729662e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.93954266e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.96, Y:-5.03, Z:-0.01 [[ 9.68507933e-01 2.48982698e-01 0.00000000e+00 9.49639946e+01] [-2.48982698e-01 9.68507933e-01 0.00000000e+00 -5.02610673e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.62137257e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.35140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.99, Y:-5.04, Z:-0.01 [[ 9.68632664e-01 2.48497008e-01 0.00000000e+00 9.49917509e+01] [-2.48497008e-01 9.68632664e-01 0.00000000e+00 -5.03731497e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.27053561e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.02, Y:-5.05, Z:-0.01 [[ 9.68557518e-01 2.48789738e-01 0.00000000e+00 9.50165417e+01] [-2.48789738e-01 9.68557518e-01 0.00000000e+00 -5.04600416e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25066460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.41140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.05, Y:-5.06, Z:-0.01 [[ 9.68427743e-01 2.49294418e-01 0.00000000e+00 9.50451735e+01] [-2.49294418e-01 9.68427743e-01 0.00000000e+00 -5.05518541e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.96115259e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.07, Y:-5.07, Z:-0.01 [[ 9.68203929e-01 2.50162252e-01 0.00000000e+00 9.50721986e+01] [-2.50162252e-01 9.68203929e-01 0.00000000e+00 -5.06554167e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.94850749e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.47140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.10, Y:-5.08, Z:-0.01 [[ 9.67408129e-01 2.53222256e-01 0.00000000e+00 9.50965773e+01] [-2.53222256e-01 9.67408129e-01 0.00000000e+00 -5.08113017e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.16191931e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.12, Y:-5.09, Z:-0.01 [[ 9.67277627e-01 2.53720304e-01 0.00000000e+00 9.51236986e+01] [-2.53720304e-01 9.67277627e-01 0.00000000e+00 -5.09041590e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.50079061e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.15, Y:-5.10, Z:-0.01 [[ 9.67371414e-01 2.53362483e-01 0.00000000e+00 9.51501436e+01] [-2.53362483e-01 9.67371414e-01 0.00000000e+00 -5.09870316e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.43817973e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.18, Y:-5.11, Z:-0.01 [[ 9.67694424e-01 2.52125963e-01 0.00000000e+00 9.51763147e+01] [-2.52125963e-01 9.67694424e-01 0.00000000e+00 -5.10704691e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.81503060e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.20, Y:-5.12, Z:-0.01 [[ 9.68052871e-01 2.50746164e-01 0.00000000e+00 9.52038725e+01] [-2.50746164e-01 9.68052871e-01 0.00000000e+00 -5.11593084e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.14558255e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:95.23, Y:-5.12, Z:-0.01 [[ 9.68412003e-01 2.49355556e-01 0.00000000e+00 9.52290996e+01] [-2.49355556e-01 9.68412003e-01 0.00000000e+00 -5.12394858e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.12569516e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.65140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.26, Y:-5.13, Z:-0.00 [[ 9.69297269e-01 2.45891857e-01 0.00000000e+00 9.52563107e+01] [-2.45891857e-01 9.69297269e-01 0.00000000e+00 -5.13249188e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63301428e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.28, Y:-5.14, Z:-0.00 [[ 9.69597040e-01 2.44707132e-01 0.00000000e+00 9.52836001e+01] [-2.44707132e-01 9.69597040e-01 0.00000000e+00 -5.14024971e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.58420789e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.71140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.31, Y:-5.15, Z:-0.00 [[ 9.69758235e-01 2.44067544e-01 0.00000000e+00 9.53103079e+01] [-2.44067544e-01 9.69758235e-01 0.00000000e+00 -5.14746197e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.82119065e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.34, Y:-5.15, Z:-0.01 [[ 9.69772266e-01 2.44011788e-01 0.00000000e+00 9.53385844e+01] [-2.44011788e-01 9.69772266e-01 0.00000000e+00 -5.15230208e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.59851292e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.77140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.37, Y:-5.16, Z:-0.01 [[ 9.69687154e-01 2.44349795e-01 0.00000000e+00 9.53667610e+01] [-2.44349795e-01 9.69687154e-01 0.00000000e+00 -5.15726242e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.47269914e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.39, Y:-5.16, Z:-0.01 [[ 9.69568174e-01 2.44821479e-01 0.00000000e+00 9.53947796e+01] [-2.44821479e-01 9.69568174e-01 0.00000000e+00 -5.16279670e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00495987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.83140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:95.42, Y:-5.17, Z:-0.01 [[ 9.69756146e-01 2.44075844e-01 0.00000000e+00 9.54208089e+01] [-2.44075844e-01 9.69756146e-01 0.00000000e+00 -5.16838318e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22969649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.45, Y:-5.18, Z:-0.01 [[ 9.70137227e-01 2.42556716e-01 0.00000000e+00 9.54493135e+01] [-2.42556716e-01 9.70137227e-01 0.00000000e+00 -5.17520036e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.76742072e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.48, Y:-5.18, Z:-0.01 [[ 9.70928605e-01 2.39369264e-01 0.00000000e+00 9.54767571e+01] [-2.39369264e-01 9.70928605e-01 0.00000000e+00 -5.18143597e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.22096305e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.50, Y:-5.19, Z:-0.01 [[ 9.72794666e-01 2.31669026e-01 0.00000000e+00 9.55011043e+01] [-2.31669026e-01 9.72794666e-01 0.00000000e+00 -5.18802329e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.48081862e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.53, Y:-5.20, Z:-0.01 [[ 9.73868355e-01 2.27113249e-01 0.00000000e+00 9.55264558e+01] [-2.27113249e-01 9.73868355e-01 0.00000000e+00 -5.19572098e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.19185604e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.56, Y:-5.20, Z:-0.01 [[ 9.75169966e-01 2.21457755e-01 0.00000000e+00 9.55559694e+01] [-2.21457755e-01 9.75169966e-01 0.00000000e+00 -5.20428794e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.21221176e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.58, Y:-5.21, Z:-0.01 [[ 9.76488880e-01 2.15567779e-01 0.00000000e+00 9.55835994e+01] [-2.15567779e-01 9.76488880e-01 0.00000000e+00 -5.21407862e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.81061688e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.61, Y:-5.22, Z:-0.01 [[ 9.76603721e-01 2.15046907e-01 0.00000000e+00 9.56117018e+01] [-2.15046907e-01 9.76603721e-01 0.00000000e+00 -5.22145991e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.31509549e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.07140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.64, Y:-5.23, Z:-0.00 [[ 9.76430147e-01 2.15833656e-01 0.00000000e+00 9.56397948e+01] [-2.15833656e-01 9.76430147e-01 0.00000000e+00 -5.22755274e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.86199425e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.67, Y:-5.23, Z:-0.00 [[ 9.76020845e-01 2.17677076e-01 0.00000000e+00 9.56685418e+01] [-2.17677076e-01 9.76020845e-01 0.00000000e+00 -5.23300349e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53544975e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.13140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.70, Y:-5.24, Z:-0.00 [[ 9.75449740e-01 2.20222171e-01 0.00000000e+00 9.56961669e+01] [-2.20222171e-01 9.75449740e-01 0.00000000e+00 -5.23800230e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.82585444e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.73, Y:-5.24, Z:-0.01 [[ 9.75024662e-01 2.22096620e-01 0.00000000e+00 9.57250220e+01] [-2.22096620e-01 9.75024662e-01 0.00000000e+00 -5.24243201e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.97066685e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.19140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.75, Y:-5.25, Z:-0.01 [[ 9.75422996e-01 2.20340599e-01 0.00000000e+00 9.57523501e+01] [-2.20340599e-01 9.75422996e-01 0.00000000e+00 -5.24849242e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.60992282e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.78, Y:-5.26, Z:-0.00 [[ 9.76093100e-01 2.17352848e-01 0.00000000e+00 9.57804620e+01] [-2.17352848e-01 9.76093100e-01 0.00000000e+00 -5.25503058e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.82956124e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.251400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:95.81, Y:-5.26, Z:-0.01 [[ 9.76970475e-01 2.13374533e-01 0.00000000e+00 9.58066148e+01] [-2.13374533e-01 9.76970475e-01 0.00000000e+00 -5.26137814e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.18023884e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.281400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:95.83, Y:-5.27, Z:-0.01 [[ 9.78068520e-01 2.08283391e-01 0.00000000e+00 9.58334453e+01] [-2.08283391e-01 9.78068520e-01 0.00000000e+00 -5.26791653e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.63871023e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.86, Y:-5.27, Z:-0.01 [[ 9.79583648e-01 2.01037005e-01 0.00000000e+00 9.58585843e+01] [-2.01037005e-01 9.79583648e-01 0.00000000e+00 -5.27444006e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.30711430e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.341400513 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:95.89, Y:-5.28, Z:-0.01 [[ 9.80641221e-01 1.95813164e-01 0.00000000e+00 9.58895202e+01] [-1.95813164e-01 9.80641221e-01 0.00000000e+00 -5.28036822e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.08901618e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.37140051299998 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:95.92, Y:-5.29, Z:-0.01 [[ 9.80650529e-01 1.95766547e-01 0.00000000e+00 9.59180423e+01] [-1.95766547e-01 9.80650529e-01 0.00000000e+00 -5.28721642e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.08901618e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40140051299998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:95.95, Y:-5.29, Z:-0.01 [[ 9.81241141e-01 1.92784395e-01 0.00000000e+00 9.59458214e+01] [-1.92784395e-01 9.81241141e-01 0.00000000e+00 -5.29366801e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.31215313e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.43140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.97, Y:-5.30, Z:-0.01 [[ 9.81536848e-01 1.91273146e-01 0.00000000e+00 9.59736603e+01] [-1.91273146e-01 9.81536848e-01 0.00000000e+00 -5.30022167e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.18768709e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.00, Y:-5.31, Z:-0.01 [[ 9.81654684e-01 1.90667462e-01 0.00000000e+00 9.60021648e+01] [-1.90667462e-01 9.81654684e-01 0.00000000e+00 -5.30681393e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.86819049e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.49140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.03, Y:-5.31, Z:-0.01 [[ 9.81585828e-01 1.91021627e-01 0.00000000e+00 9.60301496e+01] [-1.91021627e-01 9.81585828e-01 0.00000000e+00 -5.31205379e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.49057390e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.06, Y:-5.31, Z:-0.01 [[ 9.81140416e-01 1.93296364e-01 0.00000000e+00 9.60589954e+01] [-1.93296364e-01 9.81140416e-01 0.00000000e+00 -5.31466928e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.45709955e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.55140051299999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:96.09, Y:-5.32, Z:-0.01 [[ 9.81014056e-01 1.93936645e-01 0.00000000e+00 9.60870999e+01] [-1.93936645e-01 9.81014056e-01 0.00000000e+00 -5.31870548e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.42510753e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.12, Y:-5.32, Z:-0.01 [[ 9.80771530e-01 1.95159436e-01 0.00000000e+00 9.61158562e+01] [-1.95159436e-01 9.80771530e-01 0.00000000e+00 -5.32404323e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.66269349e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.61140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.14, Y:-5.33, Z:-0.01 [[ 9.80536424e-01 1.96337266e-01 0.00000000e+00 9.61399600e+01] [-1.96337266e-01 9.80536424e-01 0.00000000e+00 -5.32819755e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.95129151e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.17, Y:-5.33, Z:-0.01 [[ 9.80895965e-01 1.94533047e-01 0.00000000e+00 9.61723619e+01] [-1.94533047e-01 9.80895965e-01 0.00000000e+00 -5.33081620e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.47589448e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.20, Y:-5.34, Z:-0.01 [[ 9.81046151e-01 1.93774221e-01 0.00000000e+00 9.61997284e+01] [-1.93774221e-01 9.81046151e-01 0.00000000e+00 -5.33569203e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.96574507e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.701400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:96.23, Y:-5.34, Z:-0.01 [[ 9.81322684e-01 1.92368888e-01 0.00000000e+00 9.62284780e+01] [-1.92368888e-01 9.81322684e-01 0.00000000e+00 -5.34124933e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10286567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.73140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:96.25, Y:-5.35, Z:-0.01 [[ 9.81273244e-01 1.92620927e-01 0.00000000e+00 9.62530504e+01] [-1.92620927e-01 9.81273244e-01 0.00000000e+00 -5.34714907e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09905074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.28, Y:-5.35, Z:-0.01 [[ 9.81472804e-01 1.91601500e-01 0.00000000e+00 9.62810080e+01] [-1.91601500e-01 9.81472804e-01 0.00000000e+00 -5.35330421e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.82929937e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.79140051299999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:96.31, Y:-5.36, Z:-0.01 [[ 9.82044637e-01 1.88648697e-01 0.00000000e+00 9.63109959e+01] [-1.88648697e-01 9.82044637e-01 0.00000000e+00 -5.35797074e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.96617940e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82140051299999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:96.34, Y:-5.36, Z:-0.01 [[ 9.82170617e-01 1.87991699e-01 0.00000000e+00 9.63391136e+01] [-1.87991699e-01 9.82170617e-01 0.00000000e+00 -5.36363223e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.12132312e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.85140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.37, Y:-5.37, Z:-0.00 [[ 9.82167241e-01 1.88009337e-01 0.00000000e+00 9.63676763e+01] [-1.88009337e-01 9.82167241e-01 0.00000000e+00 -5.36956759e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.82904978e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:96.40, Y:-5.37, Z:-0.01 [[ 9.82478203e-01 1.86377524e-01 0.00000000e+00 9.63950263e+01] [-1.86377524e-01 9.82478203e-01 0.00000000e+00 -5.37389397e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.26805256e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.91140051299999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:96.42, Y:-5.38, Z:-0.01 [[ 9.82582104e-01 1.85828976e-01 0.00000000e+00 9.64232730e+01] [-1.85828976e-01 9.82582104e-01 0.00000000e+00 -5.38036265e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.99021372e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.45, Y:-5.39, Z:-0.01 [[ 9.82636451e-01 1.85541382e-01 0.00000000e+00 9.64513558e+01] [-1.85541382e-01 9.82636451e-01 0.00000000e+00 -5.38626497e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.68759860e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.97140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.48, Y:-5.39, Z:-0.01 [[ 9.82668403e-01 1.85372083e-01 0.00000000e+00 9.64790029e+01] [-1.85372083e-01 9.82668403e-01 0.00000000e+00 -5.39147332e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.82539063e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.51, Y:-5.40, Z:-0.01 [[ 9.82675818e-01 1.85332774e-01 0.00000000e+00 9.65070448e+01] [-1.85332774e-01 9.82675818e-01 0.00000000e+00 -5.39776754e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.72587943e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.031400513 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:96.53, Y:-5.40, Z:-0.01 [[ 9.82912674e-01 1.84072474e-01 0.00000000e+00 9.65347677e+01] [-1.84072474e-01 9.82912674e-01 0.00000000e+00 -5.40394240e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.53996187e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.061400513 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:96.56, Y:-5.41, Z:-0.01 [[ 9.83314778e-01 1.81912196e-01 0.00000000e+00 9.65636217e+01] [-1.81912196e-01 9.83314778e-01 0.00000000e+00 -5.40891836e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02331436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.091400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.59, Y:-5.41, Z:-0.01 [[ 9.83292453e-01 1.82032833e-01 0.00000000e+00 9.65887822e+01] [-1.82032833e-01 9.83292453e-01 0.00000000e+00 -5.41393493e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18533139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12140051299998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:96.62, Y:-5.42, Z:-0.01 [[ 9.83638259e-01 1.80154866e-01 0.00000000e+00 9.66187224e+01] [-1.80154866e-01 9.83638259e-01 0.00000000e+00 -5.42003676e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13093275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.15140051299998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.65, Y:-5.43, Z:-0.01 [[ 9.83707368e-01 1.79777122e-01 0.00000000e+00 9.66464243e+01] [-1.79777122e-01 9.83707368e-01 0.00000000e+00 -5.42675124e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00367509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:96.67, Y:-5.43, Z:-0.01 [[ 9.83805469e-01 1.79239500e-01 0.00000000e+00 9.66733159e+01] [-1.79239500e-01 9.83805469e-01 0.00000000e+00 -5.43209659e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.21132349e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.21140051299999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:96.70, Y:-5.44, Z:-0.01 [[ 9.83842615e-01 1.79035496e-01 0.00000000e+00 9.67017207e+01] [-1.79035496e-01 9.83842615e-01 0.00000000e+00 -5.43712103e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.15611583e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.73, Y:-5.44, Z:-0.01 [[ 9.83842681e-01 1.79035131e-01 0.00000000e+00 9.67296753e+01] [-1.79035131e-01 9.83842681e-01 0.00000000e+00 -5.44251262e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.81052226e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.27140051299999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:96.76, Y:-5.45, Z:-0.01 [[ 9.83915988e-01 1.78631822e-01 0.00000000e+00 9.67578605e+01] [-1.78631822e-01 9.83915988e-01 0.00000000e+00 -5.44856994e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.64051307e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30140051299999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:96.79, Y:-5.46, Z:-0.01 [[ 9.84160982e-01 1.77277074e-01 0.00000000e+00 9.67853882e+01] [-1.77277074e-01 9.84160982e-01 0.00000000e+00 -5.45520787e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02650719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.33140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.81, Y:-5.46, Z:-0.01 [[ 9.84205822e-01 1.77027966e-01 0.00000000e+00 9.68138479e+01] [-1.77027966e-01 9.84205822e-01 0.00000000e+00 -5.46165118e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.45296155e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36140051299999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:96.84, Y:-5.47, Z:-0.01 [[ 9.84369394e-01 1.76116147e-01 0.00000000e+00 9.68415412e+01] [-1.76116147e-01 9.84369394e-01 0.00000000e+00 -5.46584286e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.06739118e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.391400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:96.87, Y:-5.47, Z:-0.01 [[ 9.84384740e-01 1.76030346e-01 0.00000000e+00 9.68705455e+01] [-1.76030346e-01 9.84384740e-01 0.00000000e+00 -5.47048814e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.55588873e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.421400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:96.90, Y:-5.48, Z:-0.01 [[ 9.84416996e-01 1.75849876e-01 0.00000000e+00 9.68990234e+01] [-1.75849876e-01 9.84416996e-01 0.00000000e+00 -5.47555544e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.61770516e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.451400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:96.93, Y:-5.48, Z:-0.01 [[ 9.84735053e-01 1.74059974e-01 0.00000000e+00 9.69272492e+01] [-1.74059974e-01 9.84735053e-01 0.00000000e+00 -5.47929650e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.55304481e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.95, Y:-5.48, Z:-0.00 [[ 9.84944774e-01 1.72869291e-01 0.00000000e+00 9.69546196e+01] [-1.72869291e-01 9.84944774e-01 0.00000000e+00 -5.48438882e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.87580788e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.51140051299998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:96.98, Y:-5.49, Z:-0.01 [[ 9.85398964e-01 1.70261215e-01 0.00000000e+00 9.69830119e+01] [-1.70261215e-01 9.85398964e-01 0.00000000e+00 -5.48902263e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.43988753e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:97.01, Y:-5.50, Z:-0.01 [[ 9.86317859e-01 1.64854730e-01 0.00000000e+00 9.70105290e+01] [-1.64854730e-01 9.86317859e-01 0.00000000e+00 -5.49530427e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.16634445e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.57140051299999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:97.04, Y:-5.50, Z:-0.01 [[ 9.86843552e-01 1.61678090e-01 0.00000000e+00 9.70384304e+01] [-1.61678090e-01 9.86843552e-01 0.00000000e+00 -5.50357338e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00463688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60140051299999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:97.06, Y:-5.51, Z:-0.01 [[ 9.87316337e-01 1.58765396e-01 0.00000000e+00 9.70645234e+01] [-1.58765396e-01 9.87316337e-01 0.00000000e+00 -5.51224501e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15817159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.63140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:97.09, Y:-5.52, Z:-0.01 [[ 9.87737528e-01 1.56123592e-01 0.00000000e+00 9.70914825e+01] [-1.56123592e-01 9.87737528e-01 0.00000000e+00 -5.52012355e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17170614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:97.12, Y:-5.53, Z:-0.01 [[ 9.88049388e-01 1.54137621e-01 0.00000000e+00 9.71189659e+01] [-1.54137621e-01 9.88049388e-01 0.00000000e+00 -5.52763489e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00092822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.69140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.15, Y:-5.54, Z:-0.01 [[ 9.88177024e-01 1.53317220e-01 0.00000000e+00 9.71459066e+01] [-1.53317220e-01 9.88177024e-01 0.00000000e+00 -5.53538035e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.59629801e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.17, Y:-5.55, Z:-0.00 [[ 9.88401636e-01 1.51862459e-01 0.00000000e+00 9.71736884e+01] [-1.51862459e-01 9.88401636e-01 0.00000000e+00 -5.54507965e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.08753808e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.20, Y:-5.55, Z:-0.00 [[ 9.88388470e-01 1.51948125e-01 0.00000000e+00 9.72006233e+01] [-1.51948125e-01 9.88388470e-01 0.00000000e+00 -5.55322363e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.41414649e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.23, Y:-5.56, Z:-0.00 [[ 9.88341254e-01 1.52254939e-01 0.00000000e+00 9.72277208e+01] [-1.52254939e-01 9.88341254e-01 0.00000000e+00 -5.56190828e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.29511842e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.25, Y:-5.57, Z:-0.00 [[ 9.88327291e-01 1.52345545e-01 0.00000000e+00 9.72546677e+01] [-1.52345545e-01 9.88327291e-01 0.00000000e+00 -5.57097397e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.19654927e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.28, Y:-5.58, Z:-0.00 [[ 9.88420495e-01 1.51739661e-01 0.00000000e+00 9.72807916e+01] [-1.51739661e-01 9.88420495e-01 0.00000000e+00 -5.58332828e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.22954160e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.87140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.31, Y:-5.59, Z:-0.00 [[ 9.88482768e-01 1.51333465e-01 0.00000000e+00 9.73076295e+01] [-1.51333465e-01 9.88482768e-01 0.00000000e+00 -5.59189291e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99577786e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.34, Y:-5.60, Z:-0.00 [[ 9.88446266e-01 1.51571699e-01 0.00000000e+00 9.73354030e+01] [-1.51571699e-01 9.88446266e-01 0.00000000e+00 -5.60161477e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.23826924e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.93140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.36, Y:-5.61, Z:-0.01 [[ 9.88302173e-01 1.52508406e-01 0.00000000e+00 9.73627615e+01] [-1.52508406e-01 9.88302173e-01 0.00000000e+00 -5.61094175e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.64373343e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.39, Y:-5.62, Z:-0.01 [[ 9.87972185e-01 1.54631696e-01 0.00000000e+00 9.73905761e+01] [-1.54631696e-01 9.87972185e-01 0.00000000e+00 -5.62027584e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.19705820e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.99140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.42, Y:-5.63, Z:-0.01 [[ 9.87536077e-01 1.57392807e-01 0.00000000e+00 9.74195155e+01] [-1.57392807e-01 9.87536077e-01 0.00000000e+00 -5.62893737e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.77122401e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.45, Y:-5.64, Z:-0.01 [[ 9.86335689e-01 1.64748014e-01 0.00000000e+00 9.74472650e+01] [-1.64748014e-01 9.86335689e-01 0.00000000e+00 -5.63669164e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11419079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.05140051299999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:97.48, Y:-5.64, Z:-0.01 [[ 9.85723471e-01 1.68372323e-01 0.00000000e+00 9.74756344e+01] [-1.68372323e-01 9.85723471e-01 0.00000000e+00 -5.64271858e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19434553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.50, Y:-5.65, Z:-0.01 [[ 9.84947572e-01 1.72853349e-01 0.00000000e+00 9.75036114e+01] [-1.72853349e-01 9.84947572e-01 0.00000000e+00 -5.64846388e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05057270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.11140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.53, Y:-5.65, Z:-0.01 [[ 9.84445827e-01 1.75688398e-01 0.00000000e+00 9.75316611e+01] [-1.75688398e-01 9.84445827e-01 0.00000000e+00 -5.65368728e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02797530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.56, Y:-5.66, Z:-0.01 [[ 9.83930607e-01 1.78551284e-01 0.00000000e+00 9.75595539e+01] [-1.78551284e-01 9.83930607e-01 0.00000000e+00 -5.65657699e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01354203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.59, Y:-5.66, Z:-0.01 [[ 9.83929001e-01 1.78560134e-01 0.00000000e+00 9.75882204e+01] [-1.78560134e-01 9.83929001e-01 0.00000000e+00 -5.66011424e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.94325119e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.62, Y:-5.66, Z:-0.01 [[ 9.84116804e-01 1.77522156e-01 0.00000000e+00 9.76172979e+01] [-1.77522156e-01 9.84116804e-01 0.00000000e+00 -5.66265248e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.31747320e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.65, Y:-5.67, Z:-0.01 [[ 9.84476984e-01 1.75513726e-01 0.00000000e+00 9.76454034e+01] [-1.75513726e-01 9.84476984e-01 0.00000000e+00 -5.66569742e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.10358018e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.67, Y:-5.67, Z:-0.01 [[ 9.84485412e-01 1.75466444e-01 0.00000000e+00 9.76739417e+01] [-1.75466444e-01 9.84485412e-01 0.00000000e+00 -5.67247243e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.10358018e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.70, Y:-5.67, Z:-0.01 [[ 9.85691711e-01 1.68558154e-01 0.00000000e+00 9.77022136e+01] [-1.68558154e-01 9.85691711e-01 0.00000000e+00 -5.67402764e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.25403566e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.73, Y:-5.68, Z:-0.01 [[ 9.86379139e-01 1.64487670e-01 0.00000000e+00 9.77303860e+01] [-1.64487670e-01 9.86379139e-01 0.00000000e+00 -5.67860028e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.17701321e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.35140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.76, Y:-5.68, Z:-0.01 [[ 9.87061369e-01 1.60342923e-01 0.00000000e+00 9.77579940e+01] [-1.60342923e-01 9.87061369e-01 0.00000000e+00 -5.68211764e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09399249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.79, Y:-5.68, Z:-0.01 [[ 9.87622682e-01 1.56848455e-01 0.00000000e+00 9.77859567e+01] [-1.56848455e-01 9.87622682e-01 0.00000000e+00 -5.68476520e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18790111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.41140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.81, Y:-5.68, Z:-0.01 [[ 9.88145354e-01 1.53521199e-01 0.00000000e+00 9.78148502e+01] [-1.53521199e-01 9.88145354e-01 0.00000000e+00 -5.68416559e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.89682376e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.84, Y:-5.69, Z:-0.01 [[ 9.88124874e-01 1.53652966e-01 0.00000000e+00 9.78432387e+01] [-1.53652966e-01 9.88124874e-01 0.00000000e+00 -5.68800642e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.20540042e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.47140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.87, Y:-5.69, Z:-0.01 [[ 9.87927259e-01 1.54918468e-01 0.00000000e+00 9.78722989e+01] [-1.54918468e-01 9.87927259e-01 0.00000000e+00 -5.69188847e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.21327330e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.90, Y:-5.69, Z:-0.00 [[ 9.87603195e-01 1.56971110e-01 0.00000000e+00 9.78999950e+01] [-1.56971110e-01 9.87603195e-01 0.00000000e+00 -5.69411843e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.62684322e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.93, Y:-5.69, Z:-0.00 [[ 9.86901917e-01 1.61321437e-01 0.00000000e+00 9.79296421e+01] [-1.61321437e-01 9.86901917e-01 0.00000000e+00 -5.68967056e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88303703e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.96, Y:-5.69, Z:-0.00 [[ 9.86625136e-01 1.63005645e-01 0.00000000e+00 9.79579051e+01] [-1.63005645e-01 9.86625136e-01 0.00000000e+00 -5.69040069e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.80575774e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.99, Y:-5.69, Z:-0.00 [[ 9.86396800e-01 1.64381730e-01 0.00000000e+00 9.79858328e+01] [-1.64381730e-01 9.86396800e-01 0.00000000e+00 -5.69153237e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.85844732e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.01, Y:-5.69, Z:-0.01 [[ 9.86257796e-01 1.65213681e-01 0.00000000e+00 9.80136934e+01] [-1.65213681e-01 9.86257796e-01 0.00000000e+00 -5.69338622e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.95291321e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.65140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.04, Y:-5.69, Z:-0.01 [[ 9.86418455e-01 1.64251730e-01 0.00000000e+00 9.80427389e+01] [-1.64251730e-01 9.86418455e-01 0.00000000e+00 -5.69249711e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.80537991e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.07, Y:-5.70, Z:-0.01 [[ 9.86723328e-01 1.62410206e-01 0.00000000e+00 9.80703099e+01] [-1.62410206e-01 9.86723328e-01 0.00000000e+00 -5.69538607e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.08499444e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.10, Y:-5.70, Z:-0.01 [[ 9.87108808e-01 1.60050622e-01 0.00000000e+00 9.80972035e+01] [-1.60050622e-01 9.87108808e-01 0.00000000e+00 -5.69840231e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.82122825e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.12, Y:-5.70, Z:-0.01 [[ 9.87495986e-01 1.57644152e-01 0.00000000e+00 9.81247250e+01] [-1.57644152e-01 9.87495986e-01 0.00000000e+00 -5.70175597e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.96124947e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.77140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.15, Y:-5.71, Z:-0.01 [[ 9.87886947e-01 1.55175321e-01 0.00000000e+00 9.81513105e+01] [-1.55175321e-01 9.87886947e-01 0.00000000e+00 -5.70508567e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.30459271e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.18, Y:-5.71, Z:-0.01 [[ 9.88653156e-01 1.50216304e-01 0.00000000e+00 9.81787587e+01] [-1.50216304e-01 9.88653156e-01 0.00000000e+00 -5.70679114e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.50115622e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.83140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.21, Y:-5.71, Z:-0.01 [[ 9.89001794e-01 1.47903523e-01 0.00000000e+00 9.82057278e+01] [-1.47903523e-01 9.89001794e-01 0.00000000e+00 -5.71081979e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.83183502e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.23, Y:-5.72, Z:-0.01 [[ 9.89281759e-01 1.46019180e-01 0.00000000e+00 9.82337401e+01] [-1.46019180e-01 9.89281759e-01 0.00000000e+00 -5.71545541e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.14949928e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.26, Y:-5.72, Z:-0.01 [[ 9.89519112e-01 1.44401962e-01 0.00000000e+00 9.82612017e+01] [-1.44401962e-01 9.89519112e-01 0.00000000e+00 -5.71989797e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.00776105e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.29, Y:-5.72, Z:-0.01 [[ 9.89741155e-01 1.42872130e-01 0.00000000e+00 9.82895860e+01] [-1.42872130e-01 9.89741155e-01 0.00000000e+00 -5.72412364e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22458009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.32, Y:-5.73, Z:-0.02 [[ 9.89821137e-01 1.42316962e-01 0.00000000e+00 9.83171244e+01] [-1.42316962e-01 9.89821137e-01 0.00000000e+00 -5.73076382e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54317798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.35, Y:-5.74, Z:-0.02 [[ 9.89931559e-01 1.41546845e-01 0.00000000e+00 9.83453518e+01] [-1.41546845e-01 9.89931559e-01 0.00000000e+00 -5.73814962e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71281405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.37, Y:-5.74, Z:-0.02 [[ 9.90122579e-01 1.40204417e-01 0.00000000e+00 9.83736863e+01] [-1.40204417e-01 9.90122579e-01 0.00000000e+00 -5.74417503e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75269960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.40, Y:-5.75, Z:-0.02 [[ 9.90105701e-01 1.40323557e-01 0.00000000e+00 9.84004387e+01] [-1.40323557e-01 9.90105701e-01 0.00000000e+00 -5.75063224e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66448971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.43, Y:-5.76, Z:-0.01 [[ 9.90010970e-01 1.40990354e-01 0.00000000e+00 9.84270232e+01] [-1.40990354e-01 9.90010970e-01 0.00000000e+00 -5.75815242e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48051396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.45, Y:-5.77, Z:-0.01 [[ 9.89868788e-01 1.41985152e-01 0.00000000e+00 9.84535676e+01] [-1.41985152e-01 9.89868788e-01 0.00000000e+00 -5.76647515e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30545367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.13140051299999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:98.48, Y:-5.77, Z:-0.01 [[ 9.89779923e-01 1.42603312e-01 0.00000000e+00 9.84807815e+01] [-1.42603312e-01 9.89779923e-01 0.00000000e+00 -5.77443825e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22171782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.51, Y:-5.78, Z:-0.01 [[ 9.89531920e-01 1.44314171e-01 0.00000000e+00 9.85066557e+01] [-1.44314171e-01 9.89531920e-01 0.00000000e+00 -5.78274180e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18099883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.19140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.53, Y:-5.79, Z:-0.01 [[ 9.89165287e-01 1.46806115e-01 0.00000000e+00 9.85344655e+01] [-1.46806115e-01 9.89165287e-01 0.00000000e+00 -5.79209233e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18586770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.56, Y:-5.80, Z:-0.01 [[ 9.88924972e-01 1.48416308e-01 0.00000000e+00 9.85599589e+01] [-1.48416308e-01 9.88924972e-01 0.00000000e+00 -5.79980365e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23209262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.59, Y:-5.81, Z:-0.01 [[ 9.88575871e-01 1.50724079e-01 0.00000000e+00 9.85873566e+01] [-1.50724079e-01 9.88575871e-01 0.00000000e+00 -5.80728639e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14094507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.281400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:98.62, Y:-5.81, Z:-0.01 [[ 9.88212420e-01 1.53088906e-01 0.00000000e+00 9.86152366e+01] [-1.53088906e-01 9.88212420e-01 0.00000000e+00 -5.81287029e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10503454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.64, Y:-5.81, Z:-0.01 [[ 9.87197508e-01 1.59502602e-01 0.00000000e+00 9.86423533e+01] [-1.59502602e-01 9.87197508e-01 0.00000000e+00 -5.81478020e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32167104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.67, Y:-5.82, Z:-0.01 [[ 9.86848827e-01 1.61645884e-01 0.00000000e+00 9.86699232e+01] [-1.61645884e-01 9.86848827e-01 0.00000000e+00 -5.81858359e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35527179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.37140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.70, Y:-5.82, Z:-0.01 [[ 9.86658396e-01 1.62804208e-01 0.00000000e+00 9.86986941e+01] [-1.62804208e-01 9.86658396e-01 0.00000000e+00 -5.82316912e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15323760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.73, Y:-5.82, Z:-0.01 [[ 9.86613696e-01 1.63074877e-01 0.00000000e+00 9.87277487e+01] [-1.63074877e-01 9.86613696e-01 0.00000000e+00 -5.82461041e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.10619135e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.43140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.76, Y:-5.83, Z:-0.01 [[ 9.86722583e-01 1.62414729e-01 0.00000000e+00 9.87555618e+01] [-1.62414729e-01 9.86722583e-01 0.00000000e+00 -5.82761478e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.66340122e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.78, Y:-5.83, Z:-0.01 [[ 9.86960131e-01 1.60964903e-01 0.00000000e+00 9.87835265e+01] [-1.60964903e-01 9.86960131e-01 0.00000000e+00 -5.83152289e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.54600577e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.49140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.81, Y:-5.84, Z:-0.01 [[ 9.87332641e-01 1.58663971e-01 0.00000000e+00 9.88108446e+01] [-1.58663971e-01 9.87332641e-01 0.00000000e+00 -5.83665179e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.11806635e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.84, Y:-5.84, Z:-0.01 [[ 9.87829975e-01 1.55537586e-01 0.00000000e+00 9.88378793e+01] [-1.55537586e-01 9.87829975e-01 0.00000000e+00 -5.84290139e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00480474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.55140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.86, Y:-5.85, Z:-0.01 [[ 9.88364689e-01 1.52102736e-01 0.00000000e+00 9.88645159e+01] [-1.52102736e-01 9.88364689e-01 0.00000000e+00 -5.84875438e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.67748524e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.89, Y:-5.85, Z:-0.01 [[ 9.89182940e-01 1.46687118e-01 0.00000000e+00 9.88909380e+01] [-1.46687118e-01 9.89182940e-01 0.00000000e+00 -5.85350713e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.79604940e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.61140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.92, Y:-5.86, Z:-0.01 [[ 9.89468541e-01 1.44748077e-01 0.00000000e+00 9.89181318e+01] [-1.44748077e-01 9.89468541e-01 0.00000000e+00 -5.86102214e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.05309390e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.94, Y:-5.87, Z:-0.01 [[ 9.89614244e-01 1.43748560e-01 0.00000000e+00 9.89445319e+01] [-1.43748560e-01 9.89614244e-01 0.00000000e+00 -5.87039437e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.37496171e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.671400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:98.97, Y:-5.88, Z:-0.01 [[ 9.89714012e-01 1.43060036e-01 0.00000000e+00 9.89706032e+01] [-1.43060036e-01 9.89714012e-01 0.00000000e+00 -5.88031754e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00965779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.00, Y:-5.89, Z:-0.01 [[ 9.89148970e-01 1.46916012e-01 0.00000000e+00 9.89962274e+01] [-1.46916012e-01 9.89148970e-01 0.00000000e+00 -5.89098976e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38128452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.02, Y:-5.90, Z:-0.01 [[ 9.88605790e-01 1.50527713e-01 0.00000000e+00 9.90240232e+01] [-1.50527713e-01 9.88605790e-01 0.00000000e+00 -5.89755072e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41782901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.05, Y:-5.90, Z:-0.01 [[ 9.87908378e-01 1.55038826e-01 0.00000000e+00 9.90497777e+01] [-1.55038826e-01 9.87908378e-01 0.00000000e+00 -5.90444682e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31922568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.08, Y:-5.91, Z:-0.01 [[ 9.87143287e-01 1.59837829e-01 0.00000000e+00 9.90759614e+01] [-1.59837829e-01 9.87143287e-01 0.00000000e+00 -5.91194800e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00861413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.10, Y:-5.92, Z:-0.01 [[ 9.85671050e-01 1.68678930e-01 0.00000000e+00 9.91048142e+01] [-1.68678930e-01 9.85671050e-01 0.00000000e+00 -5.91730402e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.28458464e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.85140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.13, Y:-5.92, Z:-0.01 [[ 9.85078509e-01 1.72105582e-01 0.00000000e+00 9.91326079e+01] [-1.72105582e-01 9.85078509e-01 0.00000000e+00 -5.92070284e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.10405117e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.16, Y:-5.93, Z:-0.01 [[ 9.84585901e-01 1.74901698e-01 0.00000000e+00 9.91595415e+01] [-1.74901698e-01 9.84585901e-01 0.00000000e+00 -5.92501905e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.03152744e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.91140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.19, Y:-5.93, Z:-0.01 [[ 9.84216749e-01 1.76967204e-01 0.00000000e+00 9.91865215e+01] [-1.76967204e-01 9.84216749e-01 0.00000000e+00 -5.93073417e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.18052546e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.21, Y:-5.94, Z:-0.01 [[ 9.83764061e-01 1.79466635e-01 0.00000000e+00 9.92134679e+01] [-1.79466635e-01 9.83764061e-01 0.00000000e+00 -5.93644261e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.58306895e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.97140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.24, Y:-5.94, Z:-0.01 [[ 9.83657203e-01 1.80051402e-01 0.00000000e+00 9.92409556e+01] [-1.80051402e-01 9.83657203e-01 0.00000000e+00 -5.94104888e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.99192502e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.27, Y:-5.95, Z:-0.01 [[ 9.83571219e-01 1.80520517e-01 0.00000000e+00 9.92694935e+01] [-1.80520517e-01 9.83571219e-01 0.00000000e+00 -5.94513505e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.87283855e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.30, Y:-5.95, Z:-0.01 [[ 9.83429479e-01 1.81291094e-01 0.00000000e+00 9.92974108e+01] [-1.81291094e-01 9.83429479e-01 0.00000000e+00 -5.94958865e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02129250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.32, Y:-5.95, Z:-0.01 [[ 9.83319295e-01 1.81887779e-01 0.00000000e+00 9.93242588e+01] [-1.81887779e-01 9.83319295e-01 0.00000000e+00 -5.95409889e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06875445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.35, Y:-5.96, Z:-0.01 [[ 9.83023515e-01 1.83479613e-01 0.00000000e+00 9.93523762e+01] [-1.83479613e-01 9.83023515e-01 0.00000000e+00 -5.95531360e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.17078504e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.38, Y:-5.96, Z:-0.01 [[ 9.82733488e-01 1.85026734e-01 0.00000000e+00 9.93808767e+01] [-1.85026734e-01 9.82733488e-01 0.00000000e+00 -5.95767994e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.93394640e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.15140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.41, Y:-5.96, Z:-0.01 [[ 9.82346228e-01 1.87071882e-01 0.00000000e+00 9.94094551e+01] [-1.87071882e-01 9.82346228e-01 0.00000000e+00 -5.96002171e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.58714271e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.44, Y:-5.97, Z:-0.01 [[ 9.82379826e-01 1.86895363e-01 0.00000000e+00 9.94372041e+01] [-1.86895363e-01 9.82379826e-01 0.00000000e+00 -5.96638761e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.58714271e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.21140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.47, Y:-5.97, Z:-0.01 [[ 9.81541255e-01 1.91250529e-01 0.00000000e+00 9.94666196e+01] [-1.91250529e-01 9.81541255e-01 0.00000000e+00 -5.96541139e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.13814524e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.49, Y:-5.97, Z:-0.01 [[ 9.81276682e-01 1.92603412e-01 0.00000000e+00 9.94945249e+01] [-1.92603412e-01 9.81276682e-01 0.00000000e+00 -5.96734650e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.29551620e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.27140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.52, Y:-5.97, Z:-0.01 [[ 9.81170251e-01 1.93144864e-01 0.00000000e+00 9.95230515e+01] [-1.93144864e-01 9.81170251e-01 0.00000000e+00 -5.97003419e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.98340445e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.55, Y:-5.97, Z:-0.01 [[ 9.81186836e-01 1.93060595e-01 0.00000000e+00 9.95502201e+01] [-1.93060595e-01 9.81186836e-01 0.00000000e+00 -5.97360163e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.30294011e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.33140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.58, Y:-5.98, Z:-0.01 [[ 9.81626888e-01 1.90810516e-01 0.00000000e+00 9.95766637e+01] [-1.90810516e-01 9.81626888e-01 0.00000000e+00 -5.97796587e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05464151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.60, Y:-5.98, Z:-0.01 [[ 9.81908696e-01 1.89354992e-01 0.00000000e+00 9.96036625e+01] [-1.89354992e-01 9.81908696e-01 0.00000000e+00 -5.98279417e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08707527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.63, Y:-5.99, Z:-0.01 [[ 9.82049288e-01 1.88624486e-01 0.00000000e+00 9.96315372e+01] [-1.88624486e-01 9.82049288e-01 0.00000000e+00 -5.98680902e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15442646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.66, Y:-5.99, Z:-0.01 [[ 9.81908299e-01 1.89357050e-01 0.00000000e+00 9.96578695e+01] [-1.89357050e-01 9.81908299e-01 0.00000000e+00 -5.99087791e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33141957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.68, Y:-6.00, Z:-0.01 [[ 9.81014182e-01 1.93936005e-01 0.00000000e+00 9.96849546e+01] [-1.93936005e-01 9.81014182e-01 0.00000000e+00 -5.99633187e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17626243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.71, Y:-6.00, Z:-0.01 [[ 9.80346209e-01 1.97284844e-01 0.00000000e+00 9.97115775e+01] [-1.97284844e-01 9.80346209e-01 0.00000000e+00 -6.00070860e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.90956990e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.74, Y:-6.00, Z:-0.01 [[ 9.79558806e-01 2.01158010e-01 0.00000000e+00 9.97399276e+01] [-2.01158010e-01 9.79558806e-01 0.00000000e+00 -6.00385238e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.96716383e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.77, Y:-6.01, Z:-0.01 [[ 9.77790821e-01 2.09583184e-01 0.00000000e+00 9.97687076e+01] [-2.09583184e-01 9.77790821e-01 0.00000000e+00 -6.00511483e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15789860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.80, Y:-6.01, Z:-0.01 [[ 9.77064717e-01 2.12942574e-01 0.00000000e+00 9.97954367e+01] [-2.12942574e-01 9.77064717e-01 0.00000000e+00 -6.01004882e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30753458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.82, Y:-6.02, Z:-0.01 [[ 9.76544938e-01 2.15313688e-01 0.00000000e+00 9.98228438e+01] [-2.15313688e-01 9.76544938e-01 0.00000000e+00 -6.01536317e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29581559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.63140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.85, Y:-6.02, Z:-0.01 [[ 9.76258732e-01 2.16607681e-01 0.00000000e+00 9.98502165e+01] [-2.16607681e-01 9.76258732e-01 0.00000000e+00 -6.02031755e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07487018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.88, Y:-6.03, Z:-0.01 [[ 9.76179038e-01 2.16966557e-01 0.00000000e+00 9.98775326e+01] [-2.16966557e-01 9.76179038e-01 0.00000000e+00 -6.02512034e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00840566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.69140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.90, Y:-6.03, Z:-0.02 [[ 9.76192096e-01 2.16907794e-01 0.00000000e+00 9.99049193e+01] [-2.16907794e-01 9.76192096e-01 0.00000000e+00 -6.03105103e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50216037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.93, Y:-6.04, Z:-0.02 [[ 9.76193799e-01 2.16900133e-01 0.00000000e+00 9.99329879e+01] [-2.16900133e-01 9.76193799e-01 0.00000000e+00 -6.03753427e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72741542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.96, Y:-6.04, Z:-0.02 [[ 9.76013913e-01 2.17708159e-01 0.00000000e+00 9.99606516e+01] [-2.17708159e-01 9.76013913e-01 0.00000000e+00 -6.04328941e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69491745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.99, Y:-6.05, Z:-0.02 [[ 9.75662381e-01 2.19278176e-01 0.00000000e+00 9.99876030e+01] [-2.19278176e-01 9.75662381e-01 0.00000000e+00 -6.04797790e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61389240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.02, Y:-6.05, Z:-0.01 [[ 9.75271292e-01 2.21011103e-01 0.00000000e+00 1.00015638e+02] [-2.21011103e-01 9.75271292e-01 0.00000000e+00 -6.05312838e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36992729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.04, Y:-6.06, Z:-0.01 [[ 9.74681636e-01 2.23597201e-01 0.00000000e+00 1.00043222e+02] [-2.23597201e-01 9.74681636e-01 0.00000000e+00 -6.05880586e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33976323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.07, Y:-6.07, Z:-0.02 [[ 9.74385426e-01 2.24884509e-01 0.00000000e+00 1.00070559e+02] [-2.24884509e-01 9.74385426e-01 0.00000000e+00 -6.06567952e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61587702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.10, Y:-6.07, Z:-0.02 [[ 9.74216375e-01 2.25615726e-01 0.00000000e+00 1.00097880e+02] [-2.25615726e-01 9.74216375e-01 0.00000000e+00 -6.07284040e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69197225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.93140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.12, Y:-6.08, Z:-0.02 [[ 9.74009857e-01 2.26505628e-01 0.00000000e+00 1.00124936e+02] [-2.26505628e-01 9.74009857e-01 0.00000000e+00 -6.08136744e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63271627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:100.15, Y:-6.09, Z:-0.01 [[ 9.73954458e-01 2.26743718e-01 0.00000000e+00 1.00151338e+02] [-2.26743718e-01 9.73954458e-01 0.00000000e+00 -6.08881595e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49234557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.99140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:100.18, Y:-6.10, Z:-0.01 [[ 9.73885473e-01 2.27039833e-01 0.00000000e+00 1.00178321e+02] [-2.27039833e-01 9.73885473e-01 0.00000000e+00 -6.09647781e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24322075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:100.21, Y:-6.11, Z:-0.01 [[ 9.73446426e-01 2.28914954e-01 0.00000000e+00 1.00205415e+02] [-2.28914954e-01 9.73446426e-01 0.00000000e+00 -6.10555055e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.03932845e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.05140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:100.23, Y:-6.11, Z:-0.01 [[ 9.72991680e-01 2.30840183e-01 0.00000000e+00 1.00232578e+02] [-2.30840183e-01 9.72991680e-01 0.00000000e+00 -6.11406854e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.50786165e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:100.26, Y:-6.12, Z:-0.01 [[ 9.72440178e-01 2.33152524e-01 0.00000000e+00 1.00259377e+02] [-2.33152524e-01 9.72440178e-01 0.00000000e+00 -6.12278835e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.58755955e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.11140051299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:100.29, Y:-6.13, Z:-0.01 [[ 9.71895483e-01 2.35412765e-01 0.00000000e+00 1.00285195e+02] [-2.35412765e-01 9.71895483e-01 0.00000000e+00 -6.13104590e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.16796460e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.31, Y:-6.14, Z:-0.01 [[ 9.71413010e-01 2.37395796e-01 0.00000000e+00 1.00312326e+02] [-2.37395796e-01 9.71413010e-01 0.00000000e+00 -6.13926344e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.97752209e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.34, Y:-6.15, Z:-0.01 [[ 9.70504859e-01 2.41081559e-01 0.00000000e+00 1.00339164e+02] [-2.41081559e-01 9.70504859e-01 0.00000000e+00 -6.14836499e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.98368756e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.36, Y:-6.16, Z:-0.01 [[ 9.69953555e-01 2.43290157e-01 0.00000000e+00 1.00364949e+02] [-2.43290157e-01 9.69953555e-01 0.00000000e+00 -6.15612350e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10736956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.39, Y:-6.17, Z:-0.01 [[ 9.69046858e-01 2.46876866e-01 0.00000000e+00 1.00391935e+02] [-2.46876866e-01 9.69046858e-01 0.00000000e+00 -6.16546049e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12912748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.42, Y:-6.17, Z:-0.01 [[ 9.68643933e-01 2.48453077e-01 0.00000000e+00 1.00418940e+02] [-2.48453077e-01 9.68643933e-01 0.00000000e+00 -6.17390919e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13248014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.29140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:100.45, Y:-6.18, Z:-0.01 [[ 9.68357712e-01 2.49566305e-01 0.00000000e+00 1.00445464e+02] [-2.49566305e-01 9.68357712e-01 0.00000000e+00 -6.18313085e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16785610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:100.47, Y:-6.19, Z:-0.01 [[ 9.68104742e-01 2.50545822e-01 0.00000000e+00 1.00471597e+02] [-2.50545822e-01 9.68104742e-01 0.00000000e+00 -6.19274469e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22456051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.35140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.50, Y:-6.21, Z:-0.01 [[ 9.67594635e-01 2.52508656e-01 0.00000000e+00 1.00497342e+02] [-2.52508656e-01 9.67594635e-01 0.00000000e+00 -6.20507274e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45176591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.52, Y:-6.21, Z:-0.02 [[ 9.67295963e-01 2.53650388e-01 0.00000000e+00 1.00523456e+02] [-2.53650388e-01 9.67295963e-01 0.00000000e+00 -6.21359748e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57206868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.41140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.55, Y:-6.22, Z:-0.02 [[ 9.66947705e-01 2.54974777e-01 0.00000000e+00 1.00549448e+02] [-2.54974777e-01 9.66947705e-01 0.00000000e+00 -6.22176664e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57232517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.58, Y:-6.23, Z:-0.01 [[ 9.66502355e-01 2.56657744e-01 0.00000000e+00 1.00576364e+02] [-2.56657744e-01 9.66502355e-01 0.00000000e+00 -6.22963426e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44415417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.47140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.60, Y:-6.24, Z:-0.02 [[ 9.65444003e-01 2.60610584e-01 0.00000000e+00 1.00603243e+02] [-2.60610584e-01 9.65444003e-01 0.00000000e+00 -6.23881882e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64976931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.63, Y:-6.25, Z:-0.02 [[ 9.65160548e-01 2.61658395e-01 0.00000000e+00 1.00630152e+02] [-2.61658395e-01 9.65160548e-01 0.00000000e+00 -6.24669843e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90117373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.66, Y:-6.25, Z:-0.02 [[ 9.65095237e-01 2.61899186e-01 0.00000000e+00 1.00656511e+02] [-2.61899186e-01 9.65095237e-01 0.00000000e+00 -6.25483171e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05496652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.561400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:100.68, Y:-6.27, Z:-0.02 [[ 9.65310637e-01 2.61104143e-01 0.00000000e+00 1.00683263e+02] [-2.61104143e-01 9.65310637e-01 0.00000000e+00 -6.26550901e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74188360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.71, Y:-6.27, Z:-0.01 [[ 9.65433319e-01 2.60650163e-01 0.00000000e+00 1.00709821e+02] [-2.60650163e-01 9.65433319e-01 0.00000000e+00 -6.27436310e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41690455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.74, Y:-6.28, Z:-0.01 [[ 9.65584589e-01 2.60089218e-01 0.00000000e+00 1.00736676e+02] [-2.60089218e-01 9.65584589e-01 0.00000000e+00 -6.28354579e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13579758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.65140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.76, Y:-6.29, Z:-0.01 [[ 9.65631573e-01 2.59914728e-01 0.00000000e+00 1.00762308e+02] [-2.59914728e-01 9.65631573e-01 0.00000000e+00 -6.29222150e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03515847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.79, Y:-6.30, Z:-0.01 [[ 9.65249530e-01 2.61329954e-01 0.00000000e+00 1.00787243e+02] [-2.61329954e-01 9.65249530e-01 0.00000000e+00 -6.30245594e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27652944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.71140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.81, Y:-6.31, Z:-0.01 [[ 9.64992095e-01 2.62278967e-01 0.00000000e+00 1.00813714e+02] [-2.62278967e-01 9.64992095e-01 0.00000000e+00 -6.31039512e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46754554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:100.84, Y:-6.32, Z:-0.02 [[ 9.64539384e-01 2.63938963e-01 0.00000000e+00 1.00840421e+02] [-2.63938963e-01 9.64539384e-01 0.00000000e+00 -6.31905015e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56926244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.77140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.87, Y:-6.33, Z:-0.02 [[ 9.63944214e-01 2.66104401e-01 0.00000000e+00 1.00865972e+02] [-2.66104401e-01 9.63944214e-01 0.00000000e+00 -6.32774703e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53038327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.89, Y:-6.34, Z:-0.02 [[ 9.63404352e-01 2.68052334e-01 0.00000000e+00 1.00891330e+02] [-2.68052334e-01 9.63404352e-01 0.00000000e+00 -6.33576356e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53230856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.83140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.92, Y:-6.34, Z:-0.02 [[ 9.62519087e-01 2.71213952e-01 0.00000000e+00 1.00918626e+02] [-2.71213952e-01 9.62519087e-01 0.00000000e+00 -6.34362766e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63791867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.94, Y:-6.35, Z:-0.02 [[ 9.62071675e-01 2.72796795e-01 0.00000000e+00 1.00944133e+02] [-2.72796795e-01 9.62071675e-01 0.00000000e+00 -6.35027251e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62516345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.97, Y:-6.36, Z:-0.01 [[ 9.62046325e-01 2.72886184e-01 0.00000000e+00 1.00972977e+02] [-2.72886184e-01 9.62046325e-01 0.00000000e+00 -6.35873691e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44039725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.00, Y:-6.37, Z:-0.01 [[ 9.62213358e-01 2.72296628e-01 0.00000000e+00 1.00999070e+02] [-2.72296628e-01 9.62213358e-01 0.00000000e+00 -6.36746914e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20940285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.02, Y:-6.38, Z:-0.01 [[ 9.62860508e-01 2.69999339e-01 0.00000000e+00 1.01024987e+02] [-2.69999339e-01 9.62860508e-01 0.00000000e+00 -6.37850201e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.86510712e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.05, Y:-6.39, Z:-0.01 [[ 9.63181307e-01 2.68852692e-01 0.00000000e+00 1.01051013e+02] [-2.68852692e-01 9.63181307e-01 0.00000000e+00 -6.38671310e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.26178016e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.08, Y:-6.40, Z:-0.01 [[ 9.63322006e-01 2.68348120e-01 0.00000000e+00 1.01076357e+02] [-2.68348120e-01 9.63322006e-01 0.00000000e+00 -6.39559291e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.87566661e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.10, Y:-6.41, Z:-0.01 [[ 9.63310888e-01 2.68388026e-01 0.00000000e+00 1.01102334e+02] [-2.68388026e-01 9.63310888e-01 0.00000000e+00 -6.40589352e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02421454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.07140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.13, Y:-6.41, Z:-0.01 [[ 9.63359673e-01 2.68212862e-01 0.00000000e+00 1.01130153e+02] [-2.68212862e-01 9.63359673e-01 0.00000000e+00 -6.41200253e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02421454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.16, Y:-6.43, Z:-0.01 [[ 9.62880068e-01 2.69929574e-01 0.00000000e+00 1.01155769e+02] [-2.69929574e-01 9.62880068e-01 0.00000000e+00 -6.42609604e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.91896334e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.13140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.18, Y:-6.43, Z:-0.01 [[ 9.62458554e-01 2.71428686e-01 0.00000000e+00 1.01181309e+02] [-2.71428686e-01 9.62458554e-01 0.00000000e+00 -6.43471525e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.48737373e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.21, Y:-6.44, Z:-0.01 [[ 9.61985524e-01 2.73100443e-01 0.00000000e+00 1.01208002e+02] [-2.73100443e-01 9.61985524e-01 0.00000000e+00 -6.44311634e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11220810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.19140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.23, Y:-6.45, Z:-0.01 [[ 9.60917696e-01 2.76834212e-01 0.00000000e+00 1.01233340e+02] [-2.76834212e-01 9.60917696e-01 0.00000000e+00 -6.45386031e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38874341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.26, Y:-6.46, Z:-0.02 [[ 9.60549934e-01 2.78107576e-01 0.00000000e+00 1.01260357e+02] [-2.78107576e-01 9.60549934e-01 0.00000000e+00 -6.46197137e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53961289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.29, Y:-6.47, Z:-0.02 [[ 9.60197797e-01 2.79320946e-01 0.00000000e+00 1.01286388e+02] [-2.79320946e-01 9.60197797e-01 0.00000000e+00 -6.46939809e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68734672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.31, Y:-6.48, Z:-0.02 [[ 9.59903193e-01 2.80331698e-01 0.00000000e+00 1.01312825e+02] [-2.80331698e-01 9.59903193e-01 0.00000000e+00 -6.47732567e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73824555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.34, Y:-6.49, Z:-0.01 [[ 9.59524262e-01 2.81625978e-01 0.00000000e+00 1.01338326e+02] [-2.81625978e-01 9.59524262e-01 0.00000000e+00 -6.48960968e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44666379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.36, Y:-6.50, Z:-0.01 [[ 9.59476933e-01 2.81787182e-01 0.00000000e+00 1.01364205e+02] [-2.81787182e-01 9.59476933e-01 0.00000000e+00 -6.49789952e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29001063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.39, Y:-6.50, Z:-0.01 [[ 9.59460154e-01 2.81844306e-01 0.00000000e+00 1.01391021e+02] [-2.81844306e-01 9.59460154e-01 0.00000000e+00 -6.50466966e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30114379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.42, Y:-6.51, Z:-0.01 [[ 9.59422555e-01 2.81972271e-01 0.00000000e+00 1.01416836e+02] [-2.81972271e-01 9.59422555e-01 0.00000000e+00 -6.51065986e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46264544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.43140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.44, Y:-6.52, Z:-0.02 [[ 9.59424391e-01 2.81966022e-01 0.00000000e+00 1.01442345e+02] [-2.81966022e-01 9.59424391e-01 0.00000000e+00 -6.51933708e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66942000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.47, Y:-6.53, Z:-0.02 [[ 9.59611327e-01 2.81329168e-01 0.00000000e+00 1.01468718e+02] [-2.81329168e-01 9.59611327e-01 0.00000000e+00 -6.52771907e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68254509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.49140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.50, Y:-6.54, Z:-0.02 [[ 9.59855854e-01 2.80493743e-01 0.00000000e+00 1.01495256e+02] [-2.80493743e-01 9.59855854e-01 0.00000000e+00 -6.53585532e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58422615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.52, Y:-6.54, Z:-0.01 [[ 9.60189822e-01 2.79348360e-01 0.00000000e+00 1.01521920e+02] [-2.79348360e-01 9.60189822e-01 0.00000000e+00 -6.54436319e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40718198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.55140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.55, Y:-6.56, Z:-0.01 [[ 9.61009642e-01 2.76514862e-01 0.00000000e+00 1.01547593e+02] [-2.76514862e-01 9.61009642e-01 0.00000000e+00 -6.55708088e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11843455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.57, Y:-6.57, Z:-0.01 [[ 9.61326640e-01 2.75410769e-01 0.00000000e+00 1.01574447e+02] [-2.75410769e-01 9.61326640e-01 0.00000000e+00 -6.56634751e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05605780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.61140051299999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:101.60, Y:-6.57, Z:-0.01 [[ 9.61496327e-01 2.74817783e-01 0.00000000e+00 1.01599732e+02] [-2.74817783e-01 9.61496327e-01 0.00000000e+00 -6.57491765e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14433044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.63, Y:-6.58, Z:-0.01 [[ 9.61508614e-01 2.74774790e-01 0.00000000e+00 1.01626815e+02] [-2.74774790e-01 9.61508614e-01 0.00000000e+00 -6.58355098e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23039924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.65, Y:-6.59, Z:-0.01 [[ 9.61369430e-01 2.75261365e-01 0.00000000e+00 1.01652413e+02] [-2.75261365e-01 9.61369430e-01 0.00000000e+00 -6.59465209e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36996915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.68, Y:-6.60, Z:-0.01 [[ 9.61216922e-01 2.75793452e-01 0.00000000e+00 1.01679565e+02] [-2.75793452e-01 9.61216922e-01 0.00000000e+00 -6.60329735e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28914047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.71, Y:-6.61, Z:-0.01 [[ 9.60996749e-01 2.76559666e-01 0.00000000e+00 1.01705272e+02] [-2.76559666e-01 9.60996749e-01 0.00000000e+00 -6.61093636e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20827076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:101.73, Y:-6.62, Z:-0.01 [[ 9.60751155e-01 2.77411639e-01 0.00000000e+00 1.01732363e+02] [-2.77411639e-01 9.60751155e-01 0.00000000e+00 -6.61833940e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30849175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.76, Y:-6.62, Z:-0.01 [[ 9.60499458e-01 2.78281855e-01 0.00000000e+00 1.01758264e+02] [-2.78281855e-01 9.60499458e-01 0.00000000e+00 -6.62453568e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46006083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.79, Y:-6.63, Z:-0.02 [[ 9.59384070e-01 2.82103183e-01 0.00000000e+00 1.01785578e+02] [-2.82103183e-01 9.59384070e-01 0.00000000e+00 -6.63082587e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62149540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.85140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.81, Y:-6.64, Z:-0.02 [[ 9.58718743e-01 2.84356066e-01 0.00000000e+00 1.01811693e+02] [-2.84356066e-01 9.58718743e-01 0.00000000e+00 -6.63728382e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55542085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.84, Y:-6.64, Z:-0.01 [[ 9.58150168e-01 2.86266057e-01 0.00000000e+00 1.01838083e+02] [-2.86266057e-01 9.58150168e-01 0.00000000e+00 -6.64431311e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39790725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.91140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.86, Y:-6.65, Z:-0.01 [[ 9.57983862e-01 2.86822107e-01 0.00000000e+00 1.01863379e+02] [-2.86822107e-01 9.57983862e-01 0.00000000e+00 -6.65488272e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13349347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.89, Y:-6.66, Z:-0.01 [[ 9.58509810e-01 2.85059545e-01 0.00000000e+00 1.01889656e+02] [-2.85059545e-01 9.58509810e-01 0.00000000e+00 -6.66397314e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25826539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.97140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.92, Y:-6.67, Z:-0.01 [[ 9.59179254e-01 2.82798795e-01 0.00000000e+00 1.01916389e+02] [-2.82798795e-01 9.59179254e-01 0.00000000e+00 -6.67349244e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36305279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.94, Y:-6.69, Z:-0.01 [[ 9.60532673e-01 2.78167188e-01 0.00000000e+00 1.01940347e+02] [-2.78167188e-01 9.60532673e-01 0.00000000e+00 -6.68815783e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38454506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.031400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:101.97, Y:-6.70, Z:-0.01 [[ 9.61214953e-01 2.75800315e-01 0.00000000e+00 1.01966170e+02] [-2.75800315e-01 9.61214953e-01 0.00000000e+00 -6.69961634e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28145324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.99, Y:-6.71, Z:-0.01 [[ 9.61867013e-01 2.73517548e-01 0.00000000e+00 1.01991842e+02] [-2.73517548e-01 9.61867013e-01 0.00000000e+00 -6.71083314e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09406413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.091400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:102.02, Y:-6.72, Z:-0.01 [[ 9.62387538e-01 2.71680375e-01 0.00000000e+00 1.02018717e+02] [-2.71680375e-01 9.62387538e-01 0.00000000e+00 -6.72220736e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17164067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12140051299998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:102.04, Y:-6.74, Z:-0.01 [[ 9.62753699e-01 2.70379947e-01 0.00000000e+00 1.02043781e+02] [-2.70379947e-01 9.62753699e-01 0.00000000e+00 -6.73914397e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33405507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.15140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:102.07, Y:-6.75, Z:-0.01 [[ 9.62577445e-01 2.71006757e-01 0.00000000e+00 1.02070969e+02] [-2.71006757e-01 9.62577445e-01 0.00000000e+00 -6.75021694e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37178974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18140051299999 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:102.10, Y:-6.76, Z:-0.01 [[ 9.62047625e-01 2.72881598e-01 0.00000000e+00 1.02097202e+02] [-2.72881598e-01 9.62047625e-01 0.00000000e+00 -6.75978349e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36316416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.21140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:102.13, Y:-6.77, Z:-0.01 [[ 9.61489461e-01 2.74841803e-01 0.00000000e+00 1.02125490e+02] [-2.74841803e-01 9.61489461e-01 0.00000000e+00 -6.76906042e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20747055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.15, Y:-6.78, Z:-0.01 [[ 9.59558155e-01 2.81510476e-01 0.00000000e+00 1.02151746e+02] [-2.81510476e-01 9.59558155e-01 0.00000000e+00 -6.78140549e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30713630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.27140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.18, Y:-6.79, Z:-0.01 [[ 9.58521872e-01 2.85018984e-01 0.00000000e+00 1.02179148e+02] [-2.85018984e-01 9.58521872e-01 0.00000000e+00 -6.79149274e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46051368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.21, Y:-6.80, Z:-0.02 [[ 9.57619002e-01 2.88037927e-01 0.00000000e+00 1.02206401e+02] [-2.88037927e-01 9.57619002e-01 0.00000000e+00 -6.80074743e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51200217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.33140051299999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:102.23, Y:-6.81, Z:-0.01 [[ 9.56927146e-01 2.90328154e-01 0.00000000e+00 1.02233891e+02] [-2.90328154e-01 9.56927146e-01 0.00000000e+00 -6.80854198e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44873908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.26, Y:-6.82, Z:-0.01 [[ 9.56270500e-01 2.92483728e-01 0.00000000e+00 1.02261096e+02] [-2.92483728e-01 9.56270500e-01 0.00000000e+00 -6.81604317e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28418140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.29, Y:-6.82, Z:-0.01 [[ 9.55071748e-01 2.96374690e-01 0.00000000e+00 1.02288486e+02] [-2.96374690e-01 9.55071748e-01 0.00000000e+00 -6.82431112e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00662407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.32, Y:-6.83, Z:-0.01 [[ 9.54465112e-01 2.98322559e-01 0.00000000e+00 1.02316603e+02] [-2.98322559e-01 9.54465112e-01 0.00000000e+00 -6.83015673e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08938387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.451400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:102.34, Y:-6.83, Z:-0.01 [[ 9.53662195e-01 3.00879409e-01 0.00000000e+00 1.02344546e+02] [-3.00879409e-01 9.53662195e-01 0.00000000e+00 -6.83498980e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22581599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.37, Y:-6.84, Z:-0.01 [[ 9.52756761e-01 3.03734350e-01 0.00000000e+00 1.02373161e+02] [-3.03734350e-01 9.52756761e-01 0.00000000e+00 -6.83924469e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28297960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.40, Y:-6.84, Z:-0.01 [[ 9.51232391e-01 3.08475183e-01 0.00000000e+00 1.02401008e+02] [-3.08475183e-01 9.51232391e-01 0.00000000e+00 -6.84228750e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35784552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.43, Y:-6.85, Z:-0.01 [[ 9.51089708e-01 3.08914824e-01 0.00000000e+00 1.02429591e+02] [-3.08914824e-01 9.51089708e-01 0.00000000e+00 -6.84714746e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45935091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.57140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.46, Y:-6.85, Z:-0.02 [[ 9.51406848e-01 3.07936698e-01 0.00000000e+00 1.02457276e+02] [-3.07936698e-01 9.51406848e-01 0.00000000e+00 -6.85110857e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62537632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.49, Y:-6.85, Z:-0.02 [[ 9.52169786e-01 3.05569466e-01 0.00000000e+00 1.02485862e+02] [-3.05569466e-01 9.52169786e-01 0.00000000e+00 -6.85468103e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83207784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.63140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.51, Y:-6.86, Z:-0.02 [[ 9.54707187e-01 2.97546950e-01 0.00000000e+00 1.02513427e+02] [-2.97546950e-01 9.54707187e-01 0.00000000e+00 -6.85858384e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92674788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.54, Y:-6.87, Z:-0.02 [[ 9.56296674e-01 2.92398139e-01 0.00000000e+00 1.02541053e+02] [-2.92398139e-01 9.56296674e-01 0.00000000e+00 -6.86556670e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84477928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.69140051299999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:102.57, Y:-6.87, Z:-0.02 [[ 9.57922658e-01 2.87026447e-01 0.00000000e+00 1.02569139e+02] [-2.87026447e-01 9.57922658e-01 0.00000000e+00 -6.87306026e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78927600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72140051299999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:102.60, Y:-6.88, Z:-0.02 [[ 9.60788768e-01 2.77281343e-01 0.00000000e+00 1.02596875e+02] [-2.77281343e-01 9.60788768e-01 0.00000000e+00 -6.88239165e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70677078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.751400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:102.63, Y:-6.89, Z:-0.02 [[ 9.61651636e-01 2.74273826e-01 0.00000000e+00 1.02625890e+02] [-2.74273826e-01 9.61651636e-01 0.00000000e+00 -6.89064883e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62080807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.781400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:102.65, Y:-6.90, Z:-0.02 [[ 9.61976108e-01 2.73133608e-01 0.00000000e+00 1.02654314e+02] [-2.73133608e-01 9.61976108e-01 0.00000000e+00 -6.89868374e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54206768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.811400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:102.68, Y:-6.91, Z:-0.01 [[ 9.61592220e-01 2.74482062e-01 0.00000000e+00 1.02682307e+02] [-2.74482062e-01 9.61592220e-01 0.00000000e+00 -6.90915410e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40139316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.841400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:102.71, Y:-6.92, Z:-0.01 [[ 9.61258877e-01 2.75647185e-01 0.00000000e+00 1.02711202e+02] [-2.75647185e-01 9.61258877e-01 0.00000000e+00 -6.91859154e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26903547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.87140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.74, Y:-6.93, Z:-0.01 [[ 9.60900447e-01 2.76894081e-01 0.00000000e+00 1.02740367e+02] [-2.76894081e-01 9.60900447e-01 0.00000000e+00 -6.92887622e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10416830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.77, Y:-6.94, Z:-0.01 [[ 9.60498867e-01 2.78283895e-01 0.00000000e+00 1.02771406e+02] [-2.78283895e-01 9.60498867e-01 0.00000000e+00 -6.93919803e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16079044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.93140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.80, Y:-6.95, Z:-0.02 [[ 9.59526916e-01 2.81616933e-01 0.00000000e+00 1.02801259e+02] [-2.81616933e-01 9.59526916e-01 0.00000000e+00 -6.94851499e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73451713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96140051299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:102.83, Y:-6.96, Z:-0.02 [[ 9.59021863e-01 2.83332078e-01 0.00000000e+00 1.02831293e+02] [-2.83332078e-01 9.59021863e-01 0.00000000e+00 -6.95584420e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69723134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.99140051299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:102.86, Y:-6.96, Z:-0.02 [[ 9.59015332e-01 2.83354185e-01 0.00000000e+00 1.02862363e+02] [-2.83354185e-01 9.59015332e-01 0.00000000e+00 -6.96276490e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69723134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.89, Y:-6.97, Z:-0.02 [[ 9.58485192e-01 2.85142309e-01 0.00000000e+00 1.02893041e+02] [-2.85142309e-01 9.58485192e-01 0.00000000e+00 -6.97123505e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51509814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.05140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.92, Y:-6.98, Z:-0.01 [[ 9.57969009e-01 2.86871711e-01 0.00000000e+00 1.02922506e+02] [-2.86871711e-01 9.57969009e-01 0.00000000e+00 -6.97985255e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26665959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.95, Y:-6.99, Z:-0.01 [[ 9.57068040e-01 2.89863358e-01 0.00000000e+00 1.02953272e+02] [-2.89863358e-01 9.57068040e-01 0.00000000e+00 -6.99027668e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26221310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.11140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.98, Y:-7.00, Z:-0.01 [[ 9.56792895e-01 2.90770282e-01 0.00000000e+00 1.02983915e+02] [-2.90770282e-01 9.56792895e-01 0.00000000e+00 -6.99726628e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35921399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.01, Y:-7.00, Z:-0.02 [[ 9.56804358e-01 2.90732558e-01 0.00000000e+00 1.03013817e+02] [-2.90732558e-01 9.56804358e-01 0.00000000e+00 -7.00428992e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51376849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.171400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:103.05, Y:-7.01, Z:-0.02 [[ 9.57097476e-01 2.89766150e-01 0.00000000e+00 1.03045361e+02] [-2.89766150e-01 9.57097476e-01 0.00000000e+00 -7.01294513e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63796801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.08, Y:-7.02, Z:-0.02 [[ 9.57484948e-01 2.88483232e-01 0.00000000e+00 1.03075885e+02] [-2.88483232e-01 9.57484948e-01 0.00000000e+00 -7.02248109e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73536567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.23140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:103.11, Y:-7.03, Z:-0.02 [[ 9.58599077e-01 2.84759213e-01 0.00000000e+00 1.03107566e+02] [-2.84759213e-01 9.58599077e-01 0.00000000e+00 -7.03422076e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50686620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.14, Y:-7.04, Z:-0.01 [[ 9.58880472e-01 2.83810218e-01 0.00000000e+00 1.03138317e+02] [-2.83810218e-01 9.58880472e-01 0.00000000e+00 -7.04322076e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38262914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.29140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:103.17, Y:-7.05, Z:-0.01 [[ 9.59111788e-01 2.83027521e-01 0.00000000e+00 1.03169671e+02] [-2.83027521e-01 9.59111788e-01 0.00000000e+00 -7.05188701e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35777593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:103.20, Y:-7.06, Z:-0.02 [[ 9.59202475e-01 2.82720023e-01 0.00000000e+00 1.03200904e+02] [-2.82720023e-01 9.59202475e-01 0.00000000e+00 -7.06381117e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61976783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.23, Y:-7.07, Z:-0.02 [[ 9.59050560e-01 2.83234925e-01 0.00000000e+00 1.03231452e+02] [-2.83234925e-01 9.59050560e-01 0.00000000e+00 -7.07262545e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80069348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.26, Y:-7.08, Z:-0.02 [[ 9.58921176e-01 2.83672660e-01 0.00000000e+00 1.03263394e+02] [-2.83672660e-01 9.58921176e-01 0.00000000e+00 -7.08136198e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85067413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.41140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.29, Y:-7.09, Z:-0.02 [[ 9.58817495e-01 2.84022907e-01 0.00000000e+00 1.03294746e+02] [-2.84022907e-01 9.58817495e-01 0.00000000e+00 -7.09075064e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70897748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:103.32, Y:-7.11, Z:-0.01 [[ 9.59280103e-01 2.82456516e-01 0.00000000e+00 1.03323773e+02] [-2.82456516e-01 9.59280103e-01 0.00000000e+00 -7.10736015e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37951128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.47140051299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:103.36, Y:-7.12, Z:-0.01 [[ 9.59795220e-01 2.80701149e-01 0.00000000e+00 1.03355134e+02] [-2.80701149e-01 9.59795220e-01 0.00000000e+00 -7.12046361e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28939735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.39, Y:-7.13, Z:-0.01 [[ 9.60288626e-01 2.79008520e-01 0.00000000e+00 1.03386421e+02] [-2.79008520e-01 9.60288626e-01 0.00000000e+00 -7.13222214e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35798657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.531400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:103.42, Y:-7.14, Z:-0.02 [[ 9.60666184e-01 2.77705748e-01 0.00000000e+00 1.03416493e+02] [-2.77705748e-01 9.60666184e-01 0.00000000e+00 -7.14269603e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58284706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.561400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:103.45, Y:-7.15, Z:-0.02 [[ 9.60705716e-01 2.77568958e-01 0.00000000e+00 1.03447728e+02] [-2.77568958e-01 9.60705716e-01 0.00000000e+00 -7.15392084e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86663588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59140051299998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:103.48, Y:-7.17, Z:-0.02 [[ 9.60437757e-01 2.78494729e-01 0.00000000e+00 1.03479371e+02] [-2.78494729e-01 9.60437757e-01 0.00000000e+00 -7.16506053e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03862043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.51, Y:-7.18, Z:-0.02 [[ 9.59255362e-01 2.82540530e-01 0.00000000e+00 1.03509318e+02] [-2.82540530e-01 9.59255362e-01 0.00000000e+00 -7.17780306e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76871673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.65140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.54, Y:-7.19, Z:-0.02 [[ 9.58601293e-01 2.84751752e-01 0.00000000e+00 1.03541228e+02] [-2.84751752e-01 9.58601293e-01 0.00000000e+00 -7.18628868e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58786593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68140051299999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:103.57, Y:-7.19, Z:-0.02 [[ 9.57851042e-01 2.87265350e-01 0.00000000e+00 1.03572926e+02] [-2.87265350e-01 9.57851042e-01 0.00000000e+00 -7.19497459e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67057127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:103.60, Y:-7.21, Z:-0.02 [[ 9.55846468e-01 2.93866516e-01 0.00000000e+00 1.03602202e+02] [-2.93866516e-01 9.55846468e-01 0.00000000e+00 -7.20723950e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12077006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.63, Y:-7.22, Z:-0.02 [[ 9.55059624e-01 2.96413754e-01 0.00000000e+00 1.03633262e+02] [-2.96413754e-01 9.55059624e-01 0.00000000e+00 -7.21667425e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.20635591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.77140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.67, Y:-7.22, Z:-0.02 [[ 9.54625293e-01 2.97809586e-01 0.00000000e+00 1.03665046e+02] [-2.97809586e-01 9.54625293e-01 0.00000000e+00 -7.22473600e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12221333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.70, Y:-7.23, Z:-0.02 [[ 9.54487375e-01 2.98251323e-01 0.00000000e+00 1.03695877e+02] [-2.98251323e-01 9.54487375e-01 0.00000000e+00 -7.23117291e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.15677395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.83140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.73, Y:-7.24, Z:-0.02 [[ 9.54444464e-01 2.98388615e-01 0.00000000e+00 1.03728062e+02] [-2.98388615e-01 9.54444464e-01 0.00000000e+00 -7.23787595e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14838593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.76, Y:-7.25, Z:-0.02 [[ 9.54476467e-01 2.98286229e-01 0.00000000e+00 1.03759624e+02] [-2.98286229e-01 9.54476467e-01 0.00000000e+00 -7.24926258e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99910990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.79, Y:-7.26, Z:-0.02 [[ 9.54627322e-01 2.97803082e-01 0.00000000e+00 1.03790346e+02] [-2.97803082e-01 9.54627322e-01 0.00000000e+00 -7.26059008e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85020361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.82, Y:-7.27, Z:-0.02 [[ 9.54895302e-01 2.96942691e-01 0.00000000e+00 1.03821811e+02] [-2.96942691e-01 9.54895302e-01 0.00000000e+00 -7.27041394e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67300757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.85, Y:-7.28, Z:-0.02 [[ 9.55184921e-01 2.96009742e-01 0.00000000e+00 1.03853061e+02] [-2.96009742e-01 9.55184921e-01 0.00000000e+00 -7.27839845e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71066837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:103.88, Y:-7.29, Z:-0.02 [[ 9.55523322e-01 2.94915548e-01 0.00000000e+00 1.03884727e+02] [-2.94915548e-01 9.55523322e-01 0.00000000e+00 -7.28608144e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78559921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.01140051299998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:103.92, Y:-7.30, Z:-0.02 [[ 9.55784501e-01 2.94067999e-01 0.00000000e+00 1.03916113e+02] [-2.94067999e-01 9.55784501e-01 0.00000000e+00 -7.29826253e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85332965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.95, Y:-7.31, Z:-0.02 [[ 9.55569413e-01 2.94766175e-01 0.00000000e+00 1.03947717e+02] [-2.94766175e-01 9.55569413e-01 0.00000000e+00 -7.30882623e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78585338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.07140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:103.98, Y:-7.32, Z:-0.02 [[ 9.55429747e-01 2.95218561e-01 0.00000000e+00 1.03978509e+02] [-2.95218561e-01 9.55429747e-01 0.00000000e+00 -7.31705508e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79397146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.01, Y:-7.33, Z:-0.02 [[ 9.54582250e-01 2.97947526e-01 0.00000000e+00 1.04008783e+02] [-2.97947526e-01 9.54582250e-01 0.00000000e+00 -7.32690999e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11259728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.13140051299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:104.04, Y:-7.34, Z:-0.02 [[ 9.54091219e-01 2.99516188e-01 0.00000000e+00 1.04040787e+02] [-2.99516188e-01 9.54091219e-01 0.00000000e+00 -7.33671456e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.20733731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:104.07, Y:-7.35, Z:-0.02 [[ 9.53639566e-01 3.00951121e-01 0.00000000e+00 1.04072437e+02] [-3.00951121e-01 9.53639566e-01 0.00000000e+00 -7.34597581e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.07991294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.19140051299999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:104.10, Y:-7.35, Z:-0.02 [[ 9.53295563e-01 3.02039021e-01 0.00000000e+00 1.04104791e+02] [-3.02039021e-01 9.53295563e-01 0.00000000e+00 -7.35390800e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87626322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:104.14, Y:-7.36, Z:-0.02 [[ 9.53128630e-01 3.02565389e-01 0.00000000e+00 1.04135608e+02] [-3.02565389e-01 9.53128630e-01 0.00000000e+00 -7.36050652e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.82133580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.251400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:104.17, Y:-7.37, Z:-0.02 [[ 9.53026964e-01 3.02885466e-01 0.00000000e+00 1.04167902e+02] [-3.02885466e-01 9.53026964e-01 0.00000000e+00 -7.36821533e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95979140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.281400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:104.20, Y:-7.38, Z:-0.03 [[ 9.53449739e-01 3.01551979e-01 0.00000000e+00 1.04198646e+02] [-3.01551979e-01 9.53449739e-01 0.00000000e+00 -7.37899576e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.52141825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.23, Y:-7.39, Z:-0.03 [[ 9.53624465e-01 3.00998970e-01 0.00000000e+00 1.04229775e+02] [-3.00998970e-01 9.53624465e-01 0.00000000e+00 -7.38753216e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.63877263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.26, Y:-7.39, Z:-0.03 [[ 9.53758884e-01 3.00572771e-01 0.00000000e+00 1.04261726e+02] [-3.00572771e-01 9.53758884e-01 0.00000000e+00 -7.39485770e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.66200240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37140051299998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:104.29, Y:-7.40, Z:-0.03 [[ 9.53842568e-01 3.00307102e-01 0.00000000e+00 1.04293265e+02] [-3.00307102e-01 9.53842568e-01 0.00000000e+00 -7.40139733e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.75149721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:104.33, Y:-7.41, Z:-0.03 [[ 9.53926876e-01 3.00039190e-01 0.00000000e+00 1.04325670e+02] [-3.00039190e-01 9.53926876e-01 0.00000000e+00 -7.40811110e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.63547913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.43140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.36, Y:-7.42, Z:-0.03 [[ 9.54014392e-01 2.99760805e-01 0.00000000e+00 1.04356847e+02] [-2.99760805e-01 9.54014392e-01 0.00000000e+00 -7.41521226e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.67236642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:104.39, Y:-7.42, Z:-0.02 [[ 9.54279108e-01 2.98917018e-01 0.00000000e+00 1.04388211e+02] [-2.98917018e-01 9.54279108e-01 0.00000000e+00 -7.42184928e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.26330143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.49140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:104.42, Y:-7.43, Z:-0.02 [[ 9.54225426e-01 2.99088342e-01 0.00000000e+00 1.04419987e+02] [-2.99088342e-01 9.54225426e-01 0.00000000e+00 -7.42757901e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11813334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.45, Y:-7.43, Z:-0.02 [[ 9.54094293e-01 2.99506395e-01 0.00000000e+00 1.04452638e+02] [-2.99506395e-01 9.54094293e-01 0.00000000e+00 -7.43292786e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05223626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.55140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.48, Y:-7.44, Z:-0.02 [[ 9.54108690e-01 2.99460527e-01 0.00000000e+00 1.04484165e+02] [-2.99460527e-01 9.54108690e-01 0.00000000e+00 -7.43675614e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05653646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58140051299999 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:104.52, Y:-7.44, Z:-0.02 [[ 9.54102757e-01 2.99479430e-01 0.00000000e+00 1.04516005e+02] [-2.99479430e-01 9.54102757e-01 0.00000000e+00 -7.44152140e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99990239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.61140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:104.55, Y:-7.45, Z:-0.02 [[ 9.54501605e-01 2.98205779e-01 0.00000000e+00 1.04547795e+02] [-2.98205779e-01 9.54501605e-01 0.00000000e+00 -7.44644410e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81273543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.58, Y:-7.45, Z:-0.01 [[ 9.54916247e-01 2.96875330e-01 0.00000000e+00 1.04579537e+02] [-2.96875330e-01 9.54916247e-01 0.00000000e+00 -7.45370919e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47252681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.671400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:104.61, Y:-7.46, Z:-0.02 [[ 9.55308704e-01 2.95610014e-01 0.00000000e+00 1.04611355e+02] [-2.95610014e-01 9.55308704e-01 0.00000000e+00 -7.45997888e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55771008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.701400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:104.64, Y:-7.47, Z:-0.02 [[ 9.55830241e-01 2.93919291e-01 0.00000000e+00 1.04643740e+02] [-2.93919291e-01 9.55830241e-01 0.00000000e+00 -7.46569815e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78247457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.73140051299998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:104.68, Y:-7.47, Z:-0.02 [[ 9.56410184e-01 2.92026644e-01 0.00000000e+00 1.04676373e+02] [-2.92026644e-01 9.56410184e-01 0.00000000e+00 -7.47155539e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.94321699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:104.71, Y:-7.48, Z:-0.02 [[ 9.57006064e-01 2.90067911e-01 0.00000000e+00 1.04707416e+02] [-2.90067911e-01 9.57006064e-01 0.00000000e+00 -7.47881546e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01036637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.79140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:104.74, Y:-7.49, Z:-0.02 [[ 9.57528821e-01 2.88337573e-01 0.00000000e+00 1.04739124e+02] [-2.88337573e-01 9.57528821e-01 0.00000000e+00 -7.48752025e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85310357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:104.77, Y:-7.49, Z:-0.02 [[ 9.57918978e-01 2.87038728e-01 0.00000000e+00 1.04770647e+02] [-2.87038728e-01 9.57918978e-01 0.00000000e+00 -7.49423455e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55379582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.85140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.80, Y:-7.50, Z:-0.02 [[ 9.57721021e-01 2.87698534e-01 0.00000000e+00 1.04802600e+02] [-2.87698534e-01 9.57721021e-01 0.00000000e+00 -7.50053031e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60656904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.84, Y:-7.51, Z:-0.02 [[ 9.57667966e-01 2.87875088e-01 0.00000000e+00 1.04835178e+02] [-2.87875088e-01 9.57667966e-01 0.00000000e+00 -7.50822450e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60656904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.91140051299999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:104.87, Y:-7.52, Z:-0.02 [[ 9.57424288e-01 2.88684486e-01 0.00000000e+00 1.04866639e+02] [-2.88684486e-01 9.57424288e-01 0.00000000e+00 -7.51546429e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77397408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94140051299999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:104.90, Y:-7.53, Z:-0.02 [[ 9.57023708e-01 2.90009692e-01 0.00000000e+00 1.04898095e+02] [-2.90009692e-01 9.57023708e-01 0.00000000e+00 -7.52502208e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93581569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.97140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.93, Y:-7.54, Z:-0.02 [[ 9.56673960e-01 2.91161353e-01 0.00000000e+00 1.04928922e+02] [-2.91161353e-01 9.56673960e-01 0.00000000e+00 -7.53527732e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08054694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.001400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:104.96, Y:-7.54, Z:-0.02 [[ 9.56605888e-01 2.91384925e-01 0.00000000e+00 1.04961194e+02] [-2.91384925e-01 9.56605888e-01 0.00000000e+00 -7.54405996e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22258007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.031400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:104.99, Y:-7.55, Z:-0.02 [[ 9.56628721e-01 2.91309956e-01 0.00000000e+00 1.04993299e+02] [-2.91309956e-01 9.56628721e-01 0.00000000e+00 -7.55018993e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09869903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.02, Y:-7.56, Z:-0.02 [[ 9.56463311e-01 2.91852590e-01 0.00000000e+00 1.05024846e+02] [-2.91852590e-01 9.56463311e-01 0.00000000e+00 -7.55728030e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97855545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09140051299998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:105.06, Y:-7.57, Z:-0.02 [[ 9.56294490e-01 2.92405281e-01 0.00000000e+00 1.05057058e+02] [-2.92405281e-01 9.56294490e-01 0.00000000e+00 -7.56504134e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86610606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.09, Y:-7.57, Z:-0.02 [[ 9.55948786e-01 2.93533506e-01 0.00000000e+00 1.05088714e+02] [-2.93533506e-01 9.55948786e-01 0.00000000e+00 -7.57399669e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89438721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.15140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.12, Y:-7.58, Z:-0.02 [[ 9.55531210e-01 2.94889992e-01 0.00000000e+00 1.05119947e+02] [-2.94889992e-01 9.55531210e-01 0.00000000e+00 -7.58268170e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06359654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.15, Y:-7.59, Z:-0.02 [[ 9.55114072e-01 2.96238265e-01 0.00000000e+00 1.05151331e+02] [-2.96238265e-01 9.55114072e-01 0.00000000e+00 -7.59180755e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16268299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.21140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.18, Y:-7.60, Z:-0.02 [[ 9.55106193e-01 2.96263667e-01 0.00000000e+00 1.05183371e+02] [-2.96263667e-01 9.55106193e-01 0.00000000e+00 -7.60099128e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16145746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:105.21, Y:-7.61, Z:-0.02 [[ 9.55214217e-01 2.95915191e-01 0.00000000e+00 1.05213877e+02] [-2.95915191e-01 9.55214217e-01 0.00000000e+00 -7.61012688e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21526039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.27140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.25, Y:-7.62, Z:-0.02 [[ 9.55315473e-01 2.95588139e-01 0.00000000e+00 1.05245508e+02] [-2.95588139e-01 9.55315473e-01 0.00000000e+00 -7.61919850e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12976932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30140051299999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:105.28, Y:-7.63, Z:-0.02 [[ 9.55347783e-01 2.95483696e-01 0.00000000e+00 1.05277631e+02] [-2.95483696e-01 9.55347783e-01 0.00000000e+00 -7.62635487e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12175324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.33140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.31, Y:-7.63, Z:-0.02 [[ 9.55103666e-01 2.96271812e-01 0.00000000e+00 1.05310186e+02] [-2.96271812e-01 9.55103666e-01 0.00000000e+00 -7.63312539e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.15151076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36140051299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:105.34, Y:-7.64, Z:-0.02 [[ 9.54355599e-01 2.98672715e-01 0.00000000e+00 1.05341249e+02] [-2.98672715e-01 9.54355599e-01 0.00000000e+00 -7.64090224e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12728222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.37, Y:-7.65, Z:-0.02 [[ 9.54038367e-01 2.99684490e-01 0.00000000e+00 1.05373206e+02] [-2.99684490e-01 9.54038367e-01 0.00000000e+00 -7.65045884e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96498937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.41, Y:-7.66, Z:-0.02 [[ 9.53855575e-01 3.00265785e-01 0.00000000e+00 1.05405312e+02] [-3.00265785e-01 9.53855575e-01 0.00000000e+00 -7.65951024e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89153155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.451400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:105.44, Y:-7.67, Z:-0.02 [[ 9.53910644e-01 3.00090792e-01 0.00000000e+00 1.05436152e+02] [-3.00090792e-01 9.53910644e-01 0.00000000e+00 -7.66720592e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01157731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.47, Y:-7.67, Z:-0.02 [[ 9.54231936e-01 2.99067570e-01 0.00000000e+00 1.05468119e+02] [-2.99067570e-01 9.54231936e-01 0.00000000e+00 -7.67487263e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02776685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.50, Y:-7.68, Z:-0.02 [[ 9.55194042e-01 2.95980305e-01 0.00000000e+00 1.05499659e+02] [-2.95980305e-01 9.55194042e-01 0.00000000e+00 -7.68377095e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92913628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:105.53, Y:-7.69, Z:-0.02 [[ 9.55658958e-01 2.94475731e-01 0.00000000e+00 1.05530179e+02] [-2.94475731e-01 9.55658958e-01 0.00000000e+00 -7.69279137e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84362297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.57140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.56, Y:-7.70, Z:-0.02 [[ 9.56137844e-01 2.92917091e-01 0.00000000e+00 1.05561822e+02] [-2.92917091e-01 9.56137844e-01 0.00000000e+00 -7.70187341e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71948412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60140051299999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:105.59, Y:-7.71, Z:-0.02 [[ 9.56493677e-01 2.91753058e-01 0.00000000e+00 1.05593741e+02] [-2.91753058e-01 9.56493677e-01 0.00000000e+00 -7.70950794e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68436089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.63140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.62, Y:-7.72, Z:-0.02 [[ 9.56471203e-01 2.91826727e-01 0.00000000e+00 1.05624659e+02] [-2.91826727e-01 9.56471203e-01 0.00000000e+00 -7.71609762e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65444321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66140051299999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:105.66, Y:-7.72, Z:-0.02 [[ 9.55430816e-01 2.95215102e-01 0.00000000e+00 1.05656822e+02] [-2.95215102e-01 9.55430816e-01 0.00000000e+00 -7.72032960e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50065585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.69140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.69, Y:-7.73, Z:-0.01 [[ 9.54397106e-01 2.98540054e-01 0.00000000e+00 1.05689515e+02] [-2.98540054e-01 9.54397106e-01 0.00000000e+00 -7.72642044e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43313587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:105.72, Y:-7.73, Z:-0.01 [[ 9.53107822e-01 3.02630930e-01 0.00000000e+00 1.05720767e+02] [-3.02630930e-01 9.53107822e-01 0.00000000e+00 -7.73205752e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48151837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.75, Y:-7.74, Z:-0.02 [[ 9.51672025e-01 3.07116195e-01 0.00000000e+00 1.05752571e+02] [-3.07116195e-01 9.51672025e-01 0.00000000e+00 -7.73758903e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57301280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.79, Y:-7.74, Z:-0.02 [[ 9.50266383e-01 3.11438278e-01 0.00000000e+00 1.05785402e+02] [-3.11438278e-01 9.50266383e-01 0.00000000e+00 -7.74301315e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53270259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.811400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:105.82, Y:-7.75, Z:-0.01 [[ 9.49137122e-01 3.14863024e-01 0.00000000e+00 1.05817971e+02] [-3.14863024e-01 9.49137122e-01 0.00000000e+00 -7.74724731e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49898220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.85, Y:-7.75, Z:-0.02 [[ 9.48015147e-01 3.18225204e-01 0.00000000e+00 1.05851838e+02] [-3.18225204e-01 9.48015147e-01 0.00000000e+00 -7.74725167e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63994557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87140051299998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:105.88, Y:-7.75, Z:-0.02 [[ 9.48078561e-01 3.18036229e-01 0.00000000e+00 1.05883955e+02] [-3.18036229e-01 9.48078561e-01 0.00000000e+00 -7.75085717e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86920439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.92, Y:-7.76, Z:-0.02 [[ 9.48316088e-01 3.17327272e-01 0.00000000e+00 1.05916834e+02] [-3.17327272e-01 9.48316088e-01 0.00000000e+00 -7.75505862e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04092835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.93140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.95, Y:-7.76, Z:-0.02 [[ 9.48747857e-01 3.16034024e-01 0.00000000e+00 1.05948438e+02] [-3.16034024e-01 9.48747857e-01 0.00000000e+00 -7.75873479e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.25364121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.98, Y:-7.76, Z:-0.02 [[ 9.49388820e-01 3.14103277e-01 0.00000000e+00 1.05981217e+02] [-3.14103277e-01 9.49388820e-01 0.00000000e+00 -7.76252298e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16503532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.99140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.01, Y:-7.77, Z:-0.02 [[ 9.50196884e-01 3.11650255e-01 0.00000000e+00 1.06014383e+02] [-3.11650255e-01 9.50196884e-01 0.00000000e+00 -7.76612817e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12294309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02140051299999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:106.05, Y:-7.76, Z:-0.02 [[ 9.51973725e-01 3.06179730e-01 0.00000000e+00 1.06046877e+02] [-3.06179730e-01 9.51973725e-01 0.00000000e+00 -7.76455900e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27606089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.05140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.08, Y:-7.77, Z:-0.02 [[ 9.52801521e-01 3.03593909e-01 0.00000000e+00 1.06078964e+02] [-3.03593909e-01 9.52801521e-01 0.00000000e+00 -7.76855825e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35397190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.11, Y:-7.77, Z:-0.02 [[ 9.53520577e-01 3.01327911e-01 0.00000000e+00 1.06111275e+02] [-3.01327911e-01 9.53520577e-01 0.00000000e+00 -7.77325903e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.31080775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.11140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:106.14, Y:-7.78, Z:-0.02 [[ 9.54305816e-01 2.98831740e-01 0.00000000e+00 1.06142750e+02] [-2.98831740e-01 9.54305816e-01 0.00000000e+00 -7.77832787e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38042293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.18, Y:-7.78, Z:-0.02 [[ 9.55100577e-01 2.96281772e-01 0.00000000e+00 1.06175358e+02] [-2.96281772e-01 9.55100577e-01 0.00000000e+00 -7.78436890e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.40747279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.21, Y:-7.79, Z:-0.02 [[ 9.55951157e-01 2.93525782e-01 0.00000000e+00 1.06207691e+02] [-2.93525782e-01 9.55951157e-01 0.00000000e+00 -7.78988883e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41897336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.24, Y:-7.79, Z:-0.02 [[ 9.57351140e-01 2.88926972e-01 0.00000000e+00 1.06241249e+02] [-2.88926972e-01 9.57351140e-01 0.00000000e+00 -7.79269050e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35641468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.27, Y:-7.80, Z:-0.02 [[ 9.57745719e-01 2.87616302e-01 0.00000000e+00 1.06272949e+02] [-2.87616302e-01 9.57745719e-01 0.00000000e+00 -7.79805090e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.34262994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:106.31, Y:-7.80, Z:-0.02 [[ 9.58025231e-01 2.86683897e-01 0.00000000e+00 1.06305184e+02] [-2.86683897e-01 9.58025231e-01 0.00000000e+00 -7.80419197e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17508145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.29140051299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:106.34, Y:-7.81, Z:-0.02 [[ 9.58186564e-01 2.86144210e-01 0.00000000e+00 1.06337899e+02] [-2.86144210e-01 9.58186564e-01 0.00000000e+00 -7.81096615e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00062689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:106.37, Y:-7.82, Z:-0.02 [[ 9.58242687e-01 2.85956209e-01 0.00000000e+00 1.06369418e+02] [-2.85956209e-01 9.58242687e-01 0.00000000e+00 -7.81706819e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87231348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.35140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:106.40, Y:-7.82, Z:-0.02 [[ 9.58268977e-01 2.85868096e-01 0.00000000e+00 1.06401238e+02] [-2.85868096e-01 9.58268977e-01 0.00000000e+00 -7.82314671e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84762326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38140051299999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:106.43, Y:-7.83, Z:-0.02 [[ 9.58260061e-01 2.85897981e-01 0.00000000e+00 1.06432530e+02] [-2.85897981e-01 9.58260061e-01 0.00000000e+00 -7.82980094e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09491340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.41140051299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:106.46, Y:-7.84, Z:-0.02 [[ 9.58179045e-01 2.86169386e-01 0.00000000e+00 1.06464256e+02] [-2.86169386e-01 9.58179045e-01 0.00000000e+00 -7.83846055e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13699213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44140051299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:106.50, Y:-7.85, Z:-0.02 [[ 9.57856786e-01 2.87246196e-01 0.00000000e+00 1.06496528e+02] [-2.87246196e-01 9.57856786e-01 0.00000000e+00 -7.84552686e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72822047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.47140051299999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:106.53, Y:-7.85, Z:-0.01 [[ 9.57555668e-01 2.88248403e-01 0.00000000e+00 1.06529515e+02] [-2.88248403e-01 9.57555668e-01 0.00000000e+00 -7.85130675e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40131596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.501400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:106.56, Y:-7.86, Z:-0.01 [[ 9.57184486e-01 2.89478599e-01 0.00000000e+00 1.06561302e+02] [-2.89478599e-01 9.57184486e-01 0.00000000e+00 -7.85711499e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17250755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.59, Y:-7.86, Z:-0.01 [[ 9.56786844e-01 2.90790192e-01 0.00000000e+00 1.06592277e+02] [-2.90790192e-01 9.56786844e-01 0.00000000e+00 -7.86467113e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09389999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.561400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:106.62, Y:-7.87, Z:-0.01 [[ 9.56675986e-01 2.91154699e-01 0.00000000e+00 1.06623652e+02] [-2.91154699e-01 9.56675986e-01 0.00000000e+00 -7.87346834e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24135381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.65, Y:-7.88, Z:-0.02 [[ 9.56824890e-01 2.90664978e-01 0.00000000e+00 1.06654372e+02] [-2.90664978e-01 9.56824890e-01 0.00000000e+00 -7.88330392e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54989922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:106.68, Y:-7.89, Z:-0.02 [[ 9.57866348e-01 2.87214310e-01 0.00000000e+00 1.06684855e+02] [-2.87214310e-01 9.57866348e-01 0.00000000e+00 -7.89372847e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.94030210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.65140051299998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:106.72, Y:-7.90, Z:-0.02 [[ 9.58334631e-01 2.85647922e-01 0.00000000e+00 1.06717027e+02] [-2.85647922e-01 9.58334631e-01 0.00000000e+00 -7.90248144e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84241688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68140051299999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:106.75, Y:-7.91, Z:-0.02 [[ 9.58566932e-01 2.84867402e-01 0.00000000e+00 1.06746890e+02] [-2.84867402e-01 9.58566932e-01 0.00000000e+00 -7.90995851e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75471637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.71140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.78, Y:-7.92, Z:-0.02 [[ 9.58675686e-01 2.84501192e-01 0.00000000e+00 1.06779645e+02] [-2.84501192e-01 9.58675686e-01 0.00000000e+00 -7.91817585e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76057765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74140051299999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:106.81, Y:-7.93, Z:-0.02 [[ 9.58523135e-01 2.85014736e-01 0.00000000e+00 1.06811901e+02] [-2.85014736e-01 9.58523135e-01 0.00000000e+00 -7.92579087e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88720413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.77140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.84, Y:-7.93, Z:-0.02 [[ 9.58162310e-01 2.86225413e-01 0.00000000e+00 1.06844027e+02] [-2.86225413e-01 9.58162310e-01 0.00000000e+00 -7.93398260e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00257065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.88, Y:-7.94, Z:-0.02 [[ 9.58107849e-01 2.86407663e-01 0.00000000e+00 1.06876526e+02] [-2.86407663e-01 9.58107849e-01 0.00000000e+00 -7.94204323e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00257065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.83140051299999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:106.91, Y:-7.95, Z:-0.02 [[ 9.57250310e-01 2.89260859e-01 0.00000000e+00 1.06906535e+02] [-2.89260859e-01 9.57250310e-01 0.00000000e+00 -7.95190182e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11285147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.94, Y:-7.96, Z:-0.02 [[ 9.56843748e-01 2.90602893e-01 0.00000000e+00 1.06938322e+02] [-2.90602893e-01 9.56843748e-01 0.00000000e+00 -7.96163420e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08682162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.891400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:106.97, Y:-7.97, Z:-0.02 [[ 9.56601027e-01 2.91400882e-01 0.00000000e+00 1.06969710e+02] [-2.91400882e-01 9.56601027e-01 0.00000000e+00 -7.97044810e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11367587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.00, Y:-7.98, Z:-0.02 [[ 9.56524625e-01 2.91651577e-01 0.00000000e+00 1.07000456e+02] [-2.91651577e-01 9.56524625e-01 0.00000000e+00 -7.97905346e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22221851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.951400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:107.03, Y:-7.99, Z:-0.02 [[ 9.56642632e-01 2.91264271e-01 0.00000000e+00 1.07031742e+02] [-2.91264271e-01 9.56642632e-01 0.00000000e+00 -7.98714253e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.26011854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98140051299998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:107.06, Y:-8.00, Z:-0.02 [[ 9.56835583e-01 2.90629776e-01 0.00000000e+00 1.07063503e+02] [-2.90629776e-01 9.56835583e-01 0.00000000e+00 -7.99605759e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22646800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.01140051299998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:107.09, Y:-8.01, Z:-0.02 [[ 9.57230498e-01 2.89326415e-01 0.00000000e+00 1.07093430e+02] [-2.89326415e-01 9.57230498e-01 0.00000000e+00 -8.00882179e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17159780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.12, Y:-8.02, Z:-0.02 [[ 9.57388821e-01 2.88802087e-01 0.00000000e+00 1.07123440e+02] [-2.88802087e-01 9.57388821e-01 0.00000000e+00 -8.01939678e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.24291188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.07140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.15, Y:-8.03, Z:-0.02 [[ 9.57258234e-01 2.89234632e-01 0.00000000e+00 1.07154981e+02] [-2.89234632e-01 9.57258234e-01 0.00000000e+00 -8.02950616e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28362878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10140051299999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:107.19, Y:-8.04, Z:-0.02 [[ 9.56919002e-01 2.90354996e-01 0.00000000e+00 1.07186039e+02] [-2.90354996e-01 9.56919002e-01 0.00000000e+00 -8.03816071e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.36939679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.13140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:107.22, Y:-8.05, Z:-0.02 [[ 9.56557138e-01 2.91544922e-01 0.00000000e+00 1.07216483e+02] [-2.91544922e-01 9.56557138e-01 0.00000000e+00 -8.04688189e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.45740928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.25, Y:-8.06, Z:-0.02 [[ 9.55927690e-01 2.93602200e-01 0.00000000e+00 1.07248406e+02] [-2.93602200e-01 9.55927690e-01 0.00000000e+00 -8.05661964e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.36741405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.19140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.28, Y:-8.07, Z:-0.02 [[ 9.54639255e-01 2.97764828e-01 0.00000000e+00 1.07279783e+02] [-2.97764828e-01 9.54639255e-01 0.00000000e+00 -8.06605637e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.25836101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.31, Y:-8.07, Z:-0.02 [[ 9.54312410e-01 2.98810683e-01 0.00000000e+00 1.07312115e+02] [-2.98810683e-01 9.54312410e-01 0.00000000e+00 -8.07458960e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29400907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.251400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:107.34, Y:-8.08, Z:-0.02 [[ 9.54344887e-01 2.98706940e-01 0.00000000e+00 1.07343239e+02] [-2.98706940e-01 9.54344887e-01 0.00000000e+00 -8.08331009e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30560288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.37, Y:-8.10, Z:-0.02 [[ 9.55050715e-01 2.96442459e-01 0.00000000e+00 1.07373802e+02] [-2.96442459e-01 9.55050715e-01 0.00000000e+00 -8.09627389e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90630886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.311400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:107.40, Y:-8.11, Z:-0.02 [[ 9.55842460e-01 2.93879553e-01 0.00000000e+00 1.07404429e+02] [-2.93879553e-01 9.55842460e-01 0.00000000e+00 -8.10705648e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87809225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.43, Y:-8.12, Z:-0.02 [[ 9.56616393e-01 2.91350437e-01 0.00000000e+00 1.07434945e+02] [-2.91350437e-01 9.56616393e-01 0.00000000e+00 -8.11768497e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95310791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.37140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:107.47, Y:-8.13, Z:-0.02 [[ 9.57226037e-01 2.89341171e-01 0.00000000e+00 1.07466182e+02] [-2.89341171e-01 9.57226037e-01 0.00000000e+00 -8.12786184e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00374239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.50, Y:-8.14, Z:-0.02 [[ 9.57578478e-01 2.88172619e-01 0.00000000e+00 1.07496884e+02] [-2.88172619e-01 9.57578478e-01 0.00000000e+00 -8.13866961e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91685093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.43140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:107.53, Y:-8.15, Z:-0.02 [[ 9.57732809e-01 2.87659289e-01 0.00000000e+00 1.07528001e+02] [-2.87659289e-01 9.57732809e-01 0.00000000e+00 -8.14949125e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77627061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.56, Y:-8.16, Z:-0.02 [[ 9.57599337e-01 2.88103298e-01 0.00000000e+00 1.07558209e+02] [-2.88103298e-01 9.57599337e-01 0.00000000e+00 -8.16260772e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75702753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.49140051299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:107.59, Y:-8.17, Z:-0.02 [[ 9.57468039e-01 2.88539345e-01 0.00000000e+00 1.07589389e+02] [-2.88539345e-01 9.57468039e-01 0.00000000e+00 -8.17148520e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81568697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52140051299999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:107.62, Y:-8.18, Z:-0.02 [[ 9.57174371e-01 2.89512043e-01 0.00000000e+00 1.07620972e+02] [-2.89512043e-01 9.57174371e-01 0.00000000e+00 -8.18009028e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81030619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.55140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:107.65, Y:-8.19, Z:-0.02 [[ 9.56841483e-01 2.90610352e-01 0.00000000e+00 1.07651298e+02] [-2.90610352e-01 9.56841483e-01 0.00000000e+00 -8.18872708e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93292027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58140051299999 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:107.68, Y:-8.20, Z:-0.02 [[ 9.56466480e-01 2.91842205e-01 0.00000000e+00 1.07681361e+02] [-2.91842205e-01 9.56466480e-01 0.00000000e+00 -8.19879079e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00815082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.61140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:107.71, Y:-8.21, Z:-0.02 [[ 9.56151263e-01 2.92873285e-01 0.00000000e+00 1.07711350e+02] [-2.92873285e-01 9.56151263e-01 0.00000000e+00 -8.21113571e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.25475670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.74, Y:-8.22, Z:-0.02 [[ 9.55959305e-01 2.93499245e-01 0.00000000e+00 1.07743089e+02] [-2.93499245e-01 9.55959305e-01 0.00000000e+00 -8.22066420e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16420321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.78, Y:-8.23, Z:-0.02 [[ 9.55752708e-01 2.94171314e-01 0.00000000e+00 1.07775085e+02] [-2.94171314e-01 9.55752708e-01 0.00000000e+00 -8.22903717e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00829974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.701400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:107.81, Y:-8.24, Z:-0.02 [[ 9.55555538e-01 2.94811151e-01 0.00000000e+00 1.07806178e+02] [-2.94811151e-01 9.55555538e-01 0.00000000e+00 -8.23624418e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99569129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.84, Y:-8.24, Z:-0.02 [[ 9.55135793e-01 2.96168223e-01 0.00000000e+00 1.07838233e+02] [-2.96168223e-01 9.55135793e-01 0.00000000e+00 -8.24486964e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89433820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:107.87, Y:-8.26, Z:-0.02 [[ 9.54221082e-01 2.99102202e-01 0.00000000e+00 1.07868101e+02] [-2.99102202e-01 9.54221082e-01 0.00000000e+00 -8.25575977e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29663725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.79140051299999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:107.90, Y:-8.27, Z:-0.02 [[ 9.53675368e-01 3.00837651e-01 0.00000000e+00 1.07898894e+02] [-3.00837651e-01 9.53675368e-01 0.00000000e+00 -8.26638132e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.46931643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.93, Y:-8.28, Z:-0.03 [[ 9.53092886e-01 3.02677965e-01 0.00000000e+00 1.07929074e+02] [-3.02677965e-01 9.53092886e-01 0.00000000e+00 -8.27622482e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.52535972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.85140051299999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:107.96, Y:-8.28, Z:-0.03 [[ 9.52541012e-01 3.04410284e-01 0.00000000e+00 1.07959812e+02] [-3.04410284e-01 9.52541012e-01 0.00000000e+00 -8.28498381e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.71437565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88140051299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:107.99, Y:-8.29, Z:-0.03 [[ 9.52044582e-01 3.05959334e-01 0.00000000e+00 1.07990633e+02] [-3.05959334e-01 9.52044582e-01 0.00000000e+00 -8.29383816e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.57876779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.91140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.02, Y:-8.30, Z:-0.02 [[ 9.51549204e-01 3.07496524e-01 0.00000000e+00 1.08021901e+02] [-3.07496524e-01 9.51549204e-01 0.00000000e+00 -8.30314485e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29057996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:108.05, Y:-8.31, Z:-0.02 [[ 9.50350821e-01 3.11180520e-01 0.00000000e+00 1.08052870e+02] [-3.11180520e-01 9.50350821e-01 0.00000000e+00 -8.31445866e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.25703947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.97140051299999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:108.08, Y:-8.32, Z:-0.03 [[ 9.49535723e-01 3.13658907e-01 0.00000000e+00 1.08083386e+02] [-3.13658907e-01 9.49535723e-01 0.00000000e+00 -8.32419845e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.51352557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.11, Y:-8.33, Z:-0.02 [[ 9.48730304e-01 3.16086713e-01 0.00000000e+00 1.08114847e+02] [-3.16086713e-01 9.48730304e-01 0.00000000e+00 -8.33424269e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43047790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.031400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:108.14, Y:-8.34, Z:-0.02 [[ 9.48061895e-01 3.18085906e-01 0.00000000e+00 1.08144966e+02] [-3.18085906e-01 9.48061895e-01 0.00000000e+00 -8.34356507e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41429257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.061400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:108.18, Y:-8.35, Z:-0.02 [[ 9.47455657e-01 3.19887135e-01 0.00000000e+00 1.08176157e+02] [-3.19887135e-01 9.47455657e-01 0.00000000e+00 -8.35311703e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32552352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:108.21, Y:-8.36, Z:-0.02 [[ 9.46178397e-01 3.23645550e-01 0.00000000e+00 1.08207321e+02] [-3.23645550e-01 9.46178397e-01 0.00000000e+00 -8.36238870e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11311827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12140051299998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:108.24, Y:-8.37, Z:-0.02 [[ 9.45450119e-01 3.25766899e-01 0.00000000e+00 1.08239014e+02] [-3.25766899e-01 9.45450119e-01 0.00000000e+00 -8.36986481e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97447121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.15140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.27, Y:-8.38, Z:-0.02 [[ 9.44796084e-01 3.27658907e-01 0.00000000e+00 1.08270595e+02] [-3.27658907e-01 9.44796084e-01 0.00000000e+00 -8.37671204e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99970572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:-8.38, Z:-0.02 [[ 9.43872241e-01 3.30310752e-01 0.00000000e+00 1.08302887e+02] [-3.30310752e-01 9.43872241e-01 0.00000000e+00 -8.38196133e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13008216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.21140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.34, Y:-8.39, Z:-0.02 [[ 9.43811472e-01 3.30484349e-01 0.00000000e+00 1.08335314e+02] [-3.30484349e-01 9.43811472e-01 0.00000000e+00 -8.39025316e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13008216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.37, Y:-8.40, Z:-0.02 [[ 9.43339467e-01 3.31829248e-01 0.00000000e+00 1.08366519e+02] [-3.31829248e-01 9.43339467e-01 0.00000000e+00 -8.39738647e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14056959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.27140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.40, Y:-8.40, Z:-0.02 [[ 9.43024722e-01 3.32722666e-01 0.00000000e+00 1.08398223e+02] [-3.32722666e-01 9.43024722e-01 0.00000000e+00 -8.40405109e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91961905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.43, Y:-8.41, Z:-0.02 [[ 9.43000985e-01 3.32789937e-01 0.00000000e+00 1.08430862e+02] [-3.32789937e-01 9.43000985e-01 0.00000000e+00 -8.41000526e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.82116461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.33140051299999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:108.46, Y:-8.41, Z:-0.02 [[ 9.43221503e-01 3.32164411e-01 0.00000000e+00 1.08462243e+02] [-3.32164411e-01 9.43221503e-01 0.00000000e+00 -8.41474395e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92314654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.49, Y:-8.42, Z:-0.02 [[ 9.44110224e-01 3.29629920e-01 0.00000000e+00 1.08494767e+02] [-3.29629920e-01 9.44110224e-01 0.00000000e+00 -8.42068721e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70523697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.53, Y:-8.43, Z:-0.02 [[ 9.44600872e-01 3.28221255e-01 0.00000000e+00 1.08526141e+02] [-3.28221255e-01 9.44600872e-01 0.00000000e+00 -8.42877695e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56083341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.56, Y:-8.44, Z:-0.01 [[ 9.45052341e-01 3.26919062e-01 0.00000000e+00 1.08556956e+02] [-3.26919062e-01 9.45052341e-01 0.00000000e+00 -8.43664455e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47324088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.59, Y:-8.44, Z:-0.01 [[ 9.45664567e-01 3.25143854e-01 0.00000000e+00 1.08588667e+02] [-3.25143854e-01 9.45664567e-01 0.00000000e+00 -8.44423080e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42118613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.62, Y:-8.45, Z:-0.01 [[ 9.46399355e-01 3.22998856e-01 0.00000000e+00 1.08620489e+02] [-3.22998856e-01 9.46399355e-01 0.00000000e+00 -8.45188692e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43565995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.65, Y:-8.46, Z:-0.02 [[ 9.47266404e-01 3.20447124e-01 0.00000000e+00 1.08651684e+02] [-3.20447124e-01 9.47266404e-01 0.00000000e+00 -8.45977988e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50258728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.68, Y:-8.47, Z:-0.01 [[ 9.49092289e-01 3.14998138e-01 0.00000000e+00 1.08682594e+02] [-3.14998138e-01 9.49092289e-01 0.00000000e+00 -8.46819323e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49927552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.57140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.71, Y:-8.48, Z:-0.02 [[ 9.50004186e-01 3.12237165e-01 0.00000000e+00 1.08714082e+02] [-3.12237165e-01 9.50004186e-01 0.00000000e+00 -8.47643066e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67346034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.74, Y:-8.48, Z:-0.02 [[ 9.50848900e-01 3.09655244e-01 0.00000000e+00 1.08744982e+02] [-3.09655244e-01 9.50848900e-01 0.00000000e+00 -8.48432874e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00217609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.63140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.78, Y:-8.49, Z:-0.02 [[ 9.51422325e-01 3.07888874e-01 0.00000000e+00 1.08775167e+02] [-3.07888874e-01 9.51422325e-01 0.00000000e+00 -8.49211663e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32699567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.81, Y:-8.50, Z:-0.03 [[ 9.51737996e-01 3.06911694e-01 0.00000000e+00 1.08805779e+02] [-3.06911694e-01 9.51737996e-01 0.00000000e+00 -8.49990821e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.64868397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.69140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.84, Y:-8.51, Z:-0.03 [[ 9.51682997e-01 3.07082192e-01 0.00000000e+00 1.08838177e+02] [-3.07082192e-01 9.51682997e-01 0.00000000e+00 -8.50831622e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.64868397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:108.87, Y:-8.52, Z:-0.03 [[ 9.51778332e-01 3.06786583e-01 0.00000000e+00 1.08869776e+02] [-3.06786583e-01 9.51778332e-01 0.00000000e+00 -8.51607933e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.67096764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.90, Y:-8.52, Z:-0.03 [[ 9.51166237e-01 3.08679105e-01 0.00000000e+00 1.08900701e+02] [-3.08679105e-01 9.51166237e-01 0.00000000e+00 -8.52109331e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.50983452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.93, Y:-8.53, Z:-0.02 [[ 9.50388703e-01 3.11064807e-01 0.00000000e+00 1.08932642e+02] [-3.11064807e-01 9.50388703e-01 0.00000000e+00 -8.52731759e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16230470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.96, Y:-8.53, Z:-0.02 [[ 9.49526585e-01 3.13686571e-01 0.00000000e+00 1.08963994e+02] [-3.13686571e-01 9.49526585e-01 0.00000000e+00 -8.53403230e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10166614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.00, Y:-8.54, Z:-0.02 [[ 9.48849794e-01 3.15727840e-01 0.00000000e+00 1.08995980e+02] [-3.15727840e-01 9.48849794e-01 0.00000000e+00 -8.54077220e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02793887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.87140051299998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:109.03, Y:-8.54, Z:-0.02 [[ 9.47876277e-01 3.18638611e-01 0.00000000e+00 1.09027790e+02] [-3.18638611e-01 9.47876277e-01 0.00000000e+00 -8.54295579e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16821946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90140051299998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:109.06, Y:-8.55, Z:-0.02 [[ 9.47496442e-01 3.19766309e-01 0.00000000e+00 1.09060087e+02] [-3.19766309e-01 9.47496442e-01 0.00000000e+00 -8.54839162e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02000249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.93140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.09, Y:-8.56, Z:-0.02 [[ 9.47329169e-01 3.20261528e-01 0.00000000e+00 1.09091946e+02] [-3.20261528e-01 9.47329169e-01 0.00000000e+00 -8.55522397e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89993943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.12, Y:-8.56, Z:-0.02 [[ 9.47610062e-01 3.19429444e-01 0.00000000e+00 1.09122596e+02] [-3.19429444e-01 9.47610062e-01 0.00000000e+00 -8.56248799e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93182358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.99140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.15, Y:-8.57, Z:-0.02 [[ 9.48219241e-01 3.17616547e-01 0.00000000e+00 1.09154543e+02] [-3.17616547e-01 9.48219241e-01 0.00000000e+00 -8.57003286e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95331522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:109.19, Y:-8.58, Z:-0.02 [[ 9.49886280e-01 3.12595673e-01 0.00000000e+00 1.09185594e+02] [-3.12595673e-01 9.49886280e-01 0.00000000e+00 -8.57632814e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11911373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.05140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.22, Y:-8.59, Z:-0.02 [[ 9.50562433e-01 3.10533510e-01 0.00000000e+00 1.09215839e+02] [-3.10533510e-01 9.50562433e-01 0.00000000e+00 -8.58562738e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03763421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:109.25, Y:-8.60, Z:-0.02 [[ 9.51203633e-01 3.08563849e-01 0.00000000e+00 1.09246395e+02] [-3.08563849e-01 9.51203633e-01 0.00000000e+00 -8.59645423e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99217222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.11140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.28, Y:-8.61, Z:-0.02 [[ 9.51659396e-01 3.07155326e-01 0.00000000e+00 1.09277685e+02] [-3.07155326e-01 9.51659396e-01 0.00000000e+00 -8.60816138e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80819276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.141400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:109.31, Y:-8.62, Z:-0.02 [[ 9.52012064e-01 3.06060501e-01 0.00000000e+00 1.09307404e+02] [-3.06060501e-01 9.52012064e-01 0.00000000e+00 -8.61775534e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14285402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.171400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:109.34, Y:-8.63, Z:-0.02 [[ 9.51618781e-01 3.07281135e-01 0.00000000e+00 1.09339130e+02] [-3.07281135e-01 9.51618781e-01 0.00000000e+00 -8.62616287e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17377928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.201400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.37, Y:-8.64, Z:-0.02 [[ 9.50968632e-01 3.09287344e-01 0.00000000e+00 1.09369831e+02] [-3.09287344e-01 9.50968632e-01 0.00000000e+00 -8.63528717e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22354057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23140051299998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:109.40, Y:-8.64, Z:-0.02 [[ 9.50378364e-01 3.11096393e-01 0.00000000e+00 1.09400910e+02] [-3.11096393e-01 9.50378364e-01 0.00000000e+00 -8.64479383e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.26476728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26140051299998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:109.43, Y:-8.65, Z:-0.02 [[ 9.49910769e-01 3.12521250e-01 0.00000000e+00 1.09432875e+02] [-3.12521250e-01 9.49910769e-01 0.00000000e+00 -8.65448300e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09833861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.29140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:109.46, Y:-8.66, Z:-0.02 [[ 9.49584965e-01 3.13509800e-01 0.00000000e+00 1.09464548e+02] [-3.13509800e-01 9.49584965e-01 0.00000000e+00 -8.66383026e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05304279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.50, Y:-8.67, Z:-0.02 [[ 9.49451500e-01 3.13913760e-01 0.00000000e+00 1.09496221e+02] [-3.13913760e-01 9.49451500e-01 0.00000000e+00 -8.67477033e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03890412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.35140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.53, Y:-8.68, Z:-0.02 [[ 9.49503170e-01 3.13757438e-01 0.00000000e+00 1.09527030e+02] [-3.13757438e-01 9.49503170e-01 0.00000000e+00 -8.68462370e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03488725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.56, Y:-8.69, Z:-0.02 [[ 9.49627689e-01 3.13380363e-01 0.00000000e+00 1.09558383e+02] [-3.13380363e-01 9.49627689e-01 0.00000000e+00 -8.69414436e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79309557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.41140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.59, Y:-8.70, Z:-0.02 [[ 9.49853985e-01 3.12693790e-01 0.00000000e+00 1.09588816e+02] [-3.12693790e-01 9.49853985e-01 0.00000000e+00 -8.70296547e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65245189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.62, Y:-8.71, Z:-0.02 [[ 9.50591363e-01 3.10444939e-01 0.00000000e+00 1.09619578e+02] [-3.10444939e-01 9.50591363e-01 0.00000000e+00 -8.71369836e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53725237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.47140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.65, Y:-8.72, Z:-0.02 [[ 9.50936929e-01 3.09384803e-01 0.00000000e+00 1.09650648e+02] [-3.09384803e-01 9.50936929e-01 0.00000000e+00 -8.72405126e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67494167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.68, Y:-8.73, Z:-0.02 [[ 9.51313018e-01 3.08226445e-01 0.00000000e+00 1.09681742e+02] [-3.08226445e-01 9.51313018e-01 0.00000000e+00 -8.73412953e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.82037539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.71, Y:-8.74, Z:-0.02 [[ 9.51608918e-01 3.07311678e-01 0.00000000e+00 1.09712140e+02] [-3.07311678e-01 9.51608918e-01 0.00000000e+00 -8.74319591e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91576647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.74, Y:-8.75, Z:-0.02 [[ 9.51726997e-01 3.06945797e-01 0.00000000e+00 1.09742539e+02] [-3.06945797e-01 9.51726997e-01 0.00000000e+00 -8.75207126e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90117807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.77, Y:-8.76, Z:-0.02 [[ 9.51742106e-01 3.06898946e-01 0.00000000e+00 1.09773384e+02] [-3.06898946e-01 9.51742106e-01 0.00000000e+00 -8.76083723e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78656636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.81, Y:-8.77, Z:-0.02 [[ 9.51225007e-01 3.08497953e-01 0.00000000e+00 1.09805298e+02] [-3.08497953e-01 9.51225007e-01 0.00000000e+00 -8.76988622e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53921508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.65140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.84, Y:-8.78, Z:-0.02 [[ 9.50879474e-01 3.09561345e-01 0.00000000e+00 1.09837260e+02] [-3.09561345e-01 9.50879474e-01 0.00000000e+00 -8.77823643e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56507296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68140051299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:109.87, Y:-8.79, Z:-0.02 [[ 9.50739618e-01 3.09990610e-01 0.00000000e+00 1.09868418e+02] [-3.09990610e-01 9.50739618e-01 0.00000000e+00 -8.78616456e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58538156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.90, Y:-8.80, Z:-0.02 [[ 9.51159638e-01 3.08699439e-01 0.00000000e+00 1.09899952e+02] [-3.08699439e-01 9.51159638e-01 0.00000000e+00 -8.79526291e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52296586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:109.93, Y:-8.80, Z:-0.02 [[ 9.51398593e-01 3.07962200e-01 0.00000000e+00 1.09931858e+02] [-3.07962200e-01 9.51398593e-01 0.00000000e+00 -8.80495039e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53920297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.77140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.96, Y:-8.81, Z:-0.02 [[ 9.51462619e-01 3.07764334e-01 0.00000000e+00 1.09961940e+02] [-3.07764334e-01 9.51462619e-01 0.00000000e+00 -8.81475082e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61157987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.99, Y:-8.82, Z:-0.02 [[ 9.51255972e-01 3.08402458e-01 0.00000000e+00 1.09993054e+02] [-3.08402458e-01 9.51255972e-01 0.00000000e+00 -8.82452772e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59931843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.83140051299999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:110.02, Y:-8.83, Z:-0.02 [[ 9.50830542e-01 3.09711609e-01 0.00000000e+00 1.10023692e+02] [-3.09711609e-01 9.50830542e-01 0.00000000e+00 -8.83330856e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72220903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.06, Y:-8.84, Z:-0.02 [[ 9.50284880e-01 3.11381834e-01 0.00000000e+00 1.10055182e+02] [-3.11381834e-01 9.50284880e-01 0.00000000e+00 -8.84184072e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69443107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.891400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:110.09, Y:-8.85, Z:-0.02 [[ 9.48946477e-01 3.15437132e-01 0.00000000e+00 1.10085758e+02] [-3.15437132e-01 9.48946477e-01 0.00000000e+00 -8.85182526e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91346882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.12, Y:-8.86, Z:-0.02 [[ 9.48406492e-01 3.17056977e-01 0.00000000e+00 1.10117477e+02] [-3.17056977e-01 9.48406492e-01 0.00000000e+00 -8.86178836e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93854555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.15, Y:-8.87, Z:-0.02 [[ 9.48082665e-01 3.18023994e-01 0.00000000e+00 1.10147649e+02] [-3.18023994e-01 9.48082665e-01 0.00000000e+00 -8.87142977e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.98193383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:110.18, Y:-8.88, Z:-0.02 [[ 9.47866798e-01 3.18666806e-01 0.00000000e+00 1.10178248e+02] [-3.18666806e-01 9.47866798e-01 0.00000000e+00 -8.88272589e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95509088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.01140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:110.21, Y:-8.89, Z:-0.02 [[ 9.47902777e-01 3.18559768e-01 0.00000000e+00 1.10210203e+02] [-3.18559768e-01 9.47902777e-01 0.00000000e+00 -8.89264998e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97268833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04140051299999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:110.24, Y:-8.90, Z:-0.02 [[ 9.48018686e-01 3.18214661e-01 0.00000000e+00 1.10241462e+02] [-3.18214661e-01 9.48018686e-01 0.00000000e+00 -8.90252592e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04571274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.07140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:110.27, Y:-8.91, Z:-0.02 [[ 9.48153928e-01 3.17811468e-01 0.00000000e+00 1.10271824e+02] [-3.17811468e-01 9.48153928e-01 0.00000000e+00 -8.91129458e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.24076893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:110.30, Y:-8.92, Z:-0.02 [[ 9.48217506e-01 3.17621726e-01 0.00000000e+00 1.10303323e+02] [-3.17621726e-01 9.48217506e-01 0.00000000e+00 -8.92066590e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29916977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.13140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.33, Y:-8.93, Z:-0.02 [[ 9.48239458e-01 3.17556185e-01 0.00000000e+00 1.10332085e+02] [-3.17556185e-01 9.48239458e-01 0.00000000e+00 -8.93314040e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09330831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.36, Y:-8.94, Z:-0.02 [[ 9.48218011e-01 3.17620220e-01 0.00000000e+00 1.10362991e+02] [-3.17620220e-01 9.48218011e-01 0.00000000e+00 -8.94377784e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85926914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.19140051299999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:110.39, Y:-8.95, Z:-0.02 [[ 9.48142800e-01 3.17844666e-01 0.00000000e+00 1.10392670e+02] [-3.17844666e-01 9.48142800e-01 0.00000000e+00 -8.95297038e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75507495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:110.42, Y:-8.96, Z:-0.02 [[ 9.48139352e-01 3.17854950e-01 0.00000000e+00 1.10423740e+02] [-3.17854950e-01 9.48139352e-01 0.00000000e+00 -8.96244342e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73695838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.45, Y:-8.97, Z:-0.02 [[ 9.47914436e-01 3.18525072e-01 0.00000000e+00 1.10454608e+02] [-3.18525072e-01 9.47914436e-01 0.00000000e+00 -8.97412185e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90679415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.48, Y:-8.98, Z:-0.02 [[ 9.47760011e-01 3.18984266e-01 0.00000000e+00 1.10484902e+02] [-3.18984266e-01 9.47760011e-01 0.00000000e+00 -8.98428816e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.07613291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.52, Y:-8.99, Z:-0.02 [[ 9.47623180e-01 3.19390526e-01 0.00000000e+00 1.10516245e+02] [-3.19390526e-01 9.47623180e-01 0.00000000e+00 -8.99457589e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10673235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34140051299998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:110.55, Y:-9.00, Z:-0.02 [[ 9.47427364e-01 3.19970920e-01 0.00000000e+00 1.10546828e+02] [-3.19970920e-01 9.47427364e-01 0.00000000e+00 -9.00437006e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10122251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.37140051299998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:110.58, Y:-9.02, Z:-0.02 [[ 9.47235597e-01 3.20538178e-01 0.00000000e+00 1.10578253e+02] [-3.20538178e-01 9.47235597e-01 0.00000000e+00 -9.01525479e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.82034876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40140051299998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:110.61, Y:-9.03, Z:-0.02 [[ 9.47257639e-01 3.20473035e-01 0.00000000e+00 1.10607494e+02] [-3.20473035e-01 9.47257639e-01 0.00000000e+00 -9.02576653e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50282455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.43140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:110.64, Y:-9.04, Z:-0.01 [[ 9.47207018e-01 3.20622620e-01 0.00000000e+00 1.10637381e+02] [-3.20622620e-01 9.47207018e-01 0.00000000e+00 -9.03645422e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21901542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46140051299999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:110.67, Y:-9.05, Z:-0.01 [[ 9.46909670e-01 3.21499732e-01 0.00000000e+00 1.10669662e+02] [-3.21499732e-01 9.46909670e-01 0.00000000e+00 -9.04516404e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15618353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.49140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.70, Y:-9.05, Z:-0.01 [[ 9.46539987e-01 3.22586504e-01 0.00000000e+00 1.10700224e+02] [-3.22586504e-01 9.46539987e-01 0.00000000e+00 -9.05440513e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17274630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.73, Y:-9.06, Z:-0.01 [[ 9.46237635e-01 3.23472313e-01 0.00000000e+00 1.10730412e+02] [-3.23472313e-01 9.46237635e-01 0.00000000e+00 -9.06452472e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22490478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.55140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.76, Y:-9.08, Z:-0.01 [[ 9.46210218e-01 3.23552505e-01 0.00000000e+00 1.10761215e+02] [-3.23552505e-01 9.46210218e-01 0.00000000e+00 -9.07588477e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36510035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:110.79, Y:-9.08, Z:-0.02 [[ 9.46501429e-01 3.22699621e-01 0.00000000e+00 1.10791707e+02] [-3.22699621e-01 9.46501429e-01 0.00000000e+00 -9.08373898e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53840173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.61140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:110.82, Y:-9.09, Z:-0.02 [[ 9.46442535e-01 3.22872310e-01 0.00000000e+00 1.10824010e+02] [-3.22872310e-01 9.46442535e-01 0.00000000e+00 -9.09247214e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53840173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.86, Y:-9.10, Z:-0.02 [[ 9.46701818e-01 3.22111267e-01 0.00000000e+00 1.10855632e+02] [-3.22111267e-01 9.46701818e-01 0.00000000e+00 -9.10058587e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65070906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.89, Y:-9.11, Z:-0.02 [[ 9.46820771e-01 3.21761446e-01 0.00000000e+00 1.10886358e+02] [-3.21761446e-01 9.46820771e-01 0.00000000e+00 -9.11095339e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76550045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.701400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:110.92, Y:-9.12, Z:-0.02 [[ 9.46659932e-01 3.22234344e-01 0.00000000e+00 1.10918030e+02] [-3.22234344e-01 9.46659932e-01 0.00000000e+00 -9.12127665e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68538021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.95, Y:-9.13, Z:-0.02 [[ 9.46254911e-01 3.23421773e-01 0.00000000e+00 1.10949506e+02] [-3.23421773e-01 9.46254911e-01 0.00000000e+00 -9.13114998e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56675463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:110.98, Y:-9.14, Z:-0.02 [[ 9.45612308e-01 3.25295808e-01 0.00000000e+00 1.10980168e+02] [-3.25295808e-01 9.45612308e-01 0.00000000e+00 -9.13938923e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51388922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.79140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:111.01, Y:-9.15, Z:-0.01 [[ 9.44884808e-01 3.27402964e-01 0.00000000e+00 1.11011461e+02] [-3.27402964e-01 9.44884808e-01 0.00000000e+00 -9.14702778e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38175757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.04, Y:-9.15, Z:-0.01 [[ 9.44090338e-01 3.29686872e-01 0.00000000e+00 1.11043380e+02] [-3.29686872e-01 9.44090338e-01 0.00000000e+00 -9.15498100e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24091321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.85140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.07, Y:-9.16, Z:-0.01 [[ 9.43013654e-01 3.32754036e-01 0.00000000e+00 1.11074858e+02] [-3.32754036e-01 9.43013654e-01 0.00000000e+00 -9.16066832e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46019233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.11, Y:-9.17, Z:-0.02 [[ 9.42665768e-01 3.33738295e-01 0.00000000e+00 1.11106849e+02] [-3.33738295e-01 9.42665768e-01 0.00000000e+00 -9.16667043e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72035867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.91140051299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.14, Y:-9.17, Z:-0.02 [[ 9.42462229e-01 3.34312648e-01 0.00000000e+00 1.11138787e+02] [-3.34312648e-01 9.42462229e-01 0.00000000e+00 -9.17331104e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90066581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.17, Y:-9.18, Z:-0.02 [[ 9.42543288e-01 3.34084046e-01 0.00000000e+00 1.11169586e+02] [-3.34084046e-01 9.42543288e-01 0.00000000e+00 -9.18050757e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99191394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.97140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:111.20, Y:-9.19, Z:-0.02 [[ 9.42899815e-01 3.33076475e-01 0.00000000e+00 1.11201271e+02] [-3.33076475e-01 9.42899815e-01 0.00000000e+00 -9.18772356e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87262825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.23, Y:-9.19, Z:-0.02 [[ 9.43891404e-01 3.30255989e-01 0.00000000e+00 1.11233832e+02] [-3.30255989e-01 9.43891404e-01 0.00000000e+00 -9.19236288e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66083723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.031400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:111.27, Y:-9.20, Z:-0.02 [[ 9.44424636e-01 3.28728014e-01 0.00000000e+00 1.11265883e+02] [-3.28728014e-01 9.44424636e-01 0.00000000e+00 -9.19907648e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83166333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.30, Y:-9.21, Z:-0.02 [[ 9.44974377e-01 3.27144352e-01 0.00000000e+00 1.11297763e+02] [-3.27144352e-01 9.44974377e-01 0.00000000e+00 -9.20651165e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86108904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.33, Y:-9.21, Z:-0.02 [[ 9.46048818e-01 3.24024126e-01 0.00000000e+00 1.11329201e+02] [-3.24024126e-01 9.46048818e-01 0.00000000e+00 -9.21229289e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58162496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.36, Y:-9.22, Z:-0.02 [[ 9.46455325e-01 3.22834814e-01 0.00000000e+00 1.11359640e+02] [-3.22834814e-01 9.46455325e-01 0.00000000e+00 -9.22067778e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50462918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.15140051299998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:111.39, Y:-9.23, Z:-0.01 [[ 9.46840499e-01 3.21703387e-01 0.00000000e+00 1.11391429e+02] [-3.21703387e-01 9.46840499e-01 0.00000000e+00 -9.23077296e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43760847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:111.42, Y:-9.24, Z:-0.01 [[ 9.47197897e-01 3.20649566e-01 0.00000000e+00 1.11421543e+02] [-3.20649566e-01 9.47197897e-01 0.00000000e+00 -9.24064495e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47284743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.21140051299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:111.45, Y:-9.25, Z:-0.01 [[ 9.47500793e-01 3.19753416e-01 0.00000000e+00 1.11453062e+02] [-3.19753416e-01 9.47500793e-01 0.00000000e+00 -9.24957773e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48936480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.48, Y:-9.26, Z:-0.02 [[ 9.47517583e-01 3.19703661e-01 0.00000000e+00 1.11483919e+02] [-3.19703661e-01 9.47517583e-01 0.00000000e+00 -9.25677929e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56421137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.27140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.52, Y:-9.27, Z:-0.02 [[ 9.47250337e-01 3.20494618e-01 0.00000000e+00 1.11515423e+02] [-3.20494618e-01 9.47250337e-01 0.00000000e+00 -9.26557865e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51063619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30140051299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.55, Y:-9.27, Z:-0.01 [[ 9.46894003e-01 3.21545872e-01 0.00000000e+00 1.11547566e+02] [-3.21545872e-01 9.46894003e-01 0.00000000e+00 -9.27437468e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39989217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.33140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.58, Y:-9.28, Z:-0.01 [[ 9.46503478e-01 3.22693612e-01 0.00000000e+00 1.11578430e+02] [-3.22693612e-01 9.46503478e-01 0.00000000e+00 -9.28247237e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26305482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36140051299999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:111.61, Y:-9.29, Z:-0.01 [[ 9.45688358e-01 3.25074653e-01 0.00000000e+00 1.11609726e+02] [-3.25074653e-01 9.45688358e-01 0.00000000e+00 -9.29202621e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19860259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.391400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:111.64, Y:-9.30, Z:-0.01 [[ 9.45292125e-01 3.26225074e-01 0.00000000e+00 1.11640291e+02] [-3.26225074e-01 9.45292125e-01 0.00000000e+00 -9.30229183e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26170003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.421400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:111.67, Y:-9.31, Z:-0.01 [[ 9.44808385e-01 3.27623436e-01 0.00000000e+00 1.11671492e+02] [-3.27623436e-01 9.44808385e-01 0.00000000e+00 -9.31269070e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30982514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.70, Y:-9.32, Z:-0.01 [[ 9.44355528e-01 3.28926491e-01 0.00000000e+00 1.11702255e+02] [-3.28926491e-01 9.44355528e-01 0.00000000e+00 -9.32194500e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35026650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48140051299998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:111.73, Y:-9.33, Z:-0.01 [[ 9.43933593e-01 3.30135384e-01 0.00000000e+00 1.11734203e+02] [-3.30135384e-01 9.43933593e-01 0.00000000e+00 -9.33070656e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38569519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.51140051299998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:111.77, Y:-9.34, Z:-0.01 [[ 9.43585540e-01 3.31128869e-01 0.00000000e+00 1.11765805e+02] [-3.31128869e-01 9.43585540e-01 0.00000000e+00 -9.34029765e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39227966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.80, Y:-9.35, Z:-0.02 [[ 9.43732580e-01 3.30709566e-01 0.00000000e+00 1.11796448e+02] [-3.30709566e-01 9.43732580e-01 0.00000000e+00 -9.35035723e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50068126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.57140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:111.83, Y:-9.36, Z:-0.02 [[ 9.44082573e-01 3.29709106e-01 0.00000000e+00 1.11826938e+02] [-3.29709106e-01 9.44082573e-01 0.00000000e+00 -9.36054085e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66149758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.86, Y:-9.37, Z:-0.02 [[ 9.44460115e-01 3.28626067e-01 0.00000000e+00 1.11858614e+02] [-3.28626067e-01 9.44460115e-01 0.00000000e+00 -9.37092012e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64965098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.63140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:111.89, Y:-9.38, Z:-0.02 [[ 9.45026633e-01 3.26993367e-01 0.00000000e+00 1.11888925e+02] [-3.26993367e-01 9.45026633e-01 0.00000000e+00 -9.38184016e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79688623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:111.92, Y:-9.39, Z:-0.02 [[ 9.45244444e-01 3.26363205e-01 0.00000000e+00 1.11918968e+02] [-3.26363205e-01 9.45244444e-01 0.00000000e+00 -9.39167036e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87685358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.69140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.95, Y:-9.40, Z:-0.02 [[ 9.45388819e-01 3.25944751e-01 0.00000000e+00 1.11950034e+02] [-3.25944751e-01 9.45388819e-01 0.00000000e+00 -9.40157367e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83309703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.98, Y:-9.41, Z:-0.02 [[ 9.45415289e-01 3.25867965e-01 0.00000000e+00 1.11980479e+02] [-3.25867965e-01 9.45415289e-01 0.00000000e+00 -9.41073587e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84624259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.01, Y:-9.42, Z:-0.02 [[ 9.45400337e-01 3.25911341e-01 0.00000000e+00 1.12011345e+02] [-3.25911341e-01 9.45400337e-01 0.00000000e+00 -9.41923964e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.82029412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.04, Y:-9.43, Z:-0.02 [[ 9.45463124e-01 3.25729152e-01 0.00000000e+00 1.12042408e+02] [-3.25729152e-01 9.45463124e-01 0.00000000e+00 -9.42734601e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81560011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.07, Y:-9.44, Z:-0.02 [[ 9.45970811e-01 3.24251792e-01 0.00000000e+00 1.12073856e+02] [-3.24251792e-01 9.45970811e-01 0.00000000e+00 -9.43541895e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92916079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:112.11, Y:-9.44, Z:-0.02 [[ 9.46232525e-01 3.23487262e-01 0.00000000e+00 1.12105378e+02] [-3.23487262e-01 9.46232525e-01 0.00000000e+00 -9.44440791e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92492465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.87140051299998 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:112.14, Y:-9.45, Z:-0.02 [[ 9.46500590e-01 3.22702082e-01 0.00000000e+00 1.12135103e+02] [-3.22702082e-01 9.46500590e-01 0.00000000e+00 -9.45326804e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90855301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:112.17, Y:-9.46, Z:-0.02 [[ 9.46991397e-01 3.21258921e-01 0.00000000e+00 1.12165693e+02] [-3.21258921e-01 9.46991397e-01 0.00000000e+00 -9.46216497e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91823648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.93140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:112.20, Y:-9.47, Z:-0.02 [[ 9.47537222e-01 3.19645449e-01 0.00000000e+00 1.12197022e+02] [-3.19645449e-01 9.47537222e-01 0.00000000e+00 -9.47109597e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75530935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.23, Y:-9.48, Z:-0.02 [[ 9.48402356e-01 3.17069346e-01 0.00000000e+00 1.12227759e+02] [-3.17069346e-01 9.48402356e-01 0.00000000e+00 -9.48007934e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80677168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.99140051299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:112.26, Y:-9.49, Z:-0.02 [[ 9.50737723e-01 3.09996422e-01 0.00000000e+00 1.12258652e+02] [-3.09996422e-01 9.50737723e-01 0.00000000e+00 -9.49049263e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84814821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02140051299999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:112.29, Y:-9.50, Z:-0.02 [[ 9.51865628e-01 3.06515620e-01 0.00000000e+00 1.12289302e+02] [-3.06515620e-01 9.51865628e-01 0.00000000e+00 -9.50146579e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88972767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.05140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.32, Y:-9.51, Z:-0.02 [[ 9.52902814e-01 3.03275826e-01 0.00000000e+00 1.12318933e+02] [-3.03275826e-01 9.52902814e-01 0.00000000e+00 -9.51331201e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88869357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08140051299999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:112.35, Y:-9.52, Z:-0.02 [[ 9.53873559e-01 3.00208650e-01 0.00000000e+00 1.12349534e+02] [-3.00208650e-01 9.53873559e-01 0.00000000e+00 -9.52494897e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79686947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.11140051299999 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:112.38, Y:-9.54, Z:-0.02 [[ 9.54679302e-01 2.97636406e-01 0.00000000e+00 1.12380049e+02] [-2.97636406e-01 9.54679302e-01 0.00000000e+00 -9.53546261e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70476848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.141400513 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:112.41, Y:-9.55, Z:-0.02 [[ 9.55208903e-01 2.95932342e-01 0.00000000e+00 1.12411194e+02] [-2.95932342e-01 9.55208903e-01 0.00000000e+00 -9.54506221e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58049290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.171400513 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:112.44, Y:-9.56, Z:-0.01 [[ 9.55323455e-01 2.95562339e-01 0.00000000e+00 1.12440890e+02] [-2.95562339e-01 9.55323455e-01 0.00000000e+00 -9.55569770e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40010155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.201400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:112.47, Y:-9.57, Z:-0.01 [[ 9.55076973e-01 2.96357852e-01 0.00000000e+00 1.12471448e+02] [-2.96357852e-01 9.55076973e-01 0.00000000e+00 -9.56699628e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26568396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.23140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:112.50, Y:-9.58, Z:-0.01 [[ 9.54793077e-01 2.97271223e-01 0.00000000e+00 1.12502544e+02] [-2.97271223e-01 9.54793077e-01 0.00000000e+00 -9.57859623e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23348223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26140051299998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:112.53, Y:-9.59, Z:-0.01 [[ 9.54555755e-01 2.98032397e-01 0.00000000e+00 1.12532564e+02] [-2.98032397e-01 9.54555755e-01 0.00000000e+00 -9.58844111e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29023789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.29140051299999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:112.56, Y:-9.60, Z:-0.01 [[ 9.54246237e-01 2.99021939e-01 0.00000000e+00 1.12563812e+02] [-2.99021939e-01 9.54246237e-01 0.00000000e+00 -9.59777849e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21611169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32140051299999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:112.59, Y:-9.61, Z:-0.01 [[ 9.54162957e-01 2.99287575e-01 0.00000000e+00 1.12593355e+02] [-2.99287575e-01 9.54162957e-01 0.00000000e+00 -9.60791866e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.91235594e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.35140051299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:112.62, Y:-9.62, Z:-0.01 [[ 9.54343736e-01 2.98710619e-01 0.00000000e+00 1.12624218e+02] [-2.98710619e-01 9.54343736e-01 0.00000000e+00 -9.61991088e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.29980310e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38140051299999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:112.65, Y:-9.63, Z:-0.01 [[ 9.54612128e-01 2.97851783e-01 0.00000000e+00 1.12654819e+02] [-2.97851783e-01 9.54612128e-01 0.00000000e+00 -9.63161569e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.88165461e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.41140051299999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:112.69, Y:-9.64, Z:-0.01 [[ 9.54813694e-01 2.97204995e-01 0.00000000e+00 1.12685533e+02] [-2.97204995e-01 9.54813694e-01 0.00000000e+00 -9.64214218e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.19716334e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44140051299999 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:112.72, Y:-9.65, Z:-0.01 [[ 9.54966979e-01 2.96712097e-01 0.00000000e+00 1.12717215e+02] [-2.96712097e-01 9.54966979e-01 0.00000000e+00 -9.65269611e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17913535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.47140051299999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:112.75, Y:-9.66, Z:-0.01 [[ 9.54928449e-01 2.96836077e-01 0.00000000e+00 1.12747773e+02] [-2.96836077e-01 9.54928449e-01 0.00000000e+00 -9.66400010e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39561954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.501400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:112.78, Y:-9.67, Z:-0.01 [[ 9.54873942e-01 2.97011372e-01 0.00000000e+00 1.12779971e+02] [-2.97011372e-01 9.54873942e-01 0.00000000e+00 -9.67308716e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39561954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.531400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:112.81, Y:-9.69, Z:-0.01 [[ 9.54723698e-01 2.97493966e-01 0.00000000e+00 1.12810483e+02] [-2.97493966e-01 9.54723698e-01 0.00000000e+00 -9.68590654e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44094678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.561400513 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:112.84, Y:-9.70, Z:-0.01 [[ 9.53932206e-01 3.00022244e-01 0.00000000e+00 1.12839634e+02] [-3.00022244e-01 9.53932206e-01 0.00000000e+00 -9.70220477e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16959167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59140051299998 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:112.87, Y:-9.71, Z:-0.01 [[ 9.53102319e-01 3.02648262e-01 0.00000000e+00 1.12869582e+02] [-3.02648262e-01 9.53102319e-01 0.00000000e+00 -9.71209630e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05570612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:112.90, Y:-9.72, Z:-0.01 [[ 9.51996309e-01 3.06109502e-01 0.00000000e+00 1.12900594e+02] [-3.06109502e-01 9.51996309e-01 0.00000000e+00 -9.72198070e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08053233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.65140051299998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:112.93, Y:-9.73, Z:-0.01 [[ 9.50677350e-01 3.10181522e-01 0.00000000e+00 1.12931460e+02] [-3.10181522e-01 9.50677350e-01 0.00000000e+00 -9.73264038e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28805785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.96, Y:-9.74, Z:-0.01 [[ 9.49152087e-01 3.14817908e-01 0.00000000e+00 1.12962245e+02] [-3.14817908e-01 9.49152087e-01 0.00000000e+00 -9.74447335e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42223366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.71140051299999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:112.99, Y:-9.76, Z:-0.02 [[ 9.47545575e-01 3.19620687e-01 0.00000000e+00 1.12992371e+02] [-3.19620687e-01 9.47545575e-01 0.00000000e+00 -9.75551141e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60727777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.02, Y:-9.76, Z:-0.02 [[ 9.44743202e-01 3.27811352e-01 0.00000000e+00 1.13023714e+02] [-3.27811352e-01 9.44743202e-01 0.00000000e+00 -9.76431592e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59911861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.77140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.06, Y:-9.77, Z:-0.02 [[ 9.43505070e-01 3.31358089e-01 0.00000000e+00 1.13055418e+02] [-3.31358089e-01 9.43505070e-01 0.00000000e+00 -9.77207265e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61744401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80140051299999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:113.09, Y:-9.78, Z:-0.02 [[ 9.42380142e-01 3.34543970e-01 0.00000000e+00 1.13086490e+02] [-3.34543970e-01 9.42380142e-01 0.00000000e+00 -9.78038375e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71850740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.83140051299999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:113.12, Y:-9.79, Z:-0.02 [[ 9.41432793e-01 3.37200676e-01 0.00000000e+00 1.13116940e+02] [-3.37200676e-01 9.41432793e-01 0.00000000e+00 -9.78935466e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70826220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.15, Y:-9.80, Z:-0.02 [[ 9.40784271e-01 3.39005833e-01 0.00000000e+00 1.13148432e+02] [-3.39005833e-01 9.40784271e-01 0.00000000e+00 -9.79753740e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53066215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.891400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:113.18, Y:-9.80, Z:-0.01 [[ 9.40371350e-01 3.40149561e-01 0.00000000e+00 1.13181851e+02] [-3.40149561e-01 9.40371350e-01 0.00000000e+00 -9.80088321e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34821518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.21, Y:-9.81, Z:-0.01 [[ 9.40540851e-01 3.39680597e-01 0.00000000e+00 1.13214016e+02] [-3.39680597e-01 9.40540851e-01 0.00000000e+00 -9.80762413e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38667813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.951400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:113.25, Y:-9.82, Z:-0.02 [[ 9.40846390e-01 3.38833396e-01 0.00000000e+00 1.13245689e+02] [-3.38833396e-01 9.40846390e-01 0.00000000e+00 -9.81537518e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58247296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98140051299998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:113.28, Y:-9.82, Z:-0.02 [[ 9.41280379e-01 3.37625900e-01 0.00000000e+00 1.13277677e+02] [-3.37625900e-01 9.41280379e-01 0.00000000e+00 -9.82364990e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59231503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.01140051299998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:113.31, Y:-9.83, Z:-0.01 [[ 9.41887301e-01 3.35929028e-01 0.00000000e+00 1.13309658e+02] [-3.35929028e-01 9.41887301e-01 0.00000000e+00 -9.83067230e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44050032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04140051299999 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:113.34, Y:-9.84, Z:-0.01 [[ 9.42495133e-01 3.34219874e-01 0.00000000e+00 1.13340911e+02] [-3.34219874e-01 9.42495133e-01 0.00000000e+00 -9.83595656e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30618130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.07140051299999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:113.37, Y:-9.84, Z:-0.01 [[ 9.43587791e-01 3.31122457e-01 0.00000000e+00 1.13374777e+02] [-3.31122457e-01 9.43587791e-01 0.00000000e+00 -9.83879668e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20914062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10140051299999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:113.41, Y:-9.85, Z:-0.01 [[ 9.44084182e-01 3.29704501e-01 0.00000000e+00 1.13405234e+02] [-3.29704501e-01 9.44084182e-01 0.00000000e+00 -9.84730741e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29029460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.13140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:113.44, Y:-9.86, Z:-0.01 [[ 9.44656094e-01 3.28062287e-01 0.00000000e+00 1.13436701e+02] [-3.28062287e-01 9.44656094e-01 0.00000000e+00 -9.85755000e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32361634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16140051299999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:113.47, Y:-9.87, Z:-0.01 [[ 9.45234144e-01 3.26393035e-01 0.00000000e+00 1.13468362e+02] [-3.26393035e-01 9.45234144e-01 0.00000000e+00 -9.86741464e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41519558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.19140051299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:113.50, Y:-9.88, Z:-0.02 [[ 9.45770862e-01 3.24834538e-01 0.00000000e+00 1.13498176e+02] [-3.24834538e-01 9.45770862e-01 0.00000000e+00 -9.87607796e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53506920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:113.53, Y:-9.89, Z:-0.02 [[ 9.45978856e-01 3.24228321e-01 0.00000000e+00 1.13528351e+02] [-3.24228321e-01 9.45978856e-01 0.00000000e+00 -9.88725407e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54213292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.251400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.56, Y:-9.90, Z:-0.01 [[ 9.45512251e-01 3.25586521e-01 0.00000000e+00 1.13558946e+02] [-3.25586521e-01 9.45512251e-01 0.00000000e+00 -9.89900907e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36372856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.59, Y:-9.91, Z:-0.01 [[ 9.44696910e-01 3.27944734e-01 0.00000000e+00 1.13589311e+02] [-3.27944734e-01 9.44696910e-01 0.00000000e+00 -9.90925004e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12169088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.311400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:113.62, Y:-9.92, Z:-0.01 [[ 9.43427286e-01 3.31579488e-01 0.00000000e+00 1.13620160e+02] [-3.31579488e-01 9.43427286e-01 0.00000000e+00 -9.91681318e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10949819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:113.65, Y:-9.92, Z:-0.01 [[ 9.41806722e-01 3.36154873e-01 0.00000000e+00 1.13652567e+02] [-3.36154873e-01 9.41806722e-01 0.00000000e+00 -9.92357199e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16947168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.37140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.68, Y:-9.93, Z:-0.01 [[ 9.40161250e-01 3.40729841e-01 0.00000000e+00 1.13683536e+02] [-3.40729841e-01 9.40161250e-01 0.00000000e+00 -9.93066139e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31250387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40140051299998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:113.72, Y:-9.94, Z:-0.01 [[ 9.38442992e-01 3.45434148e-01 0.00000000e+00 1.13715479e+02] [-3.45434148e-01 9.38442992e-01 0.00000000e+00 -9.93994110e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42324217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.43140051299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:113.75, Y:-9.95, Z:-0.01 [[ 9.37167453e-01 3.48879872e-01 0.00000000e+00 1.13746607e+02] [-3.48879872e-01 9.37167453e-01 0.00000000e+00 -9.94918011e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43048019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.78, Y:-9.95, Z:-0.02 [[ 9.36541287e-01 3.50557297e-01 0.00000000e+00 1.13778620e+02] [-3.50557297e-01 9.36541287e-01 0.00000000e+00 -9.95486723e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74000596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.49140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.81, Y:-9.96, Z:-0.02 [[ 9.37000810e-01 3.49327185e-01 0.00000000e+00 1.13810651e+02] [-3.49327185e-01 9.37000810e-01 0.00000000e+00 -9.96305768e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84321421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:113.84, Y:-9.97, Z:-0.02 [[ 9.37766973e-01 3.47265180e-01 0.00000000e+00 1.13840556e+02] [-3.47265180e-01 9.37766973e-01 0.00000000e+00 -9.97324259e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96485275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.55140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.87, Y:-9.98, Z:-0.02 [[ 9.38881838e-01 3.44239588e-01 0.00000000e+00 1.13871554e+02] [-3.44239588e-01 9.38881838e-01 0.00000000e+00 -9.98490005e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84872205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:113.90, Y:-10.00, Z:-0.02 [[ 9.40015952e-01 3.41130488e-01 0.00000000e+00 1.13903083e+02] [-3.41130488e-01 9.40015952e-01 0.00000000e+00 -9.99541194e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73814959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.61140051299999 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:113.94, Y:-10.00, Z:-0.02 [[ 9.41122168e-01 3.38066658e-01 0.00000000e+00 1.13935510e+02] [-3.38066658e-01 9.41122168e-01 0.00000000e+00 -1.00035342e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71448681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.97, Y:-10.01, Z:-0.02 [[ 9.42390658e-01 3.34514347e-01 0.00000000e+00 1.13967521e+02] [-3.34514347e-01 9.42390658e-01 0.00000000e+00 -1.00108769e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68227082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.00, Y:-10.02, Z:-0.02 [[ 9.42466664e-01 3.34300145e-01 0.00000000e+00 1.13998370e+02] [-3.34300145e-01 9.42466664e-01 0.00000000e+00 -1.00217351e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62728056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.03, Y:-10.03, Z:-0.02 [[ 9.42214738e-01 3.35009533e-01 0.00000000e+00 1.14028358e+02] [-3.35009533e-01 9.42214738e-01 0.00000000e+00 -1.00326875e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53895479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.73140051299998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:114.06, Y:-10.04, Z:-0.01 [[ 9.41665242e-01 3.36550996e-01 0.00000000e+00 1.14058861e+02] [-3.36550996e-01 9.41665242e-01 0.00000000e+00 -1.00421044e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46535003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.09, Y:-10.05, Z:-0.01 [[ 9.40903622e-01 3.38674438e-01 0.00000000e+00 1.14090920e+02] [-3.38674438e-01 9.40903622e-01 0.00000000e+00 -1.00506336e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27440152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.12, Y:-10.06, Z:-0.01 [[ 9.39318883e-01 3.43045238e-01 0.00000000e+00 1.14122511e+02] [-3.43045238e-01 9.39318883e-01 0.00000000e+00 -1.00596676e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26649888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:114.15, Y:-10.07, Z:-0.01 [[ 9.38460602e-01 3.45386303e-01 0.00000000e+00 1.14154214e+02] [-3.45386303e-01 9.38460602e-01 0.00000000e+00 -1.00698118e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42056544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.85140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.19, Y:-10.08, Z:-0.02 [[ 9.37749646e-01 3.47311966e-01 0.00000000e+00 1.14185114e+02] [-3.47311966e-01 9.37749646e-01 0.00000000e+00 -1.00793507e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58654702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88140051299999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:114.22, Y:-10.09, Z:-0.02 [[ 9.37186462e-01 3.48828806e-01 0.00000000e+00 1.14216213e+02] [-3.48828806e-01 9.37186462e-01 0.00000000e+00 -1.00879762e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70163677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.91140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.25, Y:-10.10, Z:-0.02 [[ 9.36828864e-01 3.49788050e-01 0.00000000e+00 1.14248562e+02] [-3.49788050e-01 9.36828864e-01 0.00000000e+00 -1.00962152e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63848972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94140051299999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:114.28, Y:-10.10, Z:-0.01 [[ 9.36629945e-01 3.50320348e-01 0.00000000e+00 1.14280369e+02] [-3.50320348e-01 9.36629945e-01 0.00000000e+00 -1.01047513e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49385411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.97140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.31, Y:-10.11, Z:-0.01 [[ 9.36435842e-01 3.50838871e-01 0.00000000e+00 1.14311420e+02] [-3.50838871e-01 9.36435842e-01 0.00000000e+00 -1.01129752e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12209518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.34, Y:-10.12, Z:-0.01 [[ 9.36296464e-01 3.51210666e-01 0.00000000e+00 1.14343329e+02] [-3.51210666e-01 9.36296464e-01 0.00000000e+00 -1.01210768e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11921031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.031400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:114.37, Y:-10.13, Z:-0.01 [[ 9.36335881e-01 3.51105564e-01 0.00000000e+00 1.14374707e+02] [-3.51105564e-01 9.36335881e-01 0.00000000e+00 -1.01283514e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30848495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.41, Y:-10.14, Z:-0.01 [[ 9.36615251e-01 3.50359632e-01 0.00000000e+00 1.14406752e+02] [-3.50359632e-01 9.36615251e-01 0.00000000e+00 -1.01364079e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33874743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.44, Y:-10.15, Z:-0.01 [[ 9.37105117e-01 3.49047274e-01 0.00000000e+00 1.14438653e+02] [-3.49047274e-01 9.37105117e-01 0.00000000e+00 -1.01453025e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31090584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.47, Y:-10.16, Z:-0.01 [[ 9.37707632e-01 3.47425383e-01 0.00000000e+00 1.14469535e+02] [-3.47425383e-01 9.37707632e-01 0.00000000e+00 -1.01551088e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25885369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.15140051299998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:114.50, Y:-10.17, Z:-0.01 [[ 9.39587088e-01 3.42309952e-01 0.00000000e+00 1.14499214e+02] [-3.42309952e-01 9.39587088e-01 0.00000000e+00 -1.01661202e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12964755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18140051299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:114.53, Y:-10.18, Z:-0.01 [[ 9.40506953e-01 3.39774443e-01 0.00000000e+00 1.14530265e+02] [-3.39774443e-01 9.40506953e-01 0.00000000e+00 -1.01757810e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07706240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.21140051299999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:114.56, Y:-10.18, Z:-0.01 [[ 9.41287067e-01 3.37607252e-01 0.00000000e+00 1.14560905e+02] [-3.37607252e-01 9.41287067e-01 0.00000000e+00 -1.01849876e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14714443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24140051299999 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:114.59, Y:-10.19, Z:-0.01 [[ 9.41796561e-01 3.36183339e-01 0.00000000e+00 1.14592719e+02] [-3.36183339e-01 9.41796561e-01 0.00000000e+00 -1.01949917e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18343969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.27140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:114.62, Y:-10.21, Z:-0.01 [[ 9.41979493e-01 3.35670426e-01 0.00000000e+00 1.14623496e+02] [-3.35670426e-01 9.41979493e-01 0.00000000e+00 -1.02054352e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09080475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.65, Y:-10.22, Z:-0.01 [[ 9.41950640e-01 3.35751384e-01 0.00000000e+00 1.14653821e+02] [-3.35751384e-01 9.41950640e-01 0.00000000e+00 -1.02157061e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.51662056e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.33140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:114.69, Y:-10.23, Z:-0.01 [[ 9.41771020e-01 3.36254884e-01 0.00000000e+00 1.14685237e+02] [-3.36254884e-01 9.41771020e-01 0.00000000e+00 -1.02252807e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.08473363e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:114.72, Y:-10.23, Z:-0.01 [[ 9.41619739e-01 3.36678283e-01 0.00000000e+00 1.14715481e+02] [-3.36678283e-01 9.41619739e-01 0.00000000e+00 -1.02339922e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.21708276e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.391400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:114.75, Y:-10.24, Z:-0.01 [[ 9.41558426e-01 3.36849715e-01 0.00000000e+00 1.14747581e+02] [-3.36849715e-01 9.41558426e-01 0.00000000e+00 -1.02434167e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.21708276e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.421400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:114.78, Y:-10.25, Z:-0.01 [[ 9.41497081e-01 3.37021136e-01 0.00000000e+00 1.14779679e+02] [-3.37021136e-01 9.41497081e-01 0.00000000e+00 -1.02528470e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.21708276e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.81, Y:-10.26, Z:-0.01 [[ 9.41529370e-01 3.36930920e-01 0.00000000e+00 1.14811771e+02] [-3.36930920e-01 9.41529370e-01 0.00000000e+00 -1.02609977e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.27970898e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.84, Y:-10.27, Z:-0.01 [[ 9.41563408e-01 3.36835789e-01 0.00000000e+00 1.14842394e+02] [-3.36835789e-01 9.41563408e-01 0.00000000e+00 -1.02686672e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.78327685e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.51140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:114.87, Y:-10.28, Z:-0.01 [[ 9.41793838e-01 3.36190966e-01 0.00000000e+00 1.14873771e+02] [-3.36190966e-01 9.41793838e-01 0.00000000e+00 -1.02762371e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13045615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.91, Y:-10.28, Z:-0.01 [[ 9.42405203e-01 3.34473366e-01 0.00000000e+00 1.14906264e+02] [-3.34473366e-01 9.42405203e-01 0.00000000e+00 -1.02841481e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22468176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.57140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:114.94, Y:-10.29, Z:-0.01 [[ 9.43187230e-01 3.32261719e-01 0.00000000e+00 1.14937091e+02] [-3.32261719e-01 9.43187230e-01 0.00000000e+00 -1.02914984e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30189896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:114.97, Y:-10.30, Z:-0.01 [[ 9.44202872e-01 3.29364442e-01 0.00000000e+00 1.14968657e+02] [-3.29364442e-01 9.44202872e-01 0.00000000e+00 -1.02989698e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28978585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.63140051299999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:115.00, Y:-10.30, Z:-0.01 [[ 9.46466025e-01 3.22803444e-01 0.00000000e+00 1.15001243e+02] [-3.22803444e-01 9.46466025e-01 0.00000000e+00 -1.03034010e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09120524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66140051299999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:115.03, Y:-10.31, Z:-0.01 [[ 9.47280492e-01 3.20405477e-01 0.00000000e+00 1.15033302e+02] [-3.20405477e-01 9.47280492e-01 0.00000000e+00 -1.03105243e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10313230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.69140051299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:115.06, Y:-10.32, Z:-0.01 [[ 9.47956045e-01 3.18401219e-01 0.00000000e+00 1.15064778e+02] [-3.18401219e-01 9.47956045e-01 0.00000000e+00 -1.03176256e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18210437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:115.10, Y:-10.32, Z:-0.01 [[ 9.48511698e-01 3.16742100e-01 0.00000000e+00 1.15096532e+02] [-3.16742100e-01 9.48511698e-01 0.00000000e+00 -1.03248910e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27516958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.751400513 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:115.13, Y:-10.33, Z:-0.01 [[ 9.48998445e-01 3.15280749e-01 0.00000000e+00 1.15128350e+02] [-3.15280749e-01 9.48998445e-01 0.00000000e+00 -1.03319674e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30405410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.781400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:115.16, Y:-10.33, Z:-0.02 [[ 9.49946703e-01 3.12412006e-01 0.00000000e+00 1.15160128e+02] [-3.12412006e-01 9.49946703e-01 0.00000000e+00 -1.03348672e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54131358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.811400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:115.19, Y:-10.34, Z:-0.02 [[ 9.50218636e-01 3.11583927e-01 0.00000000e+00 1.15192940e+02] [-3.11583927e-01 9.50218636e-01 0.00000000e+00 -1.03410086e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65346748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.23, Y:-10.35, Z:-0.02 [[ 9.50476685e-01 3.10795868e-01 0.00000000e+00 1.15225278e+02] [-3.10795868e-01 9.50476685e-01 0.00000000e+00 -1.03474426e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74274729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.87140051299998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:115.26, Y:-10.35, Z:-0.02 [[ 9.50705345e-01 3.10095707e-01 0.00000000e+00 1.15256145e+02] [-3.10095707e-01 9.50705345e-01 0.00000000e+00 -1.03541227e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79055110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90140051299998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:115.29, Y:-10.36, Z:-0.02 [[ 9.51918390e-01 3.06351726e-01 0.00000000e+00 1.15288735e+02] [-3.06351726e-01 9.51918390e-01 0.00000000e+00 -1.03580795e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56912456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.93140051299999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:115.32, Y:-10.36, Z:-0.01 [[ 9.52766983e-01 3.03702283e-01 0.00000000e+00 1.15321269e+02] [-3.03702283e-01 9.52766983e-01 0.00000000e+00 -1.03647929e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45777883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:115.35, Y:-10.37, Z:-0.01 [[ 9.53636963e-01 3.00959371e-01 0.00000000e+00 1.15352993e+02] [-3.00959371e-01 9.53636963e-01 0.00000000e+00 -1.03711763e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42883972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.99140051299999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:115.39, Y:-10.38, Z:-0.01 [[ 9.54471121e-01 2.98303334e-01 0.00000000e+00 1.15385887e+02] [-2.98303334e-01 9.54471121e-01 0.00000000e+00 -1.03775914e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47334566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02140051299999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:115.42, Y:-10.38, Z:-0.02 [[ 9.55171647e-01 2.96052570e-01 0.00000000e+00 1.15417071e+02] [-2.96052570e-01 9.55171647e-01 0.00000000e+00 -1.03837839e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57914195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.05140051299999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:115.45, Y:-10.39, Z:-0.01 [[ 9.55873659e-01 2.93778060e-01 0.00000000e+00 1.15449497e+02] [-2.93778060e-01 9.55873659e-01 0.00000000e+00 -1.03910769e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39509729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08140051299999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:115.48, Y:-10.40, Z:-0.01 [[ 9.57378632e-01 2.88835861e-01 0.00000000e+00 1.15481539e+02] [-2.88835861e-01 9.57378632e-01 0.00000000e+00 -1.03974371e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.56495217e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.11140051299999 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:115.51, Y:-10.41, Z:-0.01 [[ 9.58109309e-01 2.86402781e-01 0.00000000e+00 1.15512916e+02] [-2.86402781e-01 9.58109309e-01 0.00000000e+00 -1.04052495e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.43433579e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.141400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:115.54, Y:-10.41, Z:-0.01 [[ 9.58780400e-01 2.84148102e-01 0.00000000e+00 1.15544700e+02] [-2.84148102e-01 9.58780400e-01 0.00000000e+00 -1.04126989e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.99304376e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.171400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:115.58, Y:-10.42, Z:-0.01 [[ 9.59344573e-01 2.82237471e-01 0.00000000e+00 1.15576506e+02] [-2.82237471e-01 9.59344573e-01 0.00000000e+00 -1.04213782e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.39793695e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.201400513 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:115.61, Y:-10.43, Z:-0.01 [[ 9.59824005e-01 2.80602709e-01 0.00000000e+00 1.15607850e+02] [-2.80602709e-01 9.59824005e-01 0.00000000e+00 -1.04303683e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.36737930e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23140051299998 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:115.64, Y:-10.44, Z:-0.01 [[ 9.60126573e-01 2.79565669e-01 0.00000000e+00 1.15638406e+02] [-2.79565669e-01 9.60126573e-01 0.00000000e+00 -1.04388339e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.20685987e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26140051299998 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:115.67, Y:-10.44, Z:-0.01 [[ 9.60518241e-01 2.78217016e-01 0.00000000e+00 1.15671765e+02] [-2.78217016e-01 9.60518241e-01 0.00000000e+00 -1.04417903e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.87831049e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.29140051299999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:115.70, Y:-10.45, Z:-0.01 [[ 9.60552770e-01 2.78097782e-01 0.00000000e+00 1.15703846e+02] [-2.78097782e-01 9.60552770e-01 0.00000000e+00 -1.04470181e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.01927132e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.74, Y:-10.45, Z:-0.01 [[ 9.60617417e-01 2.77874393e-01 0.00000000e+00 1.15736782e+02] [-2.77874393e-01 9.60617417e-01 0.00000000e+00 -1.04531700e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.07967374e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:115.77, Y:-10.46, Z:-0.01 [[ 9.60778863e-01 2.77315664e-01 0.00000000e+00 1.15768536e+02] [-2.77315664e-01 9.60778863e-01 0.00000000e+00 -1.04600425e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07032618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38140051299999 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:115.80, Y:-10.47, Z:-0.01 [[ 9.61162632e-01 2.75982600e-01 0.00000000e+00 1.15800794e+02] [-2.75982600e-01 9.61162632e-01 0.00000000e+00 -1.04664184e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19412146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.41140051299999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:115.83, Y:-10.47, Z:-0.01 [[ 9.62079179e-01 2.72770331e-01 0.00000000e+00 1.15834421e+02] [-2.72770331e-01 9.62079179e-01 0.00000000e+00 -1.04675298e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32609870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44140051299999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:115.87, Y:-10.47, Z:-0.01 [[ 9.62458977e-01 2.71427187e-01 0.00000000e+00 1.15865700e+02] [-2.71427187e-01 9.62458977e-01 0.00000000e+00 -1.04730562e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29621709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.47140051299999 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:115.90, Y:-10.48, Z:-0.01 [[ 9.62824393e-01 2.70128096e-01 0.00000000e+00 1.15897652e+02] [-2.70128096e-01 9.62824393e-01 0.00000000e+00 -1.04796660e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25320690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.501400513 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:115.93, Y:-10.49, Z:-0.01 [[ 9.63111392e-01 2.69103040e-01 0.00000000e+00 1.15929938e+02] [-2.69103040e-01 9.63111392e-01 0.00000000e+00 -1.04866194e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26940074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.531400513 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:115.96, Y:-10.49, Z:-0.01 [[ 9.63325303e-01 2.68336281e-01 0.00000000e+00 1.15961904e+02] [-2.68336281e-01 9.63325303e-01 0.00000000e+00 -1.04933531e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39828452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.561400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:115.99, Y:-10.50, Z:-0.02 [[ 9.63429013e-01 2.67963685e-01 0.00000000e+00 1.15992835e+02] [-2.67963685e-01 9.63429013e-01 0.00000000e+00 -1.04998040e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63936183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59140051299998 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:116.03, Y:-10.50, Z:-0.02 [[ 9.63004061e-01 2.69486879e-01 0.00000000e+00 1.16025221e+02] [-2.69486879e-01 9.63004061e-01 0.00000000e+00 -1.05048621e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69625039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62140051299998 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:116.06, Y:-10.51, Z:-0.02 [[ 9.62952258e-01 2.69671930e-01 0.00000000e+00 1.16057257e+02] [-2.69671930e-01 9.62952258e-01 0.00000000e+00 -1.05145626e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69625039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.65140051299998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:116.09, Y:-10.52, Z:-0.02 [[ 9.62347656e-01 2.71821614e-01 0.00000000e+00 1.16088813e+02] [-2.71821614e-01 9.62347656e-01 0.00000000e+00 -1.05218071e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65215834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68140051299999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:116.12, Y:-10.53, Z:-0.02 [[ 9.60647906e-01 2.77768970e-01 0.00000000e+00 1.16120897e+02] [-2.77768970e-01 9.60647906e-01 0.00000000e+00 -1.05287266e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63136805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.71140051299999 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:116.15, Y:-10.54, Z:-0.02 [[ 9.59606142e-01 2.81346854e-01 0.00000000e+00 1.16151835e+02] [-2.81346854e-01 9.59606142e-01 0.00000000e+00 -1.05373831e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69066202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74140051299999 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:116.18, Y:-10.55, Z:-0.02 [[ 9.58515966e-01 2.85038846e-01 0.00000000e+00 1.16183649e+02] [-2.85038846e-01 9.58515966e-01 0.00000000e+00 -1.05460622e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75528955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.77140051299999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:116.21, Y:-10.55, Z:-0.02 [[ 9.56564872e-01 2.91519547e-01 0.00000000e+00 1.16214622e+02] [-2.91519547e-01 9.56564872e-01 0.00000000e+00 -1.05518722e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68806184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80140051299999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:116.25, Y:-10.56, Z:-0.01 [[ 9.55607211e-01 2.94643612e-01 0.00000000e+00 1.16245989e+02] [-2.94643612e-01 9.55607211e-01 0.00000000e+00 -1.05611511e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36904322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.83140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.28, Y:-10.57, Z:-0.01 [[ 9.54765790e-01 2.97358850e-01 0.00000000e+00 1.16276388e+02] [-2.97358850e-01 9.54765790e-01 0.00000000e+00 -1.05707127e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16306424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86140051299999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:116.31, Y:-10.58, Z:-0.01 [[ 9.53788543e-01 3.00478645e-01 0.00000000e+00 1.16308442e+02] [-3.00478645e-01 9.53788543e-01 0.00000000e+00 -1.05801803e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11470814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.891400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:116.34, Y:-10.59, Z:-0.01 [[ 9.53032130e-01 3.02869210e-01 0.00000000e+00 1.16340719e+02] [-3.02869210e-01 9.53032130e-01 0.00000000e+00 -1.05873761e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09035525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.921400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:116.37, Y:-10.59, Z:-0.01 [[ 9.52299946e-01 3.05163584e-01 0.00000000e+00 1.16372130e+02] [-3.05163584e-01 9.52299946e-01 0.00000000e+00 -1.05929500e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15755630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.951400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:116.40, Y:-10.60, Z:-0.01 [[ 9.50866588e-01 3.09600925e-01 0.00000000e+00 1.16404359e+02] [-3.09600925e-01 9.50866588e-01 0.00000000e+00 -1.05968382e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37413983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.44, Y:-10.61, Z:-0.01 [[ 9.50402809e-01 3.11021705e-01 0.00000000e+00 1.16436685e+02] [-3.11021705e-01 9.50402809e-01 0.00000000e+00 -1.06055013e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20786296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.47, Y:-10.61, Z:-0.01 [[ 9.50172798e-01 3.11723681e-01 0.00000000e+00 1.16467933e+02] [-3.11723681e-01 9.50172798e-01 0.00000000e+00 -1.06136806e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13418911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:116.50, Y:-10.62, Z:-0.01 [[ 9.50159765e-01 3.11763406e-01 0.00000000e+00 1.16498681e+02] [-3.11763406e-01 9.50159765e-01 0.00000000e+00 -1.06220278e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00656040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.07140051299999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:116.53, Y:-10.63, Z:-0.01 [[ 9.50505978e-01 3.10706268e-01 0.00000000e+00 1.16530865e+02] [-3.10706268e-01 9.50505978e-01 0.00000000e+00 -1.06308462e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.89620622e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.56, Y:-10.64, Z:-0.01 [[ 9.51072562e-01 3.08967607e-01 0.00000000e+00 1.16562443e+02] [-3.08967607e-01 9.51072562e-01 0.00000000e+00 -1.06410574e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00484338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.13140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.59, Y:-10.65, Z:-0.01 [[ 9.52199587e-01 3.05476588e-01 0.00000000e+00 1.16591838e+02] [-3.05476588e-01 9.52199587e-01 0.00000000e+00 -1.06539201e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38716978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.62, Y:-10.66, Z:-0.01 [[ 9.52378395e-01 3.04918665e-01 0.00000000e+00 1.16623374e+02] [-3.04918665e-01 9.52378395e-01 0.00000000e+00 -1.06634176e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29805687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.19140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:116.66, Y:-10.67, Z:-0.01 [[ 9.52137240e-01 3.05670862e-01 0.00000000e+00 1.16655556e+02] [-3.05670862e-01 9.52137240e-01 0.00000000e+00 -1.06721483e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09748008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22140051299999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:116.69, Y:-10.68, Z:-0.01 [[ 9.51697203e-01 3.07038163e-01 0.00000000e+00 1.16687292e+02] [-3.07038163e-01 9.51697203e-01 0.00000000e+00 -1.06809211e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.78694779e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.72, Y:-10.69, Z:-0.01 [[ 9.51136193e-01 3.08771666e-01 0.00000000e+00 1.16718584e+02] [-3.08771666e-01 9.51136193e-01 0.00000000e+00 -1.06903846e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.58937009e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.281400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:116.75, Y:-10.70, Z:-0.01 [[ 9.50179425e-01 3.11703482e-01 0.00000000e+00 1.16749908e+02] [-3.11703482e-01 9.50179425e-01 0.00000000e+00 -1.07006143e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.05372341e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.311400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:116.78, Y:-10.71, Z:-0.01 [[ 9.50119187e-01 3.11887048e-01 0.00000000e+00 1.16781917e+02] [-3.11887048e-01 9.50119187e-01 0.00000000e+00 -1.07104231e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.05372341e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:116.81, Y:-10.72, Z:-0.01 [[ 9.48423523e-01 3.17006027e-01 0.00000000e+00 1.16812959e+02] [-3.17006027e-01 9.48423523e-01 0.00000000e+00 -1.07181423e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.60181138e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.37140051299998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:116.84, Y:-10.73, Z:-0.01 [[ 9.47695219e-01 3.19176710e-01 0.00000000e+00 1.16844360e+02] [-3.19176710e-01 9.47695219e-01 0.00000000e+00 -1.07261279e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05332524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40140051299998 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:116.87, Y:-10.74, Z:-0.01 [[ 9.47099278e-01 3.20940739e-01 0.00000000e+00 1.16874038e+02] [-3.20940739e-01 9.47099278e-01 0.00000000e+00 -1.07352424e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17248965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.43140051299999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:116.91, Y:-10.75, Z:-0.01 [[ 9.47199517e-01 3.20644781e-01 0.00000000e+00 1.16906396e+02] [-3.20644781e-01 9.47199517e-01 0.00000000e+00 -1.07457777e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19737393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:116.94, Y:-10.76, Z:-0.01 [[ 9.47433328e-01 3.19953260e-01 0.00000000e+00 1.16937956e+02] [-3.19953260e-01 9.47433328e-01 0.00000000e+00 -1.07564251e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12471788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.49140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:116.97, Y:-10.77, Z:-0.01 [[ 9.47524233e-01 3.19683951e-01 0.00000000e+00 1.16968310e+02] [-3.19683951e-01 9.47524233e-01 0.00000000e+00 -1.07656476e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07191607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:117.00, Y:-10.77, Z:-0.01 [[ 9.47015573e-01 3.21187647e-01 0.00000000e+00 1.16999703e+02] [-3.21187647e-01 9.47015573e-01 0.00000000e+00 -1.07729690e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31999558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.55140051299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:117.03, Y:-10.78, Z:-0.01 [[ 9.46428058e-01 3.22914744e-01 0.00000000e+00 1.17031769e+02] [-3.22914744e-01 9.46428058e-01 0.00000000e+00 -1.07818978e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41223089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.06, Y:-10.79, Z:-0.01 [[ 9.45785165e-01 3.24792891e-01 0.00000000e+00 1.17062322e+02] [-3.24792891e-01 9.45785165e-01 0.00000000e+00 -1.07900713e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49015844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.61140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:117.09, Y:-10.80, Z:-0.01 [[ 9.44974202e-01 3.27144859e-01 0.00000000e+00 1.17094418e+02] [-3.27144859e-01 9.44974202e-01 0.00000000e+00 -1.07982232e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34507626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.641400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:117.12, Y:-10.81, Z:-0.01 [[ 9.44152712e-01 3.29508203e-01 0.00000000e+00 1.17124775e+02] [-3.29508203e-01 9.44152712e-01 0.00000000e+00 -1.08058213e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13875789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.671400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:117.16, Y:-10.81, Z:-0.01 [[ 9.43374291e-01 3.31730232e-01 0.00000000e+00 1.17156275e+02] [-3.31730232e-01 9.43374291e-01 0.00000000e+00 -1.08142132e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.50223065e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.701400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:117.19, Y:-10.82, Z:-0.01 [[ 9.41774086e-01 3.36246295e-01 0.00000000e+00 1.17186357e+02] [-3.36246295e-01 9.41774086e-01 0.00000000e+00 -1.08223702e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.88716099e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.73140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:117.22, Y:-10.83, Z:-0.01 [[ 9.41317680e-01 3.37521890e-01 0.00000000e+00 1.17218016e+02] [-3.37521890e-01 9.41317680e-01 0.00000000e+00 -1.08305564e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06684403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76140051299998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:117.25, Y:-10.84, Z:-0.01 [[ 9.41040179e-01 3.38294813e-01 0.00000000e+00 1.17248133e+02] [-3.38294813e-01 9.41040179e-01 0.00000000e+00 -1.08376219e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08358410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.79140051299999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:117.28, Y:-10.84, Z:-0.01 [[ 9.41030373e-01 3.38322090e-01 0.00000000e+00 1.17280381e+02] [-3.38322090e-01 9.41030373e-01 0.00000000e+00 -1.08447622e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.09621504e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:117.31, Y:-10.85, Z:-0.01 [[ 9.40943637e-01 3.38563247e-01 0.00000000e+00 1.17311844e+02] [-3.38563247e-01 9.40943637e-01 0.00000000e+00 -1.08520131e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.20475414e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.85140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.34, Y:-10.86, Z:-0.01 [[ 9.41019900e-01 3.38351219e-01 0.00000000e+00 1.17340100e+02] [-3.38351219e-01 9.41019900e-01 0.00000000e+00 -1.08571886e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.53867507e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.37, Y:-10.87, Z:-0.01 [[ 9.41186891e-01 3.37886424e-01 0.00000000e+00 1.17369633e+02] [-3.37886424e-01 9.41186891e-01 0.00000000e+00 -1.08652557e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14951951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.91140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:117.40, Y:-10.87, Z:-0.02 [[ 9.41337428e-01 3.37466809e-01 0.00000000e+00 1.17397804e+02] [-3.37466809e-01 9.41337428e-01 0.00000000e+00 -1.08731905e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51686946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:117.43, Y:-10.88, Z:-0.01 [[ 9.41718165e-01 3.36402881e-01 0.00000000e+00 1.17426847e+02] [-3.36402881e-01 9.41718165e-01 0.00000000e+00 -1.08793764e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24510930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.97140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.45, Y:-10.89, Z:-0.01 [[ 9.41648655e-01 3.36597401e-01 0.00000000e+00 1.17454833e+02] [-3.36597401e-01 9.41648655e-01 0.00000000e+00 -1.08862918e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.00545210e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.48, Y:-10.89, Z:-0.01 [[ 9.41253060e-01 3.37702055e-01 0.00000000e+00 1.17481856e+02] [-3.37702055e-01 9.41253060e-01 0.00000000e+00 -1.08935953e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.71653818e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.51, Y:-10.90, Z:-0.01 [[ 9.40603112e-01 3.39508154e-01 0.00000000e+00 1.17509798e+02] [-3.39508154e-01 9.40603112e-01 0.00000000e+00 -1.09012589e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.64590659e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.061400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:117.54, Y:-10.91, Z:-0.01 [[ 9.39543163e-01 3.42430496e-01 0.00000000e+00 1.17538643e+02] [-3.42430496e-01 9.39543163e-01 0.00000000e+00 -1.09085460e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08992029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.57, Y:-10.91, Z:-0.01 [[ 9.38645751e-01 3.44882812e-01 0.00000000e+00 1.17566988e+02] [-3.44882812e-01 9.38645751e-01 0.00000000e+00 -1.09146706e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22862423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.60, Y:-10.92, Z:-0.01 [[ 9.36589445e-01 3.50428611e-01 0.00000000e+00 1.17595290e+02] [-3.50428611e-01 9.36589445e-01 0.00000000e+00 -1.09171030e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28720027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.15140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.62, Y:-10.92, Z:-0.01 [[ 9.35715903e-01 3.52754517e-01 0.00000000e+00 1.17623779e+02] [-3.52754517e-01 9.35715903e-01 0.00000000e+00 -1.09226660e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15791385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.65, Y:-10.93, Z:-0.01 [[ 9.35106244e-01 3.54367481e-01 0.00000000e+00 1.17652356e+02] [-3.54367481e-01 9.35106244e-01 0.00000000e+00 -1.09281719e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04232541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.21140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.68, Y:-10.93, Z:-0.01 [[ 9.34763522e-01 3.55270543e-01 0.00000000e+00 1.17680448e+02] [-3.55270543e-01 9.34763522e-01 0.00000000e+00 -1.09332147e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04028859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.71, Y:-10.94, Z:-0.01 [[ 9.34692480e-01 3.55457406e-01 0.00000000e+00 1.17708731e+02] [-3.55457406e-01 9.34692480e-01 0.00000000e+00 -1.09379703e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16017274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.27140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.74, Y:-10.94, Z:-0.01 [[ 9.34832039e-01 3.55090213e-01 0.00000000e+00 1.17737042e+02] [-3.55090213e-01 9.34832039e-01 0.00000000e+00 -1.09428550e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27112045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.76, Y:-10.95, Z:-0.01 [[ 9.35932376e-01 3.52179767e-01 0.00000000e+00 1.17764124e+02] [-3.52179767e-01 9.35932376e-01 0.00000000e+00 -1.09464725e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43521144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.33140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.79, Y:-10.95, Z:-0.01 [[ 9.36743774e-01 3.50015861e-01 0.00000000e+00 1.17789926e+02] [-3.50015861e-01 9.36743774e-01 0.00000000e+00 -1.09532635e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45523064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.82, Y:-10.96, Z:-0.01 [[ 9.37574825e-01 3.47783622e-01 0.00000000e+00 1.17818199e+02] [-3.47783622e-01 9.37574825e-01 0.00000000e+00 -1.09606303e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30226000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.85, Y:-10.97, Z:-0.01 [[ 9.38129127e-01 3.46285634e-01 0.00000000e+00 1.17845046e+02] [-3.46285634e-01 9.38129127e-01 0.00000000e+00 -1.09669928e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17363492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.87, Y:-10.97, Z:-0.01 [[ 9.38382194e-01 3.45599272e-01 0.00000000e+00 1.17872170e+02] [-3.45599272e-01 9.38382194e-01 0.00000000e+00 -1.09725963e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13184255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.90, Y:-10.98, Z:-0.01 [[ 9.38401895e-01 3.45545777e-01 0.00000000e+00 1.17900453e+02] [-3.45545777e-01 9.38401895e-01 0.00000000e+00 -1.09786129e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18417501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.93, Y:-10.98, Z:-0.01 [[ 9.37936987e-01 3.46805721e-01 0.00000000e+00 1.17927525e+02] [-3.46805721e-01 9.37936987e-01 0.00000000e+00 -1.09846211e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40481579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.95, Y:-10.99, Z:-0.01 [[ 9.37652641e-01 3.47573769e-01 0.00000000e+00 1.17954747e+02] [-3.47573769e-01 9.37652641e-01 0.00000000e+00 -1.09931343e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38011673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.98, Y:-11.00, Z:-0.01 [[ 9.37423191e-01 3.48192132e-01 0.00000000e+00 1.17982015e+02] [-3.48192132e-01 9.37423191e-01 0.00000000e+00 -1.10013157e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20894813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.57140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.01, Y:-11.01, Z:-0.01 [[ 9.37256326e-01 3.48641048e-01 0.00000000e+00 1.18009010e+02] [-3.48641048e-01 9.37256326e-01 0.00000000e+00 -1.10093798e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25734092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60140051299999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:118.04, Y:-11.02, Z:-0.01 [[ 9.37147051e-01 3.48934672e-01 0.00000000e+00 1.18035383e+02] [-3.48934672e-01 9.37147051e-01 0.00000000e+00 -1.10176829e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40135821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.63140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.06, Y:-11.03, Z:-0.01 [[ 9.37507615e-01 3.47964756e-01 0.00000000e+00 1.18061438e+02] [-3.47964756e-01 9.37507615e-01 0.00000000e+00 -1.10270258e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48169336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.09, Y:-11.04, Z:-0.01 [[ 9.38316727e-01 3.45776979e-01 0.00000000e+00 1.18086295e+02] [-3.45776979e-01 9.38316727e-01 0.00000000e+00 -1.10394657e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46862660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.69140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:118.11, Y:-11.05, Z:-0.01 [[ 9.38492083e-01 3.45300753e-01 0.00000000e+00 1.18113878e+02] [-3.45300753e-01 9.38492083e-01 0.00000000e+00 -1.10495163e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40045912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:118.14, Y:-11.06, Z:-0.02 [[ 9.38559444e-01 3.45117617e-01 0.00000000e+00 1.18139301e+02] [-3.45117617e-01 9.38559444e-01 0.00000000e+00 -1.10576929e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55597528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.17, Y:-11.07, Z:-0.02 [[ 9.38584671e-01 3.45049005e-01 0.00000000e+00 1.18166198e+02] [-3.45049005e-01 9.38584671e-01 0.00000000e+00 -1.10662316e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53250504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.19, Y:-11.08, Z:-0.02 [[ 9.38347740e-01 3.45692809e-01 0.00000000e+00 1.18193414e+02] [-3.45692809e-01 9.38347740e-01 0.00000000e+00 -1.10753690e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60560361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.22, Y:-11.09, Z:-0.02 [[ 9.37857079e-01 3.47021757e-01 0.00000000e+00 1.18219180e+02] [-3.47021757e-01 9.37857079e-01 0.00000000e+00 -1.10861127e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92214376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.25, Y:-11.09, Z:-0.02 [[ 9.37560885e-01 3.47821200e-01 0.00000000e+00 1.18245559e+02] [-3.47821200e-01 9.37560885e-01 0.00000000e+00 -1.10946332e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91773300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.87140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.27, Y:-11.10, Z:-0.02 [[ 9.37118041e-01 3.49012574e-01 0.00000000e+00 1.18273368e+02] [-3.49012574e-01 9.37118041e-01 0.00000000e+00 -1.11028760e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63831256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.30, Y:-11.11, Z:-0.01 [[ 9.36469828e-01 3.50748146e-01 0.00000000e+00 1.18301122e+02] [-3.50748146e-01 9.36469828e-01 0.00000000e+00 -1.11111768e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45255974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.93140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.33, Y:-11.12, Z:-0.02 [[ 9.35645484e-01 3.52941252e-01 0.00000000e+00 1.18327981e+02] [-3.52941252e-01 9.35645484e-01 0.00000000e+00 -1.11193924e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52669976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.36, Y:-11.13, Z:-0.01 [[ 9.34260339e-01 3.56591671e-01 0.00000000e+00 1.18355484e+02] [-3.56591671e-01 9.34260339e-01 0.00000000e+00 -1.11281037e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28947595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.99140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.38, Y:-11.14, Z:-0.01 [[ 9.33972893e-01 3.57343861e-01 0.00000000e+00 1.18383046e+02] [-3.57343861e-01 9.33972893e-01 0.00000000e+00 -1.11358373e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16742659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.41, Y:-11.14, Z:-0.01 [[ 9.33762264e-01 3.57893886e-01 0.00000000e+00 1.18408732e+02] [-3.57893886e-01 9.33762264e-01 0.00000000e+00 -1.11433232e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20446508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.05140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.44, Y:-11.15, Z:-0.01 [[ 9.33635038e-01 3.58225649e-01 0.00000000e+00 1.18435521e+02] [-3.58225649e-01 9.33635038e-01 0.00000000e+00 -1.11522331e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36861359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.46, Y:-11.16, Z:-0.02 [[ 9.33692336e-01 3.58076280e-01 0.00000000e+00 1.18462464e+02] [-3.58076280e-01 9.33692336e-01 0.00000000e+00 -1.11618854e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52265713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.11140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.49, Y:-11.17, Z:-0.01 [[ 9.34072846e-01 3.57082509e-01 0.00000000e+00 1.18488975e+02] [-3.57082509e-01 9.34072846e-01 0.00000000e+00 -1.11713034e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49197150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.52, Y:-11.18, Z:-0.01 [[ 9.34257217e-01 3.56599848e-01 0.00000000e+00 1.18515229e+02] [-3.56599848e-01 9.34257217e-01 0.00000000e+00 -1.11800060e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47991000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.171400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:118.54, Y:-11.19, Z:-0.01 [[ 9.34344178e-01 3.56371937e-01 0.00000000e+00 1.18541877e+02] [-3.56371937e-01 9.34344178e-01 0.00000000e+00 -1.11896763e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38525942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.57, Y:-11.20, Z:-0.01 [[ 9.34787165e-01 3.55208328e-01 0.00000000e+00 1.18567779e+02] [-3.55208328e-01 9.34787165e-01 0.00000000e+00 -1.11994533e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25638976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.60, Y:-11.21, Z:-0.01 [[ 9.34811553e-01 3.55144139e-01 0.00000000e+00 1.18595100e+02] [-3.55144139e-01 9.34811553e-01 0.00000000e+00 -1.12075841e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25638976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26140051299998 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:118.62, Y:-11.22, Z:-0.01 [[ 9.35244047e-01 3.54003634e-01 0.00000000e+00 1.18622422e+02] [-3.54003634e-01 9.35244047e-01 0.00000000e+00 -1.12170344e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25205205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.65, Y:-11.23, Z:-0.01 [[ 9.35601286e-01 3.53058399e-01 0.00000000e+00 1.18649535e+02] [-3.53058399e-01 9.35601286e-01 0.00000000e+00 -1.12265137e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13168487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.68, Y:-11.24, Z:-0.01 [[ 9.36124562e-01 3.51668600e-01 0.00000000e+00 1.18676030e+02] [-3.51668600e-01 9.36124562e-01 0.00000000e+00 -1.12370046e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09630211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.35140051299999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:118.70, Y:-11.25, Z:-0.01 [[ 9.36106004e-01 3.51717996e-01 0.00000000e+00 1.18703155e+02] [-3.51717996e-01 9.36106004e-01 0.00000000e+00 -1.12464462e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28827694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.73, Y:-11.25, Z:-0.01 [[ 9.36261785e-01 3.51303103e-01 0.00000000e+00 1.18729604e+02] [-3.51303103e-01 9.36261785e-01 0.00000000e+00 -1.12542027e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41903637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.41140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.76, Y:-11.26, Z:-0.02 [[ 9.36122301e-01 3.51674619e-01 0.00000000e+00 1.18757360e+02] [-3.51674619e-01 9.36122301e-01 0.00000000e+00 -1.12621394e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62026150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.78, Y:-11.27, Z:-0.02 [[ 9.35999305e-01 3.52001848e-01 0.00000000e+00 1.18784384e+02] [-3.52001848e-01 9.35999305e-01 0.00000000e+00 -1.12705886e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76558611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.47140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.81, Y:-11.28, Z:-0.02 [[ 9.36027454e-01 3.51926990e-01 0.00000000e+00 1.18811915e+02] [-3.51926990e-01 9.36027454e-01 0.00000000e+00 -1.12802276e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64020054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.84, Y:-11.29, Z:-0.02 [[ 9.36027105e-01 3.51927917e-01 0.00000000e+00 1.18838655e+02] [-3.51927917e-01 9.36027105e-01 0.00000000e+00 -1.12896007e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59301841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.531400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:118.87, Y:-11.30, Z:-0.02 [[ 9.35962380e-01 3.52100020e-01 0.00000000e+00 1.18865152e+02] [-3.52100020e-01 9.35962380e-01 0.00000000e+00 -1.12983594e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67658089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.89, Y:-11.31, Z:-0.02 [[ 9.36205917e-01 3.51451961e-01 0.00000000e+00 1.18891755e+02] [-3.51451961e-01 9.36205917e-01 0.00000000e+00 -1.13062265e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53738051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.59140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.92, Y:-11.31, Z:-0.01 [[ 9.36311921e-01 3.51169455e-01 0.00000000e+00 1.18919628e+02] [-3.51169455e-01 9.36311921e-01 0.00000000e+00 -1.13136984e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37763840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:118.95, Y:-11.32, Z:-0.01 [[ 9.36072725e-01 3.51806557e-01 0.00000000e+00 1.18947165e+02] [-3.51806557e-01 9.36072725e-01 0.00000000e+00 -1.13195796e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33818352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.65140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.98, Y:-11.33, Z:-0.01 [[ 9.35871556e-01 3.52341355e-01 0.00000000e+00 1.18975206e+02] [-3.52341355e-01 9.35871556e-01 0.00000000e+00 -1.13272784e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18399410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.00, Y:-11.34, Z:-0.01 [[ 9.35474586e-01 3.53393973e-01 0.00000000e+00 1.19001965e+02] [-3.53393973e-01 9.35474586e-01 0.00000000e+00 -1.13353394e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22244474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.71140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:119.03, Y:-11.34, Z:-0.01 [[ 9.34961615e-01 3.54748894e-01 0.00000000e+00 1.19029640e+02] [-3.54748894e-01 9.34961615e-01 0.00000000e+00 -1.13443853e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30495061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.06, Y:-11.35, Z:-0.01 [[ 9.34850006e-01 3.55042906e-01 0.00000000e+00 1.19057135e+02] [-3.55042906e-01 9.34850006e-01 0.00000000e+00 -1.13533619e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34806625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.77140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.08, Y:-11.36, Z:-0.01 [[ 9.35235425e-01 3.54026410e-01 0.00000000e+00 1.19083255e+02] [-3.54026410e-01 9.35235425e-01 0.00000000e+00 -1.13625007e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49610228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80140051299999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:119.11, Y:-11.37, Z:-0.02 [[ 9.35517992e-01 3.53279048e-01 0.00000000e+00 1.19110273e+02] [-3.53279048e-01 9.35517992e-01 0.00000000e+00 -1.13702494e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54800311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.83140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.14, Y:-11.38, Z:-0.01 [[ 9.36047734e-01 3.51873044e-01 0.00000000e+00 1.19138304e+02] [-3.51873044e-01 9.36047734e-01 0.00000000e+00 -1.13780545e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29743405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.86140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.16, Y:-11.39, Z:-0.01 [[ 9.36780866e-01 3.49916575e-01 0.00000000e+00 1.19164364e+02] [-3.49916575e-01 9.36780866e-01 0.00000000e+00 -1.13873779e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32648298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.19, Y:-11.40, Z:-0.01 [[ 9.37002199e-01 3.49323459e-01 0.00000000e+00 1.19190631e+02] [-3.49323459e-01 9.37002199e-01 0.00000000e+00 -1.13978110e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48663934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.22, Y:-11.41, Z:-0.02 [[ 9.37152490e-01 3.48920064e-01 0.00000000e+00 1.19217284e+02] [-3.48920064e-01 9.37152490e-01 0.00000000e+00 -1.14084272e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58008477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.24, Y:-11.42, Z:-0.02 [[ 9.37181545e-01 3.48842016e-01 0.00000000e+00 1.19244801e+02] [-3.48842016e-01 9.37181545e-01 0.00000000e+00 -1.14187750e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66854369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.27, Y:-11.43, Z:-0.02 [[ 9.37126315e-01 3.48990359e-01 0.00000000e+00 1.19271031e+02] [-3.48990359e-01 9.37126315e-01 0.00000000e+00 -1.14284038e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78502415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.30, Y:-11.44, Z:-0.02 [[ 9.36864431e-01 3.49692776e-01 0.00000000e+00 1.19296857e+02] [-3.49692776e-01 9.36864431e-01 0.00000000e+00 -1.14381299e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83419301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.32, Y:-11.45, Z:-0.01 [[ 9.35908266e-01 3.52243832e-01 0.00000000e+00 1.19324129e+02] [-3.52243832e-01 9.35908266e-01 0.00000000e+00 -1.14504573e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47741974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.07140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.35, Y:-11.46, Z:-0.02 [[ 9.35134101e-01 3.54293965e-01 0.00000000e+00 1.19352197e+02] [-3.54293965e-01 9.35134101e-01 0.00000000e+00 -1.14605629e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58251148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10140051299999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:119.38, Y:-11.47, Z:-0.02 [[ 9.34042225e-01 3.57162598e-01 0.00000000e+00 1.19379903e+02] [-3.57162598e-01 9.34042225e-01 0.00000000e+00 -1.14692781e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91230674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.13140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.41, Y:-11.48, Z:-0.02 [[ 9.32930527e-01 3.60056428e-01 0.00000000e+00 1.19407183e+02] [-3.60056428e-01 9.32930527e-01 0.00000000e+00 -1.14777621e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87576834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.43, Y:-11.49, Z:-0.02 [[ 9.31657353e-01 3.63338103e-01 0.00000000e+00 1.19434914e+02] [-3.63338103e-01 9.31657353e-01 0.00000000e+00 -1.14865691e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70434525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.19140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.46, Y:-11.49, Z:-0.01 [[ 9.30440285e-01 3.66443551e-01 0.00000000e+00 1.19461540e+02] [-3.66443551e-01 9.30440285e-01 0.00000000e+00 -1.14947912e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49696470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.49, Y:-11.50, Z:-0.01 [[ 9.29164687e-01 3.69666044e-01 0.00000000e+00 1.19490330e+02] [-3.69666044e-01 9.29164687e-01 0.00000000e+00 -1.15034189e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21204362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.52, Y:-11.51, Z:-0.01 [[ 9.26867540e-01 3.75388551e-01 0.00000000e+00 1.19517320e+02] [-3.75388551e-01 9.26867540e-01 0.00000000e+00 -1.15098584e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14901222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.54, Y:-11.52, Z:-0.01 [[ 9.26313725e-01 3.76753080e-01 0.00000000e+00 1.19544509e+02] [-3.76753080e-01 9.26313725e-01 0.00000000e+00 -1.15166959e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06605790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.57, Y:-11.52, Z:-0.01 [[ 9.26094699e-01 3.77291145e-01 0.00000000e+00 1.19572015e+02] [-3.77291145e-01 9.26094699e-01 0.00000000e+00 -1.15236620e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.86304029e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.60, Y:-11.53, Z:-0.01 [[ 9.26161758e-01 3.77126502e-01 0.00000000e+00 1.19600172e+02] [-3.77126502e-01 9.26161758e-01 0.00000000e+00 -1.15302194e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.92700722e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.37140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.63, Y:-11.54, Z:-0.01 [[ 9.26265098e-01 3.76872615e-01 0.00000000e+00 1.19628028e+02] [-3.76872615e-01 9.26265098e-01 0.00000000e+00 -1.15368643e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.79321289e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.66, Y:-11.54, Z:-0.01 [[ 9.26289303e-01 3.76813120e-01 0.00000000e+00 1.19655191e+02] [-3.76813120e-01 9.26289303e-01 0.00000000e+00 -1.15422585e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.51844764e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.43140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.68, Y:-11.55, Z:-0.01 [[ 9.26529025e-01 3.76223292e-01 0.00000000e+00 1.19683208e+02] [-3.76223292e-01 9.26529025e-01 0.00000000e+00 -1.15493257e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13585548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.71, Y:-11.56, Z:-0.01 [[ 9.26842270e-01 3.75450937e-01 0.00000000e+00 1.19711028e+02] [-3.75450937e-01 9.26842270e-01 0.00000000e+00 -1.15567699e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17648294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.49140051299999 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:119.74, Y:-11.56, Z:-0.01 [[ 9.27402892e-01 3.74064001e-01 0.00000000e+00 1.19738284e+02] [-3.74064001e-01 9.27402892e-01 0.00000000e+00 -1.15635256e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16527868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.77, Y:-11.57, Z:-0.01 [[ 9.28938405e-01 3.70234303e-01 0.00000000e+00 1.19766806e+02] [-3.70234303e-01 9.28938405e-01 0.00000000e+00 -1.15695983e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.12996002e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.55140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.80, Y:-11.58, Z:-0.01 [[ 9.29774639e-01 3.68129217e-01 0.00000000e+00 1.19795219e+02] [-3.68129217e-01 9.29774639e-01 0.00000000e+00 -1.15762860e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.67430488e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.82, Y:-11.58, Z:-0.01 [[ 9.30453646e-01 3.66409624e-01 0.00000000e+00 1.19823521e+02] [-3.66409624e-01 9.30453646e-01 0.00000000e+00 -1.15832116e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.95616405e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.61140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.85, Y:-11.59, Z:-0.01 [[ 9.30981252e-01 3.65066992e-01 0.00000000e+00 1.19851316e+02] [-3.65066992e-01 9.30981252e-01 0.00000000e+00 -1.15897364e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.92757025e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.641400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:119.88, Y:-11.60, Z:-0.01 [[ 9.31481692e-01 3.63788204e-01 0.00000000e+00 1.19879734e+02] [-3.63788204e-01 9.31481692e-01 0.00000000e+00 -1.15958424e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.63160292e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.91, Y:-11.60, Z:-0.01 [[ 9.31970624e-01 3.62533801e-01 0.00000000e+00 1.19906466e+02] [-3.62533801e-01 9.31970624e-01 0.00000000e+00 -1.16031342e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.72849677e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.93, Y:-11.61, Z:-0.00 [[ 9.33504093e-01 3.58566742e-01 0.00000000e+00 1.19934343e+02] [-3.58566742e-01 9.33504093e-01 0.00000000e+00 -1.16108887e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.84323545e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.96, Y:-11.62, Z:-0.00 [[ 9.34283044e-01 3.56532177e-01 0.00000000e+00 1.19961323e+02] [-3.56532177e-01 9.34283044e-01 0.00000000e+00 -1.16182099e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65959455e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.99, Y:-11.63, Z:-0.00 [[ 9.34946649e-01 3.54788335e-01 0.00000000e+00 1.19988639e+02] [-3.54788335e-01 9.34946649e-01 0.00000000e+00 -1.16258528e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37804990e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.02, Y:-11.64, Z:-0.00 [[ 9.35805072e-01 3.52517897e-01 0.00000000e+00 1.20015940e+02] [-3.52517897e-01 9.35805072e-01 0.00000000e+00 -1.16351929e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.39392099e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.04, Y:-11.64, Z:-0.01 [[ 9.36111898e-01 3.51702309e-01 0.00000000e+00 1.20043707e+02] [-3.51702309e-01 9.36111898e-01 0.00000000e+00 -1.16433390e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.29930443e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.85140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.07, Y:-11.65, Z:-0.01 [[ 9.36242663e-01 3.51354061e-01 0.00000000e+00 1.20070061e+02] [-3.51354061e-01 9.36242663e-01 0.00000000e+00 -1.16518491e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.86985071e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.10, Y:-11.66, Z:-0.01 [[ 9.36346263e-01 3.51077876e-01 0.00000000e+00 1.20097047e+02] [-3.51077876e-01 9.36346263e-01 0.00000000e+00 -1.16606344e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.42187659e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.91140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.12, Y:-11.67, Z:-0.01 [[ 9.36291908e-01 3.51222810e-01 0.00000000e+00 1.20123683e+02] [-3.51222810e-01 9.36291908e-01 0.00000000e+00 -1.16700362e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.82633099e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.15, Y:-11.68, Z:-0.01 [[ 9.36125853e-01 3.51665164e-01 0.00000000e+00 1.20150926e+02] [-3.51665164e-01 9.36125853e-01 0.00000000e+00 -1.16802357e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.34951117e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.97140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.18, Y:-11.69, Z:-0.01 [[ 9.35646532e-01 3.52938475e-01 0.00000000e+00 1.20178311e+02] [-3.52938475e-01 9.35646532e-01 0.00000000e+00 -1.16904442e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.14302210e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.21, Y:-11.70, Z:-0.01 [[ 9.35270398e-01 3.53934009e-01 0.00000000e+00 1.20206071e+02] [-3.53934009e-01 9.35270398e-01 0.00000000e+00 -1.16983953e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.42498695e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.23, Y:-11.71, Z:-0.01 [[ 9.34752725e-01 3.55298948e-01 0.00000000e+00 1.20232703e+02] [-3.55298948e-01 9.34752725e-01 0.00000000e+00 -1.17061674e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.92977894e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.061400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:120.26, Y:-11.71, Z:-0.01 [[ 9.34020599e-01 3.57219151e-01 0.00000000e+00 1.20260053e+02] [-3.57219151e-01 9.34020599e-01 0.00000000e+00 -1.17144577e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.44257296e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.29, Y:-11.72, Z:-0.01 [[ 9.33349110e-01 3.58969969e-01 0.00000000e+00 1.20287865e+02] [-3.58969969e-01 9.33349110e-01 0.00000000e+00 -1.17235005e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.05859740e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.32, Y:-11.73, Z:-0.01 [[ 9.33365769e-01 3.58926652e-01 0.00000000e+00 1.20315996e+02] [-3.58926652e-01 9.33365769e-01 0.00000000e+00 -1.17318278e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.05859740e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.15140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.34, Y:-11.74, Z:-0.01 [[ 9.32620641e-01 3.60858337e-01 0.00000000e+00 1.20342993e+02] [-3.60858337e-01 9.32620641e-01 0.00000000e+00 -1.17402974e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00228508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.37, Y:-11.75, Z:-0.01 [[ 9.31183340e-01 3.64551213e-01 0.00000000e+00 1.20371174e+02] [-3.64551213e-01 9.31183340e-01 0.00000000e+00 -1.17481155e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04881686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.21140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.40, Y:-11.75, Z:-0.01 [[ 9.30522290e-01 3.66235263e-01 0.00000000e+00 1.20398411e+02] [-3.66235263e-01 9.30522290e-01 0.00000000e+00 -1.17543052e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06131597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.43, Y:-11.76, Z:-0.01 [[ 9.30008908e-01 3.67536979e-01 0.00000000e+00 1.20426768e+02] [-3.67536979e-01 9.30008908e-01 0.00000000e+00 -1.17598126e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.78747034e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.27140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.46, Y:-11.76, Z:-0.01 [[ 9.28498677e-01 3.71335707e-01 0.00000000e+00 1.20456215e+02] [-3.71335707e-01 9.28498677e-01 0.00000000e+00 -1.17629290e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.48379957e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.48, Y:-11.77, Z:-0.00 [[ 9.27682526e-01 3.73369965e-01 0.00000000e+00 1.20483456e+02] [-3.73369965e-01 9.27682526e-01 0.00000000e+00 -1.17683031e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.94683994e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.33140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.51, Y:-11.77, Z:-0.01 [[ 9.27037328e-01 3.74969056e-01 0.00000000e+00 1.20510628e+02] [-3.74969056e-01 9.27037328e-01 0.00000000e+00 -1.17723075e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.47611777e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:120.54, Y:-11.77, Z:-0.01 [[ 9.26404188e-01 3.76530583e-01 0.00000000e+00 1.20540041e+02] [-3.76530583e-01 9.26404188e-01 0.00000000e+00 -1.17746800e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.36253541e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.57, Y:-11.78, Z:-0.01 [[ 9.26078415e-01 3.77331114e-01 0.00000000e+00 1.20568939e+02] [-3.77331114e-01 9.26078415e-01 0.00000000e+00 -1.17769598e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30602976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.60, Y:-11.78, Z:-0.01 [[ 9.25841899e-01 3.77911072e-01 0.00000000e+00 1.20597674e+02] [-3.77911072e-01 9.25841899e-01 0.00000000e+00 -1.17772752e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26514084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.63, Y:-11.78, Z:-0.01 [[ 9.26255107e-01 3.76897170e-01 0.00000000e+00 1.20625402e+02] [-3.76897170e-01 9.26255107e-01 0.00000000e+00 -1.17829459e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01276439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:120.65, Y:-11.79, Z:-0.01 [[ 9.27137693e-01 3.74720826e-01 0.00000000e+00 1.20653194e+02] [-3.74720826e-01 9.27137693e-01 0.00000000e+00 -1.17879272e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.29171559e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.68, Y:-11.79, Z:-0.01 [[ 9.28490815e-01 3.71355365e-01 0.00000000e+00 1.20681150e+02] [-3.71355365e-01 9.28490815e-01 0.00000000e+00 -1.17926954e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.11651909e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.71, Y:-11.80, Z:-0.01 [[ 9.29918769e-01 3.67764984e-01 0.00000000e+00 1.20709440e+02] [-3.67764984e-01 9.29918769e-01 0.00000000e+00 -1.17974712e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.97038114e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.57140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.74, Y:-11.80, Z:-0.00 [[ 9.32627467e-01 3.60840695e-01 0.00000000e+00 1.20736645e+02] [-3.60840695e-01 9.32627467e-01 0.00000000e+00 -1.18015077e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.55504961e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60140051299999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:120.76, Y:-11.81, Z:-0.00 [[ 9.33530605e-01 3.58497712e-01 0.00000000e+00 1.20763257e+02] [-3.58497712e-01 9.33530605e-01 0.00000000e+00 -1.18080486e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.41233541e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.63140051299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.79, Y:-11.81, Z:-0.01 [[ 9.34086100e-01 3.57047836e-01 0.00000000e+00 1.20790365e+02] [-3.57047836e-01 9.34086100e-01 0.00000000e+00 -1.18146095e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.11301725e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.82, Y:-11.82, Z:-0.01 [[ 9.33760911e-01 3.57897418e-01 0.00000000e+00 1.20817619e+02] [-3.57897418e-01 9.33760911e-01 0.00000000e+00 -1.18174062e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.95895489e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.69140051299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:120.85, Y:-11.82, Z:-0.01 [[ 9.32984086e-01 3.59917623e-01 0.00000000e+00 1.20845257e+02] [-3.59917623e-01 9.32984086e-01 0.00000000e+00 -1.18227015e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.44210916e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.87, Y:-11.83, Z:-0.00 [[ 9.32249063e-01 3.61817197e-01 0.00000000e+00 1.20872492e+02] [-3.61817197e-01 9.32249063e-01 0.00000000e+00 -1.18286735e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.13123407e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.751400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:120.90, Y:-11.84, Z:-0.00 [[ 9.31439754e-01 3.63895569e-01 0.00000000e+00 1.20899676e+02] [-3.63895569e-01 9.31439754e-01 0.00000000e+00 -1.18350948e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.70022465e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.93, Y:-11.84, Z:-0.00 [[ 9.31024281e-01 3.64957242e-01 0.00000000e+00 1.20925911e+02] [-3.64957242e-01 9.31024281e-01 0.00000000e+00 -1.18412853e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.43222029e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.811400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:120.95, Y:-11.85, Z:-0.01 [[ 9.30927378e-01 3.65204349e-01 0.00000000e+00 1.20952813e+02] [-3.65204349e-01 9.30927378e-01 0.00000000e+00 -1.18473407e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.89783868e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.98, Y:-11.85, Z:-0.01 [[ 9.31824581e-01 3.62909010e-01 0.00000000e+00 1.20980780e+02] [-3.62909010e-01 9.31824581e-01 0.00000000e+00 -1.18546277e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20277263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.87140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.01, Y:-11.86, Z:-0.01 [[ 9.32510839e-01 3.61141987e-01 0.00000000e+00 1.21008443e+02] [-3.61141987e-01 9.32510839e-01 0.00000000e+00 -1.18638285e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16605408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.04, Y:-11.87, Z:-0.01 [[ 9.33397706e-01 3.58843590e-01 0.00000000e+00 1.21036161e+02] [-3.58843590e-01 9.33397706e-01 0.00000000e+00 -1.18734693e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.98002023e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.93140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.06, Y:-11.88, Z:-0.01 [[ 9.34388232e-01 3.56256414e-01 0.00000000e+00 1.21061450e+02] [-3.56256414e-01 9.34388232e-01 0.00000000e+00 -1.18820534e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.58534879e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.09, Y:-11.89, Z:-0.01 [[ 9.36067343e-01 3.51820876e-01 0.00000000e+00 1.21087947e+02] [-3.51820876e-01 9.36067343e-01 0.00000000e+00 -1.18919661e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.25329332e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.99140051299999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:121.11, Y:-11.90, Z:-0.01 [[ 9.36224948e-01 3.51401261e-01 0.00000000e+00 1.21114052e+02] [-3.51401261e-01 9.36224948e-01 0.00000000e+00 -1.19023444e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.16562703e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.14, Y:-11.91, Z:-0.01 [[ 9.36268001e-01 3.51286535e-01 0.00000000e+00 1.21139155e+02] [-3.51286535e-01 9.36268001e-01 0.00000000e+00 -1.19130851e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.24993082e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.05140051299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:121.16, Y:-11.92, Z:-0.01 [[ 9.35744241e-01 3.52679338e-01 0.00000000e+00 1.21164384e+02] [-3.52679338e-01 9.35744241e-01 0.00000000e+00 -1.19235325e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.29638595e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:121.19, Y:-11.93, Z:-0.01 [[ 9.35015370e-01 3.54607189e-01 0.00000000e+00 1.21191066e+02] [-3.54607189e-01 9.35015370e-01 0.00000000e+00 -1.19325460e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.76022594e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.11140051299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:121.22, Y:-11.94, Z:-0.00 [[ 9.33086946e-01 3.59650875e-01 0.00000000e+00 1.21216684e+02] [-3.59650875e-01 9.33086946e-01 0.00000000e+00 -1.19397763e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.72745677e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.24, Y:-11.95, Z:-0.01 [[ 9.32418759e-01 3.61379659e-01 0.00000000e+00 1.21242119e+02] [-3.61379659e-01 9.32418759e-01 0.00000000e+00 -1.19474261e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.47284885e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.27, Y:-11.96, Z:-0.01 [[ 9.32082088e-01 3.62247127e-01 0.00000000e+00 1.21268737e+02] [-3.62247127e-01 9.32082088e-01 0.00000000e+00 -1.19552553e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.07908452e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.30, Y:-11.96, Z:-0.01 [[ 9.31830598e-01 3.62893561e-01 0.00000000e+00 1.21295431e+02] [-3.62893561e-01 9.31830598e-01 0.00000000e+00 -1.19630766e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.68025942e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.32, Y:-11.97, Z:-0.01 [[ 9.31804748e-01 3.62959932e-01 0.00000000e+00 1.21322935e+02] [-3.62959932e-01 9.31804748e-01 0.00000000e+00 -1.19683576e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.92023641e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26140051299998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:121.35, Y:-11.97, Z:-0.01 [[ 9.31794993e-01 3.62984974e-01 0.00000000e+00 1.21350605e+02] [-3.62984974e-01 9.31794993e-01 0.00000000e+00 -1.19738591e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.65927828e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.38, Y:-11.98, Z:-0.01 [[ 9.31838589e-01 3.62873041e-01 0.00000000e+00 1.21378319e+02] [-3.62873041e-01 9.31838589e-01 0.00000000e+00 -1.19785213e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.69105055e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32140051299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:121.41, Y:-11.98, Z:-0.01 [[ 9.31401050e-01 3.63994622e-01 0.00000000e+00 1.21407772e+02] [-3.63994622e-01 9.31401050e-01 0.00000000e+00 -1.19791957e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.19902557e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.35140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:121.43, Y:-11.98, Z:-0.01 [[ 9.31240172e-01 3.64406012e-01 0.00000000e+00 1.21434607e+02] [-3.64406012e-01 9.31240172e-01 0.00000000e+00 -1.19831556e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.72932139e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.46, Y:-11.99, Z:-0.01 [[ 9.31211443e-01 3.64479420e-01 0.00000000e+00 1.21461858e+02] [-3.64479420e-01 9.31211443e-01 0.00000000e+00 -1.19879465e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.65677431e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.41140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.49, Y:-11.99, Z:-0.01 [[ 9.31563481e-01 3.63578713e-01 0.00000000e+00 1.21489300e+02] [-3.63578713e-01 9.31563481e-01 0.00000000e+00 -1.19931646e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.30819795e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44140051299999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:121.52, Y:-12.00, Z:-0.01 [[ 9.32186410e-01 3.61978586e-01 0.00000000e+00 1.21515818e+02] [-3.61978586e-01 9.32186410e-01 0.00000000e+00 -1.19986764e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.22814853e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.47140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.54, Y:-12.01, Z:-0.01 [[ 9.33343284e-01 3.58985116e-01 0.00000000e+00 1.21542730e+02] [-3.58985116e-01 9.33343284e-01 0.00000000e+00 -1.20052675e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.20481911e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.501400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:121.57, Y:-12.01, Z:-0.01 [[ 9.35773852e-01 3.52600762e-01 0.00000000e+00 1.21568269e+02] [-3.52600762e-01 9.35773852e-01 0.00000000e+00 -1.20138605e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.68221820e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.59, Y:-12.02, Z:-0.01 [[ 9.36894177e-01 3.49613074e-01 0.00000000e+00 1.21594321e+02] [-3.49613074e-01 9.36894177e-01 0.00000000e+00 -1.20232412e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.69730623e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.62, Y:-12.03, Z:-0.01 [[ 9.37743013e-01 3.47329873e-01 0.00000000e+00 1.21619796e+02] [-3.47329873e-01 9.37743013e-01 0.00000000e+00 -1.20324366e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.96731904e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.65, Y:-12.04, Z:-0.01 [[ 9.38339923e-01 3.45714027e-01 0.00000000e+00 1.21646715e+02] [-3.45714027e-01 9.38339923e-01 0.00000000e+00 -1.20412137e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.55503205e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.67, Y:-12.05, Z:-0.01 [[ 9.38544866e-01 3.45157261e-01 0.00000000e+00 1.21672344e+02] [-3.45157261e-01 9.38544866e-01 0.00000000e+00 -1.20499191e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10462187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.65140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.70, Y:-12.06, Z:-0.01 [[ 9.38272874e-01 3.45895960e-01 0.00000000e+00 1.21697592e+02] [-3.45895960e-01 9.38272874e-01 0.00000000e+00 -1.20582205e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13184185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:121.72, Y:-12.07, Z:-0.01 [[ 9.37858813e-01 3.47017071e-01 0.00000000e+00 1.21724385e+02] [-3.47017071e-01 9.37858813e-01 0.00000000e+00 -1.20676799e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.71812282e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.71140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.75, Y:-12.08, Z:-0.01 [[ 9.37469875e-01 3.48066422e-01 0.00000000e+00 1.21750473e+02] [-3.48066422e-01 9.37469875e-01 0.00000000e+00 -1.20782296e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.45645455e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.78, Y:-12.09, Z:-0.01 [[ 9.37472938e-01 3.48058171e-01 0.00000000e+00 1.21775844e+02] [-3.48058171e-01 9.37472938e-01 0.00000000e+00 -1.20875544e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00237889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.77140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.80, Y:-12.10, Z:-0.01 [[ 9.37665042e-01 3.47540311e-01 0.00000000e+00 1.21802197e+02] [-3.47540311e-01 9.37665042e-01 0.00000000e+00 -1.20982102e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13144321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:121.83, Y:-12.11, Z:-0.01 [[ 9.38151246e-01 3.46225705e-01 0.00000000e+00 1.21827679e+02] [-3.46225705e-01 9.38151246e-01 0.00000000e+00 -1.21087010e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10770498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.83140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.85, Y:-12.12, Z:-0.01 [[ 9.38863620e-01 3.44289273e-01 0.00000000e+00 1.21854476e+02] [-3.44289273e-01 9.38863620e-01 0.00000000e+00 -1.21198884e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.67035502e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.88, Y:-12.14, Z:-0.01 [[ 9.40114397e-01 3.40859092e-01 0.00000000e+00 1.21878954e+02] [-3.40859092e-01 9.40114397e-01 0.00000000e+00 -1.21350211e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.83971127e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.891400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:121.90, Y:-12.15, Z:-0.01 [[ 9.40587797e-01 3.39550579e-01 0.00000000e+00 1.21904508e+02] [-3.39550579e-01 9.40587797e-01 0.00000000e+00 -1.21478369e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.87323734e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.93, Y:-12.16, Z:-0.01 [[ 9.41019982e-01 3.38350990e-01 0.00000000e+00 1.21929798e+02] [-3.38350990e-01 9.41019982e-01 0.00000000e+00 -1.21603810e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.96921634e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:121.96, Y:-12.17, Z:-0.01 [[ 9.41108035e-01 3.38105998e-01 0.00000000e+00 1.21955572e+02] [-3.38105998e-01 9.41108035e-01 0.00000000e+00 -1.21716607e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13904499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98140051299998 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:121.98, Y:-12.18, Z:-0.01 [[ 9.40326239e-01 3.40274247e-01 0.00000000e+00 1.21981057e+02] [-3.40274247e-01 9.40326239e-01 0.00000000e+00 -1.21838720e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19357709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.01140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:122.01, Y:-12.19, Z:-0.01 [[ 9.39194624e-01 3.43385292e-01 0.00000000e+00 1.22006494e+02] [-3.43385292e-01 9.39194624e-01 0.00000000e+00 -1.21940362e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.31058210e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:122.03, Y:-12.20, Z:-0.01 [[ 9.39218444e-01 3.43320135e-01 0.00000000e+00 1.22033880e+02] [-3.43320135e-01 9.39218444e-01 0.00000000e+00 -1.22019436e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.31058210e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.07140051299999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:122.06, Y:-12.21, Z:-0.01 [[ 9.37729622e-01 3.47366025e-01 0.00000000e+00 1.22060500e+02] [-3.47366025e-01 9.37729622e-01 0.00000000e+00 -1.22124427e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.90974803e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.09, Y:-12.22, Z:-0.01 [[ 9.36206029e-01 3.51451663e-01 0.00000000e+00 1.22086022e+02] [-3.51451663e-01 9.36206029e-01 0.00000000e+00 -1.22216043e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.39794942e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.13140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.11, Y:-12.23, Z:-0.01 [[ 9.33506876e-01 3.58559495e-01 0.00000000e+00 1.22112812e+02] [-3.58559495e-01 9.33506876e-01 0.00000000e+00 -1.22302689e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00159388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.14, Y:-12.24, Z:-0.01 [[ 9.32478268e-01 3.61226077e-01 0.00000000e+00 1.22139311e+02] [-3.61226077e-01 9.32478268e-01 0.00000000e+00 -1.22384264e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15618327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.19140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.17, Y:-12.25, Z:-0.01 [[ 9.31809599e-01 3.62947477e-01 0.00000000e+00 1.22166004e+02] [-3.62947477e-01 9.31809599e-01 0.00000000e+00 -1.22471692e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19831921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.19, Y:-12.26, Z:-0.01 [[ 9.31398793e-01 3.64000396e-01 0.00000000e+00 1.22192449e+02] [-3.64000396e-01 9.31398793e-01 0.00000000e+00 -1.22557253e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12759119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.22, Y:-12.26, Z:-0.01 [[ 9.31174229e-01 3.64574484e-01 0.00000000e+00 1.22218844e+02] [-3.64574484e-01 9.31174229e-01 0.00000000e+00 -1.22619618e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.76762595e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.25, Y:-12.27, Z:-0.01 [[ 9.31346107e-01 3.64135179e-01 0.00000000e+00 1.22246244e+02] [-3.64135179e-01 9.31346107e-01 0.00000000e+00 -1.22684010e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.83297478e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.27, Y:-12.28, Z:-0.01 [[ 9.31621244e-01 3.63430678e-01 0.00000000e+00 1.22272890e+02] [-3.63430678e-01 9.31621244e-01 0.00000000e+00 -1.22753480e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.82664998e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.30, Y:-12.28, Z:-0.01 [[ 9.31973221e-01 3.62527125e-01 0.00000000e+00 1.22299445e+02] [-3.62527125e-01 9.31973221e-01 0.00000000e+00 -1.22833808e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08269816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.37140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.33, Y:-12.29, Z:-0.01 [[ 9.33041081e-01 3.59769844e-01 0.00000000e+00 1.22325429e+02] [-3.59769844e-01 9.33041081e-01 0.00000000e+00 -1.22919527e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.71739661e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40140051299998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.35, Y:-12.30, Z:-0.01 [[ 9.33774856e-01 3.57861032e-01 0.00000000e+00 1.22353226e+02] [-3.57861032e-01 9.33774856e-01 0.00000000e+00 -1.23005425e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.21755606e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.43140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.38, Y:-12.31, Z:-0.01 [[ 9.34594268e-01 3.55715552e-01 0.00000000e+00 1.22379128e+02] [-3.55715552e-01 9.34594268e-01 0.00000000e+00 -1.23094750e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.40363908e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.41, Y:-12.32, Z:-0.01 [[ 9.35301508e-01 3.53851790e-01 0.00000000e+00 1.22405965e+02] [-3.53851790e-01 9.35301508e-01 0.00000000e+00 -1.23191985e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12619293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.49140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.43, Y:-12.33, Z:-0.01 [[ 9.35715849e-01 3.52754659e-01 0.00000000e+00 1.22431777e+02] [-3.52754659e-01 9.35715849e-01 0.00000000e+00 -1.23288550e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21922734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.46, Y:-12.34, Z:-0.01 [[ 9.36085045e-01 3.51773775e-01 0.00000000e+00 1.22458799e+02] [-3.51773775e-01 9.36085045e-01 0.00000000e+00 -1.23400296e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07170800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.55140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.48, Y:-12.35, Z:-0.01 [[ 9.36305736e-01 3.51185945e-01 0.00000000e+00 1.22484775e+02] [-3.51185945e-01 9.36305736e-01 0.00000000e+00 -1.23489851e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.70167159e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.51, Y:-12.36, Z:-0.01 [[ 9.36391687e-01 3.50956706e-01 0.00000000e+00 1.22511501e+02] [-3.50956706e-01 9.36391687e-01 0.00000000e+00 -1.23586687e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.12786911e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.61140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.54, Y:-12.37, Z:-0.01 [[ 9.36169244e-01 3.51549637e-01 0.00000000e+00 1.22537708e+02] [-3.51549637e-01 9.36169244e-01 0.00000000e+00 -1.23690265e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.87180991e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.641400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:122.56, Y:-12.38, Z:-0.01 [[ 9.34776467e-01 3.55236481e-01 0.00000000e+00 1.22563601e+02] [-3.55236481e-01 9.34776467e-01 0.00000000e+00 -1.23806963e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40011996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.59, Y:-12.39, Z:-0.02 [[ 9.33977340e-01 3.57332238e-01 0.00000000e+00 1.22590597e+02] [-3.57332238e-01 9.33977340e-01 0.00000000e+00 -1.23879119e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58835885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.62, Y:-12.39, Z:-0.02 [[ 9.33245184e-01 3.59240069e-01 0.00000000e+00 1.22617896e+02] [-3.59240069e-01 9.33245184e-01 0.00000000e+00 -1.23935446e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58929120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.65, Y:-12.40, Z:-0.01 [[ 9.32233090e-01 3.61858350e-01 0.00000000e+00 1.22645838e+02] [-3.61858350e-01 9.32233090e-01 0.00000000e+00 -1.23968670e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37066791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.67, Y:-12.40, Z:-0.01 [[ 9.32077549e-01 3.62258807e-01 0.00000000e+00 1.22673478e+02] [-3.62258807e-01 9.32077549e-01 0.00000000e+00 -1.24033749e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35875369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.70, Y:-12.41, Z:-0.01 [[ 9.32173600e-01 3.62011573e-01 0.00000000e+00 1.22700039e+02] [-3.62011573e-01 9.32173600e-01 0.00000000e+00 -1.24098720e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44643899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.73, Y:-12.42, Z:-0.01 [[ 9.32603379e-01 3.60902948e-01 0.00000000e+00 1.22726954e+02] [-3.60902948e-01 9.32603379e-01 0.00000000e+00 -1.24162464e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48196335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.85140051299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:122.75, Y:-12.42, Z:-0.02 [[ 9.33178046e-01 3.59414433e-01 0.00000000e+00 1.22753796e+02] [-3.59414433e-01 9.33178046e-01 0.00000000e+00 -1.24234583e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53774256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.78, Y:-12.43, Z:-0.02 [[ 9.34901796e-01 3.54906511e-01 0.00000000e+00 1.22779865e+02] [-3.54906511e-01 9.34901796e-01 0.00000000e+00 -1.24317613e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67212662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.91140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:122.81, Y:-12.44, Z:-0.02 [[ 9.35851957e-01 3.52393410e-01 0.00000000e+00 1.22807622e+02] [-3.52393410e-01 9.35851957e-01 0.00000000e+00 -1.24399816e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65976457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.84, Y:-12.45, Z:-0.02 [[ 9.36692361e-01 3.50153424e-01 0.00000000e+00 1.22835163e+02] [-3.50153424e-01 9.36692361e-01 0.00000000e+00 -1.24470521e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64298699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.97140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.86, Y:-12.45, Z:-0.02 [[ 9.37291399e-01 3.48546744e-01 0.00000000e+00 1.22862981e+02] [-3.48546744e-01 9.37291399e-01 0.00000000e+00 -1.24530785e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62998852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.001400513 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:122.89, Y:-12.46, Z:-0.02 [[ 9.37623114e-01 3.47653415e-01 0.00000000e+00 1.22890643e+02] [-3.47653415e-01 9.37623114e-01 0.00000000e+00 -1.24594764e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59245162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.92, Y:-12.47, Z:-0.02 [[ 9.37951322e-01 3.46766950e-01 0.00000000e+00 1.22917266e+02] [-3.46766950e-01 9.37951322e-01 0.00000000e+00 -1.24689056e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52734536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.94, Y:-12.48, Z:-0.01 [[ 9.38185879e-01 3.46131848e-01 0.00000000e+00 1.22943887e+02] [-3.46131848e-01 9.38185879e-01 0.00000000e+00 -1.24783276e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43274603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.09140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.97, Y:-12.49, Z:-0.01 [[ 9.38277942e-01 3.45882209e-01 0.00000000e+00 1.22970724e+02] [-3.45882209e-01 9.38277942e-01 0.00000000e+00 -1.24865904e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47877103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.00, Y:-12.49, Z:-0.02 [[ 9.38275681e-01 3.45888345e-01 0.00000000e+00 1.22998630e+02] [-3.45888345e-01 9.38275681e-01 0.00000000e+00 -1.24940352e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80443567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.15140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.02, Y:-12.50, Z:-0.02 [[ 9.38107915e-01 3.46343095e-01 0.00000000e+00 1.23024845e+02] [-3.46343095e-01 9.38107915e-01 0.00000000e+00 -1.25019432e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91357382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.05, Y:-12.51, Z:-0.02 [[ 9.37840901e-01 3.47065476e-01 0.00000000e+00 1.23051054e+02] [-3.47065476e-01 9.37840901e-01 0.00000000e+00 -1.25098192e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80956207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.21140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.08, Y:-12.52, Z:-0.02 [[ 9.37466228e-01 3.48076243e-01 0.00000000e+00 1.23078647e+02] [-3.48076243e-01 9.37466228e-01 0.00000000e+00 -1.25166655e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69982311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.11, Y:-12.52, Z:-0.02 [[ 9.37047913e-01 3.49200815e-01 0.00000000e+00 1.23105912e+02] [-3.49200815e-01 9.37047913e-01 0.00000000e+00 -1.25219681e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67993244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.27140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.13, Y:-12.53, Z:-0.02 [[ 9.36630345e-01 3.50319279e-01 0.00000000e+00 1.23132389e+02] [-3.50319279e-01 9.36630345e-01 0.00000000e+00 -1.25272435e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72426398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.16, Y:-12.54, Z:-0.02 [[ 9.36049269e-01 3.51868961e-01 0.00000000e+00 1.23159105e+02] [-3.51868961e-01 9.36049269e-01 0.00000000e+00 -1.25351945e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04074026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.33140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.18, Y:-12.54, Z:-0.02 [[ 9.36174822e-01 3.51534782e-01 0.00000000e+00 1.23184947e+02] [-3.51534782e-01 9.36174822e-01 0.00000000e+00 -1.25439178e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17341667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.21, Y:-12.55, Z:-0.02 [[ 9.36529581e-01 3.50588568e-01 0.00000000e+00 1.23211861e+02] [-3.50588568e-01 9.36529581e-01 0.00000000e+00 -1.25527320e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11185270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.24, Y:-12.56, Z:-0.02 [[ 9.37104754e-01 3.49048249e-01 0.00000000e+00 1.23238708e+02] [-3.49048249e-01 9.37104754e-01 0.00000000e+00 -1.25617788e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91712056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.421400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.26, Y:-12.57, Z:-0.01 [[ 9.38867011e-01 3.44280025e-01 0.00000000e+00 1.23264711e+02] [-3.44280025e-01 9.38867011e-01 0.00000000e+00 -1.25739205e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41597629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.29, Y:-12.58, Z:-0.01 [[ 9.39876104e-01 3.41515606e-01 0.00000000e+00 1.23291217e+02] [-3.41515606e-01 9.39876104e-01 0.00000000e+00 -1.25845958e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34362502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48140051299998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.32, Y:-12.60, Z:-0.01 [[ 9.40731334e-01 3.39152705e-01 0.00000000e+00 1.23318597e+02] [-3.39152705e-01 9.40731334e-01 0.00000000e+00 -1.25951901e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38577458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.35, Y:-12.61, Z:-0.01 [[ 9.41348247e-01 3.37436627e-01 0.00000000e+00 1.23345652e+02] [-3.37436627e-01 9.41348247e-01 0.00000000e+00 -1.26065426e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44647143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.37, Y:-12.62, Z:-0.02 [[ 9.41738937e-01 3.36344726e-01 0.00000000e+00 1.23372571e+02] [-3.36344726e-01 9.41738937e-01 0.00000000e+00 -1.26182557e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52841191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.57140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.40, Y:-12.63, Z:-0.02 [[ 9.41271975e-01 3.37649328e-01 0.00000000e+00 1.23397891e+02] [-3.37649328e-01 9.41271975e-01 0.00000000e+00 -1.26333502e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69565019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.43, Y:-12.64, Z:-0.02 [[ 9.40463905e-01 3.39893576e-01 0.00000000e+00 1.23425582e+02] [-3.39893576e-01 9.40463905e-01 0.00000000e+00 -1.26443082e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74762743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.63140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.45, Y:-12.66, Z:-0.02 [[ 9.39355723e-01 3.42944348e-01 0.00000000e+00 1.23454708e+02] [-3.42944348e-01 9.39355723e-01 0.00000000e+00 -1.26550515e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86420478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.48, Y:-12.67, Z:-0.02 [[ 9.38364076e-01 3.45648465e-01 0.00000000e+00 1.23482844e+02] [-3.45648465e-01 9.38364076e-01 0.00000000e+00 -1.26650375e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99322651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.69140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.51, Y:-12.68, Z:-0.02 [[ 9.36782378e-01 3.49912527e-01 0.00000000e+00 1.23512427e+02] [-3.49912527e-01 9.36782378e-01 0.00000000e+00 -1.26766960e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02578092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.54, Y:-12.69, Z:-0.02 [[ 9.36218618e-01 3.51418126e-01 0.00000000e+00 1.23542513e+02] [-3.51418126e-01 9.36218618e-01 0.00000000e+00 -1.26869309e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88767147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.751400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:123.57, Y:-12.70, Z:-0.02 [[ 9.35802536e-01 3.52524629e-01 0.00000000e+00 1.23572503e+02] [-3.52524629e-01 9.35802536e-01 0.00000000e+00 -1.26965437e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.82517238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.60, Y:-12.71, Z:-0.02 [[ 9.35710927e-01 3.52767716e-01 0.00000000e+00 1.23600763e+02] [-3.52767716e-01 9.35710927e-01 0.00000000e+00 -1.27063022e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75965724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.63, Y:-12.72, Z:-0.02 [[ 9.35760449e-01 3.52636331e-01 0.00000000e+00 1.23628675e+02] [-3.52636331e-01 9.35760449e-01 0.00000000e+00 -1.27166579e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71732155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:123.66, Y:-12.73, Z:-0.02 [[ 9.35760443e-01 3.52636347e-01 0.00000000e+00 1.23659904e+02] [-3.52636347e-01 9.35760443e-01 0.00000000e+00 -1.27287887e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65763619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.87140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.69, Y:-12.74, Z:-0.01 [[ 9.35665776e-01 3.52887454e-01 0.00000000e+00 1.23690991e+02] [-3.52887454e-01 9.35665776e-01 0.00000000e+00 -1.27406803e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42721459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:123.72, Y:-12.75, Z:-0.01 [[ 9.35470816e-01 3.53403951e-01 0.00000000e+00 1.23721767e+02] [-3.53403951e-01 9.35470816e-01 0.00000000e+00 -1.27492473e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34126458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.93140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:123.75, Y:-12.76, Z:-0.01 [[ 9.35486281e-01 3.53363012e-01 0.00000000e+00 1.23749962e+02] [-3.53363012e-01 9.35486281e-01 0.00000000e+00 -1.27573575e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34126458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.78, Y:-12.77, Z:-0.01 [[ 9.35088738e-01 3.54413675e-01 0.00000000e+00 1.23782025e+02] [-3.54413675e-01 9.35088738e-01 0.00000000e+00 -1.27664925e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34851814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.99140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.81, Y:-12.78, Z:-0.01 [[ 9.33958153e-01 3.57382384e-01 0.00000000e+00 1.23812878e+02] [-3.57382384e-01 9.33958153e-01 0.00000000e+00 -1.27786120e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42890291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.84, Y:-12.79, Z:-0.01 [[ 9.33200846e-01 3.59355229e-01 0.00000000e+00 1.23843409e+02] [-3.59355229e-01 9.33200846e-01 0.00000000e+00 -1.27893381e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49349143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.05140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.87, Y:-12.80, Z:-0.02 [[ 9.32517263e-01 3.61125400e-01 0.00000000e+00 1.23873738e+02] [-3.61125400e-01 9.32517263e-01 0.00000000e+00 -1.27983695e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62164615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.91, Y:-12.81, Z:-0.02 [[ 9.32089532e-01 3.62227974e-01 0.00000000e+00 1.23905833e+02] [-3.62227974e-01 9.32089532e-01 0.00000000e+00 -1.28071245e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74993984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.11140051299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:123.94, Y:-12.82, Z:-0.02 [[ 9.32141501e-01 3.62094217e-01 0.00000000e+00 1.23936632e+02] [-3.62094217e-01 9.32141501e-01 0.00000000e+00 -1.28164691e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80133724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.141400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:123.97, Y:-12.83, Z:-0.02 [[ 9.32751715e-01 3.60519400e-01 0.00000000e+00 1.23965029e+02] [-3.60519400e-01 9.32751715e-01 0.00000000e+00 -1.28261302e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87517310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.00, Y:-12.84, Z:-0.02 [[ 9.33398546e-01 3.58841406e-01 0.00000000e+00 1.23996232e+02] [-3.58841406e-01 9.33398546e-01 0.00000000e+00 -1.28369739e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96393537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.03, Y:-12.85, Z:-0.02 [[ 9.34022607e-01 3.57213898e-01 0.00000000e+00 1.24027784e+02] [-3.57213898e-01 9.34022607e-01 0.00000000e+00 -1.28469468e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.07122227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.23140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:124.06, Y:-12.86, Z:-0.02 [[ 9.34582650e-01 3.55746075e-01 0.00000000e+00 1.24058565e+02] [-3.55746075e-01 9.34582650e-01 0.00000000e+00 -1.28563099e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13237559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.09, Y:-12.87, Z:-0.02 [[ 9.35418381e-01 3.53542717e-01 0.00000000e+00 1.24088872e+02] [-3.53542717e-01 9.35418381e-01 0.00000000e+00 -1.28674730e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12691557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.12, Y:-12.88, Z:-0.02 [[ 9.35743371e-01 3.52681646e-01 0.00000000e+00 1.24119972e+02] [-3.52681646e-01 9.35743371e-01 0.00000000e+00 -1.28771748e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14832130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:124.15, Y:-12.89, Z:-0.02 [[ 9.35975154e-01 3.52066060e-01 0.00000000e+00 1.24151126e+02] [-3.52066060e-01 9.35975154e-01 0.00000000e+00 -1.28856315e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16444201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.35140051299999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:124.18, Y:-12.89, Z:-0.02 [[ 9.36120237e-01 3.51680112e-01 0.00000000e+00 1.24183396e+02] [-3.51680112e-01 9.36120237e-01 0.00000000e+00 -1.28938902e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13090047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:124.21, Y:-12.90, Z:-0.02 [[ 9.36257054e-01 3.51315710e-01 0.00000000e+00 1.24213966e+02] [-3.51315710e-01 9.36257054e-01 0.00000000e+00 -1.29026177e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13903300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.41140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.24, Y:-12.91, Z:-0.02 [[ 9.36714558e-01 3.50094039e-01 0.00000000e+00 1.24244620e+02] [-3.50094039e-01 9.36714558e-01 0.00000000e+00 -1.29116173e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11560070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.28, Y:-12.92, Z:-0.02 [[ 9.38298785e-01 3.45825665e-01 0.00000000e+00 1.24277399e+02] [-3.45825665e-01 9.38298785e-01 0.00000000e+00 -1.29187564e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95895472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.47140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.31, Y:-12.93, Z:-0.02 [[ 9.39115432e-01 3.43601812e-01 0.00000000e+00 1.24308074e+02] [-3.43601812e-01 9.39115432e-01 0.00000000e+00 -1.29260948e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.98714126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.34, Y:-12.94, Z:-0.02 [[ 9.39913036e-01 3.41413950e-01 0.00000000e+00 1.24340170e+02] [-3.41413950e-01 9.39913036e-01 0.00000000e+00 -1.29350203e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10110816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.531400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:124.37, Y:-12.94, Z:-0.02 [[ 9.40479967e-01 3.39849131e-01 0.00000000e+00 1.24371589e+02] [-3.39849131e-01 9.40479967e-01 0.00000000e+00 -1.29449349e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19352195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.40, Y:-12.95, Z:-0.02 [[ 9.41005165e-01 3.38392197e-01 0.00000000e+00 1.24402479e+02] [-3.38392197e-01 9.41005165e-01 0.00000000e+00 -1.29546351e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95638400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.59140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.43, Y:-12.96, Z:-0.02 [[ 9.40924845e-01 3.38615470e-01 0.00000000e+00 1.24434442e+02] [-3.38615470e-01 9.40924845e-01 0.00000000e+00 -1.29634177e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81163670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.47, Y:-12.97, Z:-0.02 [[ 9.40783370e-01 3.39008336e-01 0.00000000e+00 1.24466168e+02] [-3.39008336e-01 9.40783370e-01 0.00000000e+00 -1.29724221e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71423236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.65140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.50, Y:-12.98, Z:-0.02 [[ 9.40679614e-01 3.39296130e-01 0.00000000e+00 1.24496828e+02] [-3.39296130e-01 9.40679614e-01 0.00000000e+00 -1.29825199e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62565833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68140051299999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:124.53, Y:-12.99, Z:-0.02 [[ 9.40633992e-01 3.39422588e-01 0.00000000e+00 1.24527585e+02] [-3.39422588e-01 9.40633992e-01 0.00000000e+00 -1.29930759e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50799784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.71140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.56, Y:-13.00, Z:-0.01 [[ 9.40581801e-01 3.39567189e-01 0.00000000e+00 1.24558124e+02] [-3.39567189e-01 9.40581801e-01 0.00000000e+00 -1.30037399e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33805259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.59, Y:-13.01, Z:-0.01 [[ 9.40350210e-01 3.40207998e-01 0.00000000e+00 1.24588569e+02] [-3.40207998e-01 9.40350210e-01 0.00000000e+00 -1.30145354e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38387706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.77140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.62, Y:-13.02, Z:-0.02 [[ 9.40159623e-01 3.40734329e-01 0.00000000e+00 1.24618759e+02] [-3.40734329e-01 9.40159623e-01 0.00000000e+00 -1.30245932e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56590417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.65, Y:-13.03, Z:-0.02 [[ 9.39887906e-01 3.41483124e-01 0.00000000e+00 1.24649653e+02] [-3.41483124e-01 9.39887906e-01 0.00000000e+00 -1.30346871e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69969545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.83140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.68, Y:-13.04, Z:-0.01 [[ 9.39276155e-01 3.43162213e-01 0.00000000e+00 1.24681126e+02] [-3.43162213e-01 9.39276155e-01 0.00000000e+00 -1.30438553e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46032941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86140051299999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:124.71, Y:-13.05, Z:-0.01 [[ 9.38922017e-01 3.44129985e-01 0.00000000e+00 1.24711521e+02] [-3.44129985e-01 9.38922017e-01 0.00000000e+00 -1.30528065e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22142180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.891400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:124.74, Y:-13.06, Z:-0.01 [[ 9.38483763e-01 3.45323364e-01 0.00000000e+00 1.24743310e+02] [-3.45323364e-01 9.38483763e-01 0.00000000e+00 -1.30625709e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00115016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.77, Y:-13.07, Z:-0.01 [[ 9.37893040e-01 3.46924553e-01 0.00000000e+00 1.24774086e+02] [-3.46924553e-01 9.37893040e-01 0.00000000e+00 -1.30718110e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01021838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95140051299998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:124.81, Y:-13.08, Z:-0.01 [[ 9.37198005e-01 3.48797790e-01 0.00000000e+00 1.24805781e+02] [-3.48797790e-01 9.37198005e-01 0.00000000e+00 -1.30804589e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23313315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.84, Y:-13.09, Z:-0.01 [[ 9.36473960e-01 3.50737113e-01 0.00000000e+00 1.24836891e+02] [-3.50737113e-01 9.36473960e-01 0.00000000e+00 -1.30893835e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40371889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.01140051299998 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:124.87, Y:-13.10, Z:-0.02 [[ 9.35531141e-01 3.53244227e-01 0.00000000e+00 1.24866724e+02] [-3.53244227e-01 9.35531141e-01 0.00000000e+00 -1.30970289e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67180817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.90, Y:-13.11, Z:-0.02 [[ 9.35410968e-01 3.53562331e-01 0.00000000e+00 1.24895611e+02] [-3.53562331e-01 9.35410968e-01 0.00000000e+00 -1.31052599e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57423941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.07140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.92, Y:-13.11, Z:-0.02 [[ 9.35499444e-01 3.53328162e-01 0.00000000e+00 1.24922782e+02] [-3.53328162e-01 9.35499444e-01 0.00000000e+00 -1.31127949e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58860813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.95, Y:-13.12, Z:-0.02 [[ 9.36055698e-01 3.51851857e-01 0.00000000e+00 1.24950756e+02] [-3.51851857e-01 9.36055698e-01 0.00000000e+00 -1.31222699e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91949491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.13140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.98, Y:-13.13, Z:-0.02 [[ 9.36268429e-01 3.51285396e-01 0.00000000e+00 1.24981508e+02] [-3.51285396e-01 9.36268429e-01 0.00000000e+00 -1.31331590e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00108393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.01, Y:-13.14, Z:-0.02 [[ 9.36197586e-01 3.51474154e-01 0.00000000e+00 1.25011524e+02] [-3.51474154e-01 9.36197586e-01 0.00000000e+00 -1.31438132e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03862990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.19140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.04, Y:-13.15, Z:-0.02 [[ 9.35900981e-01 3.52263187e-01 0.00000000e+00 1.25042706e+02] [-3.52263187e-01 9.35900981e-01 0.00000000e+00 -1.31548068e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96768236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.07, Y:-13.16, Z:-0.02 [[ 9.35528753e-01 3.53250551e-01 0.00000000e+00 1.25073257e+02] [-3.53250551e-01 9.35528753e-01 0.00000000e+00 -1.31647321e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84258543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.10, Y:-13.17, Z:-0.02 [[ 9.35068905e-01 3.54465998e-01 0.00000000e+00 1.25103445e+02] [-3.54465998e-01 9.35068905e-01 0.00000000e+00 -1.31741859e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71416038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.13, Y:-13.18, Z:-0.02 [[ 9.34655284e-01 3.55555200e-01 0.00000000e+00 1.25133634e+02] [-3.55555200e-01 9.34655284e-01 0.00000000e+00 -1.31837706e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60095811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.16, Y:-13.20, Z:-0.02 [[ 9.33811462e-01 3.57765500e-01 0.00000000e+00 1.25163692e+02] [-3.57765500e-01 9.33811462e-01 0.00000000e+00 -1.31964055e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86721727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.19, Y:-13.21, Z:-0.02 [[ 9.33672845e-01 3.58127098e-01 0.00000000e+00 1.25193687e+02] [-3.58127098e-01 9.33672845e-01 0.00000000e+00 -1.32079161e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02567839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.37140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.22, Y:-13.22, Z:-0.02 [[ 9.33682120e-01 3.58102916e-01 0.00000000e+00 1.25223169e+02] [-3.58102916e-01 9.33682120e-01 0.00000000e+00 -1.32195574e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06586806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.25, Y:-13.23, Z:-0.02 [[ 9.33669484e-01 3.58135861e-01 0.00000000e+00 1.25253225e+02] [-3.58135861e-01 9.33669484e-01 0.00000000e+00 -1.32341220e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08011791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.43140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.28, Y:-13.25, Z:-0.02 [[ 9.33353139e-01 3.58959494e-01 0.00000000e+00 1.25284095e+02] [-3.58959494e-01 9.33353139e-01 0.00000000e+00 -1.32468533e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22624760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.31, Y:-13.26, Z:-0.02 [[ 9.32793489e-01 3.60411302e-01 0.00000000e+00 1.25314896e+02] [-3.60411302e-01 9.32793489e-01 0.00000000e+00 -1.32592040e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35999760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.49140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.35, Y:-13.27, Z:-0.02 [[ 9.31988231e-01 3.62488534e-01 0.00000000e+00 1.25346095e+02] [-3.62488534e-01 9.31988231e-01 0.00000000e+00 -1.32705119e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47952231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.38, Y:-13.28, Z:-0.03 [[ 9.30288468e-01 3.66828798e-01 0.00000000e+00 1.25377921e+02] [-3.66828798e-01 9.30288468e-01 0.00000000e+00 -1.32807675e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.64407774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.55140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.41, Y:-13.29, Z:-0.03 [[ 9.29367298e-01 3.69156369e-01 0.00000000e+00 1.25408615e+02] [-3.69156369e-01 9.29367298e-01 0.00000000e+00 -1.32901809e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61165290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.44, Y:-13.30, Z:-0.02 [[ 9.28575800e-01 3.71142807e-01 0.00000000e+00 1.25439955e+02] [-3.71142807e-01 9.28575800e-01 0.00000000e+00 -1.33004439e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47325166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.61140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.47, Y:-13.31, Z:-0.02 [[ 9.28095146e-01 3.72343122e-01 0.00000000e+00 1.25471291e+02] [-3.72343122e-01 9.28095146e-01 0.00000000e+00 -1.33106156e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.46198192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.50, Y:-13.32, Z:-0.03 [[ 9.28042896e-01 3.72473332e-01 0.00000000e+00 1.25501628e+02] [-3.72473332e-01 9.28042896e-01 0.00000000e+00 -1.33201401e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.70067677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.53, Y:-13.33, Z:-0.03 [[ 9.29090583e-01 3.69852252e-01 0.00000000e+00 1.25532955e+02] [-3.69852252e-01 9.29090583e-01 0.00000000e+00 -1.33300057e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59072448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.56, Y:-13.34, Z:-0.02 [[ 9.29698345e-01 3.68321854e-01 0.00000000e+00 1.25564538e+02] [-3.68321854e-01 9.29698345e-01 0.00000000e+00 -1.33395845e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32198857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.59, Y:-13.35, Z:-0.02 [[ 9.30120813e-01 3.67253690e-01 0.00000000e+00 1.25594771e+02] [-3.67253690e-01 9.30120813e-01 0.00000000e+00 -1.33483853e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14009115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.63, Y:-13.36, Z:-0.02 [[ 9.30296601e-01 3.66808170e-01 0.00000000e+00 1.25626591e+02] [-3.66808170e-01 9.30296601e-01 0.00000000e+00 -1.33570696e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99792471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.66, Y:-13.36, Z:-0.02 [[ 9.30202397e-01 3.67047002e-01 0.00000000e+00 1.25657202e+02] [-3.67047002e-01 9.30202397e-01 0.00000000e+00 -1.33647877e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01741605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.69, Y:-13.37, Z:-0.02 [[ 9.30057244e-01 3.67414648e-01 0.00000000e+00 1.25689296e+02] [-3.67414648e-01 9.30057244e-01 0.00000000e+00 -1.33728207e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09664120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.85140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.72, Y:-13.38, Z:-0.02 [[ 9.29989401e-01 3.67586335e-01 0.00000000e+00 1.25721310e+02] [-3.67586335e-01 9.29989401e-01 0.00000000e+00 -1.33825987e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09664120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.75, Y:-13.39, Z:-0.03 [[ 9.29889600e-01 3.67838731e-01 0.00000000e+00 1.25752221e+02] [-3.67838731e-01 9.29889600e-01 0.00000000e+00 -1.33881307e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.54741600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.91140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.78, Y:-13.39, Z:-0.03 [[ 9.30069352e-01 3.67383996e-01 0.00000000e+00 1.25783389e+02] [-3.67383996e-01 9.30069352e-01 0.00000000e+00 -1.33948947e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.68079611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.82, Y:-13.40, Z:-0.03 [[ 9.30574519e-01 3.66102532e-01 0.00000000e+00 1.25815763e+02] [-3.66102532e-01 9.30574519e-01 0.00000000e+00 -1.34013325e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59382849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.97140051299999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:125.85, Y:-13.41, Z:-0.02 [[ 9.32107812e-01 3.62180930e-01 0.00000000e+00 1.25848182e+02] [-3.62180930e-01 9.32107812e-01 0.00000000e+00 -1.34058237e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.39582648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.88, Y:-13.41, Z:-0.02 [[ 9.32957993e-01 3.59985253e-01 0.00000000e+00 1.25878629e+02] [-3.59985253e-01 9.32957993e-01 0.00000000e+00 -1.34147044e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.33244259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.91, Y:-13.42, Z:-0.02 [[ 9.33909160e-01 3.57510392e-01 0.00000000e+00 1.25910083e+02] [-3.57510392e-01 9.33909160e-01 0.00000000e+00 -1.34249170e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23409286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.94, Y:-13.44, Z:-0.02 [[ 9.34809554e-01 3.55149402e-01 0.00000000e+00 1.25941366e+02] [-3.55149402e-01 9.34809554e-01 0.00000000e+00 -1.34353370e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16890574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:125.97, Y:-13.45, Z:-0.02 [[ 9.35575943e-01 3.53125550e-01 0.00000000e+00 1.25971893e+02] [-3.53125550e-01 9.35575943e-01 0.00000000e+00 -1.34453586e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10209038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.00, Y:-13.46, Z:-0.02 [[ 9.36126840e-01 3.51662537e-01 0.00000000e+00 1.26003183e+02] [-3.51662537e-01 9.36126840e-01 0.00000000e+00 -1.34567455e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00492157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.15140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.03, Y:-13.47, Z:-0.02 [[ 9.36587226e-01 3.50434541e-01 0.00000000e+00 1.26032922e+02] [-3.50434541e-01 9.36587226e-01 0.00000000e+00 -1.34704163e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95735580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.06, Y:-13.48, Z:-0.02 [[ 9.36284296e-01 3.51243104e-01 0.00000000e+00 1.26063642e+02] [-3.51243104e-01 9.36284296e-01 0.00000000e+00 -1.34819196e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99620274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.21140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.10, Y:-13.49, Z:-0.02 [[ 9.35587396e-01 3.53095206e-01 0.00000000e+00 1.26095095e+02] [-3.53095206e-01 9.35587396e-01 0.00000000e+00 -1.34927782e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12831298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24140051299999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:126.13, Y:-13.50, Z:-0.02 [[ 9.34629302e-01 3.55623492e-01 0.00000000e+00 1.26126784e+02] [-3.55623492e-01 9.34629302e-01 0.00000000e+00 -1.35028046e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.18237519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.27140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.16, Y:-13.51, Z:-0.02 [[ 9.33478040e-01 3.58634562e-01 0.00000000e+00 1.26157430e+02] [-3.58634562e-01 9.33478040e-01 0.00000000e+00 -1.35125567e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05402728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.19, Y:-13.52, Z:-0.02 [[ 9.31622407e-01 3.63427697e-01 0.00000000e+00 1.26188665e+02] [-3.63427697e-01 9.31622407e-01 0.00000000e+00 -1.35208697e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67886404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.33140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.22, Y:-13.53, Z:-0.02 [[ 9.30906075e-01 3.65258646e-01 0.00000000e+00 1.26219886e+02] [-3.65258646e-01 9.30906075e-01 0.00000000e+00 -1.35299646e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72373655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.25, Y:-13.54, Z:-0.02 [[ 9.30364475e-01 3.66635982e-01 0.00000000e+00 1.26250469e+02] [-3.66635982e-01 9.30364475e-01 0.00000000e+00 -1.35395680e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.98202523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.28, Y:-13.55, Z:-0.02 [[ 9.30172080e-01 3.67123824e-01 0.00000000e+00 1.26281973e+02] [-3.67123824e-01 9.30172080e-01 0.00000000e+00 -1.35504017e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27681609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.31, Y:-13.56, Z:-0.02 [[ 9.30234687e-01 3.66965159e-01 0.00000000e+00 1.26311959e+02] [-3.66965159e-01 9.30234687e-01 0.00000000e+00 -1.35609480e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.49101369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.34, Y:-13.57, Z:-0.03 [[ 9.30410605e-01 3.66518904e-01 0.00000000e+00 1.26342373e+02] [-3.66518904e-01 9.30410605e-01 0.00000000e+00 -1.35706006e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.64288719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.37, Y:-13.58, Z:-0.02 [[ 9.30095762e-01 3.67317128e-01 0.00000000e+00 1.26374215e+02] [-3.67317128e-01 9.30095762e-01 0.00000000e+00 -1.35793085e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.45700549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.41, Y:-13.59, Z:-0.02 [[ 9.29456987e-01 3.68930495e-01 0.00000000e+00 1.26405189e+02] [-3.68930495e-01 9.29456987e-01 0.00000000e+00 -1.35873897e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.34124822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.44, Y:-13.60, Z:-0.02 [[ 9.28656352e-01 3.70941209e-01 0.00000000e+00 1.26436924e+02] [-3.70941209e-01 9.28656352e-01 0.00000000e+00 -1.35953564e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19830679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.57140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.47, Y:-13.60, Z:-0.02 [[ 9.27824791e-01 3.73016297e-01 0.00000000e+00 1.26467610e+02] [-3.73016297e-01 9.27824791e-01 0.00000000e+00 -1.36030509e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.20910835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.50, Y:-13.61, Z:-0.02 [[ 9.26123475e-01 3.77220504e-01 0.00000000e+00 1.26499553e+02] [-3.77220504e-01 9.26123475e-01 0.00000000e+00 -1.36074915e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32964633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.63140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.53, Y:-13.61, Z:-0.02 [[ 9.25636015e-01 3.78415074e-01 0.00000000e+00 1.26529242e+02] [-3.78415074e-01 9.25636015e-01 0.00000000e+00 -1.36130202e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29624695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.56, Y:-13.62, Z:-0.02 [[ 9.25563420e-01 3.78592599e-01 0.00000000e+00 1.26561712e+02] [-3.78592599e-01 9.25563420e-01 0.00000000e+00 -1.36194017e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.31209408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.69140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.59, Y:-13.63, Z:-0.03 [[ 9.26027283e-01 3.77456582e-01 0.00000000e+00 1.26593069e+02] [-3.77456582e-01 9.26027283e-01 0.00000000e+00 -1.36260070e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53884872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.62, Y:-13.63, Z:-0.02 [[ 9.28641669e-01 3.70977966e-01 0.00000000e+00 1.26623058e+02] [-3.70977966e-01 9.28641669e-01 0.00000000e+00 -1.36334305e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43846802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.65, Y:-13.64, Z:-0.02 [[ 9.30454155e-01 3.66408332e-01 0.00000000e+00 1.26654545e+02] [-3.66408332e-01 9.30454155e-01 0.00000000e+00 -1.36440317e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29098049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.69, Y:-13.65, Z:-0.02 [[ 9.32466188e-01 3.61257259e-01 0.00000000e+00 1.26685810e+02] [-3.61257259e-01 9.32466188e-01 0.00000000e+00 -1.36548870e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23387988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.72, Y:-13.67, Z:-0.02 [[ 9.34422258e-01 3.56167157e-01 0.00000000e+00 1.26716199e+02] [-3.56167157e-01 9.34422258e-01 0.00000000e+00 -1.36655777e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21744635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84140051299998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:126.75, Y:-13.68, Z:-0.02 [[ 9.36144753e-01 3.51614849e-01 0.00000000e+00 1.26747121e+02] [-3.51614849e-01 9.36144753e-01 0.00000000e+00 -1.36758550e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.24636606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.87140051299998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:126.78, Y:-13.69, Z:-0.02 [[ 9.38306267e-01 3.45805364e-01 0.00000000e+00 1.26777434e+02] [-3.45805364e-01 9.38306267e-01 0.00000000e+00 -1.36882218e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27757513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.81, Y:-13.70, Z:-0.02 [[ 9.38908447e-01 3.44167006e-01 0.00000000e+00 1.26807018e+02] [-3.44167006e-01 9.38908447e-01 0.00000000e+00 -1.37006933e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23433446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.93140051299999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:126.84, Y:-13.71, Z:-0.02 [[ 9.39389395e-01 3.42852102e-01 0.00000000e+00 1.26836415e+02] [-3.42852102e-01 9.39389395e-01 0.00000000e+00 -1.37137593e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28891723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:126.87, Y:-13.73, Z:-0.02 [[ 9.39613938e-01 3.42236244e-01 0.00000000e+00 1.26866823e+02] [-3.42236244e-01 9.39613938e-01 0.00000000e+00 -1.37274158e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.18259919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.99140051299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:126.90, Y:-13.74, Z:-0.02 [[ 9.39607672e-01 3.42253449e-01 0.00000000e+00 1.26897379e+02] [-3.42253449e-01 9.39607672e-01 0.00000000e+00 -1.37410864e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02859209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02140051299999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:126.93, Y:-13.76, Z:-0.02 [[ 9.39206562e-01 3.43352637e-01 0.00000000e+00 1.26926867e+02] [-3.43352637e-01 9.39206562e-01 0.00000000e+00 -1.37573038e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87504288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.05140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:126.96, Y:-13.77, Z:-0.02 [[ 9.38752789e-01 3.44591354e-01 0.00000000e+00 1.26956374e+02] [-3.44591354e-01 9.38752789e-01 0.00000000e+00 -1.37706389e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92572118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.99, Y:-13.78, Z:-0.02 [[ 9.38028793e-01 3.46557331e-01 0.00000000e+00 1.26985296e+02] [-3.46557331e-01 9.38028793e-01 0.00000000e+00 -1.37845696e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99942355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.11140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.01, Y:-13.80, Z:-0.02 [[ 9.36457279e-01 3.50781649e-01 0.00000000e+00 1.27013492e+02] [-3.50781649e-01 9.36457279e-01 0.00000000e+00 -1.38010754e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05255961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.141400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:127.04, Y:-13.81, Z:-0.02 [[ 9.35316804e-01 3.53811356e-01 0.00000000e+00 1.27044697e+02] [-3.53811356e-01 9.35316804e-01 0.00000000e+00 -1.38111635e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03217904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.08, Y:-13.82, Z:-0.02 [[ 9.33815929e-01 3.57753840e-01 0.00000000e+00 1.27076181e+02] [-3.57753840e-01 9.33815929e-01 0.00000000e+00 -1.38203441e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01451759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.11, Y:-13.83, Z:-0.02 [[ 9.32153925e-01 3.62062231e-01 0.00000000e+00 1.27108053e+02] [-3.62062231e-01 9.32153925e-01 0.00000000e+00 -1.38295797e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05672100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.14, Y:-13.84, Z:-0.02 [[ 9.30536468e-01 3.66199237e-01 0.00000000e+00 1.27138403e+02] [-3.66199237e-01 9.30536468e-01 0.00000000e+00 -1.38397238e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11649855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.17, Y:-13.85, Z:-0.02 [[ 9.29261473e-01 3.69422677e-01 0.00000000e+00 1.27169330e+02] [-3.69422677e-01 9.29261473e-01 0.00000000e+00 -1.38503578e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04326667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.20, Y:-13.86, Z:-0.02 [[ 9.28285977e-01 3.71867106e-01 0.00000000e+00 1.27200767e+02] [-3.71867106e-01 9.28285977e-01 0.00000000e+00 -1.38596041e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04099934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.23, Y:-13.87, Z:-0.02 [[ 9.28405883e-01 3.71567648e-01 0.00000000e+00 1.27231837e+02] [-3.71567648e-01 9.28405883e-01 0.00000000e+00 -1.38671851e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19585402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.35140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.26, Y:-13.88, Z:-0.02 [[ 9.28805929e-01 3.70566521e-01 0.00000000e+00 1.27264294e+02] [-3.70566521e-01 9.28805929e-01 0.00000000e+00 -1.38752687e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19135752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.30, Y:-13.88, Z:-0.02 [[ 9.29876822e-01 3.67871033e-01 0.00000000e+00 1.27295356e+02] [-3.67871033e-01 9.29876822e-01 0.00000000e+00 -1.38837958e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.18121039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.41140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.33, Y:-13.89, Z:-0.02 [[ 9.30256621e-01 3.66909552e-01 0.00000000e+00 1.27326947e+02] [-3.66909552e-01 9.30256621e-01 0.00000000e+00 -1.38942181e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06555118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.36, Y:-13.90, Z:-0.02 [[ 9.30429169e-01 3.66471774e-01 0.00000000e+00 1.27358219e+02] [-3.66471774e-01 9.30429169e-01 0.00000000e+00 -1.39048031e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00512248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.47140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.39, Y:-13.92, Z:-0.02 [[ 9.30349279e-01 3.66674542e-01 0.00000000e+00 1.27389714e+02] [-3.66674542e-01 9.30349279e-01 0.00000000e+00 -1.39156952e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08679401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.501400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:127.42, Y:-13.93, Z:-0.02 [[ 9.30080962e-01 3.67354603e-01 0.00000000e+00 1.27419493e+02] [-3.67354603e-01 9.30080962e-01 0.00000000e+00 -1.39261843e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.25252683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.45, Y:-13.94, Z:-0.02 [[ 9.29598908e-01 3.68572747e-01 0.00000000e+00 1.27450840e+02] [-3.68572747e-01 9.29598908e-01 0.00000000e+00 -1.39363692e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08836441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.48, Y:-13.94, Z:-0.02 [[ 9.29156955e-01 3.69685479e-01 0.00000000e+00 1.27481630e+02] [-3.69685479e-01 9.29156955e-01 0.00000000e+00 -1.39447383e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04414909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.51, Y:-13.95, Z:-0.01 [[ 9.28111903e-01 3.72301351e-01 0.00000000e+00 1.27512904e+02] [-3.72301351e-01 9.28111903e-01 0.00000000e+00 -1.39515730e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39635316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62140051299998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:127.54, Y:-13.96, Z:-0.01 [[ 9.27763132e-01 3.73169627e-01 0.00000000e+00 1.27544623e+02] [-3.73169627e-01 9.27763132e-01 0.00000000e+00 -1.39613678e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13622302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.65140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.57, Y:-13.97, Z:-0.01 [[ 9.27760542e-01 3.73176066e-01 0.00000000e+00 1.27574086e+02] [-3.73176066e-01 9.27760542e-01 0.00000000e+00 -1.39705995e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13293979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.61, Y:-13.98, Z:-0.01 [[ 9.27990638e-01 3.72603511e-01 0.00000000e+00 1.27605942e+02] [-3.72603511e-01 9.27990638e-01 0.00000000e+00 -1.39802246e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36187300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.71140051299999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:127.64, Y:-13.99, Z:-0.02 [[ 9.28412843e-01 3.71550256e-01 0.00000000e+00 1.27637182e+02] [-3.71550256e-01 9.28412843e-01 0.00000000e+00 -1.39894220e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66350801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74140051299999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:127.67, Y:-14.00, Z:-0.02 [[ 9.28344127e-01 3.71721915e-01 0.00000000e+00 1.27669095e+02] [-3.71721915e-01 9.28344127e-01 0.00000000e+00 -1.39995203e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66350801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.77140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.70, Y:-14.01, Z:-0.02 [[ 9.28662943e-01 3.70924708e-01 0.00000000e+00 1.27700855e+02] [-3.70924708e-01 9.28662943e-01 0.00000000e+00 -1.40097737e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80979452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.73, Y:-14.02, Z:-0.02 [[ 9.29076559e-01 3.69887480e-01 0.00000000e+00 1.27731046e+02] [-3.69887480e-01 9.29076559e-01 0.00000000e+00 -1.40199412e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71782390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.83140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.76, Y:-14.03, Z:-0.02 [[ 9.28978912e-01 3.70132654e-01 0.00000000e+00 1.27762264e+02] [-3.70132654e-01 9.28978912e-01 0.00000000e+00 -1.40285330e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65169030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.79, Y:-14.04, Z:-0.02 [[ 9.28774260e-01 3.70645887e-01 0.00000000e+00 1.27794294e+02] [-3.70645887e-01 9.28774260e-01 0.00000000e+00 -1.40366130e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62803071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.83, Y:-14.04, Z:-0.02 [[ 9.28515842e-01 3.71292784e-01 0.00000000e+00 1.27825574e+02] [-3.71292784e-01 9.28515842e-01 0.00000000e+00 -1.40448153e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74199706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.86, Y:-14.05, Z:-0.02 [[ 9.28351273e-01 3.71704067e-01 0.00000000e+00 1.27857275e+02] [-3.71704067e-01 9.28351273e-01 0.00000000e+00 -1.40537511e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68427717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.89, Y:-14.06, Z:-0.02 [[ 9.28288966e-01 3.71859646e-01 0.00000000e+00 1.27887993e+02] [-3.71859646e-01 9.28288966e-01 0.00000000e+00 -1.40630183e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57695447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.92, Y:-14.07, Z:-0.01 [[ 9.28147912e-01 3.72211572e-01 0.00000000e+00 1.27919525e+02] [-3.72211572e-01 9.28147912e-01 0.00000000e+00 -1.40719872e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35349838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.95, Y:-14.08, Z:-0.01 [[ 9.27985556e-01 3.72616168e-01 0.00000000e+00 1.27950788e+02] [-3.72616168e-01 9.27985556e-01 0.00000000e+00 -1.40804186e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43676229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.98, Y:-14.09, Z:-0.02 [[ 9.27912806e-01 3.72797297e-01 0.00000000e+00 1.27982517e+02] [-3.72797297e-01 9.27912806e-01 0.00000000e+00 -1.40892516e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50708330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.07140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.01, Y:-14.10, Z:-0.02 [[ 9.27938012e-01 3.72734551e-01 0.00000000e+00 1.28012899e+02] [-3.72734551e-01 9.27938012e-01 0.00000000e+00 -1.40979771e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57413063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.04, Y:-14.11, Z:-0.02 [[ 9.28102658e-01 3.72324397e-01 0.00000000e+00 1.28043591e+02] [-3.72324397e-01 9.28102658e-01 0.00000000e+00 -1.41064519e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59624560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.13140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.08, Y:-14.11, Z:-0.02 [[ 9.28750587e-01 3.70705203e-01 0.00000000e+00 1.28075737e+02] [-3.70705203e-01 9.28750587e-01 0.00000000e+00 -1.41145513e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72189455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.11, Y:-14.12, Z:-0.02 [[ 9.29160709e-01 3.69676043e-01 0.00000000e+00 1.28106902e+02] [-3.69676043e-01 9.29160709e-01 0.00000000e+00 -1.41245292e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83251280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.19140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.14, Y:-14.13, Z:-0.02 [[ 9.29555560e-01 3.68682060e-01 0.00000000e+00 1.28136436e+02] [-3.68682060e-01 9.29555560e-01 0.00000000e+00 -1.41348790e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08629014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.22140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.17, Y:-14.15, Z:-0.02 [[ 9.30001397e-01 3.67555985e-01 0.00000000e+00 1.28167122e+02] [-3.67555985e-01 9.30001397e-01 0.00000000e+00 -1.41456148e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22440896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.20, Y:-14.16, Z:-0.02 [[ 9.30436605e-01 3.66452894e-01 0.00000000e+00 1.28198400e+02] [-3.66452894e-01 9.30436605e-01 0.00000000e+00 -1.41556802e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28373381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.23, Y:-14.16, Z:-0.02 [[ 9.30828629e-01 3.65455967e-01 0.00000000e+00 1.28229712e+02] [-3.65455967e-01 9.30828629e-01 0.00000000e+00 -1.41649850e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14785065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.26, Y:-14.17, Z:-0.02 [[ 9.31969254e-01 3.62537323e-01 0.00000000e+00 1.28259840e+02] [-3.62537323e-01 9.31969254e-01 0.00000000e+00 -1.41725102e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.94883019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:128.29, Y:-14.18, Z:-0.02 [[ 9.32491952e-01 3.61190753e-01 0.00000000e+00 1.28291112e+02] [-3.61190753e-01 9.32491952e-01 0.00000000e+00 -1.41836136e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79719369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.37140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.32, Y:-14.20, Z:-0.02 [[ 9.32958169e-01 3.59984799e-01 0.00000000e+00 1.28322253e+02] [-3.59984799e-01 9.32958169e-01 0.00000000e+00 -1.41956183e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69887813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40140051299998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.35, Y:-14.21, Z:-0.02 [[ 9.33422843e-01 3.58778198e-01 0.00000000e+00 1.28353348e+02] [-3.58778198e-01 9.33422843e-01 0.00000000e+00 -1.42075204e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72979080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.43140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.38, Y:-14.22, Z:-0.02 [[ 9.33808064e-01 3.57774369e-01 0.00000000e+00 1.28383784e+02] [-3.57774369e-01 9.33808064e-01 0.00000000e+00 -1.42185050e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92584528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.41, Y:-14.23, Z:-0.02 [[ 9.34013088e-01 3.57238789e-01 0.00000000e+00 1.28414968e+02] [-3.57238789e-01 9.34013088e-01 0.00000000e+00 -1.42287135e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00454822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.49140051299999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:128.45, Y:-14.24, Z:-0.02 [[ 9.33762494e-01 3.57893287e-01 0.00000000e+00 1.28445576e+02] [-3.57893287e-01 9.33762494e-01 0.00000000e+00 -1.42379230e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92911322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.48, Y:-14.25, Z:-0.02 [[ 9.33231530e-01 3.59275536e-01 0.00000000e+00 1.28477345e+02] [-3.59275536e-01 9.33231530e-01 0.00000000e+00 -1.42477764e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80443868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.55140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.51, Y:-14.26, Z:-0.02 [[ 9.32451025e-01 3.61296397e-01 0.00000000e+00 1.28508967e+02] [-3.61296397e-01 9.32451025e-01 0.00000000e+00 -1.42570153e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75294138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.54, Y:-14.27, Z:-0.02 [[ 9.31463003e-01 3.63836055e-01 0.00000000e+00 1.28539825e+02] [-3.63836055e-01 9.31463003e-01 0.00000000e+00 -1.42659700e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79361493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.61140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.57, Y:-14.27, Z:-0.02 [[ 9.30403206e-01 3.66537685e-01 0.00000000e+00 1.28571781e+02] [-3.66537685e-01 9.30403206e-01 0.00000000e+00 -1.42749237e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.82293627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.60, Y:-14.28, Z:-0.02 [[ 9.28544887e-01 3.71220141e-01 0.00000000e+00 1.28604877e+02] [-3.71220141e-01 9.28544887e-01 0.00000000e+00 -1.42811698e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83898971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.64, Y:-14.29, Z:-0.02 [[ 9.27814062e-01 3.73042981e-01 0.00000000e+00 1.28636138e+02] [-3.73042981e-01 9.27814062e-01 0.00000000e+00 -1.42883354e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.82927442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.67, Y:-14.30, Z:-0.02 [[ 9.27375173e-01 3.74132715e-01 0.00000000e+00 1.28666016e+02] [-3.74132715e-01 9.27375173e-01 0.00000000e+00 -1.42951975e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88140629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.70, Y:-14.30, Z:-0.02 [[ 9.27033691e-01 3.74978046e-01 0.00000000e+00 1.28697867e+02] [-3.74978046e-01 9.27033691e-01 0.00000000e+00 -1.43032380e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97005151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.73, Y:-14.31, Z:-0.02 [[ 9.26938433e-01 3.75213462e-01 0.00000000e+00 1.28729443e+02] [-3.75213462e-01 9.26938433e-01 0.00000000e+00 -1.43116259e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05183234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.76, Y:-14.32, Z:-0.02 [[ 9.27068203e-01 3.74892713e-01 0.00000000e+00 1.28761156e+02] [-3.74892713e-01 9.27068203e-01 0.00000000e+00 -1.43207625e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02201391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.79, Y:-14.33, Z:-0.02 [[ 9.27713424e-01 3.73293186e-01 0.00000000e+00 1.28792064e+02] [-3.73293186e-01 9.27713424e-01 0.00000000e+00 -1.43306472e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69261248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.85140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.82, Y:-14.34, Z:-0.02 [[ 9.27945366e-01 3.72716242e-01 0.00000000e+00 1.28822957e+02] [-3.72716242e-01 9.27945366e-01 0.00000000e+00 -1.43413695e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59328226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.85, Y:-14.35, Z:-0.02 [[ 9.28126971e-01 3.72263786e-01 0.00000000e+00 1.28853249e+02] [-3.72263786e-01 9.28126971e-01 0.00000000e+00 -1.43520222e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63737270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.91140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.88, Y:-14.36, Z:-0.02 [[ 9.28258422e-01 3.71935885e-01 0.00000000e+00 1.28884876e+02] [-3.71935885e-01 9.28258422e-01 0.00000000e+00 -1.43627660e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73920476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.92, Y:-14.37, Z:-0.02 [[ 9.28355622e-01 3.71693207e-01 0.00000000e+00 1.28915734e+02] [-3.71693207e-01 9.28355622e-01 0.00000000e+00 -1.43726459e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89352871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.97140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.95, Y:-14.38, Z:-0.02 [[ 9.28384796e-01 3.71620332e-01 0.00000000e+00 1.28946918e+02] [-3.71620332e-01 9.28384796e-01 0.00000000e+00 -1.43819502e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00855212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.98, Y:-14.39, Z:-0.02 [[ 9.28003479e-01 3.72571527e-01 0.00000000e+00 1.28977940e+02] [-3.72571527e-01 9.28003479e-01 0.00000000e+00 -1.43915886e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10367371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.031400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:129.01, Y:-14.40, Z:-0.02 [[ 9.27761546e-01 3.73173570e-01 0.00000000e+00 1.29008087e+02] [-3.73173570e-01 9.27761546e-01 0.00000000e+00 -1.44016073e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06916155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.04, Y:-14.41, Z:-0.02 [[ 9.27410346e-01 3.74045519e-01 0.00000000e+00 1.29037990e+02] [-3.74045519e-01 9.27410346e-01 0.00000000e+00 -1.44114572e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.94792598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.07, Y:-14.42, Z:-0.02 [[ 9.27007782e-01 3.75042094e-01 0.00000000e+00 1.29068269e+02] [-3.75042094e-01 9.27007782e-01 0.00000000e+00 -1.44207301e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84414535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.10, Y:-14.43, Z:-0.02 [[ 9.26597822e-01 3.76053821e-01 0.00000000e+00 1.29098003e+02] [-3.76053821e-01 9.26597822e-01 0.00000000e+00 -1.44301869e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80166388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.15140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.13, Y:-14.44, Z:-0.02 [[ 9.26213299e-01 3.76999901e-01 0.00000000e+00 1.29125507e+02] [-3.76999901e-01 9.26213299e-01 0.00000000e+00 -1.44394090e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77668035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.15, Y:-14.45, Z:-0.02 [[ 9.25796396e-01 3.78022531e-01 0.00000000e+00 1.29152783e+02] [-3.78022531e-01 9.25796396e-01 0.00000000e+00 -1.44502842e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64238246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.21140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.18, Y:-14.46, Z:-0.01 [[ 9.25786010e-01 3.78047964e-01 0.00000000e+00 1.29181410e+02] [-3.78047964e-01 9.25786010e-01 0.00000000e+00 -1.44600812e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49703567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.21, Y:-14.47, Z:-0.01 [[ 9.25913690e-01 3.77735144e-01 0.00000000e+00 1.29211876e+02] [-3.77735144e-01 9.25913690e-01 0.00000000e+00 -1.44698470e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45236374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.27140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.24, Y:-14.48, Z:-0.01 [[ 9.26090910e-01 3.77300446e-01 0.00000000e+00 1.29243121e+02] [-3.77300446e-01 9.26090910e-01 0.00000000e+00 -1.44797262e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48600914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.27, Y:-14.49, Z:-0.02 [[ 9.26304158e-01 3.76776602e-01 0.00000000e+00 1.29274464e+02] [-3.76776602e-01 9.26304158e-01 0.00000000e+00 -1.44898640e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62648168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.33140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.30, Y:-14.50, Z:-0.02 [[ 9.26436578e-01 3.76450882e-01 0.00000000e+00 1.29304852e+02] [-3.76450882e-01 9.26436578e-01 0.00000000e+00 -1.44994520e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71813624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.34, Y:-14.51, Z:-0.02 [[ 9.26719616e-01 3.75753580e-01 0.00000000e+00 1.29336399e+02] [-3.75753580e-01 9.26719616e-01 0.00000000e+00 -1.45091196e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61067007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.37, Y:-14.52, Z:-0.02 [[ 9.26787162e-01 3.75586950e-01 0.00000000e+00 1.29368023e+02] [-3.75586950e-01 9.26787162e-01 0.00000000e+00 -1.45199401e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50429462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.40, Y:-14.53, Z:-0.01 [[ 9.26756594e-01 3.75662368e-01 0.00000000e+00 1.29398289e+02] [-3.75662368e-01 9.26756594e-01 0.00000000e+00 -1.45300353e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47249992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.43, Y:-14.54, Z:-0.02 [[ 9.26563464e-01 3.76138468e-01 0.00000000e+00 1.29426461e+02] [-3.76138468e-01 9.26563464e-01 0.00000000e+00 -1.45382822e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52934449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.46, Y:-14.55, Z:-0.02 [[ 9.26317062e-01 3.76744875e-01 0.00000000e+00 1.29458224e+02] [-3.76744875e-01 9.26317062e-01 0.00000000e+00 -1.45461918e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57104975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.49, Y:-14.55, Z:-0.02 [[ 9.26012812e-01 3.77492081e-01 0.00000000e+00 1.29490737e+02] [-3.77492081e-01 9.26012812e-01 0.00000000e+00 -1.45535781e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65976635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.52, Y:-14.56, Z:-0.02 [[ 9.25973889e-01 3.77587549e-01 0.00000000e+00 1.29523391e+02] [-3.77587549e-01 9.25973889e-01 0.00000000e+00 -1.45610459e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66231801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.57140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.55, Y:-14.57, Z:-0.02 [[ 9.26515799e-01 3.76255862e-01 0.00000000e+00 1.29553824e+02] [-3.76255862e-01 9.26515799e-01 0.00000000e+00 -1.45705206e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67532057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.58, Y:-14.58, Z:-0.02 [[ 9.27275936e-01 3.74378604e-01 0.00000000e+00 1.29583063e+02] [-3.74378604e-01 9.27275936e-01 0.00000000e+00 -1.45788585e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69344486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.63140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.61, Y:-14.59, Z:-0.02 [[ 9.28007843e-01 3.72560657e-01 0.00000000e+00 1.29610660e+02] [-3.72560657e-01 9.28007843e-01 0.00000000e+00 -1.45854876e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71433781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.64, Y:-14.59, Z:-0.02 [[ 9.28024246e-01 3.72519797e-01 0.00000000e+00 1.29638602e+02] [-3.72519797e-01 9.28024246e-01 0.00000000e+00 -1.45944309e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71433781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.69140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.67, Y:-14.60, Z:-0.02 [[ 9.28498178e-01 3.71336954e-01 0.00000000e+00 1.29667313e+02] [-3.71336954e-01 9.28498178e-01 0.00000000e+00 -1.46015715e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71172423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.72140051299999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:129.70, Y:-14.61, Z:-0.02 [[ 9.28739757e-01 3.70732335e-01 0.00000000e+00 1.29697928e+02] [-3.70732335e-01 9.28739757e-01 0.00000000e+00 -1.46098063e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72393149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.73, Y:-14.62, Z:-0.02 [[ 9.28407202e-01 3.71564351e-01 0.00000000e+00 1.29726327e+02] [-3.71564351e-01 9.28407202e-01 0.00000000e+00 -1.46167728e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67817543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.75, Y:-14.62, Z:-0.02 [[ 9.28043696e-01 3.72471339e-01 0.00000000e+00 1.29753967e+02] [-3.72471339e-01 9.28043696e-01 0.00000000e+00 -1.46234941e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60288958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.78, Y:-14.63, Z:-0.02 [[ 9.27546268e-01 3.73708337e-01 0.00000000e+00 1.29781807e+02] [-3.73708337e-01 9.27546268e-01 0.00000000e+00 -1.46297519e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58036775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.81, Y:-14.64, Z:-0.02 [[ 9.27047773e-01 3.74943230e-01 0.00000000e+00 1.29808445e+02] [-3.74943230e-01 9.27047773e-01 0.00000000e+00 -1.46365500e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70247734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.87140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.84, Y:-14.65, Z:-0.02 [[ 9.26600355e-01 3.76047579e-01 0.00000000e+00 1.29836929e+02] [-3.76047579e-01 9.26600355e-01 0.00000000e+00 -1.46454511e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77946313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.87, Y:-14.65, Z:-0.02 [[ 9.26415129e-01 3.76503663e-01 0.00000000e+00 1.29865275e+02] [-3.76503663e-01 9.26415129e-01 0.00000000e+00 -1.46548367e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71252629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.93140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.89, Y:-14.66, Z:-0.01 [[ 9.26658078e-01 3.75905316e-01 0.00000000e+00 1.29892107e+02] [-3.75905316e-01 9.26658078e-01 0.00000000e+00 -1.46635937e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49008820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.92, Y:-14.67, Z:-0.01 [[ 9.26944458e-01 3.75198576e-01 0.00000000e+00 1.29918429e+02] [-3.75198576e-01 9.26944458e-01 0.00000000e+00 -1.46726055e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49836334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.99140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.95, Y:-14.68, Z:-0.02 [[ 9.27200578e-01 3.74565200e-01 0.00000000e+00 1.29946269e+02] [-3.74565200e-01 9.27200578e-01 0.00000000e+00 -1.46831020e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53818833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.97, Y:-14.69, Z:-0.02 [[ 9.27397450e-01 3.74077491e-01 0.00000000e+00 1.29974277e+02] [-3.74077491e-01 9.27397450e-01 0.00000000e+00 -1.46944937e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59070892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.05140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.00, Y:-14.71, Z:-0.02 [[ 9.27412752e-01 3.74039554e-01 0.00000000e+00 1.30002633e+02] [-3.74039554e-01 9.27412752e-01 0.00000000e+00 -1.47065212e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61506011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.03, Y:-14.72, Z:-0.02 [[ 9.26778440e-01 3.75608470e-01 0.00000000e+00 1.30030891e+02] [-3.75608470e-01 9.26778440e-01 0.00000000e+00 -1.47195488e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61449835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.11140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.06, Y:-14.73, Z:-0.02 [[ 9.26064442e-01 3.77365406e-01 0.00000000e+00 1.30058094e+02] [-3.77365406e-01 9.26064442e-01 0.00000000e+00 -1.47281165e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62955559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.09, Y:-14.74, Z:-0.01 [[ 9.25123369e-01 3.79666634e-01 0.00000000e+00 1.30089717e+02] [-3.79666634e-01 9.25123369e-01 0.00000000e+00 -1.47364631e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46406702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.12, Y:-14.74, Z:-0.01 [[ 9.24015885e-01 3.82354082e-01 0.00000000e+00 1.30119861e+02] [-3.82354082e-01 9.24015885e-01 0.00000000e+00 -1.47440362e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40504338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.15, Y:-14.75, Z:-0.01 [[ 9.23094756e-01 3.84572583e-01 0.00000000e+00 1.30146641e+02] [-3.84572583e-01 9.23094756e-01 0.00000000e+00 -1.47507309e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35838438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.17, Y:-14.76, Z:-0.01 [[ 9.22335383e-01 3.86390271e-01 0.00000000e+00 1.30174490e+02] [-3.86390271e-01 9.22335383e-01 0.00000000e+00 -1.47585724e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27604535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.20, Y:-14.77, Z:-0.01 [[ 9.21958989e-01 3.87287520e-01 0.00000000e+00 1.30203532e+02] [-3.87287520e-01 9.21958989e-01 0.00000000e+00 -1.47664915e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41528682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.23, Y:-14.77, Z:-0.02 [[ 9.22562177e-01 3.85848455e-01 0.00000000e+00 1.30231405e+02] [-3.85848455e-01 9.22562177e-01 0.00000000e+00 -1.47743243e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63393652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.26, Y:-14.78, Z:-0.02 [[ 9.23531751e-01 3.83521974e-01 0.00000000e+00 1.30258484e+02] [-3.83521974e-01 9.23531751e-01 0.00000000e+00 -1.47818567e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71114619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.35140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.29, Y:-14.79, Z:-0.02 [[ 9.24693631e-01 3.80712082e-01 0.00000000e+00 1.30286383e+02] [-3.80712082e-01 9.24693631e-01 0.00000000e+00 -1.47906775e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58611234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.31, Y:-14.80, Z:-0.01 [[ 9.25999199e-01 3.77525474e-01 0.00000000e+00 1.30314055e+02] [-3.77525474e-01 9.25999199e-01 0.00000000e+00 -1.48006088e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37688212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.41140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.34, Y:-14.81, Z:-0.01 [[ 9.27254731e-01 3.74431120e-01 0.00000000e+00 1.30342568e+02] [-3.74431120e-01 9.27254731e-01 0.00000000e+00 -1.48113143e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27755168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44140051299999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:130.37, Y:-14.82, Z:-0.02 [[ 9.29059898e-01 3.69929325e-01 0.00000000e+00 1.30371691e+02] [-3.69929325e-01 9.29059898e-01 0.00000000e+00 -1.48236271e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53526419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.47140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.40, Y:-14.83, Z:-0.02 [[ 9.29698111e-01 3.68322445e-01 0.00000000e+00 1.30397971e+02] [-3.68322445e-01 9.29698111e-01 0.00000000e+00 -1.48341404e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64440563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.43, Y:-14.85, Z:-0.02 [[ 9.30017871e-01 3.67514300e-01 0.00000000e+00 1.30426265e+02] [-3.67514300e-01 9.30017871e-01 0.00000000e+00 -1.48472221e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68710461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.45, Y:-14.86, Z:-0.02 [[ 9.29979869e-01 3.67610451e-01 0.00000000e+00 1.30453186e+02] [-3.67610451e-01 9.29979869e-01 0.00000000e+00 -1.48606521e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68478379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.48, Y:-14.87, Z:-0.02 [[ 9.29719530e-01 3.68268375e-01 0.00000000e+00 1.30479085e+02] [-3.68268375e-01 9.29719530e-01 0.00000000e+00 -1.48727650e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54755884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.51, Y:-14.88, Z:-0.01 [[ 9.28488985e-01 3.71359941e-01 0.00000000e+00 1.30506376e+02] [-3.71359941e-01 9.28488985e-01 0.00000000e+00 -1.48840960e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40970046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.54, Y:-14.89, Z:-0.01 [[ 9.27515924e-01 3.73783641e-01 0.00000000e+00 1.30537478e+02] [-3.73783641e-01 9.27515924e-01 0.00000000e+00 -1.48941399e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35597572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.65140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.57, Y:-14.90, Z:-0.01 [[ 9.26371108e-01 3.76611962e-01 0.00000000e+00 1.30567911e+02] [-3.76611962e-01 9.26371108e-01 0.00000000e+00 -1.49046597e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34135398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.60, Y:-14.92, Z:-0.01 [[ 9.25336959e-01 3.79145766e-01 0.00000000e+00 1.30598771e+02] [-3.79145766e-01 9.25336959e-01 0.00000000e+00 -1.49152632e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30904519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.71140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.63, Y:-14.93, Z:-0.01 [[ 9.24272519e-01 3.81733297e-01 0.00000000e+00 1.30629241e+02] [-3.81733297e-01 9.24272519e-01 0.00000000e+00 -1.49252991e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38888184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.66, Y:-14.93, Z:-0.01 [[ 9.23213143e-01 3.84288294e-01 0.00000000e+00 1.30659064e+02] [-3.84288294e-01 9.23213143e-01 0.00000000e+00 -1.49341694e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47803085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.77140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.69, Y:-14.94, Z:-0.02 [[ 9.21674389e-01 3.87964328e-01 0.00000000e+00 1.30687638e+02] [-3.87964328e-01 9.21674389e-01 0.00000000e+00 -1.49430328e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51507209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.72, Y:-14.95, Z:-0.01 [[ 9.21279895e-01 3.88900186e-01 0.00000000e+00 1.30717635e+02] [-3.88900186e-01 9.21279895e-01 0.00000000e+00 -1.49534337e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48804506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.83140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.75, Y:-14.96, Z:-0.02 [[ 9.21111005e-01 3.89300035e-01 0.00000000e+00 1.30747292e+02] [-3.89300035e-01 9.21111005e-01 0.00000000e+00 -1.49634475e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58444733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.78, Y:-14.97, Z:-0.02 [[ 9.21102375e-01 3.89320453e-01 0.00000000e+00 1.30779177e+02] [-3.89320453e-01 9.21102375e-01 0.00000000e+00 -1.49728395e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53990331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.81, Y:-14.98, Z:-0.02 [[ 9.21183937e-01 3.89127426e-01 0.00000000e+00 1.30809795e+02] [-3.89127426e-01 9.21183937e-01 0.00000000e+00 -1.49810174e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59587920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.84, Y:-14.99, Z:-0.02 [[ 9.21311519e-01 3.88825263e-01 0.00000000e+00 1.30837575e+02] [-3.88825263e-01 9.21311519e-01 0.00000000e+00 -1.49881378e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56711604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.87, Y:-15.00, Z:-0.02 [[ 9.21369456e-01 3.88687955e-01 0.00000000e+00 1.30865633e+02] [-3.88687955e-01 9.21369456e-01 0.00000000e+00 -1.49958020e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67120236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.89, Y:-15.00, Z:-0.02 [[ 9.21341171e-01 3.88754997e-01 0.00000000e+00 1.30894010e+02] [-3.88754997e-01 9.21341171e-01 0.00000000e+00 -1.50044450e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78470477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.01140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:130.92, Y:-15.01, Z:-0.02 [[ 9.21197705e-01 3.89094831e-01 0.00000000e+00 1.30924120e+02] [-3.89094831e-01 9.21197705e-01 0.00000000e+00 -1.50140814e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88303331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.96, Y:-15.02, Z:-0.02 [[ 9.21214119e-01 3.89055968e-01 0.00000000e+00 1.30955040e+02] [-3.89055968e-01 9.21214119e-01 0.00000000e+00 -1.50236850e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79850084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.99, Y:-15.03, Z:-0.02 [[ 9.21231523e-01 3.89014757e-01 0.00000000e+00 1.30986288e+02] [-3.89014757e-01 9.21231523e-01 0.00000000e+00 -1.50319761e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67525302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.02, Y:-15.04, Z:-0.02 [[ 9.21304718e-01 3.88841378e-01 0.00000000e+00 1.31015481e+02] [-3.88841378e-01 9.21304718e-01 0.00000000e+00 -1.50387799e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71110563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.04, Y:-15.05, Z:-0.02 [[ 9.21246662e-01 3.88978904e-01 0.00000000e+00 1.31044446e+02] [-3.88978904e-01 9.21246662e-01 0.00000000e+00 -1.50453466e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70746917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.07, Y:-15.05, Z:-0.02 [[ 9.21155073e-01 3.89195750e-01 0.00000000e+00 1.31072019e+02] [-3.89195750e-01 9.21155073e-01 0.00000000e+00 -1.50517513e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73978138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.191400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:131.10, Y:-15.06, Z:-0.02 [[ 9.20891971e-01 3.89817878e-01 0.00000000e+00 1.31100317e+02] [-3.89817878e-01 9.20891971e-01 0.00000000e+00 -1.50596003e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90359365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.13, Y:-15.06, Z:-0.02 [[ 9.20456621e-01 3.90844737e-01 0.00000000e+00 1.31128838e+02] [-3.90844737e-01 9.20456621e-01 0.00000000e+00 -1.50647308e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97239497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.16, Y:-15.07, Z:-0.02 [[ 9.20211341e-01 3.91421880e-01 0.00000000e+00 1.31155955e+02] [-3.91421880e-01 9.20211341e-01 0.00000000e+00 -1.50700190e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97835693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.18, Y:-15.08, Z:-0.02 [[ 9.20037907e-01 3.91829363e-01 0.00000000e+00 1.31184436e+02] [-3.91829363e-01 9.20037907e-01 0.00000000e+00 -1.50753885e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92848768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.21, Y:-15.08, Z:-0.02 [[ 9.20011848e-01 3.91890544e-01 0.00000000e+00 1.31211951e+02] [-3.91890544e-01 9.20011848e-01 0.00000000e+00 -1.50812959e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92276253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.24, Y:-15.09, Z:-0.02 [[ 9.20277418e-01 3.91266501e-01 0.00000000e+00 1.31239094e+02] [-3.91266501e-01 9.20277418e-01 0.00000000e+00 -1.50876117e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90641640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.27, Y:-15.09, Z:-0.02 [[ 9.20855513e-01 3.89903994e-01 0.00000000e+00 1.31267774e+02] [-3.89903994e-01 9.20855513e-01 0.00000000e+00 -1.50942202e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85117988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.30, Y:-15.10, Z:-0.02 [[ 9.22929237e-01 3.84969641e-01 0.00000000e+00 1.31295333e+02] [-3.84969641e-01 9.22929237e-01 0.00000000e+00 -1.50988542e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10187321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.32, Y:-15.11, Z:-0.02 [[ 9.24426010e-01 3.81361444e-01 0.00000000e+00 1.31323565e+02] [-3.81361444e-01 9.24426010e-01 0.00000000e+00 -1.51067917e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17777317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.461400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:131.35, Y:-15.12, Z:-0.02 [[ 9.25863071e-01 3.77859199e-01 0.00000000e+00 1.31350493e+02] [-3.77859199e-01 9.25863071e-01 0.00000000e+00 -1.51154267e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.37089294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.491400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:131.38, Y:-15.12, Z:-0.02 [[ 9.27198291e-01 3.74570861e-01 0.00000000e+00 1.31375872e+02] [-3.74570861e-01 9.27198291e-01 0.00000000e+00 -1.51235441e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30691499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.40, Y:-15.13, Z:-0.02 [[ 9.28403315e-01 3.71574063e-01 0.00000000e+00 1.31403696e+02] [-3.71574063e-01 9.28403315e-01 0.00000000e+00 -1.51317473e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12616796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.43, Y:-15.14, Z:-0.02 [[ 9.28428233e-01 3.71511799e-01 0.00000000e+00 1.31430852e+02] [-3.71511799e-01 9.28428233e-01 0.00000000e+00 -1.51404159e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12616796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58140051299998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:131.46, Y:-15.15, Z:-0.02 [[ 9.29302978e-01 3.69318256e-01 0.00000000e+00 1.31458073e+02] [-3.69318256e-01 9.29302978e-01 0.00000000e+00 -1.51486300e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09840794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.48, Y:-15.16, Z:-0.02 [[ 9.29773437e-01 3.68132253e-01 0.00000000e+00 1.31484929e+02] [-3.68132253e-01 9.29773437e-01 0.00000000e+00 -1.51559810e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93347793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.51, Y:-15.16, Z:-0.02 [[ 9.29273772e-01 3.69391739e-01 0.00000000e+00 1.31512509e+02] [-3.69391739e-01 9.29273772e-01 0.00000000e+00 -1.51639768e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83003889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.67140051299998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:131.54, Y:-15.17, Z:-0.02 [[ 9.28478432e-01 3.71386324e-01 0.00000000e+00 1.31539222e+02] [-3.71386324e-01 9.28478432e-01 0.00000000e+00 -1.51713753e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84415968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.57, Y:-15.18, Z:-0.02 [[ 9.27601889e-01 3.73570255e-01 0.00000000e+00 1.31566565e+02] [-3.73570255e-01 9.27601889e-01 0.00000000e+00 -1.51786639e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.82831706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.73140051299998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:131.59, Y:-15.19, Z:-0.02 [[ 9.26734852e-01 3.75716003e-01 0.00000000e+00 1.31592989e+02] [-3.75716003e-01 9.26734852e-01 0.00000000e+00 -1.51853270e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.94588274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76140051299998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:131.62, Y:-15.19, Z:-0.02 [[ 9.25509144e-01 3.78725263e-01 0.00000000e+00 1.31621530e+02] [-3.78725263e-01 9.25509144e-01 0.00000000e+00 -1.51922653e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08505836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.65, Y:-15.20, Z:-0.02 [[ 9.25398239e-01 3.78996173e-01 0.00000000e+00 1.31647808e+02] [-3.78996173e-01 9.25398239e-01 0.00000000e+00 -1.52012122e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12672776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.821400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:131.67, Y:-15.21, Z:-0.02 [[ 9.25582307e-01 3.78546421e-01 0.00000000e+00 1.31674780e+02] [-3.78546421e-01 9.25582307e-01 0.00000000e+00 -1.52113871e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10941450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.70, Y:-15.22, Z:-0.02 [[ 9.26280072e-01 3.76835812e-01 0.00000000e+00 1.31701349e+02] [-3.76835812e-01 9.26280072e-01 0.00000000e+00 -1.52212632e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03867757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.73, Y:-15.23, Z:-0.02 [[ 9.27080177e-01 3.74863102e-01 0.00000000e+00 1.31728123e+02] [-3.74863102e-01 9.27080177e-01 0.00000000e+00 -1.52305828e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02775975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.76, Y:-15.24, Z:-0.02 [[ 9.27848249e-01 3.72957941e-01 0.00000000e+00 1.31755478e+02] [-3.72957941e-01 9.27848249e-01 0.00000000e+00 -1.52397743e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04019886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.78, Y:-15.25, Z:-0.02 [[ 9.29133217e-01 3.69745135e-01 0.00000000e+00 1.31781345e+02] [-3.69745135e-01 9.29133217e-01 0.00000000e+00 -1.52493665e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23333536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.81, Y:-15.26, Z:-0.02 [[ 9.29678943e-01 3.68370822e-01 0.00000000e+00 1.31809027e+02] [-3.68370822e-01 9.29678943e-01 0.00000000e+00 -1.52590434e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.26707048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.84, Y:-15.27, Z:-0.02 [[ 9.30161428e-01 3.67150810e-01 0.00000000e+00 1.31835930e+02] [-3.67150810e-01 9.30161428e-01 0.00000000e+00 -1.52690090e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.25104011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.86, Y:-15.28, Z:-0.02 [[ 9.30618617e-01 3.65990424e-01 0.00000000e+00 1.31861726e+02] [-3.65990424e-01 9.30618617e-01 0.00000000e+00 -1.52790376e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.31323850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.061400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:131.89, Y:-15.29, Z:-0.02 [[ 9.31006622e-01 3.65002287e-01 0.00000000e+00 1.31888509e+02] [-3.65002287e-01 9.31006622e-01 0.00000000e+00 -1.52903193e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.44916750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.92, Y:-15.30, Z:-0.02 [[ 9.31639807e-01 3.63383090e-01 0.00000000e+00 1.31915028e+02] [-3.63383090e-01 9.31639807e-01 0.00000000e+00 -1.53015353e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.37136155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.94, Y:-15.32, Z:-0.02 [[ 9.32802107e-01 3.60388996e-01 0.00000000e+00 1.31944390e+02] [-3.60388996e-01 9.32802107e-01 0.00000000e+00 -1.53156278e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29559750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.97, Y:-15.33, Z:-0.02 [[ 9.33099949e-01 3.59617137e-01 0.00000000e+00 1.31973352e+02] [-3.59617137e-01 9.33099949e-01 0.00000000e+00 -1.53264043e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.46965094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.00, Y:-15.34, Z:-0.03 [[ 9.33360753e-01 3.58939694e-01 0.00000000e+00 1.32000600e+02] [-3.58939694e-01 9.33360753e-01 0.00000000e+00 -1.53356479e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.56949841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.03, Y:-15.34, Z:-0.03 [[ 9.33528107e-01 3.58504217e-01 0.00000000e+00 1.32027611e+02] [-3.58504217e-01 9.33528107e-01 0.00000000e+00 -1.53444278e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.57918070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.06, Y:-15.35, Z:-0.02 [[ 9.33732863e-01 3.57970587e-01 0.00000000e+00 1.32057146e+02] [-3.57970587e-01 9.33732863e-01 0.00000000e+00 -1.53533857e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43005117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.27140051299997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:132.09, Y:-15.36, Z:-0.02 [[ 9.33961483e-01 3.57373681e-01 0.00000000e+00 1.32086801e+02] [-3.57373681e-01 9.33961483e-01 0.00000000e+00 -1.53629323e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.33211479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.12, Y:-15.38, Z:-0.02 [[ 9.34741194e-01 3.55329284e-01 0.00000000e+00 1.32115773e+02] [-3.55329284e-01 9.34741194e-01 0.00000000e+00 -1.53752428e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.18018130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.14, Y:-15.39, Z:-0.02 [[ 9.35363091e-01 3.53688972e-01 0.00000000e+00 1.32144717e+02] [-3.53688972e-01 9.35363091e-01 0.00000000e+00 -1.53864547e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21391971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.17, Y:-15.40, Z:-0.02 [[ 9.36093623e-01 3.51750948e-01 0.00000000e+00 1.32173479e+02] [-3.51750948e-01 9.36093623e-01 0.00000000e+00 -1.53966580e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35541677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.20, Y:-15.41, Z:-0.02 [[ 9.36917609e-01 3.49550273e-01 0.00000000e+00 1.32200370e+02] [-3.49550273e-01 9.36917609e-01 0.00000000e+00 -1.54053395e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17029103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.23, Y:-15.41, Z:-0.02 [[ 9.37707661e-01 3.47425306e-01 0.00000000e+00 1.32230064e+02] [-3.47425306e-01 9.37707661e-01 0.00000000e+00 -1.54145765e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00033987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.45140051299998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:132.26, Y:-15.42, Z:-0.02 [[ 9.38394744e-01 3.45565195e-01 0.00000000e+00 1.32259748e+02] [-3.45565195e-01 9.38394744e-01 0.00000000e+00 -1.54242233e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96461733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.29, Y:-15.43, Z:-0.02 [[ 9.39057690e-01 3.43759589e-01 0.00000000e+00 1.32289317e+02] [-3.43759589e-01 9.39057690e-01 0.00000000e+00 -1.54343442e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87394109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.32, Y:-15.44, Z:-0.02 [[ 9.40048404e-01 3.41041050e-01 0.00000000e+00 1.32318862e+02] [-3.41041050e-01 9.40048404e-01 0.00000000e+00 -1.54443217e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97325030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.35, Y:-15.45, Z:-0.02 [[ 9.40406978e-01 3.40051049e-01 0.00000000e+00 1.32348232e+02] [-3.40051049e-01 9.40406978e-01 0.00000000e+00 -1.54533763e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95757173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.571400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.38, Y:-15.46, Z:-0.02 [[ 9.40893407e-01 3.38702816e-01 0.00000000e+00 1.32378891e+02] [-3.38702816e-01 9.40893407e-01 0.00000000e+00 -1.54629862e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77150933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.41, Y:-15.47, Z:-0.02 [[ 9.41134177e-01 3.38033225e-01 0.00000000e+00 1.32409504e+02] [-3.38033225e-01 9.41134177e-01 0.00000000e+00 -1.54728996e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74810755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.44, Y:-15.48, Z:-0.02 [[ 9.41363509e-01 3.37394047e-01 0.00000000e+00 1.32439620e+02] [-3.37394047e-01 9.41363509e-01 0.00000000e+00 -1.54819778e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92768259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.47, Y:-15.49, Z:-0.02 [[ 9.41506779e-01 3.36994043e-01 0.00000000e+00 1.32469120e+02] [-3.36994043e-01 9.41506779e-01 0.00000000e+00 -1.54904375e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19127437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.50, Y:-15.50, Z:-0.02 [[ 9.41582714e-01 3.36781817e-01 0.00000000e+00 1.32499089e+02] [-3.36781817e-01 9.41582714e-01 0.00000000e+00 -1.54991726e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.44574449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.53, Y:-15.51, Z:-0.03 [[ 9.41775542e-01 3.36242217e-01 0.00000000e+00 1.32527489e+02] [-3.36242217e-01 9.41775542e-01 0.00000000e+00 -1.55074866e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.66351415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.751400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:132.56, Y:-15.51, Z:-0.03 [[ 9.42332558e-01 3.34677979e-01 0.00000000e+00 1.32557324e+02] [-3.34677979e-01 9.42332558e-01 0.00000000e+00 -1.55149712e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.64983658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.59, Y:-15.52, Z:-0.03 [[ 9.42667952e-01 3.33732126e-01 0.00000000e+00 1.32585759e+02] [-3.33732126e-01 9.42667952e-01 0.00000000e+00 -1.55235479e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53902099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.62, Y:-15.53, Z:-0.02 [[ 9.42937319e-01 3.32970287e-01 0.00000000e+00 1.32615947e+02] [-3.32970287e-01 9.42937319e-01 0.00000000e+00 -1.55339599e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.46416772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.64, Y:-15.54, Z:-0.03 [[ 9.43411068e-01 3.31625628e-01 0.00000000e+00 1.32644170e+02] [-3.31625628e-01 9.43411068e-01 0.00000000e+00 -1.55442162e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.63804811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.871400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:132.67, Y:-15.55, Z:-0.03 [[ 9.43767655e-01 3.30609457e-01 0.00000000e+00 1.32671617e+02] [-3.30609457e-01 9.43767655e-01 0.00000000e+00 -1.55534872e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59063389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.901400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:132.70, Y:-15.56, Z:-0.03 [[ 9.44116852e-01 3.29610938e-01 0.00000000e+00 1.32701399e+02] [-3.29610938e-01 9.44116852e-01 0.00000000e+00 -1.55620480e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53613527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.931400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:132.73, Y:-15.57, Z:-0.02 [[ 9.44170040e-01 3.29458550e-01 0.00000000e+00 1.32732188e+02] [-3.29458550e-01 9.44170040e-01 0.00000000e+00 -1.55689241e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38705737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.961400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.76, Y:-15.58, Z:-0.02 [[ 9.44193275e-01 3.29391953e-01 0.00000000e+00 1.32760248e+02] [-3.29391953e-01 9.44193275e-01 0.00000000e+00 -1.55774857e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.40936178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.991400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:132.79, Y:-15.59, Z:-0.02 [[ 9.44181766e-01 3.29424943e-01 0.00000000e+00 1.32789179e+02] [-3.29424943e-01 9.44181766e-01 0.00000000e+00 -1.55867854e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.33370066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.82, Y:-15.60, Z:-0.02 [[ 9.44353504e-01 3.28932303e-01 0.00000000e+00 1.32818134e+02] [-3.28932303e-01 9.44353504e-01 0.00000000e+00 -1.55960955e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04473541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.05140051299998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:132.85, Y:-15.61, Z:-0.02 [[ 9.44601666e-01 3.28218972e-01 0.00000000e+00 1.32848309e+02] [-3.28218972e-01 9.44601666e-01 0.00000000e+00 -1.56060802e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.98898529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.88, Y:-15.62, Z:-0.02 [[ 9.45227549e-01 3.26412132e-01 0.00000000e+00 1.32877710e+02] [-3.26412132e-01 9.45227549e-01 0.00000000e+00 -1.56159275e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87295403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.11140051299998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:132.91, Y:-15.63, Z:-0.02 [[ 9.47089840e-01 3.20968587e-01 0.00000000e+00 1.32907095e+02] [-3.20968587e-01 9.47089840e-01 0.00000000e+00 -1.56271737e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99622366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.94, Y:-15.64, Z:-0.02 [[ 9.48165655e-01 3.17776479e-01 0.00000000e+00 1.32938005e+02] [-3.17776479e-01 9.48165655e-01 0.00000000e+00 -1.56386938e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85014323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.17140051299998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:132.97, Y:-15.65, Z:-0.02 [[ 9.49136821e-01 3.14863931e-01 0.00000000e+00 1.32967596e+02] [-3.14863931e-01 9.49136821e-01 0.00000000e+00 -1.56495146e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89069421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.00, Y:-15.66, Z:-0.02 [[ 9.50849078e-01 3.09654695e-01 0.00000000e+00 1.32998150e+02] [-3.09654695e-01 9.50849078e-01 0.00000000e+00 -1.56623921e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67521276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.23140051299998 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:133.03, Y:-15.67, Z:-0.02 [[ 9.51496949e-01 3.07658182e-01 0.00000000e+00 1.33028685e+02] [-3.07658182e-01 9.51496949e-01 0.00000000e+00 -1.56742927e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73330227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.06, Y:-15.69, Z:-0.02 [[ 9.51927915e-01 3.06322127e-01 0.00000000e+00 1.33059511e+02] [-3.06322127e-01 9.51927915e-01 0.00000000e+00 -1.56865051e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59257274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.09, Y:-15.70, Z:-0.02 [[ 9.52020252e-01 3.06035031e-01 0.00000000e+00 1.33089893e+02] [-3.06035031e-01 9.52020252e-01 0.00000000e+00 -1.56983755e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59984851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.321400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:133.12, Y:-15.71, Z:-0.02 [[ 9.51734854e-01 3.06921435e-01 0.00000000e+00 1.33119542e+02] [-3.06921435e-01 9.51734854e-01 0.00000000e+00 -1.57094992e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80180559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.351400513 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:133.15, Y:-15.72, Z:-0.02 [[ 9.51261622e-01 3.08385030e-01 0.00000000e+00 1.33150399e+02] [-3.08385030e-01 9.51261622e-01 0.00000000e+00 -1.57207246e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86303014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.381400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:133.18, Y:-15.73, Z:-0.02 [[ 9.49499332e-01 3.13769053e-01 0.00000000e+00 1.33180457e+02] [-3.13769053e-01 9.49499332e-01 0.00000000e+00 -1.57315547e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77772547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.411400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:133.21, Y:-15.74, Z:-0.02 [[ 9.48317876e-01 3.17321929e-01 0.00000000e+00 1.33211225e+02] [-3.17321929e-01 9.48317876e-01 0.00000000e+00 -1.57413728e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72919980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.24, Y:-15.75, Z:-0.01 [[ 9.47123611e-01 3.20868923e-01 0.00000000e+00 1.33242113e+02] [-3.20868923e-01 9.47123611e-01 0.00000000e+00 -1.57515337e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47916796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.27, Y:-15.76, Z:-0.01 [[ 9.47070183e-01 3.21026587e-01 0.00000000e+00 1.33273111e+02] [-3.21026587e-01 9.47070183e-01 0.00000000e+00 -1.57617838e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47916796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.30, Y:-15.77, Z:-0.01 [[ 9.45844224e-01 3.24620862e-01 0.00000000e+00 1.33303489e+02] [-3.24620862e-01 9.45844224e-01 0.00000000e+00 -1.57719075e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30791901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.531400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:133.33, Y:-15.78, Z:-0.01 [[ 9.44610339e-01 3.28194008e-01 0.00000000e+00 1.33332368e+02] [-3.28194008e-01 9.44610339e-01 0.00000000e+00 -1.57813173e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40045725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.561400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:133.36, Y:-15.79, Z:-0.02 [[ 9.43558466e-01 3.31206009e-01 0.00000000e+00 1.33362823e+02] [-3.31206009e-01 9.43558466e-01 0.00000000e+00 -1.57909866e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54236119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.591400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:133.39, Y:-15.80, Z:-0.02 [[ 9.42136965e-01 3.35228189e-01 0.00000000e+00 1.33393051e+02] [-3.35228189e-01 9.42136965e-01 0.00000000e+00 -1.58012473e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92645764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.621400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:133.42, Y:-15.81, Z:-0.02 [[ 9.41658330e-01 3.36570335e-01 0.00000000e+00 1.33422640e+02] [-3.36570335e-01 9.41658330e-01 0.00000000e+00 -1.58119913e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99936671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.651400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:133.45, Y:-15.82, Z:-0.02 [[ 9.41107796e-01 3.38106663e-01 0.00000000e+00 1.33451218e+02] [-3.38106663e-01 9.41107796e-01 0.00000000e+00 -1.58229618e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10625005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.681400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:133.48, Y:-15.83, Z:-0.02 [[ 9.40637613e-01 3.39412552e-01 0.00000000e+00 1.33478573e+02] [-3.39412552e-01 9.40637613e-01 0.00000000e+00 -1.58332875e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.15915099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.711400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:133.51, Y:-15.84, Z:-0.02 [[ 9.39995377e-01 3.41187179e-01 0.00000000e+00 1.33508275e+02] [-3.41187179e-01 9.39995377e-01 0.00000000e+00 -1.58446762e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.24066033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.741400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:133.54, Y:-15.86, Z:-0.02 [[ 9.38485020e-01 3.45319949e-01 0.00000000e+00 1.33537744e+02] [-3.45319949e-01 9.38485020e-01 0.00000000e+00 -1.58570457e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32843257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77140051299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:133.57, Y:-15.87, Z:-0.02 [[ 9.37618504e-01 3.47665848e-01 0.00000000e+00 1.33567323e+02] [-3.47665848e-01 9.37618504e-01 0.00000000e+00 -1.58675261e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35251082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80140051299998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:133.60, Y:-15.88, Z:-0.02 [[ 9.36664889e-01 3.50226905e-01 0.00000000e+00 1.33595730e+02] [-3.50226905e-01 9.36664889e-01 0.00000000e+00 -1.58774694e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.34673569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.83140051299998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:133.63, Y:-15.89, Z:-0.02 [[ 9.35586798e-01 3.53096791e-01 0.00000000e+00 1.33626169e+02] [-3.53096791e-01 9.35586798e-01 0.00000000e+00 -1.58881540e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38533835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86140051299998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:133.66, Y:-15.90, Z:-0.03 [[ 9.34375422e-01 3.56290009e-01 0.00000000e+00 1.33655223e+02] [-3.56290009e-01 9.34375422e-01 0.00000000e+00 -1.58991465e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61885678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.69, Y:-15.91, Z:-0.02 [[ 9.32393944e-01 3.61443680e-01 0.00000000e+00 1.33685576e+02] [-3.61443680e-01 9.32393944e-01 0.00000000e+00 -1.59105729e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.24877970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.72, Y:-15.92, Z:-0.02 [[ 9.31719934e-01 3.63177594e-01 0.00000000e+00 1.33716535e+02] [-3.63177594e-01 9.31719934e-01 0.00000000e+00 -1.59206929e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09419276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.95140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:133.75, Y:-15.93, Z:-0.02 [[ 9.31278201e-01 3.64308815e-01 0.00000000e+00 1.33747513e+02] [-3.64308815e-01 9.31278201e-01 0.00000000e+00 -1.59308451e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04208382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98140051299998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:133.78, Y:-15.94, Z:-0.02 [[ 9.31089730e-01 3.64790234e-01 0.00000000e+00 1.33777179e+02] [-3.64790234e-01 9.31089730e-01 0.00000000e+00 -1.59414319e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95821313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.01140051299998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:133.81, Y:-15.95, Z:-0.02 [[ 9.31048506e-01 3.64895435e-01 0.00000000e+00 1.33807103e+02] [-3.64895435e-01 9.31048506e-01 0.00000000e+00 -1.59527267e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86061032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.84, Y:-15.96, Z:-0.02 [[ 9.31067737e-01 3.64846363e-01 0.00000000e+00 1.33838014e+02] [-3.64846363e-01 9.31067737e-01 0.00000000e+00 -1.59647541e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66151478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.87, Y:-15.98, Z:-0.02 [[ 9.30961547e-01 3.65117240e-01 0.00000000e+00 1.33866595e+02] [-3.65117240e-01 9.30961547e-01 0.00000000e+00 -1.59762451e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92663242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.90, Y:-15.99, Z:-0.02 [[ 9.30831959e-01 3.65447484e-01 0.00000000e+00 1.33896606e+02] [-3.65447484e-01 9.30831959e-01 0.00000000e+00 -1.59869314e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09570268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.93, Y:-16.00, Z:-0.02 [[ 9.30681426e-01 3.65830676e-01 0.00000000e+00 1.33926530e+02] [-3.65830676e-01 9.30681426e-01 0.00000000e+00 -1.59976367e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19200648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.161400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:133.96, Y:-16.01, Z:-0.02 [[ 9.30356439e-01 3.66656375e-01 0.00000000e+00 1.33957772e+02] [-3.66656375e-01 9.30356439e-01 0.00000000e+00 -1.60085793e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27099912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.99, Y:-16.02, Z:-0.02 [[ 9.30018850e-01 3.67511820e-01 0.00000000e+00 1.33987574e+02] [-3.67511820e-01 9.30018850e-01 0.00000000e+00 -1.60192997e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10640839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.01, Y:-16.03, Z:-0.02 [[ 9.29410544e-01 3.69047478e-01 0.00000000e+00 1.34014181e+02] [-3.69047478e-01 9.29410544e-01 0.00000000e+00 -1.60292074e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.07886135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.251400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:134.04, Y:-16.04, Z:-0.02 [[ 9.27912526e-01 3.72797994e-01 0.00000000e+00 1.34043793e+02] [-3.72797994e-01 9.27912526e-01 0.00000000e+00 -1.60421429e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.31274401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.281400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:134.07, Y:-16.05, Z:-0.02 [[ 9.27453057e-01 3.73939603e-01 0.00000000e+00 1.34074458e+02] [-3.73939603e-01 9.27453057e-01 0.00000000e+00 -1.60521665e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35233209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.11, Y:-16.06, Z:-0.02 [[ 9.26960897e-01 3.75157960e-01 0.00000000e+00 1.34105049e+02] [-3.75157960e-01 9.26960897e-01 0.00000000e+00 -1.60610329e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.98087433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.14, Y:-16.07, Z:-0.02 [[ 9.26124236e-01 3.77218635e-01 0.00000000e+00 1.34136860e+02] [-3.77218635e-01 9.26124236e-01 0.00000000e+00 -1.60705745e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74356207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.17, Y:-16.08, Z:-0.02 [[ 9.24847227e-01 3.80338804e-01 0.00000000e+00 1.34166498e+02] [-3.80338804e-01 9.24847227e-01 0.00000000e+00 -1.60794745e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66551421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.401400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:134.20, Y:-16.09, Z:-0.02 [[ 9.24596234e-01 3.80948559e-01 0.00000000e+00 1.34195376e+02] [-3.80948559e-01 9.24596234e-01 0.00000000e+00 -1.60880456e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83119068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.431400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:134.22, Y:-16.10, Z:-0.02 [[ 9.24718048e-01 3.80652771e-01 0.00000000e+00 1.34223457e+02] [-3.80652771e-01 9.24718048e-01 0.00000000e+00 -1.60953391e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.98541688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.25, Y:-16.10, Z:-0.02 [[ 9.25021777e-01 3.79914086e-01 0.00000000e+00 1.34252586e+02] [-3.79914086e-01 9.25021777e-01 0.00000000e+00 -1.61033445e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04592964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.28, Y:-16.11, Z:-0.02 [[ 9.25983318e-01 3.77564425e-01 0.00000000e+00 1.34283461e+02] [-3.77564425e-01 9.25983318e-01 0.00000000e+00 -1.61127367e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14077921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52140051299997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:134.31, Y:-16.12, Z:-0.02 [[ 9.26476125e-01 3.76353543e-01 0.00000000e+00 1.34312520e+02] [-3.76353543e-01 9.26476125e-01 0.00000000e+00 -1.61224930e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23052214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.34, Y:-16.13, Z:-0.02 [[ 9.27019253e-01 3.75013740e-01 0.00000000e+00 1.34339425e+02] [-3.75013740e-01 9.27019253e-01 0.00000000e+00 -1.61311094e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06853165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:134.37, Y:-16.14, Z:-0.02 [[ 9.27361132e-01 3.74167517e-01 0.00000000e+00 1.34369954e+02] [-3.74167517e-01 9.27361132e-01 0.00000000e+00 -1.61405510e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11731497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.61140051299998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:134.40, Y:-16.15, Z:-0.02 [[ 9.27566179e-01 3.73658914e-01 0.00000000e+00 1.34399567e+02] [-3.73658914e-01 9.27566179e-01 0.00000000e+00 -1.61506131e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16260923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64140051299998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:134.43, Y:-16.16, Z:-0.02 [[ 9.27882999e-01 3.72871479e-01 0.00000000e+00 1.34427781e+02] [-3.72871479e-01 9.27882999e-01 0.00000000e+00 -1.61615296e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12989036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.67140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:134.46, Y:-16.18, Z:-0.02 [[ 9.28326247e-01 3.71766566e-01 0.00000000e+00 1.34457281e+02] [-3.71766566e-01 9.28326247e-01 0.00000000e+00 -1.61770306e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87654220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.49, Y:-16.19, Z:-0.02 [[ 9.28589943e-01 3.71107422e-01 0.00000000e+00 1.34486889e+02] [-3.71107422e-01 9.28589943e-01 0.00000000e+00 -1.61894006e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64317954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.52, Y:-16.20, Z:-0.02 [[ 9.28742871e-01 3.70724533e-01 0.00000000e+00 1.34515755e+02] [-3.70724533e-01 9.28742871e-01 0.00000000e+00 -1.62015090e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56288329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76140051299998 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:134.55, Y:-16.21, Z:-0.02 [[ 9.28778791e-01 3.70634535e-01 0.00000000e+00 1.34546128e+02] [-3.70634535e-01 9.28778791e-01 0.00000000e+00 -1.62147800e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69584114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.79140051299999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:134.58, Y:-16.23, Z:-0.02 [[ 9.28772207e-01 3.70651032e-01 0.00000000e+00 1.34576058e+02] [-3.70651032e-01 9.28772207e-01 0.00000000e+00 -1.62285999e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74022995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.61, Y:-16.24, Z:-0.02 [[ 9.28822394e-01 3.70525249e-01 0.00000000e+00 1.34606251e+02] [-3.70525249e-01 9.28822394e-01 0.00000000e+00 -1.62428013e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69800690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.63, Y:-16.26, Z:-0.02 [[ 9.28688842e-01 3.70859859e-01 0.00000000e+00 1.34634529e+02] [-3.70859859e-01 9.28688842e-01 0.00000000e+00 -1.62598500e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56469160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.881400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:134.66, Y:-16.27, Z:-0.02 [[ 9.28440702e-01 3.71480636e-01 0.00000000e+00 1.34664004e+02] [-3.71480636e-01 9.28440702e-01 0.00000000e+00 -1.62729763e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62575667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.911400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:134.69, Y:-16.29, Z:-0.02 [[ 9.28148515e-01 3.72210068e-01 0.00000000e+00 1.34694269e+02] [-3.72210068e-01 9.28148515e-01 0.00000000e+00 -1.62872052e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68066280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.72, Y:-16.30, Z:-0.02 [[ 9.28070183e-01 3.72405338e-01 0.00000000e+00 1.34723910e+02] [-3.72405338e-01 9.28070183e-01 0.00000000e+00 -1.63018016e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83689978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.75, Y:-16.32, Z:-0.02 [[ 9.27958192e-01 3.72684309e-01 0.00000000e+00 1.34752114e+02] [-3.72684309e-01 9.27958192e-01 0.00000000e+00 -1.63164491e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10402053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.78, Y:-16.33, Z:-0.02 [[ 9.28067505e-01 3.72412010e-01 0.00000000e+00 1.34782373e+02] [-3.72412010e-01 9.28067505e-01 0.00000000e+00 -1.63310251e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.24004827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.031400513 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:134.81, Y:-16.35, Z:-0.02 [[ 9.28407258e-01 3.71564212e-01 0.00000000e+00 1.34810803e+02] [-3.71564212e-01 9.28407258e-01 0.00000000e+00 -1.63499585e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.33814190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.84, Y:-16.37, Z:-0.02 [[ 9.28485055e-01 3.71369766e-01 0.00000000e+00 1.34839658e+02] [-3.71369766e-01 9.28485055e-01 0.00000000e+00 -1.63658565e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41034062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.091400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:134.87, Y:-16.38, Z:-0.02 [[ 9.28305271e-01 3.71818940e-01 0.00000000e+00 1.34869031e+02] [-3.71818940e-01 9.28305271e-01 0.00000000e+00 -1.63821517e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38774194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.90, Y:-16.40, Z:-0.02 [[ 9.27992431e-01 3.72599045e-01 0.00000000e+00 1.34897302e+02] [-3.72599045e-01 9.27992431e-01 0.00000000e+00 -1.63969893e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29034169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.93, Y:-16.41, Z:-0.02 [[ 9.27145080e-01 3.74702550e-01 0.00000000e+00 1.34927062e+02] [-3.74702550e-01 9.27145080e-01 0.00000000e+00 -1.64108145e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13195041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.96, Y:-16.42, Z:-0.02 [[ 9.26068062e-01 3.77356521e-01 0.00000000e+00 1.34957049e+02] [-3.77356521e-01 9.26068062e-01 0.00000000e+00 -1.64232961e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21703644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.99, Y:-16.44, Z:-0.02 [[ 9.23541349e-01 3.83498861e-01 0.00000000e+00 1.34986720e+02] [-3.83498861e-01 9.23541349e-01 0.00000000e+00 -1.64383233e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91894265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.02, Y:-16.45, Z:-0.02 [[ 9.22158393e-01 3.86812485e-01 0.00000000e+00 1.35016246e+02] [-3.86812485e-01 9.22158393e-01 0.00000000e+00 -1.64511353e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89096688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.05, Y:-16.46, Z:-0.02 [[ 9.20776493e-01 3.90090565e-01 0.00000000e+00 1.35046343e+02] [-3.90090565e-01 9.20776493e-01 0.00000000e+00 -1.64635995e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83533923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.08, Y:-16.47, Z:-0.02 [[ 9.19459394e-01 3.93184973e-01 0.00000000e+00 1.35076556e+02] [-3.93184973e-01 9.19459394e-01 0.00000000e+00 -1.64743094e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87337001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.11, Y:-16.48, Z:-0.02 [[ 9.16861698e-01 3.99204994e-01 0.00000000e+00 1.35106870e+02] [-3.99204994e-01 9.16861698e-01 0.00000000e+00 -1.64844059e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51199485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.14, Y:-16.50, Z:-0.02 [[ 9.16791584e-01 3.99365988e-01 0.00000000e+00 1.35138549e+02] [-3.99365988e-01 9.16791584e-01 0.00000000e+00 -1.64951921e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51199485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.17, Y:-16.51, Z:-0.01 [[ 9.15477300e-01 4.02369623e-01 0.00000000e+00 1.35169743e+02] [-4.02369623e-01 9.15477300e-01 0.00000000e+00 -1.65058779e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25521497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.20, Y:-16.52, Z:-0.01 [[ 9.14148960e-01 4.05378439e-01 0.00000000e+00 1.35200876e+02] [-4.05378439e-01 9.14148960e-01 0.00000000e+00 -1.65165282e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16540539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.23, Y:-16.53, Z:-0.01 [[ 9.12943989e-01 4.08084885e-01 0.00000000e+00 1.35231286e+02] [-4.08084885e-01 9.12943989e-01 0.00000000e+00 -1.65261450e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28527604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.26, Y:-16.54, Z:-0.02 [[ 9.11513152e-01 4.11270926e-01 0.00000000e+00 1.35261791e+02] [-4.11270926e-01 9.11513152e-01 0.00000000e+00 -1.65353914e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83870832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.29, Y:-16.55, Z:-0.02 [[ 9.11247483e-01 4.11859230e-01 0.00000000e+00 1.35291300e+02] [-4.11859230e-01 9.11247483e-01 0.00000000e+00 -1.65458456e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.18279128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.32, Y:-16.56, Z:-0.02 [[ 9.11127274e-01 4.12125090e-01 0.00000000e+00 1.35321806e+02] [-4.12125090e-01 9.11127274e-01 0.00000000e+00 -1.65572084e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19001979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.35, Y:-16.57, Z:-0.02 [[ 9.11231041e-01 4.11895605e-01 0.00000000e+00 1.35352529e+02] [-4.11895605e-01 9.11231041e-01 0.00000000e+00 -1.65681706e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11764721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.38, Y:-16.58, Z:-0.02 [[ 9.11490527e-01 4.11321066e-01 0.00000000e+00 1.35382764e+02] [-4.11321066e-01 9.11490527e-01 0.00000000e+00 -1.65790059e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.07570566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.41, Y:-16.59, Z:-0.02 [[ 9.11872544e-01 4.10473462e-01 0.00000000e+00 1.35412640e+02] [-4.10473462e-01 9.11872544e-01 0.00000000e+00 -1.65895442e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02355004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.44, Y:-16.60, Z:-0.02 [[ 9.12609779e-01 4.08831741e-01 0.00000000e+00 1.35442948e+02] [-4.08831741e-01 9.12609779e-01 0.00000000e+00 -1.66016144e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78924808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.691400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:135.47, Y:-16.61, Z:-0.02 [[ 9.13052672e-01 4.07841659e-01 0.00000000e+00 1.35473287e+02] [-4.07841659e-01 9.13052672e-01 0.00000000e+00 -1.66137256e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78992567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.50, Y:-16.63, Z:-0.02 [[ 9.13909106e-01 4.05918892e-01 0.00000000e+00 1.35503163e+02] [-4.05918892e-01 9.13909106e-01 0.00000000e+00 -1.66260479e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68635089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.751400513 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:135.53, Y:-16.64, Z:-0.02 [[ 9.14420310e-01 4.04765977e-01 0.00000000e+00 1.35532662e+02] [-4.04765977e-01 9.14420310e-01 0.00000000e+00 -1.66378724e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69576936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.56, Y:-16.65, Z:-0.02 [[ 9.14919101e-01 4.03637260e-01 0.00000000e+00 1.35563386e+02] [-4.03637260e-01 9.14919101e-01 0.00000000e+00 -1.66501402e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68868761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.59, Y:-16.66, Z:-0.02 [[ 9.15014791e-01 4.03420292e-01 0.00000000e+00 1.35592800e+02] [-4.03420292e-01 9.15014791e-01 0.00000000e+00 -1.66613582e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93009224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.62, Y:-16.67, Z:-0.02 [[ 9.14838000e-01 4.03821043e-01 0.00000000e+00 1.35622791e+02] [-4.03821043e-01 9.14838000e-01 0.00000000e+00 -1.66721767e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23012712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.65, Y:-16.68, Z:-0.02 [[ 9.14847997e-01 4.03798394e-01 0.00000000e+00 1.35654462e+02] [-4.03798394e-01 9.14847997e-01 0.00000000e+00 -1.66820615e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09338019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.69, Y:-16.69, Z:-0.02 [[ 9.15041129e-01 4.03360548e-01 0.00000000e+00 1.35686269e+02] [-4.03360548e-01 9.15041129e-01 0.00000000e+00 -1.66911658e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90131539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.72, Y:-16.70, Z:-0.02 [[ 9.15448785e-01 4.02434494e-01 0.00000000e+00 1.35716980e+02] [-4.02434494e-01 9.15448785e-01 0.00000000e+00 -1.66997055e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00340113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.75, Y:-16.71, Z:-0.02 [[ 9.16104058e-01 4.00940587e-01 0.00000000e+00 1.35748636e+02] [-4.00940587e-01 9.16104058e-01 0.00000000e+00 -1.67093469e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96691476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.78, Y:-16.72, Z:-0.02 [[ 9.17019946e-01 3.98841345e-01 0.00000000e+00 1.35779157e+02] [-3.98841345e-01 9.17019946e-01 0.00000000e+00 -1.67194834e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97392818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.81, Y:-16.73, Z:-0.02 [[ 9.19837259e-01 3.92300161e-01 0.00000000e+00 1.35811172e+02] [-3.92300161e-01 9.19837259e-01 0.00000000e+00 -1.67284812e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68084663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.84, Y:-16.74, Z:-0.02 [[ 9.21358522e-01 3.88713871e-01 0.00000000e+00 1.35842978e+02] [-3.88713871e-01 9.21358522e-01 0.00000000e+00 -1.67372283e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55195639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.87, Y:-16.75, Z:-0.01 [[ 9.22707605e-01 3.85500553e-01 0.00000000e+00 1.35874654e+02] [-3.85500553e-01 9.22707605e-01 0.00000000e+00 -1.67456285e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42174880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.91, Y:-16.75, Z:-0.01 [[ 9.23695139e-01 3.83128295e-01 0.00000000e+00 1.35905708e+02] [-3.83128295e-01 9.23695139e-01 0.00000000e+00 -1.67543539e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36782024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.94, Y:-16.77, Z:-0.01 [[ 9.24188232e-01 3.81937313e-01 0.00000000e+00 1.35937361e+02] [-3.81937313e-01 9.24188232e-01 0.00000000e+00 -1.67656011e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38711759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.97, Y:-16.77, Z:-0.01 [[ 9.25155315e-01 3.79588781e-01 0.00000000e+00 1.35966541e+02] [-3.79588781e-01 9.25155315e-01 0.00000000e+00 -1.67731686e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33695726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.00, Y:-16.78, Z:-0.01 [[ 9.25179043e-01 3.79530946e-01 0.00000000e+00 1.35998239e+02] [-3.79530946e-01 9.25179043e-01 0.00000000e+00 -1.67827633e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30052953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.03, Y:-16.79, Z:-0.01 [[ 9.24976418e-01 3.80024508e-01 0.00000000e+00 1.36028664e+02] [-3.80024508e-01 9.24976418e-01 0.00000000e+00 -1.67922193e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29983741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.06, Y:-16.80, Z:-0.01 [[ 9.24544173e-01 3.81074891e-01 0.00000000e+00 1.36060138e+02] [-3.81074891e-01 9.24544173e-01 0.00000000e+00 -1.68031003e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32241850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.09, Y:-16.81, Z:-0.01 [[ 9.23907508e-01 3.82615887e-01 0.00000000e+00 1.36090067e+02] [-3.82615887e-01 9.23907508e-01 0.00000000e+00 -1.68142677e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43604764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.12, Y:-16.83, Z:-0.01 [[ 9.23131905e-01 3.84483401e-01 0.00000000e+00 1.36121086e+02] [-3.84483401e-01 9.23131905e-01 0.00000000e+00 -1.68250584e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48615938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.15, Y:-16.83, Z:-0.02 [[ 9.21653672e-01 3.88013542e-01 0.00000000e+00 1.36153125e+02] [-3.88013542e-01 9.21653672e-01 0.00000000e+00 -1.68334746e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78260766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.381400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:136.18, Y:-16.84, Z:-0.02 [[ 9.20930429e-01 3.89727014e-01 0.00000000e+00 1.36183876e+02] [-3.89727014e-01 9.20930429e-01 0.00000000e+00 -1.68421297e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05597884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.22, Y:-16.85, Z:-0.02 [[ 9.20464716e-01 3.90825672e-01 0.00000000e+00 1.36215696e+02] [-3.90825672e-01 9.20464716e-01 0.00000000e+00 -1.68522460e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03168665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.25, Y:-16.86, Z:-0.02 [[ 9.20479127e-01 3.90791730e-01 0.00000000e+00 1.36245623e+02] [-3.90791730e-01 9.20479127e-01 0.00000000e+00 -1.68638182e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92820288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.28, Y:-16.88, Z:-0.02 [[ 9.20847933e-01 3.89921895e-01 0.00000000e+00 1.36275997e+02] [-3.89921895e-01 9.20847933e-01 0.00000000e+00 -1.68760866e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00887839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.31, Y:-16.89, Z:-0.02 [[ 9.21504020e-01 3.88368822e-01 0.00000000e+00 1.36305104e+02] [-3.88368822e-01 9.21504020e-01 0.00000000e+00 -1.68877638e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.24459325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.33, Y:-16.90, Z:-0.02 [[ 9.22153459e-01 3.86824248e-01 0.00000000e+00 1.36334671e+02] [-3.86824248e-01 9.22153459e-01 0.00000000e+00 -1.68998766e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.48207703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.36, Y:-16.91, Z:-0.03 [[ 9.22614375e-01 3.85723625e-01 0.00000000e+00 1.36364393e+02] [-3.85723625e-01 9.22614375e-01 0.00000000e+00 -1.69126006e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.57175626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.39, Y:-16.93, Z:-0.03 [[ 9.22811527e-01 3.85251717e-01 0.00000000e+00 1.36392669e+02] [-3.85251717e-01 9.22811527e-01 0.00000000e+00 -1.69283693e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61660183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.42, Y:-16.94, Z:-0.02 [[ 9.22472530e-01 3.86062729e-01 0.00000000e+00 1.36423239e+02] [-3.86062729e-01 9.22472530e-01 0.00000000e+00 -1.69410617e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41582047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.45, Y:-16.95, Z:-0.02 [[ 9.21955951e-01 3.87294752e-01 0.00000000e+00 1.36452624e+02] [-3.87294752e-01 9.21955951e-01 0.00000000e+00 -1.69523426e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30462500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.681400513 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:136.48, Y:-16.96, Z:-0.02 [[ 9.21093525e-01 3.89341390e-01 0.00000000e+00 1.36483532e+02] [-3.89341390e-01 9.21093525e-01 0.00000000e+00 -1.69641721e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27229466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.51, Y:-16.98, Z:-0.02 [[ 9.19446894e-01 3.93214202e-01 0.00000000e+00 1.36513036e+02] [-3.93214202e-01 9.19446894e-01 0.00000000e+00 -1.69771776e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.26125062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.54, Y:-16.99, Z:-0.02 [[ 9.18583237e-01 3.95227575e-01 0.00000000e+00 1.36542424e+02] [-3.95227575e-01 9.18583237e-01 0.00000000e+00 -1.69889986e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38925952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.57, Y:-17.00, Z:-0.02 [[ 9.18030281e-01 3.96510282e-01 0.00000000e+00 1.36572415e+02] [-3.96510282e-01 9.18030281e-01 0.00000000e+00 -1.70006282e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.25683438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.60, Y:-17.01, Z:-0.02 [[ 9.17560839e-01 3.97595405e-01 0.00000000e+00 1.36602045e+02] [-3.97595405e-01 9.17560839e-01 0.00000000e+00 -1.70121561e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23122722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.63, Y:-17.02, Z:-0.02 [[ 9.17179249e-01 3.98474873e-01 0.00000000e+00 1.36632678e+02] [-3.98474873e-01 9.17179249e-01 0.00000000e+00 -1.70244526e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12739342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.66, Y:-17.04, Z:-0.02 [[ 9.16714001e-01 3.99544040e-01 0.00000000e+00 1.36661167e+02] [-3.99544040e-01 9.16714001e-01 0.00000000e+00 -1.70373377e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80032472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.69, Y:-17.05, Z:-0.02 [[ 9.16381970e-01 4.00304990e-01 0.00000000e+00 1.36692062e+02] [-4.00304990e-01 9.16381970e-01 0.00000000e+00 -1.70480835e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66603244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.72, Y:-17.06, Z:-0.02 [[ 9.15927373e-01 4.01344050e-01 0.00000000e+00 1.36723152e+02] [-4.01344050e-01 9.15927373e-01 0.00000000e+00 -1.70582984e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71286734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.75, Y:-17.07, Z:-0.02 [[ 9.15398575e-01 4.02548690e-01 0.00000000e+00 1.36754656e+02] [-4.02548690e-01 9.15398575e-01 0.00000000e+00 -1.70686218e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83386070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.78, Y:-17.08, Z:-0.02 [[ 9.14888994e-01 4.03705497e-01 0.00000000e+00 1.36783978e+02] [-4.03705497e-01 9.14888994e-01 0.00000000e+00 -1.70774906e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91054927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.82, Y:-17.09, Z:-0.02 [[ 9.14440861e-01 4.04719547e-01 0.00000000e+00 1.36815152e+02] [-4.04719547e-01 9.14440861e-01 0.00000000e+00 -1.70873488e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.98230858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.85, Y:-17.09, Z:-0.02 [[ 9.14119894e-01 4.05443979e-01 0.00000000e+00 1.36847830e+02] [-4.05443979e-01 9.14119894e-01 0.00000000e+00 -1.70949632e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76119256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.88, Y:-17.10, Z:-0.02 [[ 9.14271944e-01 4.05100991e-01 0.00000000e+00 1.36878584e+02] [-4.05100991e-01 9.14271944e-01 0.00000000e+00 -1.71041653e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64990586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.91, Y:-17.11, Z:-0.01 [[ 9.14492087e-01 4.04603785e-01 0.00000000e+00 1.36908470e+02] [-4.04603785e-01 9.14492087e-01 0.00000000e+00 -1.71121847e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41124102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.94, Y:-17.12, Z:-0.01 [[ 9.14658714e-01 4.04226961e-01 0.00000000e+00 1.36939865e+02] [-4.04226961e-01 9.14658714e-01 0.00000000e+00 -1.71221367e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40642400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.97, Y:-17.13, Z:-0.01 [[ 9.15096586e-01 4.03234719e-01 0.00000000e+00 1.36968731e+02] [-4.03234719e-01 9.15096586e-01 0.00000000e+00 -1.71291951e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21910694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.00, Y:-17.14, Z:-0.01 [[ 9.15598545e-01 4.02093650e-01 0.00000000e+00 1.37001029e+02] [-4.02093650e-01 9.15598545e-01 0.00000000e+00 -1.71405336e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28210589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.03, Y:-17.15, Z:-0.01 [[ 9.17892013e-01 3.96830257e-01 0.00000000e+00 1.37032124e+02] [-3.96830257e-01 9.17892013e-01 0.00000000e+00 -1.71514233e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23532435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.06, Y:-17.16, Z:-0.01 [[ 9.19363999e-01 3.93407978e-01 0.00000000e+00 1.37061983e+02] [-3.93407978e-01 9.19363999e-01 0.00000000e+00 -1.71638351e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21566198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.09, Y:-17.17, Z:-0.01 [[ 9.19295134e-01 3.93568871e-01 0.00000000e+00 1.37093548e+02] [-3.93568871e-01 9.19295134e-01 0.00000000e+00 -1.71749471e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21566198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.12, Y:-17.19, Z:-0.01 [[ 9.20876369e-01 3.89854732e-01 0.00000000e+00 1.37123419e+02] [-3.89854732e-01 9.20876369e-01 0.00000000e+00 -1.71879506e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25470973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.15, Y:-17.20, Z:-0.01 [[ 9.22553985e-01 3.85868041e-01 0.00000000e+00 1.37153334e+02] [-3.85868041e-01 9.22553985e-01 0.00000000e+00 -1.72012972e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43249338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.18, Y:-17.22, Z:-0.02 [[ 9.25483704e-01 3.78787426e-01 0.00000000e+00 1.37181831e+02] [-3.78787426e-01 9.25483704e-01 0.00000000e+00 -1.72157671e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99583947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.21, Y:-17.23, Z:-0.02 [[ 9.26287249e-01 3.76818169e-01 0.00000000e+00 1.37211468e+02] [-3.76818169e-01 9.26287249e-01 0.00000000e+00 -1.72290413e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16858674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.24, Y:-17.24, Z:-0.02 [[ 9.26337228e-01 3.76695288e-01 0.00000000e+00 1.37241655e+02] [-3.76695288e-01 9.26337228e-01 0.00000000e+00 -1.72438754e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12579098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.27, Y:-17.26, Z:-0.02 [[ 9.25965272e-01 3.77608680e-01 0.00000000e+00 1.37270839e+02] [-3.77608680e-01 9.25965272e-01 0.00000000e+00 -1.72588797e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.82167100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.30, Y:-17.27, Z:-0.02 [[ 9.25240101e-01 3.79382071e-01 0.00000000e+00 1.37299580e+02] [-3.79382071e-01 9.25240101e-01 0.00000000e+00 -1.72730854e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56965608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.33, Y:-17.29, Z:-0.01 [[ 9.24243789e-01 3.81802854e-01 0.00000000e+00 1.37328534e+02] [-3.81802854e-01 9.24243789e-01 0.00000000e+00 -1.72858959e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45416355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.36, Y:-17.30, Z:-0.02 [[ 9.21692174e-01 3.87922076e-01 0.00000000e+00 1.37357841e+02] [-3.87922076e-01 9.21692174e-01 0.00000000e+00 -1.72982535e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06980466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.39, Y:-17.31, Z:-0.02 [[ 9.19790079e-01 3.92410767e-01 0.00000000e+00 1.37386689e+02] [-3.92410767e-01 9.19790079e-01 0.00000000e+00 -1.73102445e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.37159566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.42, Y:-17.32, Z:-0.03 [[ 9.18189002e-01 3.96142595e-01 0.00000000e+00 1.37417472e+02] [-3.96142595e-01 9.18189002e-01 0.00000000e+00 -1.73224647e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.54574419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.45, Y:-17.33, Z:-0.02 [[ 9.16304675e-01 4.00481889e-01 0.00000000e+00 1.37448368e+02] [-4.00481889e-01 9.16304675e-01 0.00000000e+00 -1.73349688e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38311099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.48, Y:-17.35, Z:-0.02 [[ 9.14460786e-01 4.04674525e-01 0.00000000e+00 1.37478924e+02] [-4.04674525e-01 9.14460786e-01 0.00000000e+00 -1.73461782e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22625827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.51, Y:-17.35, Z:-0.02 [[ 9.11822957e-01 4.10583603e-01 0.00000000e+00 1.37511077e+02] [-4.10583603e-01 9.11822957e-01 0.00000000e+00 -1.73546475e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21594940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.54, Y:-17.36, Z:-0.02 [[ 9.10899224e-01 4.12628895e-01 0.00000000e+00 1.37541769e+02] [-4.12628895e-01 9.10899224e-01 0.00000000e+00 -1.73638933e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29646457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.57, Y:-17.37, Z:-0.02 [[ 9.09897312e-01 4.14833560e-01 0.00000000e+00 1.37572381e+02] [-4.14833560e-01 9.09897312e-01 0.00000000e+00 -1.73735093e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17932352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.60, Y:-17.38, Z:-0.02 [[ 9.09557888e-01 4.15577247e-01 0.00000000e+00 1.37604031e+02] [-4.15577247e-01 9.09557888e-01 0.00000000e+00 -1.73808930e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19156468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.64, Y:-17.38, Z:-0.02 [[ 9.08522308e-01 4.17836351e-01 0.00000000e+00 1.37636952e+02] [-4.17836351e-01 9.08522308e-01 0.00000000e+00 -1.73844046e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.15335866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.67, Y:-17.39, Z:-0.02 [[ 9.08213571e-01 4.18507000e-01 0.00000000e+00 1.37669342e+02] [-4.18507000e-01 9.08213571e-01 0.00000000e+00 -1.73929400e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10808051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.70, Y:-17.40, Z:-0.02 [[ 9.08157693e-01 4.18628241e-01 0.00000000e+00 1.37701602e+02] [-4.18628241e-01 9.08157693e-01 0.00000000e+00 -1.74019011e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.94483997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.73, Y:-17.41, Z:-0.02 [[ 9.08354837e-01 4.18200300e-01 0.00000000e+00 1.37732740e+02] [-4.18200300e-01 9.08354837e-01 0.00000000e+00 -1.74095779e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87525485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.77, Y:-17.42, Z:-0.02 [[ 9.09009743e-01 4.16774863e-01 0.00000000e+00 1.37765274e+02] [-4.16774863e-01 9.09009743e-01 0.00000000e+00 -1.74174906e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84407246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.80, Y:-17.42, Z:-0.02 [[ 9.11570090e-01 4.11144709e-01 0.00000000e+00 1.37798004e+02] [-4.11144709e-01 9.11570090e-01 0.00000000e+00 -1.74234346e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87208773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.83, Y:-17.43, Z:-0.02 [[ 9.12966977e-01 4.08033453e-01 0.00000000e+00 1.37829774e+02] [-4.08033453e-01 9.12966977e-01 0.00000000e+00 -1.74335857e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81742517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.86, Y:-17.44, Z:-0.02 [[ 9.14189557e-01 4.05286878e-01 0.00000000e+00 1.37861489e+02] [-4.05286878e-01 9.14189557e-01 0.00000000e+00 -1.74435063e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72153808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.89, Y:-17.45, Z:-0.02 [[ 9.15005638e-01 4.03441053e-01 0.00000000e+00 1.37892529e+02] [-4.03441053e-01 9.15005638e-01 0.00000000e+00 -1.74523001e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72120511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.92, Y:-17.46, Z:-0.02 [[ 9.15539542e-01 4.02227978e-01 0.00000000e+00 1.37924669e+02] [-4.02227978e-01 9.15539542e-01 0.00000000e+00 -1.74605143e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81328964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.96, Y:-17.47, Z:-0.02 [[ 9.16229765e-01 4.00653238e-01 0.00000000e+00 1.37956541e+02] [-4.00653238e-01 9.16229765e-01 0.00000000e+00 -1.74675688e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05856508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.151400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:137.99, Y:-17.48, Z:-0.02 [[ 9.16341363e-01 4.00397936e-01 0.00000000e+00 1.37987252e+02] [-4.00397936e-01 9.16341363e-01 0.00000000e+00 -1.74788534e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03986920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.02, Y:-17.49, Z:-0.02 [[ 9.16586706e-01 3.99835979e-01 0.00000000e+00 1.38016741e+02] [-3.99835979e-01 9.16586706e-01 0.00000000e+00 -1.74908435e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.82533610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.05, Y:-17.50, Z:-0.02 [[ 9.17004787e-01 3.98876197e-01 0.00000000e+00 1.38045965e+02] [-3.98876197e-01 9.17004787e-01 0.00000000e+00 -1.75026886e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71939098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.08, Y:-17.51, Z:-0.02 [[ 9.17542286e-01 3.97638219e-01 0.00000000e+00 1.38076528e+02] [-3.97638219e-01 9.17542286e-01 0.00000000e+00 -1.75142539e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58307726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.11, Y:-17.52, Z:-0.02 [[ 9.18546744e-01 3.95312382e-01 0.00000000e+00 1.38106479e+02] [-3.95312382e-01 9.18546744e-01 0.00000000e+00 -1.75245701e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61874965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.14, Y:-17.53, Z:-0.02 [[ 9.18742711e-01 3.94856722e-01 0.00000000e+00 1.38137926e+02] [-3.94856722e-01 9.18742711e-01 0.00000000e+00 -1.75349809e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69030401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.17, Y:-17.55, Z:-0.02 [[ 9.18676274e-01 3.95011271e-01 0.00000000e+00 1.38169122e+02] [-3.95011271e-01 9.18676274e-01 0.00000000e+00 -1.75454745e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68007532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.20, Y:-17.56, Z:-0.02 [[ 9.18493092e-01 3.95437024e-01 0.00000000e+00 1.38199335e+02] [-3.95437024e-01 9.18493092e-01 0.00000000e+00 -1.75558962e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72378857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.23, Y:-17.57, Z:-0.02 [[ 9.18280599e-01 3.95930222e-01 0.00000000e+00 1.38229620e+02] [-3.95930222e-01 9.18280599e-01 0.00000000e+00 -1.75675318e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00186322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.26, Y:-17.58, Z:-0.02 [[ 9.18467246e-01 3.95497053e-01 0.00000000e+00 1.38260570e+02] [-3.95497053e-01 9.18467246e-01 0.00000000e+00 -1.75801788e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09768303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.29, Y:-17.59, Z:-0.02 [[ 9.18998551e-01 3.94260908e-01 0.00000000e+00 1.38290794e+02] [-3.94260908e-01 9.18998551e-01 0.00000000e+00 -1.75926021e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13563754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.32, Y:-17.61, Z:-0.02 [[ 9.19682993e-01 3.92661676e-01 0.00000000e+00 1.38320537e+02] [-3.92661676e-01 9.19682993e-01 0.00000000e+00 -1.76052445e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12601099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.35, Y:-17.62, Z:-0.02 [[ 9.20302969e-01 3.91206396e-01 0.00000000e+00 1.38351078e+02] [-3.91206396e-01 9.20302969e-01 0.00000000e+00 -1.76183394e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01932514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.38, Y:-17.63, Z:-0.02 [[ 9.20756507e-01 3.90137737e-01 0.00000000e+00 1.38380522e+02] [-3.90137737e-01 9.20756507e-01 0.00000000e+00 -1.76313584e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01757967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.41, Y:-17.64, Z:-0.02 [[ 9.20558463e-01 3.90604808e-01 0.00000000e+00 1.38411191e+02] [-3.90604808e-01 9.20558463e-01 0.00000000e+00 -1.76444553e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05114404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.44, Y:-17.65, Z:-0.02 [[ 9.19832183e-01 3.92312064e-01 0.00000000e+00 1.38441742e+02] [-3.92312064e-01 9.19832183e-01 0.00000000e+00 -1.76544598e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.15677468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.47, Y:-17.66, Z:-0.02 [[ 9.18856624e-01 3.94591568e-01 0.00000000e+00 1.38472113e+02] [-3.94591568e-01 9.18856624e-01 0.00000000e+00 -1.76645170e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22461003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.50, Y:-17.68, Z:-0.02 [[ 9.17716399e-01 3.97236216e-01 0.00000000e+00 1.38502569e+02] [-3.97236216e-01 9.17716399e-01 0.00000000e+00 -1.76760996e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21543932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.53, Y:-17.69, Z:-0.02 [[ 9.16449002e-01 4.00151505e-01 0.00000000e+00 1.38531999e+02] [-4.00151505e-01 9.16449002e-01 0.00000000e+00 -1.76886620e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19392498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.56, Y:-17.70, Z:-0.02 [[ 9.15319492e-01 4.02728479e-01 0.00000000e+00 1.38562638e+02] [-4.02728479e-01 9.15319492e-01 0.00000000e+00 -1.77011360e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17727205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.59, Y:-17.71, Z:-0.02 [[ 9.13945349e-01 4.05837282e-01 0.00000000e+00 1.38592174e+02] [-4.05837282e-01 9.13945349e-01 0.00000000e+00 -1.77096640e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42919776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.62, Y:-17.72, Z:-0.02 [[ 9.13650201e-01 4.06501305e-01 0.00000000e+00 1.38624174e+02] [-4.06501305e-01 9.13650201e-01 0.00000000e+00 -1.77191340e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.40934554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.66, Y:-17.73, Z:-0.02 [[ 9.13436005e-01 4.06982389e-01 0.00000000e+00 1.38655812e+02] [-4.06982389e-01 9.13436005e-01 0.00000000e+00 -1.77291900e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.39933633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.69, Y:-17.74, Z:-0.02 [[ 9.13418759e-01 4.07021095e-01 0.00000000e+00 1.38687578e+02] [-4.07021095e-01 9.13418759e-01 0.00000000e+00 -1.77396117e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.39209508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.72, Y:-17.75, Z:-0.02 [[ 9.13491191e-01 4.06858505e-01 0.00000000e+00 1.38718073e+02] [-4.06858505e-01 9.13491191e-01 0.00000000e+00 -1.77495313e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.39355530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.75, Y:-17.76, Z:-0.02 [[ 9.13614342e-01 4.06581890e-01 0.00000000e+00 1.38747609e+02] [-4.06581890e-01 9.13614342e-01 0.00000000e+00 -1.77606911e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16255388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.78, Y:-17.77, Z:-0.02 [[ 9.13747348e-01 4.06282887e-01 0.00000000e+00 1.38777664e+02] [-4.06282887e-01 9.13747348e-01 0.00000000e+00 -1.77744413e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11401395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.81, Y:-17.79, Z:-0.02 [[ 9.14125312e-01 4.05431762e-01 0.00000000e+00 1.38807696e+02] [-4.05431762e-01 9.14125312e-01 0.00000000e+00 -1.77884737e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13000220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.84, Y:-17.80, Z:-0.02 [[ 9.14825768e-01 4.03848752e-01 0.00000000e+00 1.38836079e+02] [-4.03848752e-01 9.14825768e-01 0.00000000e+00 -1.78003966e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32755601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.87, Y:-17.81, Z:-0.02 [[ 9.15388154e-01 4.02572389e-01 0.00000000e+00 1.38866998e+02] [-4.02572389e-01 9.15388154e-01 0.00000000e+00 -1.78115814e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.33397241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.90, Y:-17.82, Z:-0.02 [[ 9.15745387e-01 4.01759115e-01 0.00000000e+00 1.38897733e+02] [-4.01759115e-01 9.15745387e-01 0.00000000e+00 -1.78219141e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38160543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.93, Y:-17.83, Z:-0.02 [[ 9.15381767e-01 4.02586910e-01 0.00000000e+00 1.38928903e+02] [-4.02586910e-01 9.15381767e-01 0.00000000e+00 -1.78331941e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29202028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.96, Y:-17.84, Z:-0.02 [[ 9.15056398e-01 4.03325908e-01 0.00000000e+00 1.38958422e+02] [-4.03325908e-01 9.15056398e-01 0.00000000e+00 -1.78445222e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32368919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.99, Y:-17.86, Z:-0.02 [[ 9.14966713e-01 4.03529323e-01 0.00000000e+00 1.38988960e+02] [-4.03529323e-01 9.14966713e-01 0.00000000e+00 -1.78557743e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35457853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.02, Y:-17.87, Z:-0.02 [[ 9.14894457e-01 4.03693117e-01 0.00000000e+00 1.39020412e+02] [-4.03693117e-01 9.14894457e-01 0.00000000e+00 -1.78671968e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35457853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.05, Y:-17.88, Z:-0.02 [[ 9.14993554e-01 4.03468457e-01 0.00000000e+00 1.39050562e+02] [-4.03468457e-01 9.14993554e-01 0.00000000e+00 -1.78790670e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.39618605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.08, Y:-17.90, Z:-0.02 [[ 9.16133163e-01 4.00874080e-01 0.00000000e+00 1.39079085e+02] [-4.00874080e-01 9.16133163e-01 0.00000000e+00 -1.78961233e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14788199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.11, Y:-17.91, Z:-0.02 [[ 9.16834308e-01 3.99267895e-01 0.00000000e+00 1.39107245e+02] [-3.99267895e-01 9.16834308e-01 0.00000000e+00 -1.79109670e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89946349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.14, Y:-17.92, Z:-0.02 [[ 9.17617331e-01 3.97465011e-01 0.00000000e+00 1.39136366e+02] [-3.97465011e-01 9.17617331e-01 0.00000000e+00 -1.79248412e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67800600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.17, Y:-17.94, Z:-0.02 [[ 9.18129020e-01 3.96281595e-01 0.00000000e+00 1.39166613e+02] [-3.96281595e-01 9.18129020e-01 0.00000000e+00 -1.79377989e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63405843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.20, Y:-17.95, Z:-0.02 [[ 9.18163755e-01 3.96201110e-01 0.00000000e+00 1.39196091e+02] [-3.96201110e-01 9.18163755e-01 0.00000000e+00 -1.79499185e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71448652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.23, Y:-17.96, Z:-0.02 [[ 9.17701938e-01 3.97269624e-01 0.00000000e+00 1.39226932e+02] [-3.97269624e-01 9.17701938e-01 0.00000000e+00 -1.79625731e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80587877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.26, Y:-17.98, Z:-0.02 [[ 9.15541200e-01 4.02224206e-01 0.00000000e+00 1.39256210e+02] [-4.02224206e-01 9.15541200e-01 0.00000000e+00 -1.79754866e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.98053148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.29, Y:-17.99, Z:-0.02 [[ 9.14057004e-01 4.05585742e-01 0.00000000e+00 1.39286646e+02] [-4.05585742e-01 9.14057004e-01 0.00000000e+00 -1.79872893e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04087181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.32, Y:-18.00, Z:-0.02 [[ 9.12848132e-01 4.08299263e-01 0.00000000e+00 1.39316539e+02] [-4.08299263e-01 9.12848132e-01 0.00000000e+00 -1.79989369e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11021308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.35, Y:-18.01, Z:-0.02 [[ 9.11181466e-01 4.12005263e-01 0.00000000e+00 1.39346797e+02] [-4.12005263e-01 9.11181466e-01 0.00000000e+00 -1.80130774e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04524205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.38, Y:-18.03, Z:-0.02 [[ 9.10804503e-01 4.12837931e-01 0.00000000e+00 1.39376610e+02] [-4.12837931e-01 9.10804503e-01 0.00000000e+00 -1.80254917e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08675630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.41, Y:-18.04, Z:-0.02 [[ 9.10691680e-01 4.13086752e-01 0.00000000e+00 1.39407678e+02] [-4.13086752e-01 9.10691680e-01 0.00000000e+00 -1.80370865e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00750188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.44, Y:-18.05, Z:-0.02 [[ 9.10614264e-01 4.13257380e-01 0.00000000e+00 1.39439000e+02] [-4.13257380e-01 9.10614264e-01 0.00000000e+00 -1.80476057e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91544896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.621400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:139.47, Y:-18.06, Z:-0.02 [[ 9.10243655e-01 4.14073048e-01 0.00000000e+00 1.39469733e+02] [-4.14073048e-01 9.10243655e-01 0.00000000e+00 -1.80582123e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00881201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.50, Y:-18.07, Z:-0.02 [[ 9.10021778e-01 4.14560447e-01 0.00000000e+00 1.39499525e+02] [-4.14560447e-01 9.10021778e-01 0.00000000e+00 -1.80689281e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99225920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.53, Y:-18.08, Z:-0.02 [[ 9.09507824e-01 4.15686803e-01 0.00000000e+00 1.39529728e+02] [-4.15686803e-01 9.09507824e-01 0.00000000e+00 -1.80809107e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01678834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.56, Y:-18.09, Z:-0.02 [[ 9.09235424e-01 4.16282288e-01 0.00000000e+00 1.39560892e+02] [-4.16282288e-01 9.09235424e-01 0.00000000e+00 -1.80921380e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92829646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.59, Y:-18.10, Z:-0.02 [[ 9.08979488e-01 4.16840846e-01 0.00000000e+00 1.39592210e+02] [-4.16840846e-01 9.08979488e-01 0.00000000e+00 -1.81035159e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83175895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.62, Y:-18.11, Z:-0.02 [[ 9.08670095e-01 4.17514859e-01 0.00000000e+00 1.39622296e+02] [-4.17514859e-01 9.08670095e-01 0.00000000e+00 -1.81148546e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76256709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.65, Y:-18.13, Z:-0.02 [[ 9.08356865e-01 4.18195893e-01 0.00000000e+00 1.39653547e+02] [-4.18195893e-01 9.08356865e-01 0.00000000e+00 -1.81263659e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71678647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.69, Y:-18.13, Z:-0.02 [[ 9.07835753e-01 4.19325941e-01 0.00000000e+00 1.39686633e+02] [-4.19325941e-01 9.07835753e-01 0.00000000e+00 -1.81332470e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00331682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.72, Y:-18.14, Z:-0.02 [[ 9.07393542e-01 4.20282000e-01 0.00000000e+00 1.39717912e+02] [-4.20282000e-01 9.07393542e-01 0.00000000e+00 -1.81409688e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13349974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.75, Y:-18.15, Z:-0.02 [[ 9.06891153e-01 4.21364968e-01 0.00000000e+00 1.39750240e+02] [-4.21364968e-01 9.06891153e-01 0.00000000e+00 -1.81498044e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11113407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.78, Y:-18.16, Z:-0.02 [[ 9.06434231e-01 4.22346996e-01 0.00000000e+00 1.39782064e+02] [-4.22346996e-01 9.06434231e-01 0.00000000e+00 -1.81593780e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00422243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.81, Y:-18.17, Z:-0.02 [[ 9.05985062e-01 4.23309658e-01 0.00000000e+00 1.39813608e+02] [-4.23309658e-01 9.05985062e-01 0.00000000e+00 -1.81662507e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76584515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.85, Y:-18.17, Z:-0.02 [[ 9.06329244e-01 4.22572245e-01 0.00000000e+00 1.39845448e+02] [-4.22572245e-01 9.06329244e-01 0.00000000e+00 -1.81744113e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62102118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.01140051299998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:139.88, Y:-18.18, Z:-0.02 [[ 9.06992736e-01 4.21146266e-01 0.00000000e+00 1.39876232e+02] [-4.21146266e-01 9.06992736e-01 0.00000000e+00 -1.81823134e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66757535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.91, Y:-18.19, Z:-0.02 [[ 9.08162733e-01 4.18617307e-01 0.00000000e+00 1.39906608e+02] [-4.18617307e-01 9.08162733e-01 0.00000000e+00 -1.81912867e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61413550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.94, Y:-18.20, Z:-0.02 [[ 9.09424653e-01 4.15868729e-01 0.00000000e+00 1.39937313e+02] [-4.15868729e-01 9.09424653e-01 0.00000000e+00 -1.82021538e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72715140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.97, Y:-18.21, Z:-0.02 [[ 9.12002591e-01 4.10184439e-01 0.00000000e+00 1.39967921e+02] [-4.10184439e-01 9.12002591e-01 0.00000000e+00 -1.82140520e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06376205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.00, Y:-18.22, Z:-0.02 [[ 9.13072213e-01 4.07797909e-01 0.00000000e+00 1.39999492e+02] [-4.07797909e-01 9.13072213e-01 0.00000000e+00 -1.82249583e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.24197573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.03, Y:-18.24, Z:-0.02 [[ 9.13661238e-01 4.06476497e-01 0.00000000e+00 1.40030534e+02] [-4.06476497e-01 9.13661238e-01 0.00000000e+00 -1.82354940e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38453429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.06, Y:-18.25, Z:-0.02 [[ 9.13787147e-01 4.06193365e-01 0.00000000e+00 1.40061935e+02] [-4.06193365e-01 9.13787147e-01 0.00000000e+00 -1.82470369e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43466584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.09, Y:-18.26, Z:-0.02 [[ 9.13570921e-01 4.06679446e-01 0.00000000e+00 1.40091406e+02] [-4.06679446e-01 9.13570921e-01 0.00000000e+00 -1.82592630e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43642969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.12, Y:-18.27, Z:-0.02 [[ 9.12894394e-01 4.08195816e-01 0.00000000e+00 1.40122058e+02] [-4.08195816e-01 9.12894394e-01 0.00000000e+00 -1.82715109e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10618325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.15, Y:-18.28, Z:-0.02 [[ 9.12392756e-01 4.09315843e-01 0.00000000e+00 1.40152171e+02] [-4.09315843e-01 9.12392756e-01 0.00000000e+00 -1.82815167e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12564094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.18, Y:-18.29, Z:-0.02 [[ 9.12029956e-01 4.10123591e-01 0.00000000e+00 1.40181920e+02] [-4.10123591e-01 9.12029956e-01 0.00000000e+00 -1.82920749e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23933738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.21, Y:-18.30, Z:-0.02 [[ 9.11731628e-01 4.10786367e-01 0.00000000e+00 1.40211419e+02] [-4.10786367e-01 9.11731628e-01 0.00000000e+00 -1.83040428e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29602512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.24, Y:-18.32, Z:-0.02 [[ 9.11500566e-01 4.11298818e-01 0.00000000e+00 1.40241521e+02] [-4.11298818e-01 9.11500566e-01 0.00000000e+00 -1.83169359e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16186291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.27, Y:-18.33, Z:-0.02 [[ 9.11402565e-01 4.11515935e-01 0.00000000e+00 1.40272046e+02] [-4.11515935e-01 9.11402565e-01 0.00000000e+00 -1.83292841e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04972643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.30, Y:-18.34, Z:-0.02 [[ 9.11338355e-01 4.11658113e-01 0.00000000e+00 1.40303168e+02] [-4.11658113e-01 9.11338355e-01 0.00000000e+00 -1.83391792e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08902666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.33, Y:-18.35, Z:-0.02 [[ 9.11277065e-01 4.11793773e-01 0.00000000e+00 1.40332851e+02] [-4.11793773e-01 9.11277065e-01 0.00000000e+00 -1.83497585e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28180510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.36, Y:-18.36, Z:-0.02 [[ 9.11298776e-01 4.11745724e-01 0.00000000e+00 1.40363599e+02] [-4.11745724e-01 9.11298776e-01 0.00000000e+00 -1.83622104e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.45800842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.39, Y:-18.38, Z:-0.03 [[ 9.11516419e-01 4.11263683e-01 0.00000000e+00 1.40394371e+02] [-4.11263683e-01 9.11516419e-01 0.00000000e+00 -1.83754183e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59367143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.42, Y:-18.39, Z:-0.03 [[ 9.11908683e-01 4.10393170e-01 0.00000000e+00 1.40424642e+02] [-4.10393170e-01 9.11908683e-01 0.00000000e+00 -1.83882563e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.56358544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.45, Y:-18.40, Z:-0.03 [[ 9.12339020e-01 4.09435603e-01 0.00000000e+00 1.40454216e+02] [-4.09435603e-01 9.12339020e-01 0.00000000e+00 -1.84007772e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.50398823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.48, Y:-18.42, Z:-0.02 [[ 9.13147496e-01 4.07629304e-01 0.00000000e+00 1.40483488e+02] [-4.07629304e-01 9.13147496e-01 0.00000000e+00 -1.84158509e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19326974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.51, Y:-18.43, Z:-0.02 [[ 9.13242365e-01 4.07416719e-01 0.00000000e+00 1.40512646e+02] [-4.07416719e-01 9.13242365e-01 0.00000000e+00 -1.84285701e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.07840543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.54, Y:-18.44, Z:-0.02 [[ 9.13332289e-01 4.07215091e-01 0.00000000e+00 1.40542675e+02] [-4.07215091e-01 9.13332289e-01 0.00000000e+00 -1.84415933e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03223651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.57, Y:-18.45, Z:-0.02 [[ 9.13284160e-01 4.07323020e-01 0.00000000e+00 1.40572622e+02] [-4.07323020e-01 9.13284160e-01 0.00000000e+00 -1.84534013e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00507073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.60, Y:-18.47, Z:-0.02 [[ 9.13128638e-01 4.07671547e-01 0.00000000e+00 1.40603397e+02] [-4.07671547e-01 9.13128638e-01 0.00000000e+00 -1.84658915e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95430141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.63, Y:-18.48, Z:-0.02 [[ 9.12939644e-01 4.08094604e-01 0.00000000e+00 1.40633382e+02] [-4.08094604e-01 9.12939644e-01 0.00000000e+00 -1.84783324e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90093670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.66, Y:-18.49, Z:-0.02 [[ 9.12897187e-01 4.08189571e-01 0.00000000e+00 1.40663869e+02] [-4.08189571e-01 9.12897187e-01 0.00000000e+00 -1.84917710e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84255371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.69, Y:-18.51, Z:-0.02 [[ 9.13052775e-01 4.07841428e-01 0.00000000e+00 1.40694002e+02] [-4.07841428e-01 9.13052775e-01 0.00000000e+00 -1.85050391e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.82671267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.72, Y:-18.52, Z:-0.02 [[ 9.13688456e-01 4.06415311e-01 0.00000000e+00 1.40722904e+02] [-4.06415311e-01 9.13688456e-01 0.00000000e+00 -1.85207363e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.94831619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.75, Y:-18.53, Z:-0.02 [[ 9.14145432e-01 4.05386395e-01 0.00000000e+00 1.40752737e+02] [-4.05386395e-01 9.14145432e-01 0.00000000e+00 -1.85342097e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01304334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.78, Y:-18.55, Z:-0.02 [[ 9.14712480e-01 4.04105281e-01 0.00000000e+00 1.40782148e+02] [-4.04105281e-01 9.14712480e-01 0.00000000e+00 -1.85473140e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05567752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.81, Y:-18.56, Z:-0.02 [[ 9.15069318e-01 4.03296595e-01 0.00000000e+00 1.40812590e+02] [-4.03296595e-01 9.15069318e-01 0.00000000e+00 -1.85605527e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11303637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.84, Y:-18.57, Z:-0.02 [[ 9.15175137e-01 4.03056408e-01 0.00000000e+00 1.40842926e+02] [-4.03056408e-01 9.15175137e-01 0.00000000e+00 -1.85734649e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17571569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.87, Y:-18.59, Z:-0.02 [[ 9.15083938e-01 4.03263421e-01 0.00000000e+00 1.40873373e+02] [-4.03263421e-01 9.15083938e-01 0.00000000e+00 -1.85857199e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.33585860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.90, Y:-18.60, Z:-0.03 [[ 9.14644533e-01 4.04259049e-01 0.00000000e+00 1.40902719e+02] [-4.04259049e-01 9.14644533e-01 0.00000000e+00 -1.85968747e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.56133387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.93, Y:-18.61, Z:-0.02 [[ 9.14054381e-01 4.05591652e-01 0.00000000e+00 1.40934128e+02] [-4.05591652e-01 9.14054381e-01 0.00000000e+00 -1.86083496e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47474580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.97, Y:-18.62, Z:-0.02 [[ 9.13981846e-01 4.05755080e-01 0.00000000e+00 1.40965449e+02] [-4.05755080e-01 9.13981846e-01 0.00000000e+00 -1.86201127e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47474580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.00, Y:-18.63, Z:-0.02 [[ 9.13288587e-01 4.07313095e-01 0.00000000e+00 1.40995034e+02] [-4.07313095e-01 9.13288587e-01 0.00000000e+00 -1.86311605e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32902016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.03, Y:-18.64, Z:-0.02 [[ 9.12656233e-01 4.08728028e-01 0.00000000e+00 1.41025897e+02] [-4.08728028e-01 9.12656233e-01 0.00000000e+00 -1.86423536e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.07941180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.181400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:141.06, Y:-18.65, Z:-0.02 [[ 9.11690098e-01 4.10878527e-01 0.00000000e+00 1.41057464e+02] [-4.10878527e-01 9.11690098e-01 0.00000000e+00 -1.86520095e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04467056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.09, Y:-18.66, Z:-0.02 [[ 9.11303806e-01 4.11734592e-01 0.00000000e+00 1.41088214e+02] [-4.11734592e-01 9.11303806e-01 0.00000000e+00 -1.86622046e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13995020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.12, Y:-18.67, Z:-0.02 [[ 9.11148305e-01 4.12078591e-01 0.00000000e+00 1.41119773e+02] [-4.12078591e-01 9.11148305e-01 0.00000000e+00 -1.86730141e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13015368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.15, Y:-18.68, Z:-0.02 [[ 9.11252346e-01 4.11848469e-01 0.00000000e+00 1.41150555e+02] [-4.11848469e-01 9.11252346e-01 0.00000000e+00 -1.86840100e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08665603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.18, Y:-18.69, Z:-0.02 [[ 9.12201793e-01 4.09741245e-01 0.00000000e+00 1.41180965e+02] [-4.09741245e-01 9.12201793e-01 0.00000000e+00 -1.86941360e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90522245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.21, Y:-18.71, Z:-0.02 [[ 9.12835218e-01 4.08328135e-01 0.00000000e+00 1.41211797e+02] [-4.08328135e-01 9.12835218e-01 0.00000000e+00 -1.87055778e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89446511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.24, Y:-18.72, Z:-0.02 [[ 9.13663182e-01 4.06472126e-01 0.00000000e+00 1.41242013e+02] [-4.06472126e-01 9.13663182e-01 0.00000000e+00 -1.87167282e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92574889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.27, Y:-18.73, Z:-0.02 [[ 9.14344448e-01 4.04937317e-01 0.00000000e+00 1.41272920e+02] [-4.04937317e-01 9.14344448e-01 0.00000000e+00 -1.87288178e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01250148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.30, Y:-18.74, Z:-0.02 [[ 9.14990749e-01 4.03474820e-01 0.00000000e+00 1.41302295e+02] [-4.03474820e-01 9.14990749e-01 0.00000000e+00 -1.87405458e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.07402287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.33, Y:-18.75, Z:-0.02 [[ 9.16129552e-01 4.00882331e-01 0.00000000e+00 1.41332512e+02] [-4.00882331e-01 9.16129552e-01 0.00000000e+00 -1.87534397e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96793413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.36, Y:-18.77, Z:-0.02 [[ 9.16336884e-01 4.00408185e-01 0.00000000e+00 1.41362022e+02] [-4.00408185e-01 9.16336884e-01 0.00000000e+00 -1.87660321e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80662055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.39, Y:-18.78, Z:-0.02 [[ 9.16365488e-01 4.00342719e-01 0.00000000e+00 1.41392150e+02] [-4.00342719e-01 9.16365488e-01 0.00000000e+00 -1.87789980e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67682389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.42, Y:-18.79, Z:-0.02 [[ 9.16250093e-01 4.00606750e-01 0.00000000e+00 1.41421832e+02] [-4.00606750e-01 9.16250093e-01 0.00000000e+00 -1.87919131e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72307455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.45, Y:-18.80, Z:-0.02 [[ 9.16053584e-01 4.01055895e-01 0.00000000e+00 1.41451502e+02] [-4.01055895e-01 9.16053584e-01 0.00000000e+00 -1.88047626e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91673948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.48, Y:-18.82, Z:-0.02 [[ 9.15857225e-01 4.01504101e-01 0.00000000e+00 1.41481362e+02] [-4.01504101e-01 9.15857225e-01 0.00000000e+00 -1.88177362e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06499717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.51, Y:-18.83, Z:-0.02 [[ 9.15373306e-01 4.02606148e-01 0.00000000e+00 1.41509927e+02] [-4.02606148e-01 9.15373306e-01 0.00000000e+00 -1.88332767e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19011623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.54, Y:-18.85, Z:-0.02 [[ 9.15068567e-01 4.03298299e-01 0.00000000e+00 1.41540155e+02] [-4.03298299e-01 9.15068567e-01 0.00000000e+00 -1.88476545e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.24077020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.57, Y:-18.86, Z:-0.02 [[ 9.14609948e-01 4.04337290e-01 0.00000000e+00 1.41569375e+02] [-4.04337290e-01 9.14609948e-01 0.00000000e+00 -1.88615869e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.33510005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.60, Y:-18.87, Z:-0.02 [[ 9.13997058e-01 4.05720812e-01 0.00000000e+00 1.41598678e+02] [-4.05720812e-01 9.13997058e-01 0.00000000e+00 -1.88738605e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38578361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.63, Y:-18.88, Z:-0.02 [[ 9.12363516e-01 4.09381013e-01 0.00000000e+00 1.41629981e+02] [-4.09381013e-01 9.12363516e-01 0.00000000e+00 -1.88834526e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09742572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.66, Y:-18.89, Z:-0.02 [[ 9.11337211e-01 4.11660647e-01 0.00000000e+00 1.41660148e+02] [-4.11660647e-01 9.11337211e-01 0.00000000e+00 -1.88934303e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97317878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.69, Y:-18.90, Z:-0.02 [[ 9.10161927e-01 4.14252660e-01 0.00000000e+00 1.41690656e+02] [-4.14252660e-01 9.10161927e-01 0.00000000e+00 -1.89042519e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91813280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.72, Y:-18.92, Z:-0.02 [[ 9.09051743e-01 4.16683246e-01 0.00000000e+00 1.41721818e+02] [-4.16683246e-01 9.09051743e-01 0.00000000e+00 -1.89150024e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97360492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.75, Y:-18.92, Z:-0.02 [[ 9.08280665e-01 4.18361368e-01 0.00000000e+00 1.41751850e+02] [-4.18361368e-01 9.08280665e-01 0.00000000e+00 -1.89247443e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.15748295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.78, Y:-18.93, Z:-0.02 [[ 9.08067245e-01 4.18824401e-01 0.00000000e+00 1.41783099e+02] [-4.18824401e-01 9.08067245e-01 0.00000000e+00 -1.89343184e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30239758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.81, Y:-18.94, Z:-0.02 [[ 9.09360598e-01 4.16008777e-01 0.00000000e+00 1.41814709e+02] [-4.16008777e-01 9.09360598e-01 0.00000000e+00 -1.89439509e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.24136880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.84, Y:-18.96, Z:-0.02 [[ 9.10330789e-01 4.13881449e-01 0.00000000e+00 1.41844786e+02] [-4.13881449e-01 9.10330789e-01 0.00000000e+00 -1.89556429e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03366415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.88, Y:-18.97, Z:-0.02 [[ 9.11010230e-01 4.12383754e-01 0.00000000e+00 1.41875941e+02] [-4.12383754e-01 9.11010230e-01 0.00000000e+00 -1.89673365e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84960094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.91, Y:-18.98, Z:-0.02 [[ 9.11367361e-01 4.11593894e-01 0.00000000e+00 1.41907021e+02] [-4.11593894e-01 9.11367361e-01 0.00000000e+00 -1.89773424e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84224096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.94, Y:-18.99, Z:-0.02 [[ 9.11294448e-01 4.11755302e-01 0.00000000e+00 1.41938455e+02] [-4.11755302e-01 9.11294448e-01 0.00000000e+00 -1.89861008e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00999451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.97, Y:-18.99, Z:-0.02 [[ 9.10563244e-01 4.13369784e-01 0.00000000e+00 1.41970784e+02] [-4.13369784e-01 9.10563244e-01 0.00000000e+00 -1.89915699e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29416077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.00, Y:-19.00, Z:-0.02 [[ 9.10114475e-01 4.14356902e-01 0.00000000e+00 1.42002289e+02] [-4.14356902e-01 9.10114475e-01 0.00000000e+00 -1.90012769e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28138359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.03, Y:-19.01, Z:-0.02 [[ 9.09705140e-01 4.15254812e-01 0.00000000e+00 1.42033337e+02] [-4.15254812e-01 9.09705140e-01 0.00000000e+00 -1.90118933e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28938438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.06, Y:-19.02, Z:-0.02 [[ 9.10063714e-01 4.14468377e-01 0.00000000e+00 1.42063880e+02] [-4.14468377e-01 9.10063714e-01 0.00000000e+00 -1.90233534e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.39993950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.09, Y:-19.04, Z:-0.02 [[ 9.10661999e-01 4.13152179e-01 0.00000000e+00 1.42094394e+02] [-4.13152179e-01 9.10661999e-01 0.00000000e+00 -1.90356709e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35113966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.12, Y:-19.05, Z:-0.02 [[ 9.11235096e-01 4.11886635e-01 0.00000000e+00 1.42123932e+02] [-4.11886635e-01 9.11235096e-01 0.00000000e+00 -1.90474039e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.20962516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.15, Y:-19.06, Z:-0.02 [[ 9.11522179e-01 4.11250917e-01 0.00000000e+00 1.42154093e+02] [-4.11250917e-01 9.11522179e-01 0.00000000e+00 -1.90581659e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03960007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.18, Y:-19.07, Z:-0.02 [[ 9.11352479e-01 4.11626844e-01 0.00000000e+00 1.42184830e+02] [-4.11626844e-01 9.11352479e-01 0.00000000e+00 -1.90691701e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01831122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.22, Y:-19.08, Z:-0.02 [[ 9.10859262e-01 4.12717101e-01 0.00000000e+00 1.42216144e+02] [-4.12717101e-01 9.10859262e-01 0.00000000e+00 -1.90804519e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16113199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.25, Y:-19.09, Z:-0.02 [[ 9.10188899e-01 4.14193395e-01 0.00000000e+00 1.42247448e+02] [-4.14193395e-01 9.10188899e-01 0.00000000e+00 -1.90922420e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.31081376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.28, Y:-19.10, Z:-0.02 [[ 9.08904056e-01 4.17005297e-01 0.00000000e+00 1.42277737e+02] [-4.17005297e-01 9.08904056e-01 0.00000000e+00 -1.91048605e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11649621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.31, Y:-19.12, Z:-0.02 [[ 9.08188004e-01 4.18562481e-01 0.00000000e+00 1.42307553e+02] [-4.18562481e-01 9.08188004e-01 0.00000000e+00 -1.91170968e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.94446715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.34, Y:-19.13, Z:-0.02 [[ 9.07292086e-01 4.20500977e-01 0.00000000e+00 1.42337674e+02] [-4.20500977e-01 9.07292086e-01 0.00000000e+00 -1.91302502e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92582321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.37, Y:-19.14, Z:-0.02 [[ 9.06149828e-01 4.22956842e-01 0.00000000e+00 1.42368159e+02] [-4.22956842e-01 9.06149828e-01 0.00000000e+00 -1.91434740e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04146523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.40, Y:-19.16, Z:-0.02 [[ 9.04871514e-01 4.25684794e-01 0.00000000e+00 1.42397887e+02] [-4.25684794e-01 9.04871514e-01 0.00000000e+00 -1.91554815e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.18591634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.43, Y:-19.16, Z:-0.02 [[ 9.02794626e-01 4.30071929e-01 0.00000000e+00 1.42428418e+02] [-4.30071929e-01 9.02794626e-01 0.00000000e+00 -1.91640076e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22231056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.46, Y:-19.17, Z:-0.02 [[ 9.01802976e-01 4.32147419e-01 0.00000000e+00 1.42459187e+02] [-4.32147419e-01 9.01802976e-01 0.00000000e+00 -1.91741840e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16364458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.49, Y:-19.19, Z:-0.02 [[ 9.01031956e-01 4.33752712e-01 0.00000000e+00 1.42490306e+02] [-4.33752712e-01 9.01031956e-01 0.00000000e+00 -1.91855148e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09391869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.52, Y:-19.20, Z:-0.02 [[ 9.00501029e-01 4.34853880e-01 0.00000000e+00 1.42520652e+02] [-4.34853880e-01 9.00501029e-01 0.00000000e+00 -1.91977746e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19595742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:-19.21, Z:-0.02 [[ 9.00225550e-01 4.35423885e-01 0.00000000e+00 1.42549967e+02] [-4.35423885e-01 9.00225550e-01 0.00000000e+00 -1.92099073e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43015105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:-19.22, Z:-0.03 [[ 9.00746115e-01 4.34345987e-01 0.00000000e+00 1.42578482e+02] [-4.34345987e-01 9.00746115e-01 0.00000000e+00 -1.92215539e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.68206950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:-19.23, Z:-0.03 [[ 9.01541265e-01 4.32693134e-01 0.00000000e+00 1.42609155e+02] [-4.32693134e-01 9.01541265e-01 0.00000000e+00 -1.92329189e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.73132530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.64, Y:-19.24, Z:-0.03 [[ 9.02517234e-01 4.30653739e-01 0.00000000e+00 1.42640310e+02] [-4.30653739e-01 9.02517234e-01 0.00000000e+00 -1.92445026e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.85568798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.67, Y:-19.26, Z:-0.03 [[ 9.03504149e-01 4.28579343e-01 0.00000000e+00 1.42671319e+02] [-4.28579343e-01 9.03504149e-01 0.00000000e+00 -1.92563576e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.83850052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.70, Y:-19.27, Z:-0.03 [[ 9.04366504e-01 4.26756636e-01 0.00000000e+00 1.42702443e+02] [-4.26756636e-01 9.04366504e-01 0.00000000e+00 -1.92685989e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.63001729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.73, Y:-19.28, Z:-0.02 [[ 9.05581526e-01 4.24172252e-01 0.00000000e+00 1.42732743e+02] [-4.24172252e-01 9.05581526e-01 0.00000000e+00 -1.92805025e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30722336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.76, Y:-19.29, Z:-0.02 [[ 9.05973832e-01 4.23333694e-01 0.00000000e+00 1.42762123e+02] [-4.23333694e-01 9.05973832e-01 0.00000000e+00 -1.92920670e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30413825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.79, Y:-19.30, Z:-0.02 [[ 9.06221372e-01 4.22803530e-01 0.00000000e+00 1.42792560e+02] [-4.22803530e-01 9.06221372e-01 0.00000000e+00 -1.93042408e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.33858852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.82, Y:-19.32, Z:-0.02 [[ 9.06543703e-01 4.22111970e-01 0.00000000e+00 1.42822147e+02] [-4.22111970e-01 9.06543703e-01 0.00000000e+00 -1.93172554e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.34159456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.85, Y:-19.33, Z:-0.02 [[ 9.06659233e-01 4.21863764e-01 0.00000000e+00 1.42853291e+02] [-4.21863764e-01 9.06659233e-01 0.00000000e+00 -1.93287191e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.36873843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.88, Y:-19.34, Z:-0.02 [[ 9.06584220e-01 4.22024943e-01 0.00000000e+00 1.42884486e+02] [-4.22024943e-01 9.06584220e-01 0.00000000e+00 -1.93408174e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.36873843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.92, Y:-19.35, Z:-0.03 [[ 9.06798766e-01 4.21563752e-01 0.00000000e+00 1.42915187e+02] [-4.21563752e-01 9.06798766e-01 0.00000000e+00 -1.93511349e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.55195844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.95, Y:-19.36, Z:-0.03 [[ 9.07048537e-01 4.21026070e-01 0.00000000e+00 1.42946436e+02] [-4.21026070e-01 9.07048537e-01 0.00000000e+00 -1.93623632e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.65250306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.98, Y:-19.37, Z:-0.03 [[ 9.07230847e-01 4.20633082e-01 0.00000000e+00 1.42977341e+02] [-4.20633082e-01 9.07230847e-01 0.00000000e+00 -1.93741509e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.72462073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.01, Y:-19.39, Z:-0.03 [[ 9.07307008e-01 4.20468778e-01 0.00000000e+00 1.43008267e+02] [-4.20468778e-01 9.07307008e-01 0.00000000e+00 -1.93862776e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.67450002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.04, Y:-19.40, Z:-0.03 [[ 9.07556971e-01 4.19928976e-01 0.00000000e+00 1.43038223e+02] [-4.19928976e-01 9.07556971e-01 0.00000000e+00 -1.93972476e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59826858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.07, Y:-19.41, Z:-0.03 [[ 9.07658081e-01 4.19710386e-01 0.00000000e+00 1.43068440e+02] [-4.19710386e-01 9.07658081e-01 0.00000000e+00 -1.94091225e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61439873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.10, Y:-19.42, Z:-0.03 [[ 9.07552651e-01 4.19938312e-01 0.00000000e+00 1.43098640e+02] [-4.19938312e-01 9.07552651e-01 0.00000000e+00 -1.94211703e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.68029915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.221400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:143.13, Y:-19.43, Z:-0.03 [[ 9.07025553e-01 4.21075582e-01 0.00000000e+00 1.43129029e+02] [-4.21075582e-01 9.07025553e-01 0.00000000e+00 -1.94333513e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74535231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.16, Y:-19.44, Z:-0.03 [[ 9.06399598e-01 4.22421316e-01 0.00000000e+00 1.43157973e+02] [-4.22421316e-01 9.06399598e-01 0.00000000e+00 -1.94443933e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.94409917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.19, Y:-19.46, Z:-0.03 [[ 9.05703508e-01 4.23911731e-01 0.00000000e+00 1.43188790e+02] [-4.23911731e-01 9.05703508e-01 0.00000000e+00 -1.94561287e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.99820398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.22, Y:-19.47, Z:-0.03 [[ 9.05007500e-01 4.25395609e-01 0.00000000e+00 1.43219888e+02] [-4.25395609e-01 9.05007500e-01 0.00000000e+00 -1.94676134e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.90381444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.25, Y:-19.48, Z:-0.03 [[ 9.03323547e-01 4.28959870e-01 0.00000000e+00 1.43250568e+02] [-4.28959870e-01 9.03323547e-01 0.00000000e+00 -1.94773468e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.80052650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.28, Y:-19.49, Z:-0.03 [[ 9.02414428e-01 4.30869122e-01 0.00000000e+00 1.43280664e+02] [-4.30869122e-01 9.02414428e-01 0.00000000e+00 -1.94880001e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.81264572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.31, Y:-19.50, Z:-0.03 [[ 9.01185051e-01 4.33434544e-01 0.00000000e+00 1.43310834e+02] [-4.33434544e-01 9.01185051e-01 0.00000000e+00 -1.94975101e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.92446102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.431400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:143.34, Y:-19.51, Z:-0.03 [[ 9.01347606e-01 4.33096402e-01 0.00000000e+00 1.43341937e+02] [-4.33096402e-01 9.01347606e-01 0.00000000e+00 -1.95080435e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.89715028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.37, Y:-19.52, Z:-0.03 [[ 9.02120510e-01 4.31484167e-01 0.00000000e+00 1.43372692e+02] [-4.31484167e-01 9.02120510e-01 0.00000000e+00 -1.95190757e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.75399558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.40, Y:-19.53, Z:-0.03 [[ 9.03184997e-01 4.29251512e-01 0.00000000e+00 1.43402710e+02] [-4.29251512e-01 9.03184997e-01 0.00000000e+00 -1.95314924e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.64960284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.43, Y:-19.54, Z:-0.03 [[ 9.04463697e-01 4.26550608e-01 0.00000000e+00 1.43433278e+02] [-4.26550608e-01 9.04463697e-01 0.00000000e+00 -1.95449926e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.64754497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.46, Y:-19.56, Z:-0.03 [[ 9.05775255e-01 4.23758408e-01 0.00000000e+00 1.43462706e+02] [-4.23758408e-01 9.05775255e-01 0.00000000e+00 -1.95581505e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.72704994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.49, Y:-19.57, Z:-0.03 [[ 9.08290030e-01 4.18341035e-01 0.00000000e+00 1.43492022e+02] [-4.18341035e-01 9.08290030e-01 0.00000000e+00 -1.95713122e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.77593132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.52, Y:-19.58, Z:-0.03 [[ 9.09489977e-01 4.15725849e-01 0.00000000e+00 1.43521782e+02] [-4.15725849e-01 9.09489977e-01 0.00000000e+00 -1.95844083e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.76032930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.55, Y:-19.60, Z:-0.03 [[ 9.10597957e-01 4.13293310e-01 0.00000000e+00 1.43551813e+02] [-4.13293310e-01 9.10597957e-01 0.00000000e+00 -1.95985715e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.63953174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.58, Y:-19.61, Z:-0.03 [[ 9.11398692e-01 4.11524513e-01 0.00000000e+00 1.43581874e+02] [-4.11524513e-01 9.11398692e-01 0.00000000e+00 -1.96128459e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.51529372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.61, Y:-19.63, Z:-0.02 [[ 9.11867350e-01 4.10485001e-01 0.00000000e+00 1.43610974e+02] [-4.10485001e-01 9.11867350e-01 0.00000000e+00 -1.96257404e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47191365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.64, Y:-19.64, Z:-0.02 [[ 9.12012355e-01 4.10162729e-01 0.00000000e+00 1.43640433e+02] [-4.10162729e-01 9.12012355e-01 0.00000000e+00 -1.96374758e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.40937976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.67, Y:-19.65, Z:-0.02 [[ 9.11250687e-01 4.11852140e-01 0.00000000e+00 1.43671550e+02] [-4.11852140e-01 9.11250687e-01 0.00000000e+00 -1.96492822e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06723364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.70, Y:-19.66, Z:-0.02 [[ 9.10643057e-01 4.13193930e-01 0.00000000e+00 1.43702147e+02] [-4.13193930e-01 9.10643057e-01 0.00000000e+00 -1.96611344e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04786595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.73, Y:-19.67, Z:-0.02 [[ 9.10084185e-01 4.14423426e-01 0.00000000e+00 1.43732990e+02] [-4.14423426e-01 9.10084185e-01 0.00000000e+00 -1.96727375e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11600794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.76, Y:-19.68, Z:-0.02 [[ 9.09828555e-01 4.14984339e-01 0.00000000e+00 1.43763763e+02] [-4.14984339e-01 9.09828555e-01 0.00000000e+00 -1.96837470e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19506381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.79, Y:-19.69, Z:-0.02 [[ 9.10933146e-01 4.12554001e-01 0.00000000e+00 1.43793760e+02] [-4.12554001e-01 9.10933146e-01 0.00000000e+00 -1.96948799e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.24110223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.82, Y:-19.71, Z:-0.02 [[ 9.12155568e-01 4.09844142e-01 0.00000000e+00 1.43824174e+02] [-4.09844142e-01 9.12155568e-01 0.00000000e+00 -1.97081937e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17424114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.85, Y:-19.72, Z:-0.02 [[ 9.13717856e-01 4.06349208e-01 0.00000000e+00 1.43854263e+02] [-4.06349208e-01 9.13717856e-01 0.00000000e+00 -1.97222056e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06176599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.88, Y:-19.74, Z:-0.02 [[ 9.15403671e-01 4.02537102e-01 0.00000000e+00 1.43883510e+02] [-4.02537102e-01 9.15403671e-01 0.00000000e+00 -1.97350771e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.94932565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.91, Y:-19.75, Z:-0.02 [[ 9.16799396e-01 3.99348052e-01 0.00000000e+00 1.43913446e+02] [-3.99348052e-01 9.16799396e-01 0.00000000e+00 -1.97468323e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79862973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.94, Y:-19.76, Z:-0.02 [[ 9.17629267e-01 3.97437452e-01 0.00000000e+00 1.43943952e+02] [-3.97437452e-01 9.17629267e-01 0.00000000e+00 -1.97582207e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63938220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.97, Y:-19.77, Z:-0.01 [[ 9.17856121e-01 3.96913267e-01 0.00000000e+00 1.43972872e+02] [-3.96913267e-01 9.17856121e-01 0.00000000e+00 -1.97713520e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38772649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.00, Y:-19.79, Z:-0.01 [[ 9.17681404e-01 3.97317053e-01 0.00000000e+00 1.44003028e+02] [-3.97317053e-01 9.17681404e-01 0.00000000e+00 -1.97853556e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38847959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.03, Y:-19.80, Z:-0.01 [[ 9.17570513e-01 3.97573080e-01 0.00000000e+00 1.44032359e+02] [-3.97573080e-01 9.17570513e-01 0.00000000e+00 -1.97984305e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34104629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.06, Y:-19.81, Z:-0.01 [[ 9.17758987e-01 3.97137812e-01 0.00000000e+00 1.44063224e+02] [-3.97137812e-01 9.17758987e-01 0.00000000e+00 -1.98105835e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39540121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.09, Y:-19.82, Z:-0.01 [[ 9.18273725e-01 3.95946166e-01 0.00000000e+00 1.44094325e+02] [-3.95946166e-01 9.18273725e-01 0.00000000e+00 -1.98220565e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48953665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.12, Y:-19.83, Z:-0.02 [[ 9.19439937e-01 3.93230470e-01 0.00000000e+00 1.44123836e+02] [-3.93230470e-01 9.19439937e-01 0.00000000e+00 -1.98333316e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56758181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.15, Y:-19.85, Z:-0.02 [[ 9.20067033e-01 3.91760967e-01 0.00000000e+00 1.44154699e+02] [-3.91760967e-01 9.20067033e-01 0.00000000e+00 -1.98456877e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69582290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.19, Y:-19.86, Z:-0.02 [[ 9.20723444e-01 3.90215761e-01 0.00000000e+00 1.44185181e+02] [-3.90215761e-01 9.20723444e-01 0.00000000e+00 -1.98575599e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83882182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.22, Y:-19.87, Z:-0.02 [[ 9.21434290e-01 3.88534231e-01 0.00000000e+00 1.44215971e+02] [-3.88534231e-01 9.21434290e-01 0.00000000e+00 -1.98683825e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.98015818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.25, Y:-19.88, Z:-0.02 [[ 9.22085485e-01 3.86986251e-01 0.00000000e+00 1.44245960e+02] [-3.86986251e-01 9.22085485e-01 0.00000000e+00 -1.98781727e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06584499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.28, Y:-19.89, Z:-0.02 [[ 9.22441472e-01 3.86136934e-01 0.00000000e+00 1.44276972e+02] [-3.86136934e-01 9.22441472e-01 0.00000000e+00 -1.98885084e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08535446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.31, Y:-19.90, Z:-0.02 [[ 9.23405589e-01 3.83825635e-01 0.00000000e+00 1.44309090e+02] [-3.83825635e-01 9.23405589e-01 0.00000000e+00 -1.98960635e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10779131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.34, Y:-19.91, Z:-0.02 [[ 9.24120250e-01 3.82101772e-01 0.00000000e+00 1.44339422e+02] [-3.82101772e-01 9.24120250e-01 0.00000000e+00 -1.99053167e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.26614207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.37, Y:-19.92, Z:-0.02 [[ 9.25140884e-01 3.79623951e-01 0.00000000e+00 1.44370682e+02] [-3.79623951e-01 9.25140884e-01 0.00000000e+00 -1.99152797e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29306832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.40, Y:-19.93, Z:-0.02 [[ 9.27762096e-01 3.73172204e-01 0.00000000e+00 1.44400460e+02] [-3.73172204e-01 9.27762096e-01 0.00000000e+00 -1.99261503e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22809887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.43, Y:-19.94, Z:-0.02 [[ 9.29021559e-01 3.70025598e-01 0.00000000e+00 1.44431295e+02] [-3.70025598e-01 9.29021559e-01 0.00000000e+00 -1.99382753e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99428605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.46, Y:-19.95, Z:-0.02 [[ 9.30061632e-01 3.67403539e-01 0.00000000e+00 1.44462669e+02] [-3.67403539e-01 9.30061632e-01 0.00000000e+00 -1.99497096e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79510958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.49, Y:-19.96, Z:-0.02 [[ 9.30715246e-01 3.65744626e-01 0.00000000e+00 1.44493152e+02] [-3.65744626e-01 9.30715246e-01 0.00000000e+00 -1.99601604e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72083239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.52, Y:-19.97, Z:-0.02 [[ 9.31044192e-01 3.64906445e-01 0.00000000e+00 1.44523951e+02] [-3.64906445e-01 9.31044192e-01 0.00000000e+00 -1.99710547e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69835259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.55, Y:-19.98, Z:-0.02 [[ 9.31081413e-01 3.64811461e-01 0.00000000e+00 1.44554891e+02] [-3.64811461e-01 9.31081413e-01 0.00000000e+00 -1.99830263e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71173453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.58, Y:-20.00, Z:-0.02 [[ 9.30794005e-01 3.65544144e-01 0.00000000e+00 1.44584618e+02] [-3.65544144e-01 9.30794005e-01 0.00000000e+00 -1.99953964e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85309252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.62, Y:-20.01, Z:-0.02 [[ 9.29575965e-01 3.68630608e-01 0.00000000e+00 1.44615656e+02] [-3.68630608e-01 9.29575965e-01 0.00000000e+00 -2.00065918e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90046012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.65, Y:-20.02, Z:-0.02 [[ 9.28593398e-01 3.71098774e-01 0.00000000e+00 1.44646344e+02] [-3.71098774e-01 9.28593398e-01 0.00000000e+00 -2.00166057e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81010028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.68, Y:-20.03, Z:-0.02 [[ 9.27542296e-01 3.73718194e-01 0.00000000e+00 1.44677416e+02] [-3.73718194e-01 9.27542296e-01 0.00000000e+00 -2.00269224e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53248476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.71, Y:-20.04, Z:-0.01 [[ 9.26663790e-01 3.75891234e-01 0.00000000e+00 1.44708734e+02] [-3.75891234e-01 9.26663790e-01 0.00000000e+00 -2.00383516e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25842177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.74, Y:-20.05, Z:-0.01 [[ 9.26111606e-01 3.77249644e-01 0.00000000e+00 1.44739786e+02] [-3.77249644e-01 9.26111606e-01 0.00000000e+00 -2.00508712e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09155390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.77, Y:-20.06, Z:-0.01 [[ 9.25831474e-01 3.77936611e-01 0.00000000e+00 1.44769292e+02] [-3.77936611e-01 9.25831474e-01 0.00000000e+00 -2.00627953e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13391482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.80, Y:-20.07, Z:-0.02 [[ 9.26035263e-01 3.77437005e-01 0.00000000e+00 1.44800232e+02] [-3.77437005e-01 9.26035263e-01 0.00000000e+00 -2.00738611e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67930161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.83, Y:-20.09, Z:-0.02 [[ 9.25965436e-01 3.77608279e-01 0.00000000e+00 1.44831289e+02] [-3.77608279e-01 9.25965436e-01 0.00000000e+00 -2.00863148e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67930161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.86, Y:-20.10, Z:-0.02 [[ 9.26004462e-01 3.77512564e-01 0.00000000e+00 1.44861531e+02] [-3.77512564e-01 9.26004462e-01 0.00000000e+00 -2.00974542e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90753582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.89, Y:-20.11, Z:-0.02 [[ 9.25941578e-01 3.77666775e-01 0.00000000e+00 1.44892548e+02] [-3.77666775e-01 9.25941578e-01 0.00000000e+00 -2.01079615e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93232390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.92, Y:-20.12, Z:-0.02 [[ 9.25422432e-01 3.78937096e-01 0.00000000e+00 1.44924004e+02] [-3.78937096e-01 9.25422432e-01 0.00000000e+00 -2.01157360e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76849658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.96, Y:-20.13, Z:-0.02 [[ 9.24832532e-01 3.80374535e-01 0.00000000e+00 1.44955077e+02] [-3.80374535e-01 9.24832532e-01 0.00000000e+00 -2.01264196e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92661933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.99, Y:-20.14, Z:-0.02 [[ 9.24125114e-01 3.82090007e-01 0.00000000e+00 1.44985222e+02] [-3.82090007e-01 9.24125114e-01 0.00000000e+00 -2.01375509e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.20635088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.01, Y:-20.15, Z:-0.02 [[ 9.23322669e-01 3.84025063e-01 0.00000000e+00 1.45014776e+02] [-3.84025063e-01 9.23322669e-01 0.00000000e+00 -2.01489124e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43671183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.05, Y:-20.16, Z:-0.02 [[ 9.22551245e-01 3.85874592e-01 0.00000000e+00 1.45045600e+02] [-3.85874592e-01 9.22551245e-01 0.00000000e+00 -2.01599103e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.26824655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.08, Y:-20.17, Z:-0.02 [[ 9.21795846e-01 3.87675662e-01 0.00000000e+00 1.45076724e+02] [-3.87675662e-01 9.21795846e-01 0.00000000e+00 -2.01671302e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.94405295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.11, Y:-20.18, Z:-0.02 [[ 9.21671722e-01 3.87970666e-01 0.00000000e+00 1.45108485e+02] [-3.87970666e-01 9.21671722e-01 0.00000000e+00 -2.01763402e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85570077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.14, Y:-20.19, Z:-0.02 [[ 9.21333785e-01 3.88772499e-01 0.00000000e+00 1.45140499e+02] [-3.88772499e-01 9.21333785e-01 0.00000000e+00 -2.01858589e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84615776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.17, Y:-20.20, Z:-0.02 [[ 9.20658515e-01 3.90368926e-01 0.00000000e+00 1.45171181e+02] [-3.90368926e-01 9.20658515e-01 0.00000000e+00 -2.01953457e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96514441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.20, Y:-20.20, Z:-0.02 [[ 9.19708077e-01 3.92602921e-01 0.00000000e+00 1.45201830e+02] [-3.92602921e-01 9.19708077e-01 0.00000000e+00 -2.02044893e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02876867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.23, Y:-20.21, Z:-0.02 [[ 9.18728740e-01 3.94889228e-01 0.00000000e+00 1.45233250e+02] [-3.94889228e-01 9.18728740e-01 0.00000000e+00 -2.02133619e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03529664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.321400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:145.27, Y:-20.22, Z:-0.02 [[ 9.16859938e-01 3.99209035e-01 0.00000000e+00 1.45267140e+02] [-3.99209035e-01 9.16859938e-01 0.00000000e+00 -2.02183305e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01258023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.30, Y:-20.23, Z:-0.02 [[ 9.16112353e-01 4.00921634e-01 0.00000000e+00 1.45298675e+02] [-4.00921634e-01 9.16112353e-01 0.00000000e+00 -2.02284019e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99888876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.33, Y:-20.24, Z:-0.02 [[ 9.15624930e-01 4.02033566e-01 0.00000000e+00 1.45329102e+02] [-4.02033566e-01 9.15624930e-01 0.00000000e+00 -2.02393767e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08300170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.36, Y:-20.25, Z:-0.02 [[ 9.15374217e-01 4.02604077e-01 0.00000000e+00 1.45358709e+02] [-4.02604077e-01 9.15374217e-01 0.00000000e+00 -2.02504014e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08835950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.39, Y:-20.26, Z:-0.02 [[ 9.15128233e-01 4.03162892e-01 0.00000000e+00 1.45389751e+02] [-4.03162892e-01 9.15128233e-01 0.00000000e+00 -2.02609140e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97447722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.42, Y:-20.27, Z:-0.02 [[ 9.14735147e-01 4.04053971e-01 0.00000000e+00 1.45418909e+02] [-4.04053971e-01 9.14735147e-01 0.00000000e+00 -2.02691001e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91306830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.45, Y:-20.27, Z:-0.02 [[ 9.13613792e-01 4.06583127e-01 0.00000000e+00 1.45447387e+02] [-4.06583127e-01 9.13613792e-01 0.00000000e+00 -2.02725294e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02687144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.48, Y:-20.28, Z:-0.02 [[ 9.13187859e-01 4.07538873e-01 0.00000000e+00 1.45475573e+02] [-4.07538873e-01 9.13187859e-01 0.00000000e+00 -2.02809172e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09467405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.50, Y:-20.29, Z:-0.02 [[ 9.12825414e-01 4.08350051e-01 0.00000000e+00 1.45502981e+02] [-4.08350051e-01 9.12825414e-01 0.00000000e+00 -2.02898373e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16162519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.53, Y:-20.30, Z:-0.02 [[ 9.12374967e-01 4.09355492e-01 0.00000000e+00 1.45533793e+02] [-4.09355492e-01 9.12374967e-01 0.00000000e+00 -2.03005845e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08549939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.56, Y:-20.31, Z:-0.02 [[ 9.12059378e-01 4.10058155e-01 0.00000000e+00 1.45563795e+02] [-4.10058155e-01 9.12059378e-01 0.00000000e+00 -2.03084955e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05080396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.59, Y:-20.32, Z:-0.02 [[ 9.12456684e-01 4.09173313e-01 0.00000000e+00 1.45590681e+02] [-4.09173313e-01 9.12456684e-01 0.00000000e+00 -2.03173729e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04249795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.62, Y:-20.33, Z:-0.02 [[ 9.12985503e-01 4.07991998e-01 0.00000000e+00 1.45619174e+02] [-4.07991998e-01 9.12985503e-01 0.00000000e+00 -2.03272342e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13862498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.65, Y:-20.34, Z:-0.02 [[ 9.13562780e-01 4.06697735e-01 0.00000000e+00 1.45645447e+02] [-4.06697735e-01 9.13562780e-01 0.00000000e+00 -2.03367091e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28839946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.67, Y:-20.35, Z:-0.02 [[ 9.14146077e-01 4.05384940e-01 0.00000000e+00 1.45671754e+02] [-4.05384940e-01 9.14146077e-01 0.00000000e+00 -2.03460372e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.46939593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.70, Y:-20.36, Z:-0.02 [[ 9.14843737e-01 4.03808044e-01 0.00000000e+00 1.45700851e+02] [-4.03808044e-01 9.14843737e-01 0.00000000e+00 -2.03553162e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03673452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.73, Y:-20.37, Z:-0.02 [[ 9.14649917e-01 4.04246867e-01 0.00000000e+00 1.45727546e+02] [-4.04246867e-01 9.14649917e-01 0.00000000e+00 -2.03653380e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85025004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.75, Y:-20.38, Z:-0.02 [[ 9.14132028e-01 4.05416621e-01 0.00000000e+00 1.45754213e+02] [-4.05416621e-01 9.14132028e-01 0.00000000e+00 -2.03761161e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76880426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.78, Y:-20.39, Z:-0.02 [[ 9.13342551e-01 4.07192073e-01 0.00000000e+00 1.45780088e+02] [-4.07192073e-01 9.13342551e-01 0.00000000e+00 -2.03871864e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86629275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.81, Y:-20.40, Z:-0.02 [[ 9.12412129e-01 4.09272655e-01 0.00000000e+00 1.45807058e+02] [-4.09272655e-01 9.12412129e-01 0.00000000e+00 -2.03981170e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04756563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92140051299998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:145.83, Y:-20.41, Z:-0.02 [[ 9.11299572e-01 4.11743961e-01 0.00000000e+00 1.45834174e+02] [-4.11743961e-01 9.11299572e-01 0.00000000e+00 -2.04084655e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23437463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.86, Y:-20.42, Z:-0.02 [[ 9.09069247e-01 4.16645058e-01 0.00000000e+00 1.45860432e+02] [-4.16645058e-01 9.09069247e-01 0.00000000e+00 -2.04186793e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43798452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.89, Y:-20.43, Z:-0.02 [[ 9.08240575e-01 4.18448392e-01 0.00000000e+00 1.45886176e+02] [-4.18448392e-01 9.08240575e-01 0.00000000e+00 -2.04314816e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.46526462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.91, Y:-20.45, Z:-0.02 [[ 9.07667016e-01 4.19691064e-01 0.00000000e+00 1.45912182e+02] [-4.19691064e-01 9.07667016e-01 0.00000000e+00 -2.04451385e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47533353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.94, Y:-20.46, Z:-0.03 [[ 9.07407127e-01 4.20252669e-01 0.00000000e+00 1.45937820e+02] [-4.20252669e-01 9.07407127e-01 0.00000000e+00 -2.04569765e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.54669966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.96, Y:-20.47, Z:-0.03 [[ 9.07328271e-01 4.20422892e-01 0.00000000e+00 1.45962917e+02] [-4.20422892e-01 9.07328271e-01 0.00000000e+00 -2.04685960e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.51301967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.99, Y:-20.48, Z:-0.02 [[ 9.07273221e-01 4.20541678e-01 0.00000000e+00 1.45988686e+02] [-4.20541678e-01 9.07273221e-01 0.00000000e+00 -2.04818073e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35606342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.01, Y:-20.50, Z:-0.02 [[ 9.07130213e-01 4.20850065e-01 0.00000000e+00 1.46014761e+02] [-4.20850065e-01 9.07130213e-01 0.00000000e+00 -2.04971170e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09432656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.04, Y:-20.51, Z:-0.02 [[ 9.06896786e-01 4.21352845e-01 0.00000000e+00 1.46039884e+02] [-4.21352845e-01 9.06896786e-01 0.00000000e+00 -2.05119260e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90445533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.07, Y:-20.53, Z:-0.02 [[ 9.06654130e-01 4.21874730e-01 0.00000000e+00 1.46065894e+02] [-4.21874730e-01 9.06654130e-01 0.00000000e+00 -2.05259253e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72060078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.10, Y:-20.54, Z:-0.02 [[ 9.06138615e-01 4.22980863e-01 0.00000000e+00 1.46095183e+02] [-4.22980863e-01 9.06138615e-01 0.00000000e+00 -2.05403619e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69327567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.12, Y:-20.56, Z:-0.02 [[ 9.04711320e-01 4.26025148e-01 0.00000000e+00 1.46123052e+02] [-4.26025148e-01 9.04711320e-01 0.00000000e+00 -2.05570057e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79632713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.15, Y:-20.57, Z:-0.02 [[ 9.03836777e-01 4.27877414e-01 0.00000000e+00 1.46151094e+02] [-4.27877414e-01 9.03836777e-01 0.00000000e+00 -2.05707583e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80557041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.18, Y:-20.58, Z:-0.02 [[ 9.02800243e-01 4.30060138e-01 0.00000000e+00 1.46178710e+02] [-4.30060138e-01 9.02800243e-01 0.00000000e+00 -2.05824719e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78235141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.21, Y:-20.60, Z:-0.02 [[ 9.01310047e-01 4.33174559e-01 0.00000000e+00 1.46209141e+02] [-4.33174559e-01 9.01310047e-01 0.00000000e+00 -2.05950932e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70001631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.24, Y:-20.61, Z:-0.02 [[ 8.98289680e-01 4.39403744e-01 0.00000000e+00 1.46238119e+02] [-4.39403744e-01 8.98289680e-01 0.00000000e+00 -2.06093461e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62570430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.27, Y:-20.62, Z:-0.02 [[ 8.97403103e-01 4.41211594e-01 0.00000000e+00 1.46265559e+02] [-4.41211594e-01 8.97403103e-01 0.00000000e+00 -2.06229766e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60463709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.29, Y:-20.64, Z:-0.02 [[ 8.97152564e-01 4.41720814e-01 0.00000000e+00 1.46294647e+02] [-4.41720814e-01 8.97152564e-01 0.00000000e+00 -2.06361101e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57897247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.32, Y:-20.65, Z:-0.02 [[ 8.97430918e-01 4.41155014e-01 0.00000000e+00 1.46323505e+02] [-4.41155014e-01 8.97430918e-01 0.00000000e+00 -2.06476923e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66729278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.35, Y:-20.66, Z:-0.02 [[ 8.97926752e-01 4.40144916e-01 0.00000000e+00 1.46354009e+02] [-4.40144916e-01 8.97926752e-01 0.00000000e+00 -2.06597111e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85563454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.38, Y:-20.68, Z:-0.02 [[ 8.98596493e-01 4.38775960e-01 0.00000000e+00 1.46381796e+02] [-4.38775960e-01 8.98596493e-01 0.00000000e+00 -2.06753180e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14568600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.41, Y:-20.69, Z:-0.02 [[ 8.98517625e-01 4.38937442e-01 0.00000000e+00 1.46409671e+02] [-4.38937442e-01 8.98517625e-01 0.00000000e+00 -2.06889226e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10130021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.44, Y:-20.70, Z:-0.02 [[ 8.98101980e-01 4.39787260e-01 0.00000000e+00 1.46438575e+02] [-4.39787260e-01 8.98101980e-01 0.00000000e+00 -2.06999183e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09841531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.47, Y:-20.71, Z:-0.02 [[ 8.97258650e-01 4.41505283e-01 0.00000000e+00 1.46469890e+02] [-4.41505283e-01 8.97258650e-01 0.00000000e+00 -2.07101229e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13506733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.50, Y:-20.72, Z:-0.02 [[ 8.96240582e-01 4.43568281e-01 0.00000000e+00 1.46501512e+02] [-4.43568281e-01 8.96240582e-01 0.00000000e+00 -2.07207788e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22372597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.53, Y:-20.73, Z:-0.02 [[ 8.95256625e-01 4.45550867e-01 0.00000000e+00 1.46531667e+02] [-4.45550867e-01 8.95256625e-01 0.00000000e+00 -2.07325391e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42666930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.56, Y:-20.75, Z:-0.03 [[ 8.94380443e-01 4.47307080e-01 0.00000000e+00 1.46558075e+02] [-4.47307080e-01 8.94380443e-01 0.00000000e+00 -2.07461134e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.52619468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.59, Y:-20.76, Z:-0.02 [[ 8.94529953e-01 4.47008012e-01 0.00000000e+00 1.46586535e+02] [-4.47008012e-01 8.94529953e-01 0.00000000e+00 -2.07575982e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47952073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.62, Y:-20.77, Z:-0.02 [[ 8.94891776e-01 4.46283217e-01 0.00000000e+00 1.46617672e+02] [-4.46283217e-01 8.94891776e-01 0.00000000e+00 -2.07685649e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.39250454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.65, Y:-20.78, Z:-0.02 [[ 8.94813041e-01 4.46441062e-01 0.00000000e+00 1.46648685e+02] [-4.46441062e-01 8.94813041e-01 0.00000000e+00 -2.07811453e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.39250454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.68, Y:-20.79, Z:-0.02 [[ 8.95345011e-01 4.45373226e-01 0.00000000e+00 1.46679037e+02] [-4.45373226e-01 8.95345011e-01 0.00000000e+00 -2.07916280e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.37967253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.71, Y:-20.80, Z:-0.02 [[ 8.95993341e-01 4.44067486e-01 0.00000000e+00 1.46707164e+02] [-4.44067486e-01 8.95993341e-01 0.00000000e+00 -2.08023286e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38789452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.74, Y:-20.81, Z:-0.02 [[ 8.96662974e-01 4.42713802e-01 0.00000000e+00 1.46736630e+02] [-4.42713802e-01 8.96662974e-01 0.00000000e+00 -2.08148021e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14950070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.77, Y:-20.83, Z:-0.02 [[ 8.98104324e-01 4.39782474e-01 0.00000000e+00 1.46765536e+02] [-4.39782474e-01 8.98104324e-01 0.00000000e+00 -2.08255006e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87203455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.79, Y:-20.83, Z:-0.02 [[ 8.98773352e-01 4.38413574e-01 0.00000000e+00 1.46793708e+02] [-4.38413574e-01 8.98773352e-01 0.00000000e+00 -2.08345595e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83903693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.82, Y:-20.84, Z:-0.02 [[ 8.99357438e-01 4.37214133e-01 0.00000000e+00 1.46820296e+02] [-4.37214133e-01 8.99357438e-01 0.00000000e+00 -2.08432348e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83248592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.85, Y:-20.86, Z:-0.02 [[ 9.00880378e-01 4.34067442e-01 0.00000000e+00 1.46850539e+02] [-4.34067442e-01 9.00880378e-01 0.00000000e+00 -2.08564613e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51616002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.88, Y:-20.87, Z:-0.01 [[ 9.01654771e-01 4.32456558e-01 0.00000000e+00 1.46881159e+02] [-4.32456558e-01 9.01654771e-01 0.00000000e+00 -2.08699373e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27123714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.91, Y:-20.88, Z:-0.01 [[ 9.02331703e-01 4.31042339e-01 0.00000000e+00 1.46911785e+02] [-4.31042339e-01 9.02331703e-01 0.00000000e+00 -2.08828220e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11895640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.94, Y:-20.89, Z:-0.01 [[ 9.02681579e-01 4.30309153e-01 0.00000000e+00 1.46942902e+02] [-4.30309153e-01 9.02681579e-01 0.00000000e+00 -2.08948213e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07501192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.97, Y:-20.91, Z:-0.01 [[ 9.02604510e-01 4.30470786e-01 0.00000000e+00 1.46972980e+02] [-4.30470786e-01 9.02604510e-01 0.00000000e+00 -2.09057446e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17659359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.00, Y:-20.92, Z:-0.01 [[ 9.02073411e-01 4.31582625e-01 0.00000000e+00 1.47001860e+02] [-4.31582625e-01 9.02073411e-01 0.00000000e+00 -2.09162200e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31506358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.03, Y:-20.93, Z:-0.02 [[ 9.00237389e-01 4.35399407e-01 0.00000000e+00 1.47030093e+02] [-4.35399407e-01 9.00237389e-01 0.00000000e+00 -2.09254150e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59149548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.06, Y:-20.93, Z:-0.02 [[ 8.99147705e-01 4.37645295e-01 0.00000000e+00 1.47058669e+02] [-4.37645295e-01 8.99147705e-01 0.00000000e+00 -2.09349950e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66125269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.09, Y:-20.94, Z:-0.02 [[ 8.98071615e-01 4.39849264e-01 0.00000000e+00 1.47085679e+02] [-4.39849264e-01 8.98071615e-01 0.00000000e+00 -2.09435114e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70081514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.11, Y:-20.95, Z:-0.02 [[ 8.97054083e-01 4.41920776e-01 0.00000000e+00 1.47112385e+02] [-4.41920776e-01 8.97054083e-01 0.00000000e+00 -2.09519137e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73209660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.14, Y:-20.96, Z:-0.02 [[ 8.95965574e-01 4.44123507e-01 0.00000000e+00 1.47143149e+02] [-4.44123507e-01 8.95965574e-01 0.00000000e+00 -2.09628434e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74497822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.17, Y:-20.97, Z:-0.02 [[ 8.95331758e-01 4.45399869e-01 0.00000000e+00 1.47172845e+02] [-4.45399869e-01 8.95331758e-01 0.00000000e+00 -2.09737171e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85045579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.20, Y:-20.98, Z:-0.02 [[ 8.95860031e-01 4.44336365e-01 0.00000000e+00 1.47201476e+02] [-4.44336365e-01 8.95860031e-01 0.00000000e+00 -2.09817580e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99652824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.23, Y:-20.99, Z:-0.02 [[ 8.96329308e-01 4.43388962e-01 0.00000000e+00 1.47230236e+02] [-4.43388962e-01 8.96329308e-01 0.00000000e+00 -2.09915583e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93527072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.26, Y:-21.00, Z:-0.02 [[ 8.96656712e-01 4.42726485e-01 0.00000000e+00 1.47257515e+02] [-4.42726485e-01 8.96656712e-01 0.00000000e+00 -2.10004283e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79431447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.29, Y:-21.01, Z:-0.02 [[ 8.96859909e-01 4.42314710e-01 0.00000000e+00 1.47286373e+02] [-4.42314710e-01 8.96859909e-01 0.00000000e+00 -2.10093789e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59726859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.31, Y:-21.01, Z:-0.02 [[ 8.96907886e-01 4.42217418e-01 0.00000000e+00 1.47314835e+02] [-4.42217418e-01 8.96907886e-01 0.00000000e+00 -2.10139348e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51132272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.34, Y:-21.02, Z:-0.02 [[ 8.96736124e-01 4.42565616e-01 0.00000000e+00 1.47343798e+02] [-4.42565616e-01 8.96736124e-01 0.00000000e+00 -2.10219330e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61899197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.37, Y:-21.03, Z:-0.02 [[ 8.96565663e-01 4.42910839e-01 0.00000000e+00 1.47371177e+02] [-4.42910839e-01 8.96565663e-01 0.00000000e+00 -2.10298221e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84413354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.40, Y:-21.04, Z:-0.02 [[ 8.96404426e-01 4.43237075e-01 0.00000000e+00 1.47397888e+02] [-4.43237075e-01 8.96404426e-01 0.00000000e+00 -2.10377497e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13965299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.43, Y:-21.05, Z:-0.02 [[ 8.96425962e-01 4.43193519e-01 0.00000000e+00 1.47425203e+02] [-4.43193519e-01 8.96425962e-01 0.00000000e+00 -2.10459168e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.34087357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.45, Y:-21.05, Z:-0.03 [[ 8.96599286e-01 4.42842772e-01 0.00000000e+00 1.47453006e+02] [-4.42842772e-01 8.96599286e-01 0.00000000e+00 -2.10540835e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53146763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.48, Y:-21.06, Z:-0.02 [[ 8.97233431e-01 4.41556532e-01 0.00000000e+00 1.47480417e+02] [-4.41556532e-01 8.97233431e-01 0.00000000e+00 -2.10606841e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.36545369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.51, Y:-21.07, Z:-0.02 [[ 8.97428685e-01 4.41159557e-01 0.00000000e+00 1.47508211e+02] [-4.41159557e-01 8.97428685e-01 0.00000000e+00 -2.10697482e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04153501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.53, Y:-21.08, Z:-0.02 [[ 8.97440241e-01 4.41136048e-01 0.00000000e+00 1.47534781e+02] [-4.41136048e-01 8.97440241e-01 0.00000000e+00 -2.10774292e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92166083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.56, Y:-21.08, Z:-0.02 [[ 8.96920498e-01 4.42191837e-01 0.00000000e+00 1.47564429e+02] [-4.42191837e-01 8.96920498e-01 0.00000000e+00 -2.10818388e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93320730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.59, Y:-21.09, Z:-0.02 [[ 8.96684839e-01 4.42669514e-01 0.00000000e+00 1.47590406e+02] [-4.42669514e-01 8.96684839e-01 0.00000000e+00 -2.10891062e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05610657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.62, Y:-21.10, Z:-0.02 [[ 8.96548636e-01 4.42945306e-01 0.00000000e+00 1.47617567e+02] [-4.42945306e-01 8.96548636e-01 0.00000000e+00 -2.10976321e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08060809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.64, Y:-21.11, Z:-0.02 [[ 8.96670191e-01 4.42699185e-01 0.00000000e+00 1.47644609e+02] [-4.42699185e-01 8.96670191e-01 0.00000000e+00 -2.11066657e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02770799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.67, Y:-21.11, Z:-0.02 [[ 8.97015524e-01 4.41999039e-01 0.00000000e+00 1.47670156e+02] [-4.41999039e-01 8.97015524e-01 0.00000000e+00 -2.11142767e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.98284427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.70, Y:-21.12, Z:-0.02 [[ 8.97964583e-01 4.40067731e-01 0.00000000e+00 1.47699254e+02] [-4.40067731e-01 8.97964583e-01 0.00000000e+00 -2.11196987e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73515110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.73, Y:-21.13, Z:-0.02 [[ 8.98461459e-01 4.39052397e-01 0.00000000e+00 1.47726501e+02] [-4.39052397e-01 8.98461459e-01 0.00000000e+00 -2.11273065e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73133189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.75, Y:-21.14, Z:-0.02 [[ 8.98891931e-01 4.38170396e-01 0.00000000e+00 1.47753684e+02] [-4.38170396e-01 8.98891931e-01 0.00000000e+00 -2.11350066e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65487088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.78, Y:-21.14, Z:-0.02 [[ 8.99173539e-01 4.37592215e-01 0.00000000e+00 1.47781184e+02] [-4.37592215e-01 8.99173539e-01 0.00000000e+00 -2.11430534e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50564624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.81, Y:-21.15, Z:-0.01 [[ 8.99265623e-01 4.37402948e-01 0.00000000e+00 1.47808342e+02] [-4.37402948e-01 8.99265623e-01 0.00000000e+00 -2.11487899e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18752180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.84, Y:-21.16, Z:-0.01 [[ 8.99131577e-01 4.37678430e-01 0.00000000e+00 1.47835352e+02] [-4.37678430e-01 8.99131577e-01 0.00000000e+00 -2.11572366e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04079831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.86, Y:-21.16, Z:-0.01 [[ 8.99170626e-01 4.37598200e-01 0.00000000e+00 1.47862643e+02] [-4.37598200e-01 8.99170626e-01 0.00000000e+00 -2.11648702e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.87614812e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.89, Y:-21.17, Z:-0.01 [[ 8.99246605e-01 4.37442045e-01 0.00000000e+00 1.47890118e+02] [-4.37442045e-01 8.99246605e-01 0.00000000e+00 -2.11714736e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03913302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.92, Y:-21.18, Z:-0.01 [[ 8.99375673e-01 4.37176622e-01 0.00000000e+00 1.47916437e+02] [-4.37176622e-01 8.99375673e-01 0.00000000e+00 -2.11775375e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10741222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.94, Y:-21.18, Z:-0.01 [[ 9.00146294e-01 4.35587705e-01 0.00000000e+00 1.47944909e+02] [-4.35587705e-01 9.00146294e-01 0.00000000e+00 -2.11820283e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24655463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.97, Y:-21.19, Z:-0.01 [[ 9.00832103e-01 4.34167620e-01 0.00000000e+00 1.47971282e+02] [-4.34167620e-01 9.00832103e-01 0.00000000e+00 -2.11895866e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33565722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.00, Y:-21.20, Z:-0.01 [[ 9.01771731e-01 4.32212617e-01 0.00000000e+00 1.47998468e+02] [-4.32212617e-01 9.01771731e-01 0.00000000e+00 -2.11969470e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39428617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.03, Y:-21.20, Z:-0.01 [[ 9.02998800e-01 4.29643069e-01 0.00000000e+00 1.48025235e+02] [-4.29643069e-01 9.02998800e-01 0.00000000e+00 -2.12041679e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40855750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.05, Y:-21.21, Z:-0.01 [[ 9.04293762e-01 4.26910754e-01 0.00000000e+00 1.48051772e+02] [-4.26910754e-01 9.04293762e-01 0.00000000e+00 -2.12117105e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40756902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.08, Y:-21.22, Z:-0.01 [[ 9.07207310e-01 4.20683845e-01 0.00000000e+00 1.48078842e+02] [-4.20683845e-01 9.07207310e-01 0.00000000e+00 -2.12174495e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12851460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.11, Y:-21.22, Z:-0.01 [[ 9.09102048e-01 4.16573482e-01 0.00000000e+00 1.48106506e+02] [-4.16573482e-01 9.09102048e-01 0.00000000e+00 -2.12243888e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13640919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.13, Y:-21.23, Z:-0.01 [[ 9.11276889e-01 4.11794161e-01 0.00000000e+00 1.48134115e+02] [-4.11794161e-01 9.11276889e-01 0.00000000e+00 -2.12308154e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27347763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.16, Y:-21.24, Z:-0.01 [[ 9.13453233e-01 4.06943719e-01 0.00000000e+00 1.48161327e+02] [-4.06943719e-01 9.13453233e-01 0.00000000e+00 -2.12382077e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42622761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.19, Y:-21.25, Z:-0.02 [[ 9.15447343e-01 4.02437775e-01 0.00000000e+00 1.48186560e+02] [-4.02437775e-01 9.15447343e-01 0.00000000e+00 -2.12471043e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53362843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.21, Y:-21.26, Z:-0.02 [[ 9.17339784e-01 3.98105163e-01 0.00000000e+00 1.48212588e+02] [-3.98105163e-01 9.17339784e-01 0.00000000e+00 -2.12580808e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59551048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.24, Y:-21.27, Z:-0.02 [[ 9.21118343e-01 3.89282672e-01 0.00000000e+00 1.48238239e+02] [-3.89282672e-01 9.21118343e-01 0.00000000e+00 -2.12695994e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.82291454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.26, Y:-21.28, Z:-0.02 [[ 9.22645161e-01 3.85649981e-01 0.00000000e+00 1.48264556e+02] [-3.85649981e-01 9.22645161e-01 0.00000000e+00 -2.12799422e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02582059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.29, Y:-21.29, Z:-0.02 [[ 9.23906388e-01 3.82618592e-01 0.00000000e+00 1.48290009e+02] [-3.82618592e-01 9.23906388e-01 0.00000000e+00 -2.12906386e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04839403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.32, Y:-21.30, Z:-0.02 [[ 9.24798081e-01 3.80458288e-01 0.00000000e+00 1.48316341e+02] [-3.80458288e-01 9.24798081e-01 0.00000000e+00 -2.13028133e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72116741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.34, Y:-21.31, Z:-0.01 [[ 9.25159412e-01 3.79578795e-01 0.00000000e+00 1.48342351e+02] [-3.79578795e-01 9.25159412e-01 0.00000000e+00 -2.13133364e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05845766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.37, Y:-21.32, Z:-0.01 [[ 9.24506076e-01 3.81167307e-01 0.00000000e+00 1.48368915e+02] [-3.81167307e-01 9.24506076e-01 0.00000000e+00 -2.13226014e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13731590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.39, Y:-21.33, Z:-0.01 [[ 9.23351244e-01 3.83956351e-01 0.00000000e+00 1.48393980e+02] [-3.83956351e-01 9.23351244e-01 0.00000000e+00 -2.13321169e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34759579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.42, Y:-21.34, Z:-0.01 [[ 9.23422329e-01 3.83785361e-01 0.00000000e+00 1.48420531e+02] [-3.83785361e-01 9.23422329e-01 0.00000000e+00 -2.13425033e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34759579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.45, Y:-21.35, Z:-0.02 [[ 9.22298801e-01 3.86477583e-01 0.00000000e+00 1.48446259e+02] [-3.86477583e-01 9.22298801e-01 0.00000000e+00 -2.13524546e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54124420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.47, Y:-21.36, Z:-0.02 [[ 9.21464876e-01 3.88461687e-01 0.00000000e+00 1.48471349e+02] [-3.88461687e-01 9.21464876e-01 0.00000000e+00 -2.13617300e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67433356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.50, Y:-21.37, Z:-0.02 [[ 9.21453307e-01 3.88489128e-01 0.00000000e+00 1.48499094e+02] [-3.88489128e-01 9.21453307e-01 0.00000000e+00 -2.13681684e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56762726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.53, Y:-21.38, Z:-0.01 [[ 9.22183180e-01 3.86753386e-01 0.00000000e+00 1.48526084e+02] [-3.86753386e-01 9.22183180e-01 0.00000000e+00 -2.13764376e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48415939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.55, Y:-21.39, Z:-0.02 [[ 9.23143705e-01 3.84455068e-01 0.00000000e+00 1.48551771e+02] [-3.84455068e-01 9.23143705e-01 0.00000000e+00 -2.13853962e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60456221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.58, Y:-21.40, Z:-0.02 [[ 9.24341055e-01 3.81567313e-01 0.00000000e+00 1.48578092e+02] [-3.81567313e-01 9.24341055e-01 0.00000000e+00 -2.13955395e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81455402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.60, Y:-21.41, Z:-0.02 [[ 9.27269284e-01 3.74395079e-01 0.00000000e+00 1.48604100e+02] [-3.74395079e-01 9.27269284e-01 0.00000000e+00 -2.14060782e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85188404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.63, Y:-21.42, Z:-0.01 [[ 9.28728743e-01 3.70759926e-01 0.00000000e+00 1.48630041e+02] [-3.70759926e-01 9.28728743e-01 0.00000000e+00 -2.14161089e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47613478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.66, Y:-21.43, Z:-0.01 [[ 9.29720306e-01 3.68266416e-01 0.00000000e+00 1.48656400e+02] [-3.68266416e-01 9.29720306e-01 0.00000000e+00 -2.14263723e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18716161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.68, Y:-21.44, Z:-0.01 [[ 9.30080243e-01 3.67356424e-01 0.00000000e+00 1.48681191e+02] [-3.67356424e-01 9.30080243e-01 0.00000000e+00 -2.14360957e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.74192151e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.71, Y:-21.45, Z:-0.01 [[ 9.29703250e-01 3.68309471e-01 0.00000000e+00 1.48707093e+02] [-3.68309471e-01 9.29703250e-01 0.00000000e+00 -2.14464781e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.08884872e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.73, Y:-21.46, Z:-0.01 [[ 9.27521991e-01 3.73768587e-01 0.00000000e+00 1.48733217e+02] [-3.73768587e-01 9.27521991e-01 0.00000000e+00 -2.14556082e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.69736822e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.76, Y:-21.46, Z:-0.01 [[ 9.26132336e-01 3.77198748e-01 0.00000000e+00 1.48758845e+02] [-3.77198748e-01 9.26132336e-01 0.00000000e+00 -2.14638661e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17404576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.79, Y:-21.47, Z:-0.01 [[ 9.24828319e-01 3.80384780e-01 0.00000000e+00 1.48785412e+02] [-3.80384780e-01 9.24828319e-01 0.00000000e+00 -2.14727607e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44705098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.161400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:148.81, Y:-21.48, Z:-0.02 [[ 9.23522123e-01 3.83545158e-01 0.00000000e+00 1.48810904e+02] [-3.83545158e-01 9.23522123e-01 0.00000000e+00 -2.14818656e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64475075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.84, Y:-21.49, Z:-0.02 [[ 9.21632106e-01 3.88064765e-01 0.00000000e+00 1.48837946e+02] [-3.88064765e-01 9.21632106e-01 0.00000000e+00 -2.14916757e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81790314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.86, Y:-21.50, Z:-0.02 [[ 9.20981037e-01 3.89607403e-01 0.00000000e+00 1.48863243e+02] [-3.89607403e-01 9.20981037e-01 0.00000000e+00 -2.15005139e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74698471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.89, Y:-21.51, Z:-0.01 [[ 9.20506249e-01 3.90727841e-01 0.00000000e+00 1.48889519e+02] [-3.90727841e-01 9.20506249e-01 0.00000000e+00 -2.15089609e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47499330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.92, Y:-21.52, Z:-0.01 [[ 9.20159601e-01 3.91543496e-01 0.00000000e+00 1.48916286e+02] [-3.91543496e-01 9.20159601e-01 0.00000000e+00 -2.15178511e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28961033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.94, Y:-21.53, Z:-0.01 [[ 9.19917915e-01 3.92110992e-01 0.00000000e+00 1.48942072e+02] [-3.92110992e-01 9.19917915e-01 0.00000000e+00 -2.15265871e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28573816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.97, Y:-21.54, Z:-0.01 [[ 9.19731060e-01 3.92549075e-01 0.00000000e+00 1.48968207e+02] [-3.92549075e-01 9.19731060e-01 0.00000000e+00 -2.15361713e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43600843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.99, Y:-21.55, Z:-0.02 [[ 9.19426772e-01 3.93261251e-01 0.00000000e+00 1.48994351e+02] [-3.93261251e-01 9.19426772e-01 0.00000000e+00 -2.15471183e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66537514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.02, Y:-21.56, Z:-0.02 [[ 9.19453285e-01 3.93199257e-01 0.00000000e+00 1.49020308e+02] [-3.93199257e-01 9.19453285e-01 0.00000000e+00 -2.15576969e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61084536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.05, Y:-21.57, Z:-0.01 [[ 9.19412021e-01 3.93295735e-01 0.00000000e+00 1.49046247e+02] [-3.93295735e-01 9.19412021e-01 0.00000000e+00 -2.15676755e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48236157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.07, Y:-21.58, Z:-0.01 [[ 9.19074028e-01 3.94084929e-01 0.00000000e+00 1.49072099e+02] [-3.94084929e-01 9.19074028e-01 0.00000000e+00 -2.15774757e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38221130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.10, Y:-21.59, Z:-0.01 [[ 9.17357756e-01 3.98063747e-01 0.00000000e+00 1.49098046e+02] [-3.98063747e-01 9.17357756e-01 0.00000000e+00 -2.15865643e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41181661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.12, Y:-21.60, Z:-0.01 [[ 9.16404842e-01 4.00252628e-01 0.00000000e+00 1.49124367e+02] [-4.00252628e-01 9.16404842e-01 0.00000000e+00 -2.15963771e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43629187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.15, Y:-21.61, Z:-0.01 [[ 9.15398414e-01 4.02549057e-01 0.00000000e+00 1.49150420e+02] [-4.02549057e-01 9.15398414e-01 0.00000000e+00 -2.16056113e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40585518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.18, Y:-21.61, Z:-0.01 [[ 9.14291129e-01 4.05057689e-01 0.00000000e+00 1.49177580e+02] [-4.05057689e-01 9.14291129e-01 0.00000000e+00 -2.16144159e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34342092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.20, Y:-21.62, Z:-0.01 [[ 9.12128841e-01 4.09903619e-01 0.00000000e+00 1.49204164e+02] [-4.09903619e-01 9.12128841e-01 0.00000000e+00 -2.16205436e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45525264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.23, Y:-21.63, Z:-0.02 [[ 9.11449726e-01 4.11411470e-01 0.00000000e+00 1.49230591e+02] [-4.11411470e-01 9.11449726e-01 0.00000000e+00 -2.16301181e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59290731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.26, Y:-21.64, Z:-0.02 [[ 9.11050439e-01 4.12294917e-01 0.00000000e+00 1.49255652e+02] [-4.12294917e-01 9.11050439e-01 0.00000000e+00 -2.16395695e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77257715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.28, Y:-21.65, Z:-0.02 [[ 9.10988121e-01 4.12432593e-01 0.00000000e+00 1.49282092e+02] [-4.12432593e-01 9.10988121e-01 0.00000000e+00 -2.16491409e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84399535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.31, Y:-21.65, Z:-0.01 [[ 9.11070452e-01 4.12250690e-01 0.00000000e+00 1.49310656e+02] [-4.12250690e-01 9.11070452e-01 0.00000000e+00 -2.16538963e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40730522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.34, Y:-21.66, Z:-0.01 [[ 9.11098273e-01 4.12189200e-01 0.00000000e+00 1.49337781e+02] [-4.12189200e-01 9.11098273e-01 0.00000000e+00 -2.16612118e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15751086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.36, Y:-21.67, Z:-0.01 [[ 9.10979642e-01 4.12451320e-01 0.00000000e+00 1.49363162e+02] [-4.12451320e-01 9.10979642e-01 0.00000000e+00 -2.16695516e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12346687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.39, Y:-21.68, Z:-0.01 [[ 9.10766647e-01 4.12921440e-01 0.00000000e+00 1.49388783e+02] [-4.12921440e-01 9.10766647e-01 0.00000000e+00 -2.16801885e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31435979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.41, Y:-21.69, Z:-0.02 [[ 9.09467232e-01 4.15775606e-01 0.00000000e+00 1.49414998e+02] [-4.15775606e-01 9.09467232e-01 0.00000000e+00 -2.16908794e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88180723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.44, Y:-21.70, Z:-0.02 [[ 9.08445747e-01 4.18002781e-01 0.00000000e+00 1.49441203e+02] [-4.18002781e-01 9.08445747e-01 0.00000000e+00 -2.16992770e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04242101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.47, Y:-21.71, Z:-0.02 [[ 9.07466544e-01 4.20124353e-01 0.00000000e+00 1.49466774e+02] [-4.20124353e-01 9.07466544e-01 0.00000000e+00 -2.17075916e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06026280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.49, Y:-21.72, Z:-0.02 [[ 9.06506346e-01 4.22192190e-01 0.00000000e+00 1.49492778e+02] [-4.22192190e-01 9.06506346e-01 0.00000000e+00 -2.17170051e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86939980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.52, Y:-21.73, Z:-0.02 [[ 9.05576120e-01 4.24183794e-01 0.00000000e+00 1.49518185e+02] [-4.24183794e-01 9.05576120e-01 0.00000000e+00 -2.17272800e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81430442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.54, Y:-21.74, Z:-0.02 [[ 9.04653199e-01 4.26148553e-01 0.00000000e+00 1.49543336e+02] [-4.26148553e-01 9.04653199e-01 0.00000000e+00 -2.17367479e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80820321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.57, Y:-21.74, Z:-0.02 [[ 9.02826065e-01 4.30005927e-01 0.00000000e+00 1.49570653e+02] [-4.30005927e-01 9.02826065e-01 0.00000000e+00 -2.17442064e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.98142085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.60, Y:-21.75, Z:-0.02 [[ 9.02382054e-01 4.30936920e-01 0.00000000e+00 1.49596039e+02] [-4.30936920e-01 9.02382054e-01 0.00000000e+00 -2.17524364e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10073930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.62, Y:-21.76, Z:-0.02 [[ 9.02431123e-01 4.30834155e-01 0.00000000e+00 1.49622259e+02] [-4.30834155e-01 9.02431123e-01 0.00000000e+00 -2.17614010e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06079733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.65, Y:-21.77, Z:-0.02 [[ 9.02676012e-01 4.30320831e-01 0.00000000e+00 1.49647481e+02] [-4.30320831e-01 9.02676012e-01 0.00000000e+00 -2.17700831e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04549755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.67, Y:-21.78, Z:-0.02 [[ 9.03680593e-01 4.28207175e-01 0.00000000e+00 1.49674541e+02] [-4.28207175e-01 9.03680593e-01 0.00000000e+00 -2.17790545e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87113756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.70, Y:-21.79, Z:-0.02 [[ 9.04215226e-01 4.27077071e-01 0.00000000e+00 1.49699652e+02] [-4.27077071e-01 9.04215226e-01 0.00000000e+00 -2.17888827e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91554884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.72, Y:-21.80, Z:-0.02 [[ 9.04618282e-01 4.26222669e-01 0.00000000e+00 1.49724493e+02] [-4.26222669e-01 9.04618282e-01 0.00000000e+00 -2.17983929e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93194576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.75, Y:-21.81, Z:-0.02 [[ 9.04871612e-01 4.25684584e-01 0.00000000e+00 1.49750758e+02] [-4.25684584e-01 9.04871612e-01 0.00000000e+00 -2.18085147e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88636258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.78, Y:-21.82, Z:-0.02 [[ 9.04913926e-01 4.25594627e-01 0.00000000e+00 1.49775813e+02] [-4.25594627e-01 9.04913926e-01 0.00000000e+00 -2.18172779e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02897818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.80, Y:-21.82, Z:-0.02 [[ 9.04529884e-01 4.26410234e-01 0.00000000e+00 1.49804133e+02] [-4.26410234e-01 9.04529884e-01 0.00000000e+00 -2.18239894e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64730772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.83, Y:-21.83, Z:-0.01 [[ 9.04429811e-01 4.26622453e-01 0.00000000e+00 1.49831089e+02] [-4.26622453e-01 9.04429811e-01 0.00000000e+00 -2.18322143e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46508014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.86, Y:-21.84, Z:-0.02 [[ 9.04301828e-01 4.26893669e-01 0.00000000e+00 1.49856603e+02] [-4.26893669e-01 9.04301828e-01 0.00000000e+00 -2.18411577e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52748942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.88, Y:-21.85, Z:-0.02 [[ 9.04154997e-01 4.27204566e-01 0.00000000e+00 1.49883221e+02] [-4.27204566e-01 9.04154997e-01 0.00000000e+00 -2.18511007e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69848580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.91, Y:-21.86, Z:-0.02 [[ 9.03252544e-01 4.29109358e-01 0.00000000e+00 1.49908330e+02] [-4.29109358e-01 9.03252544e-01 0.00000000e+00 -2.18610882e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04209211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.93, Y:-21.87, Z:-0.02 [[ 9.02624111e-01 4.30429686e-01 0.00000000e+00 1.49934120e+02] [-4.30429686e-01 9.02624111e-01 0.00000000e+00 -2.18708056e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88988365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.96, Y:-21.88, Z:-0.02 [[ 9.01982015e-01 4.31773604e-01 0.00000000e+00 1.49960241e+02] [-4.31773604e-01 9.01982015e-01 0.00000000e+00 -2.18806374e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74347039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.99, Y:-21.89, Z:-0.02 [[ 9.01546419e-01 4.32682395e-01 0.00000000e+00 1.49986479e+02] [-4.32682395e-01 9.01546419e-01 0.00000000e+00 -2.18901944e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63406221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.01, Y:-21.90, Z:-0.02 [[ 9.01007280e-01 4.33803967e-01 0.00000000e+00 1.50012169e+02] [-4.33803967e-01 9.01007280e-01 0.00000000e+00 -2.18989701e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59318460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.04, Y:-21.91, Z:-0.01 [[ 8.99723068e-01 4.36461224e-01 0.00000000e+00 1.50038471e+02] [-4.36461224e-01 8.99723068e-01 0.00000000e+00 -2.19065053e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45487047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.07, Y:-21.92, Z:-0.01 [[ 8.99799369e-01 4.36303903e-01 0.00000000e+00 1.50065097e+02] [-4.36303903e-01 8.99799369e-01 0.00000000e+00 -2.19166660e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45487047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.09, Y:-21.93, Z:-0.01 [[ 8.99399490e-01 4.37127621e-01 0.00000000e+00 1.50090718e+02] [-4.37127621e-01 8.99399490e-01 0.00000000e+00 -2.19267629e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34212581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.12, Y:-21.94, Z:-0.01 [[ 8.99004413e-01 4.37939568e-01 0.00000000e+00 1.50115209e+02] [-4.37939568e-01 8.99004413e-01 0.00000000e+00 -2.19373096e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41320344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.14, Y:-21.95, Z:-0.02 [[ 8.98864865e-01 4.38225917e-01 0.00000000e+00 1.50139808e+02] [-4.38225917e-01 8.98864865e-01 0.00000000e+00 -2.19472459e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63705209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.17, Y:-21.96, Z:-0.02 [[ 8.98905517e-01 4.38142523e-01 0.00000000e+00 1.50165686e+02] [-4.38142523e-01 8.98905517e-01 0.00000000e+00 -2.19563891e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99877455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.19, Y:-21.97, Z:-0.02 [[ 8.98650440e-01 4.38665462e-01 0.00000000e+00 1.50191789e+02] [-4.38665462e-01 8.98650440e-01 0.00000000e+00 -2.19667467e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83827522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.22, Y:-21.98, Z:-0.02 [[ 8.98032328e-01 4.39929468e-01 0.00000000e+00 1.50216133e+02] [-4.39929468e-01 8.98032328e-01 0.00000000e+00 -2.19773698e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75645371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.24, Y:-21.99, Z:-0.02 [[ 8.97246915e-01 4.41529130e-01 0.00000000e+00 1.50241560e+02] [-4.41529130e-01 8.97246915e-01 0.00000000e+00 -2.19883920e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83176609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.27, Y:-22.00, Z:-0.02 [[ 8.95737891e-01 4.44582535e-01 0.00000000e+00 1.50267149e+02] [-4.44582535e-01 8.95737891e-01 0.00000000e+00 -2.19990643e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17650608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.29, Y:-22.01, Z:-0.02 [[ 8.95424056e-01 4.45214286e-01 0.00000000e+00 1.50293070e+02] [-4.45214286e-01 8.95424056e-01 0.00000000e+00 -2.20086876e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12642061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.32, Y:-22.02, Z:-0.02 [[ 8.95514041e-01 4.45033260e-01 0.00000000e+00 1.50317934e+02] [-4.45033260e-01 8.95514041e-01 0.00000000e+00 -2.20179932e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13210287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.34, Y:-22.03, Z:-0.02 [[ 8.95943382e-01 4.44168275e-01 0.00000000e+00 1.50343728e+02] [-4.44168275e-01 8.95943382e-01 0.00000000e+00 -2.20282624e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23930422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.37, Y:-22.04, Z:-0.02 [[ 8.96589868e-01 4.42861839e-01 0.00000000e+00 1.50370057e+02] [-4.42861839e-01 8.96589868e-01 0.00000000e+00 -2.20389030e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28566236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.40, Y:-22.05, Z:-0.02 [[ 8.97248881e-01 4.41525135e-01 0.00000000e+00 1.50396553e+02] [-4.41525135e-01 8.97248881e-01 0.00000000e+00 -2.20495133e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.48776282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.42, Y:-22.06, Z:-0.03 [[ 8.98497255e-01 4.38979138e-01 0.00000000e+00 1.50421337e+02] [-4.38979138e-01 8.98497255e-01 0.00000000e+00 -2.20607236e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.72719590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.45, Y:-22.07, Z:-0.03 [[ 8.99059898e-01 4.37825650e-01 0.00000000e+00 1.50447327e+02] [-4.37825650e-01 8.99059898e-01 0.00000000e+00 -2.20716023e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61954168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.47, Y:-22.08, Z:-0.03 [[ 8.99512758e-01 4.36894493e-01 0.00000000e+00 1.50473052e+02] [-4.36894493e-01 8.99512758e-01 0.00000000e+00 -2.20818449e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.57443797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.50, Y:-22.09, Z:-0.02 [[ 9.00355574e-01 4.35154961e-01 0.00000000e+00 1.50500093e+02] [-4.35154961e-01 9.00355574e-01 0.00000000e+00 -2.20918990e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29741146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.53, Y:-22.10, Z:-0.02 [[ 9.00815238e-01 4.34202610e-01 0.00000000e+00 1.50525434e+02] [-4.34202610e-01 9.00815238e-01 0.00000000e+00 -2.21019006e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.39577533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.55, Y:-22.11, Z:-0.03 [[ 9.01237822e-01 4.33324807e-01 0.00000000e+00 1.50550056e+02] [-4.33324807e-01 9.01237822e-01 0.00000000e+00 -2.21118433e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.52854426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.58, Y:-22.12, Z:-0.02 [[ 9.01621019e-01 4.32526922e-01 0.00000000e+00 1.50576462e+02] [-4.32526922e-01 9.01621019e-01 0.00000000e+00 -2.21228391e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43270212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.60, Y:-22.13, Z:-0.02 [[ 9.01931123e-01 4.31879902e-01 0.00000000e+00 1.50602709e+02] [-4.31879902e-01 9.01931123e-01 0.00000000e+00 -2.21339233e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89734530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.63, Y:-22.14, Z:-0.02 [[ 9.01983896e-01 4.31769673e-01 0.00000000e+00 1.50627878e+02] [-4.31769673e-01 9.01983896e-01 0.00000000e+00 -2.21427376e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73701404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.65, Y:-22.15, Z:-0.02 [[ 9.01847186e-01 4.32055150e-01 0.00000000e+00 1.50654761e+02] [-4.32055150e-01 9.01847186e-01 0.00000000e+00 -2.21517752e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71231319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.68, Y:-22.16, Z:-0.02 [[ 9.01614366e-01 4.32540789e-01 0.00000000e+00 1.50680353e+02] [-4.32540789e-01 9.01614366e-01 0.00000000e+00 -2.21603856e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78304997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.71, Y:-22.17, Z:-0.02 [[ 9.01419449e-01 4.32946852e-01 0.00000000e+00 1.50706329e+02] [-4.32946852e-01 9.01419449e-01 0.00000000e+00 -2.21702858e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75024231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.73, Y:-22.18, Z:-0.02 [[ 9.01274833e-01 4.33247821e-01 0.00000000e+00 1.50730899e+02] [-4.33247821e-01 9.01274833e-01 0.00000000e+00 -2.21802413e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58914166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.76, Y:-22.19, Z:-0.02 [[ 9.01151850e-01 4.33503569e-01 0.00000000e+00 1.50756441e+02] [-4.33503569e-01 9.01151850e-01 0.00000000e+00 -2.21885184e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70554455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.78, Y:-22.20, Z:-0.02 [[ 9.01048453e-01 4.33718440e-01 0.00000000e+00 1.50783613e+02] [-4.33718440e-01 9.01048453e-01 0.00000000e+00 -2.21970997e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91853183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.81, Y:-22.21, Z:-0.02 [[ 9.00726794e-01 4.34386053e-01 0.00000000e+00 1.50810180e+02] [-4.34386053e-01 9.00726794e-01 0.00000000e+00 -2.22056750e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.07943838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.84, Y:-22.21, Z:-0.02 [[ 9.00084582e-01 4.35715211e-01 0.00000000e+00 1.50836752e+02] [-4.35715211e-01 9.00084582e-01 0.00000000e+00 -2.22138552e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04704971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.86, Y:-22.22, Z:-0.02 [[ 8.98282888e-01 4.39417630e-01 0.00000000e+00 1.50864835e+02] [-4.39417630e-01 8.98282888e-01 0.00000000e+00 -2.22192462e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86680769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.89, Y:-22.23, Z:-0.02 [[ 8.97254868e-01 4.41512968e-01 0.00000000e+00 1.50892508e+02] [-4.41512968e-01 8.97254868e-01 0.00000000e+00 -2.22254458e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80570297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.92, Y:-22.23, Z:-0.02 [[ 8.95492712e-01 4.45076176e-01 0.00000000e+00 1.50920696e+02] [-4.45076176e-01 8.95492712e-01 0.00000000e+00 -2.22260929e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93119282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.95, Y:-22.23, Z:-0.02 [[ 8.95049043e-01 4.45967723e-01 0.00000000e+00 1.50947418e+02] [-4.45967723e-01 8.95049043e-01 0.00000000e+00 -2.22318146e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95993399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.98, Y:-22.24, Z:-0.02 [[ 8.95120664e-01 4.45823952e-01 0.00000000e+00 1.50975367e+02] [-4.45823952e-01 8.95120664e-01 0.00000000e+00 -2.22384624e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79997651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.00, Y:-22.25, Z:-0.02 [[ 8.95581704e-01 4.44897079e-01 0.00000000e+00 1.51002708e+02] [-4.44897079e-01 8.95581704e-01 0.00000000e+00 -2.22455339e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70987805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.03, Y:-22.25, Z:-0.02 [[ 8.97550084e-01 4.40912515e-01 0.00000000e+00 1.51031001e+02] [-4.40912515e-01 8.97550084e-01 0.00000000e+00 -2.22500772e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92062146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.06, Y:-22.26, Z:-0.02 [[ 8.98826517e-01 4.38304566e-01 0.00000000e+00 1.51058123e+02] [-4.38304566e-01 8.98826517e-01 0.00000000e+00 -2.22574122e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14777567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.08, Y:-22.27, Z:-0.02 [[ 8.99818225e-01 4.36265013e-01 0.00000000e+00 1.51084478e+02] [-4.36265013e-01 8.99818225e-01 0.00000000e+00 -2.22654291e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.34436611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.11, Y:-22.27, Z:-0.02 [[ 9.00638412e-01 4.34569270e-01 0.00000000e+00 1.51110829e+02] [-4.34569270e-01 9.00638412e-01 0.00000000e+00 -2.22743217e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.33861839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.14, Y:-22.28, Z:-0.02 [[ 9.00750348e-01 4.34337209e-01 0.00000000e+00 1.51136769e+02] [-4.34337209e-01 9.00750348e-01 0.00000000e+00 -2.22838368e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17627601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86140051299998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:151.16, Y:-22.29, Z:-0.02 [[ 9.00266812e-01 4.35338567e-01 0.00000000e+00 1.51162698e+02] [-4.35338567e-01 9.00266812e-01 0.00000000e+00 -2.22932536e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01338814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.19, Y:-22.30, Z:-0.02 [[ 8.99801256e-01 4.36300010e-01 0.00000000e+00 1.51189136e+02] [-4.36300010e-01 8.99801256e-01 0.00000000e+00 -2.23023840e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93457975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.21, Y:-22.31, Z:-0.02 [[ 8.99113016e-01 4.37716557e-01 0.00000000e+00 1.51214967e+02] [-4.37716557e-01 8.99113016e-01 0.00000000e+00 -2.23108645e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00236980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.24, Y:-22.32, Z:-0.02 [[ 8.98497820e-01 4.38977982e-01 0.00000000e+00 1.51241645e+02] [-4.38977982e-01 8.98497820e-01 0.00000000e+00 -2.23193274e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92977029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.27, Y:-22.33, Z:-0.02 [[ 8.97443258e-01 4.41129911e-01 0.00000000e+00 1.51267764e+02] [-4.41129911e-01 8.97443258e-01 0.00000000e+00 -2.23276413e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90946375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.29, Y:-22.34, Z:-0.02 [[ 8.97198940e-01 4.41626608e-01 0.00000000e+00 1.51294078e+02] [-4.41626608e-01 8.97198940e-01 0.00000000e+00 -2.23385739e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97289808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.32, Y:-22.35, Z:-0.02 [[ 8.97289209e-01 4.41443173e-01 0.00000000e+00 1.51320034e+02] [-4.41443173e-01 8.97289209e-01 0.00000000e+00 -2.23496933e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.07247227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.35, Y:-22.36, Z:-0.02 [[ 8.97626819e-01 4.40756275e-01 0.00000000e+00 1.51345929e+02] [-4.40756275e-01 8.97626819e-01 0.00000000e+00 -2.23607583e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08873275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.37, Y:-22.37, Z:-0.02 [[ 8.98599600e-01 4.38769597e-01 0.00000000e+00 1.51370970e+02] [-4.38769597e-01 8.98599600e-01 0.00000000e+00 -2.23725401e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00382913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.40, Y:-22.38, Z:-0.02 [[ 8.99141620e-01 4.37657796e-01 0.00000000e+00 1.51395772e+02] [-4.37657796e-01 8.99141620e-01 0.00000000e+00 -2.23839853e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.98787284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.42, Y:-22.40, Z:-0.02 [[ 8.99559695e-01 4.36797842e-01 0.00000000e+00 1.51421457e+02] [-4.36797842e-01 8.99559695e-01 0.00000000e+00 -2.23961043e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93974270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.45, Y:-22.41, Z:-0.02 [[ 8.99601608e-01 4.36711514e-01 0.00000000e+00 1.51445614e+02] [-4.36711514e-01 8.99601608e-01 0.00000000e+00 -2.24079854e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93136123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.47, Y:-22.42, Z:-0.02 [[ 8.99423408e-01 4.37078406e-01 0.00000000e+00 1.51471373e+02] [-4.37078406e-01 8.99423408e-01 0.00000000e+00 -2.24176658e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92162200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.50, Y:-22.43, Z:-0.02 [[ 8.99190673e-01 4.37557006e-01 0.00000000e+00 1.51497687e+02] [-4.37557006e-01 8.99190673e-01 0.00000000e+00 -2.24279891e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99235310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.52, Y:-22.44, Z:-0.02 [[ 8.98942500e-01 4.38066640e-01 0.00000000e+00 1.51523324e+02] [-4.38066640e-01 8.98942500e-01 0.00000000e+00 -2.24388883e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.18530941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.55, Y:-22.45, Z:-0.02 [[ 8.99104518e-01 4.37734013e-01 0.00000000e+00 1.51548945e+02] [-4.37734013e-01 8.99104518e-01 0.00000000e+00 -2.24495488e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.31618523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.57, Y:-22.46, Z:-0.02 [[ 8.99455002e-01 4.37013385e-01 0.00000000e+00 1.51574192e+02] [-4.37013385e-01 8.99455002e-01 0.00000000e+00 -2.24593941e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42789319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.60, Y:-22.47, Z:-0.02 [[ 9.00969233e-01 4.33882981e-01 0.00000000e+00 1.51600641e+02] [-4.33882981e-01 9.00969233e-01 0.00000000e+00 -2.24686736e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30235245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.63, Y:-22.48, Z:-0.02 [[ 9.02223076e-01 4.31269662e-01 0.00000000e+00 1.51626431e+02] [-4.31269662e-01 9.02223076e-01 0.00000000e+00 -2.24789166e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13871287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.65, Y:-22.49, Z:-0.02 [[ 9.03468773e-01 4.28653913e-01 0.00000000e+00 1.51652187e+02] [-4.28653913e-01 9.03468773e-01 0.00000000e+00 -2.24898498e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16975681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.68, Y:-22.50, Z:-0.02 [[ 9.04697440e-01 4.26054622e-01 0.00000000e+00 1.51678077e+02] [-4.26054622e-01 9.04697440e-01 0.00000000e+00 -2.25007463e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17943078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.70, Y:-22.51, Z:-0.02 [[ 9.06112193e-01 4.23037462e-01 0.00000000e+00 1.51704399e+02] [-4.23037462e-01 9.06112193e-01 0.00000000e+00 -2.25128475e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.37864000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.73, Y:-22.52, Z:-0.02 [[ 9.06190045e-01 4.22870668e-01 0.00000000e+00 1.51731102e+02] [-4.22870668e-01 9.06190045e-01 0.00000000e+00 -2.25227923e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.37864000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.76, Y:-22.53, Z:-0.02 [[ 9.06381755e-01 4.22459600e-01 0.00000000e+00 1.51755613e+02] [-4.22459600e-01 9.06381755e-01 0.00000000e+00 -2.25338507e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43959487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.78, Y:-22.55, Z:-0.02 [[ 9.06227163e-01 4.22791117e-01 0.00000000e+00 1.51781493e+02] [-4.22791117e-01 9.06227163e-01 0.00000000e+00 -2.25454150e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41685573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.81, Y:-22.56, Z:-0.02 [[ 9.05684815e-01 4.23951666e-01 0.00000000e+00 1.51806450e+02] [-4.23951666e-01 9.05684815e-01 0.00000000e+00 -2.25566514e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.48932659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.83, Y:-22.57, Z:-0.02 [[ 9.04131152e-01 4.27255030e-01 0.00000000e+00 1.51832347e+02] [-4.27255030e-01 9.04131152e-01 0.00000000e+00 -2.25663496e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.36600003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.67140051299998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.86, Y:-22.57, Z:-0.02 [[ 9.02922112e-01 4.29804211e-01 0.00000000e+00 1.51857620e+02] [-4.29804211e-01 9.02922112e-01 0.00000000e+00 -2.25745860e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43819775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.88, Y:-22.58, Z:-0.02 [[ 9.01819736e-01 4.32112444e-01 0.00000000e+00 1.51884005e+02] [-4.32112444e-01 9.01819736e-01 0.00000000e+00 -2.25830721e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.36949065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.91, Y:-22.59, Z:-0.03 [[ 8.98878999e-01 4.38196926e-01 0.00000000e+00 1.51911069e+02] [-4.38196926e-01 8.98878999e-01 0.00000000e+00 -2.25906439e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.57701897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.94, Y:-22.60, Z:-0.03 [[ 8.97715479e-01 4.40575668e-01 0.00000000e+00 1.51937957e+02] [-4.40575668e-01 8.97715479e-01 0.00000000e+00 -2.25983291e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.57705973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.97, Y:-22.61, Z:-0.03 [[ 8.96966328e-01 4.42098865e-01 0.00000000e+00 1.51965166e+02] [-4.42098865e-01 8.96966328e-01 0.00000000e+00 -2.26053362e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.68563822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.99, Y:-22.61, Z:-0.03 [[ 8.96975789e-01 4.42079669e-01 0.00000000e+00 1.51991977e+02] [-4.42079669e-01 8.96975789e-01 0.00000000e+00 -2.26126254e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.82474731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.02, Y:-22.62, Z:-0.03 [[ 8.97435730e-01 4.41145225e-01 0.00000000e+00 1.52017664e+02] [-4.41145225e-01 8.97435730e-01 0.00000000e+00 -2.26202637e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.87828599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.05, Y:-22.63, Z:-0.03 [[ 8.99108815e-01 4.37725186e-01 0.00000000e+00 1.52045140e+02] [-4.37725186e-01 8.99108815e-01 0.00000000e+00 -2.26261867e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61595136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.07, Y:-22.63, Z:-0.02 [[ 8.99995623e-01 4.35898931e-01 0.00000000e+00 1.52072778e+02] [-4.35898931e-01 8.99995623e-01 0.00000000e+00 -2.26332931e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41619899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.10, Y:-22.64, Z:-0.02 [[ 9.00748949e-01 4.34340110e-01 0.00000000e+00 1.52099983e+02] [-4.34340110e-01 9.00748949e-01 0.00000000e+00 -2.26405043e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30010195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.13, Y:-22.65, Z:-0.02 [[ 9.01470997e-01 4.32839511e-01 0.00000000e+00 1.52126717e+02] [-4.32839511e-01 9.01470997e-01 0.00000000e+00 -2.26485989e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.24525028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.15, Y:-22.66, Z:-0.02 [[ 9.02310275e-01 4.31087193e-01 0.00000000e+00 1.52153377e+02] [-4.31087193e-01 9.02310275e-01 0.00000000e+00 -2.26578097e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16389939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.18, Y:-22.67, Z:-0.02 [[ 9.04051618e-01 4.27423294e-01 0.00000000e+00 1.52180491e+02] [-4.27423294e-01 9.04051618e-01 0.00000000e+00 -2.26679566e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80116608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.21, Y:-22.68, Z:-0.02 [[ 9.04835223e-01 4.25761928e-01 0.00000000e+00 1.52205691e+02] [-4.25761928e-01 9.04835223e-01 0.00000000e+00 -2.26775165e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79498797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.23, Y:-22.69, Z:-0.02 [[ 9.05640805e-01 4.24045672e-01 0.00000000e+00 1.52231077e+02] [-4.24045672e-01 9.05640805e-01 0.00000000e+00 -2.26881519e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96723333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.26, Y:-22.70, Z:-0.02 [[ 9.07310580e-01 4.20461070e-01 0.00000000e+00 1.52256197e+02] [-4.20461070e-01 9.07310580e-01 0.00000000e+00 -2.27033495e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.20577451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.28, Y:-22.72, Z:-0.02 [[ 9.07902422e-01 4.19181574e-01 0.00000000e+00 1.52281512e+02] [-4.19181574e-01 9.07902422e-01 0.00000000e+00 -2.27155557e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10044244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.31, Y:-22.73, Z:-0.02 [[ 9.08013326e-01 4.18941285e-01 0.00000000e+00 1.52307023e+02] [-4.18941285e-01 9.08013326e-01 0.00000000e+00 -2.27271428e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87768256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.33, Y:-22.74, Z:-0.02 [[ 9.07840939e-01 4.19314713e-01 0.00000000e+00 1.52332849e+02] [-4.19314713e-01 9.07840939e-01 0.00000000e+00 -2.27382403e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61948571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.36, Y:-22.75, Z:-0.02 [[ 9.06408093e-01 4.22403087e-01 0.00000000e+00 1.52357674e+02] [-4.22403087e-01 9.06408093e-01 0.00000000e+00 -2.27508838e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96046973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.38, Y:-22.76, Z:-0.02 [[ 9.05447071e-01 4.24459187e-01 0.00000000e+00 1.52383351e+02] [-4.24459187e-01 9.05447071e-01 0.00000000e+00 -2.27625766e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.33594541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.41, Y:-22.77, Z:-0.02 [[ 9.04736313e-01 4.25972070e-01 0.00000000e+00 1.52410061e+02] [-4.25972070e-01 9.04736313e-01 0.00000000e+00 -2.27746630e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.36805823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.44, Y:-22.79, Z:-0.02 [[ 9.04283305e-01 4.26932904e-01 0.00000000e+00 1.52435532e+02] [-4.26932904e-01 9.04283305e-01 0.00000000e+00 -2.27857979e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.46425262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.46, Y:-22.80, Z:-0.02 [[ 9.04450578e-01 4.26578425e-01 0.00000000e+00 1.52461193e+02] [-4.26578425e-01 9.04450578e-01 0.00000000e+00 -2.27984273e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.25434158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.49, Y:-22.81, Z:-0.02 [[ 9.05051078e-01 4.25302887e-01 0.00000000e+00 1.52486629e+02] [-4.25302887e-01 9.05051078e-01 0.00000000e+00 -2.28099528e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11221803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.51, Y:-22.82, Z:-0.02 [[ 9.05693803e-01 4.23932465e-01 0.00000000e+00 1.52512310e+02] [-4.23932465e-01 9.05693803e-01 0.00000000e+00 -2.28219993e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.98929793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.54, Y:-22.83, Z:-0.02 [[ 9.06518896e-01 4.22165241e-01 0.00000000e+00 1.52538208e+02] [-4.22165241e-01 9.06518896e-01 0.00000000e+00 -2.28336373e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78812943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.56, Y:-22.85, Z:-0.02 [[ 9.08022658e-01 4.18921057e-01 0.00000000e+00 1.52563081e+02] [-4.18921057e-01 9.08022658e-01 0.00000000e+00 -2.28458627e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61455476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.59, Y:-22.86, Z:-0.02 [[ 9.08611124e-01 4.17643179e-01 0.00000000e+00 1.52588167e+02] [-4.17643179e-01 9.08611124e-01 0.00000000e+00 -2.28564743e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69132344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.61, Y:-22.87, Z:-0.02 [[ 9.08931242e-01 4.16946036e-01 0.00000000e+00 1.52614216e+02] [-4.16946036e-01 9.08931242e-01 0.00000000e+00 -2.28676408e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73993838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.64, Y:-22.88, Z:-0.02 [[ 9.08986773e-01 4.16824959e-01 0.00000000e+00 1.52640066e+02] [-4.16824959e-01 9.08986773e-01 0.00000000e+00 -2.28785487e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86741183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.67, Y:-22.89, Z:-0.02 [[ 9.08879501e-01 4.17058813e-01 0.00000000e+00 1.52666550e+02] [-4.17058813e-01 9.08879501e-01 0.00000000e+00 -2.28903537e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04408291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.69, Y:-22.90, Z:-0.02 [[ 9.08777619e-01 4.17280768e-01 0.00000000e+00 1.52691665e+02] [-4.17280768e-01 9.08777619e-01 0.00000000e+00 -2.29009656e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05828811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.72, Y:-22.91, Z:-0.02 [[ 9.08806401e-01 4.17218079e-01 0.00000000e+00 1.52717822e+02] [-4.17218079e-01 9.08806401e-01 0.00000000e+00 -2.29119728e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85424079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.74, Y:-22.92, Z:-0.02 [[ 9.08876442e-01 4.17065478e-01 0.00000000e+00 1.52743046e+02] [-4.17065478e-01 9.08876442e-01 0.00000000e+00 -2.29226688e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78415810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.77, Y:-22.93, Z:-0.02 [[ 9.09505401e-01 4.15692103e-01 0.00000000e+00 1.52767282e+02] [-4.15692103e-01 9.09505401e-01 0.00000000e+00 -2.29337381e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83791954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.79, Y:-22.94, Z:-0.02 [[ 9.10007899e-01 4.14590911e-01 0.00000000e+00 1.52793150e+02] [-4.14590911e-01 9.10007899e-01 0.00000000e+00 -2.29438021e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91232019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.82, Y:-22.95, Z:-0.02 [[ 9.10522005e-01 4.13460613e-01 0.00000000e+00 1.52819591e+02] [-4.13460613e-01 9.10522005e-01 0.00000000e+00 -2.29539321e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03353469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.85, Y:-22.96, Z:-0.02 [[ 9.11025685e-01 4.12349610e-01 0.00000000e+00 1.52845795e+02] [-4.12349610e-01 9.11025685e-01 0.00000000e+00 -2.29642582e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17846541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.87, Y:-22.98, Z:-0.03 [[ 9.12113826e-01 4.09937030e-01 0.00000000e+00 1.52870314e+02] [-4.09937030e-01 9.12113826e-01 0.00000000e+00 -2.29787329e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61357854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.90, Y:-22.99, Z:-0.03 [[ 9.12702613e-01 4.08624448e-01 0.00000000e+00 1.52895402e+02] [-4.08624448e-01 9.12702613e-01 0.00000000e+00 -2.29913173e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.63425786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.92, Y:-23.00, Z:-0.02 [[ 9.13184532e-01 4.07546329e-01 0.00000000e+00 1.52922150e+02] [-4.07546329e-01 9.13184532e-01 0.00000000e+00 -2.30032358e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.49829094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.95, Y:-23.02, Z:-0.02 [[ 9.13842909e-01 4.06067899e-01 0.00000000e+00 1.52946958e+02] [-4.06067899e-01 9.13842909e-01 0.00000000e+00 -2.30155532e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17180319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.97, Y:-23.03, Z:-0.02 [[ 9.14180337e-01 4.05307674e-01 0.00000000e+00 1.52972605e+02] [-4.05307674e-01 9.14180337e-01 0.00000000e+00 -2.30272031e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02268181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.00, Y:-23.04, Z:-0.02 [[ 9.14261954e-01 4.05123536e-01 0.00000000e+00 1.52998104e+02] [-4.05123536e-01 9.14261954e-01 0.00000000e+00 -2.30390427e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10228059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.02, Y:-23.05, Z:-0.02 [[ 9.14061098e-01 4.05576515e-01 0.00000000e+00 1.53024005e+02] [-4.05576515e-01 9.14061098e-01 0.00000000e+00 -2.30504487e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41073374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.05, Y:-23.06, Z:-0.02 [[ 9.13417444e-01 4.07024045e-01 0.00000000e+00 1.53050337e+02] [-4.07024045e-01 9.13417444e-01 0.00000000e+00 -2.30606304e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47378791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.08, Y:-23.07, Z:-0.02 [[ 9.13165205e-01 4.07589633e-01 0.00000000e+00 1.53076500e+02] [-4.07589633e-01 9.13165205e-01 0.00000000e+00 -2.30696615e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.26317575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.10, Y:-23.08, Z:-0.02 [[ 9.13020671e-01 4.07913293e-01 0.00000000e+00 1.53103198e+02] [-4.07913293e-01 9.13020671e-01 0.00000000e+00 -2.30792166e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90900944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.13, Y:-23.09, Z:-0.02 [[ 9.13016376e-01 4.07922907e-01 0.00000000e+00 1.53128670e+02] [-4.07922907e-01 9.13016376e-01 0.00000000e+00 -2.30894927e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69815967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.15, Y:-23.10, Z:-0.02 [[ 9.13285623e-01 4.07319739e-01 0.00000000e+00 1.53154202e+02] [-4.07319739e-01 9.13285623e-01 0.00000000e+00 -2.31007297e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69768856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.18, Y:-23.11, Z:-0.02 [[ 9.14210284e-01 4.05240123e-01 0.00000000e+00 1.53180505e+02] [-4.05240123e-01 9.14210284e-01 0.00000000e+00 -2.31142007e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96442688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.21, Y:-23.12, Z:-0.02 [[ 9.14849891e-01 4.03794102e-01 0.00000000e+00 1.53206315e+02] [-4.03794102e-01 9.14849891e-01 0.00000000e+00 -2.31248795e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97086603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.23, Y:-23.14, Z:-0.02 [[ 9.15509372e-01 4.02296644e-01 0.00000000e+00 1.53232206e+02] [-4.02296644e-01 9.15509372e-01 0.00000000e+00 -2.31363257e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96970004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.26, Y:-23.15, Z:-0.02 [[ 9.16329755e-01 4.00424499e-01 0.00000000e+00 1.53258486e+02] [-4.00424499e-01 9.16329755e-01 0.00000000e+00 -2.31485840e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65538156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.28, Y:-23.16, Z:-0.01 [[ 9.17444253e-01 3.97864353e-01 0.00000000e+00 1.53282327e+02] [-3.97864353e-01 9.17444253e-01 0.00000000e+00 -2.31632080e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04621015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.31, Y:-23.17, Z:-0.01 [[ 9.17755343e-01 3.97146233e-01 0.00000000e+00 1.53307817e+02] [-3.97146233e-01 9.17755343e-01 0.00000000e+00 -2.31742328e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00389905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.381400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:153.33, Y:-23.19, Z:-0.01 [[ 9.17628263e-01 3.97439771e-01 0.00000000e+00 1.53333821e+02] [-3.97439771e-01 9.17628263e-01 0.00000000e+00 -2.31852496e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26637697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.411400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:153.36, Y:-23.19, Z:-0.01 [[ 9.17701614e-01 3.97270371e-01 0.00000000e+00 1.53360616e+02] [-3.97270371e-01 9.17701614e-01 0.00000000e+00 -2.31949795e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26637697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.39, Y:-23.21, Z:-0.02 [[ 9.17504647e-01 3.97725059e-01 0.00000000e+00 1.53385471e+02] [-3.97725059e-01 9.17504647e-01 0.00000000e+00 -2.32068185e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63470620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.41, Y:-23.22, Z:-0.02 [[ 9.16705166e-01 3.99564311e-01 0.00000000e+00 1.53409957e+02] [-3.99564311e-01 9.16705166e-01 0.00000000e+00 -2.32248977e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.07040481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.43, Y:-23.24, Z:-0.02 [[ 9.16112623e-01 4.00921017e-01 0.00000000e+00 1.53433737e+02] [-4.00921017e-01 9.16112623e-01 0.00000000e+00 -2.32385722e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09691057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.46, Y:-23.25, Z:-0.02 [[ 9.15432294e-01 4.02472006e-01 0.00000000e+00 1.53458430e+02] [-4.02472006e-01 9.15432294e-01 0.00000000e+00 -2.32520811e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96907289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.48, Y:-23.27, Z:-0.02 [[ 9.13846624e-01 4.06059537e-01 0.00000000e+00 1.53482097e+02] [-4.06059537e-01 9.13846624e-01 0.00000000e+00 -2.32706278e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56480811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.51, Y:-23.29, Z:-0.02 [[ 9.13293643e-01 4.07301757e-01 0.00000000e+00 1.53506351e+02] [-4.07301757e-01 9.13293643e-01 0.00000000e+00 -2.32857152e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70996073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.53, Y:-23.30, Z:-0.02 [[ 9.12954533e-01 4.08061296e-01 0.00000000e+00 1.53530654e+02] [-4.08061296e-01 9.12954533e-01 0.00000000e+00 -2.33013176e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93982984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.56, Y:-23.32, Z:-0.02 [[ 9.12853679e-01 4.08286861e-01 0.00000000e+00 1.53555776e+02] [-4.08286861e-01 9.12853679e-01 0.00000000e+00 -2.33165289e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13339177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.58, Y:-23.34, Z:-0.02 [[ 9.12519626e-01 4.09032924e-01 0.00000000e+00 1.53577958e+02] [-4.09032924e-01 9.12519626e-01 0.00000000e+00 -2.33370576e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12540559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.60, Y:-23.35, Z:-0.02 [[ 9.12098894e-01 4.09970253e-01 0.00000000e+00 1.53602076e+02] [-4.09970253e-01 9.12098894e-01 0.00000000e+00 -2.33527065e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99139156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.63, Y:-23.37, Z:-0.02 [[ 9.11493576e-01 4.11314308e-01 0.00000000e+00 1.53627393e+02] [-4.11314308e-01 9.11493576e-01 0.00000000e+00 -2.33683867e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75715356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.65, Y:-23.39, Z:-0.02 [[ 9.10044832e-01 4.14509835e-01 0.00000000e+00 1.53651661e+02] [-4.14509835e-01 9.10044832e-01 0.00000000e+00 -2.33862249e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68897650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80140051299998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.68, Y:-23.40, Z:-0.02 [[ 9.09264788e-01 4.16218146e-01 0.00000000e+00 1.53676817e+02] [-4.16218146e-01 9.09264788e-01 0.00000000e+00 -2.33978826e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06422195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.70, Y:-23.41, Z:-0.02 [[ 9.08738252e-01 4.17366493e-01 0.00000000e+00 1.53703430e+02] [-4.17366493e-01 9.08738252e-01 0.00000000e+00 -2.34103634e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23535940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.73, Y:-23.42, Z:-0.02 [[ 9.08069463e-01 4.18819592e-01 0.00000000e+00 1.53728553e+02] [-4.18819592e-01 9.08069463e-01 0.00000000e+00 -2.34233524e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.33101543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.75, Y:-23.44, Z:-0.02 [[ 9.07349237e-01 4.20377643e-01 0.00000000e+00 1.53754135e+02] [-4.20377643e-01 9.07349237e-01 0.00000000e+00 -2.34377107e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22042349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.78, Y:-23.45, Z:-0.02 [[ 9.06177321e-01 4.22897934e-01 0.00000000e+00 1.53777479e+02] [-4.22897934e-01 9.06177321e-01 0.00000000e+00 -2.34545848e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96971236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.81, Y:-23.47, Z:-0.02 [[ 9.05729708e-01 4.23855749e-01 0.00000000e+00 1.53805563e+02] [-4.23855749e-01 9.05729708e-01 0.00000000e+00 -2.34661602e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83675500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98140051299998 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:153.83, Y:-23.48, Z:-0.02 [[ 9.05350423e-01 4.24665293e-01 0.00000000e+00 1.53832360e+02] [-4.24665293e-01 9.05350423e-01 0.00000000e+00 -2.34762882e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92743657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.86, Y:-23.49, Z:-0.02 [[ 9.05544822e-01 4.24250605e-01 0.00000000e+00 1.53857551e+02] [-4.24250605e-01 9.05544822e-01 0.00000000e+00 -2.34870354e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84578454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.88, Y:-23.50, Z:-0.02 [[ 9.05670864e-01 4.23981470e-01 0.00000000e+00 1.53883981e+02] [-4.23981470e-01 9.05670864e-01 0.00000000e+00 -2.34998064e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75544944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.91, Y:-23.51, Z:-0.02 [[ 9.06466498e-01 4.22277738e-01 0.00000000e+00 1.53909517e+02] [-4.22277738e-01 9.06466498e-01 0.00000000e+00 -2.35136049e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81518305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.94, Y:-23.52, Z:-0.02 [[ 9.06560307e-01 4.22076309e-01 0.00000000e+00 1.53937215e+02] [-4.22076309e-01 9.06560307e-01 0.00000000e+00 -2.35236155e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93121483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.96, Y:-23.53, Z:-0.02 [[ 9.06382797e-01 4.22457365e-01 0.00000000e+00 1.53963894e+02] [-4.22457365e-01 9.06382797e-01 0.00000000e+00 -2.35325728e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12058961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.99, Y:-23.54, Z:-0.02 [[ 9.05388586e-01 4.24583924e-01 0.00000000e+00 1.53991742e+02] [-4.24583924e-01 9.05388586e-01 0.00000000e+00 -2.35414719e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29387733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.02, Y:-23.55, Z:-0.02 [[ 9.04812004e-01 4.25811269e-01 0.00000000e+00 1.54018068e+02] [-4.25811269e-01 9.04812004e-01 0.00000000e+00 -2.35494922e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.20606132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.05, Y:-23.56, Z:-0.02 [[ 9.04282579e-01 4.26934441e-01 0.00000000e+00 1.54045988e+02] [-4.26934441e-01 9.04282579e-01 0.00000000e+00 -2.35570769e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04630871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.251400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:154.07, Y:-23.56, Z:-0.02 [[ 9.03971514e-01 4.27592683e-01 0.00000000e+00 1.54073485e+02] [-4.27592683e-01 9.03971514e-01 0.00000000e+00 -2.35626438e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12086132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.10, Y:-23.57, Z:-0.02 [[ 9.04816745e-01 4.25801194e-01 0.00000000e+00 1.54100390e+02] [-4.25801194e-01 9.04816745e-01 0.00000000e+00 -2.35717514e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11144110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.13, Y:-23.58, Z:-0.02 [[ 9.05807067e-01 4.23690404e-01 0.00000000e+00 1.54126954e+02] [-4.23690404e-01 9.05807067e-01 0.00000000e+00 -2.35809476e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.24143954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.15, Y:-23.59, Z:-0.02 [[ 9.07019529e-01 4.21088559e-01 0.00000000e+00 1.54154041e+02] [-4.21088559e-01 9.07019529e-01 0.00000000e+00 -2.35894595e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29468484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.18, Y:-23.60, Z:-0.03 [[ 9.09628439e-01 4.15422800e-01 0.00000000e+00 1.54183789e+02] [-4.15422800e-01 9.09628439e-01 0.00000000e+00 -2.35969588e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.50955055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.21, Y:-23.61, Z:-0.03 [[ 9.10751234e-01 4.12955433e-01 0.00000000e+00 1.54210483e+02] [-4.12955433e-01 9.10751234e-01 0.00000000e+00 -2.36067168e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.55464326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.24, Y:-23.62, Z:-0.02 [[ 9.11797379e-01 4.10640402e-01 0.00000000e+00 1.54237282e+02] [-4.10640402e-01 9.11797379e-01 0.00000000e+00 -2.36178128e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43663910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.26, Y:-23.63, Z:-0.02 [[ 9.12751604e-01 4.08515006e-01 0.00000000e+00 1.54262986e+02] [-4.08515006e-01 9.12751604e-01 0.00000000e+00 -2.36286700e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.36457286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.29, Y:-23.64, Z:-0.02 [[ 9.13533531e-01 4.06763429e-01 0.00000000e+00 1.54290021e+02] [-4.06763429e-01 9.13533531e-01 0.00000000e+00 -2.36390409e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11389679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.32, Y:-23.65, Z:-0.02 [[ 9.14267872e-01 4.05110180e-01 0.00000000e+00 1.54319320e+02] [-4.05110180e-01 9.14267872e-01 0.00000000e+00 -2.36498282e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06761742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.35, Y:-23.66, Z:-0.02 [[ 9.14316123e-01 4.05001269e-01 0.00000000e+00 1.54346436e+02] [-4.05001269e-01 9.14316123e-01 0.00000000e+00 -2.36610877e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14130272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58140051299998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:154.38, Y:-23.67, Z:-0.02 [[ 9.13966098e-01 4.05790552e-01 0.00000000e+00 1.54375914e+02] [-4.05790552e-01 9.13966098e-01 0.00000000e+00 -2.36743969e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14428579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.40, Y:-23.69, Z:-0.02 [[ 9.14028683e-01 4.05649561e-01 0.00000000e+00 1.54404243e+02] [-4.05649561e-01 9.14028683e-01 0.00000000e+00 -2.36870519e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95464051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.43, Y:-23.70, Z:-0.02 [[ 9.14089248e-01 4.05513067e-01 0.00000000e+00 1.54431709e+02] [-4.05513067e-01 9.14089248e-01 0.00000000e+00 -2.36994079e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80865037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.46, Y:-23.71, Z:-0.02 [[ 9.14625490e-01 4.04302132e-01 0.00000000e+00 1.54459644e+02] [-4.04302132e-01 9.14625490e-01 0.00000000e+00 -2.37148401e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81550242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.49, Y:-23.73, Z:-0.02 [[ 9.14734619e-01 4.04055166e-01 0.00000000e+00 1.54489608e+02] [-4.04055166e-01 9.14734619e-01 0.00000000e+00 -2.37291960e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96759723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.52, Y:-23.74, Z:-0.02 [[ 9.14415701e-01 4.04776389e-01 0.00000000e+00 1.54518653e+02] [-4.04776389e-01 9.14415701e-01 0.00000000e+00 -2.37433479e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.18233523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.55, Y:-23.76, Z:-0.02 [[ 9.13684025e-01 4.06425272e-01 0.00000000e+00 1.54545823e+02] [-4.06425272e-01 9.13684025e-01 0.00000000e+00 -2.37560647e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29110847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.57, Y:-23.77, Z:-0.02 [[ 9.11374172e-01 4.11578812e-01 0.00000000e+00 1.54573817e+02] [-4.11578812e-01 9.11374172e-01 0.00000000e+00 -2.37732623e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12228796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.60, Y:-23.79, Z:-0.02 [[ 9.10090991e-01 4.14408479e-01 0.00000000e+00 1.54603372e+02] [-4.14408479e-01 9.10090991e-01 0.00000000e+00 -2.37883880e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02041465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.63, Y:-23.80, Z:-0.02 [[ 9.07673673e-01 4.19676665e-01 0.00000000e+00 1.54632806e+02] [-4.19676665e-01 9.07673673e-01 0.00000000e+00 -2.38044205e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80198321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.66, Y:-23.82, Z:-0.02 [[ 9.06502751e-01 4.22199908e-01 0.00000000e+00 1.54662838e+02] [-4.22199908e-01 9.06502751e-01 0.00000000e+00 -2.38160811e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67073113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.69, Y:-23.83, Z:-0.02 [[ 9.05389408e-01 4.24582172e-01 0.00000000e+00 1.54692841e+02] [-4.24582172e-01 9.05389408e-01 0.00000000e+00 -2.38281176e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56988480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.72, Y:-23.84, Z:-0.02 [[ 9.04326939e-01 4.26840472e-01 0.00000000e+00 1.54722838e+02] [-4.26840472e-01 9.04326939e-01 0.00000000e+00 -2.38415583e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62487003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.75, Y:-23.86, Z:-0.02 [[ 9.03482570e-01 4.28624831e-01 0.00000000e+00 1.54752053e+02] [-4.28624831e-01 9.03482570e-01 0.00000000e+00 -2.38553743e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77769662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.78, Y:-23.87, Z:-0.02 [[ 9.03078139e-01 4.29476281e-01 0.00000000e+00 1.54781532e+02] [-4.29476281e-01 9.03078139e-01 0.00000000e+00 -2.38687021e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90740965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.81, Y:-23.88, Z:-0.02 [[ 9.03516977e-01 4.28552297e-01 0.00000000e+00 1.54810979e+02] [-4.28552297e-01 9.03516977e-01 0.00000000e+00 -2.38813769e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09397856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.84, Y:-23.89, Z:-0.02 [[ 9.04017439e-01 4.27495579e-01 0.00000000e+00 1.54841287e+02] [-4.27495579e-01 9.04017439e-01 0.00000000e+00 -2.38936852e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08352244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.87, Y:-23.91, Z:-0.02 [[ 9.04596484e-01 4.26268931e-01 0.00000000e+00 1.54871487e+02] [-4.26268931e-01 9.04596484e-01 0.00000000e+00 -2.39062003e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10392862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.90, Y:-23.92, Z:-0.02 [[ 9.05100621e-01 4.25197444e-01 0.00000000e+00 1.54902550e+02] [-4.25197444e-01 9.05100621e-01 0.00000000e+00 -2.39183988e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.18871308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.93, Y:-23.93, Z:-0.02 [[ 9.05103219e-01 4.25191914e-01 0.00000000e+00 1.54933636e+02] [-4.25191914e-01 9.05103219e-01 0.00000000e+00 -2.39301098e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.24431130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.96, Y:-23.94, Z:-0.02 [[ 9.04595221e-01 4.26271610e-01 0.00000000e+00 1.54963826e+02] [-4.26271610e-01 9.04595221e-01 0.00000000e+00 -2.39426133e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17818557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.99, Y:-23.96, Z:-0.02 [[ 9.04004789e-01 4.27522329e-01 0.00000000e+00 1.54992755e+02] [-4.27522329e-01 9.04004789e-01 0.00000000e+00 -2.39559997e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16193210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.02, Y:-23.97, Z:-0.02 [[ 9.03537752e-01 4.28508496e-01 0.00000000e+00 1.55022849e+02] [-4.28508496e-01 9.03537752e-01 0.00000000e+00 -2.39691648e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03207343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.05, Y:-23.98, Z:-0.02 [[ 9.03521124e-01 4.28543555e-01 0.00000000e+00 1.55053223e+02] [-4.28543555e-01 9.03521124e-01 0.00000000e+00 -2.39801860e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14306865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.08, Y:-23.99, Z:-0.02 [[ 9.03891071e-01 4.27762706e-01 0.00000000e+00 1.55083577e+02] [-4.27762706e-01 9.03891071e-01 0.00000000e+00 -2.39911470e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19313638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.11, Y:-24.00, Z:-0.02 [[ 9.03816775e-01 4.27919662e-01 0.00000000e+00 1.55114908e+02] [-4.27919662e-01 9.03816775e-01 0.00000000e+00 -2.40029176e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19313638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.15, Y:-24.02, Z:-0.02 [[ 9.04307439e-01 4.26881783e-01 0.00000000e+00 1.55145141e+02] [-4.26881783e-01 9.04307439e-01 0.00000000e+00 -2.40151901e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04919607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.17, Y:-24.03, Z:-0.02 [[ 9.05628608e-01 4.24071721e-01 0.00000000e+00 1.55173929e+02] [-4.24071721e-01 9.05628608e-01 0.00000000e+00 -2.40292152e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01916081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.20, Y:-24.04, Z:-0.02 [[ 9.06072862e-01 4.23121695e-01 0.00000000e+00 1.55204341e+02] [-4.23121695e-01 9.06072862e-01 0.00000000e+00 -2.40408561e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16745920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.24, Y:-24.05, Z:-0.02 [[ 9.06543035e-01 4.22113404e-01 0.00000000e+00 1.55235073e+02] [-4.22113404e-01 9.06543035e-01 0.00000000e+00 -2.40524707e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27310439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:155.27, Y:-24.07, Z:-0.02 [[ 9.06805721e-01 4.21548793e-01 0.00000000e+00 1.55265153e+02] [-4.21548793e-01 9.06805721e-01 0.00000000e+00 -2.40650327e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35487717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.29, Y:-24.08, Z:-0.02 [[ 9.07343897e-01 4.20389168e-01 0.00000000e+00 1.55293794e+02] [-4.20389168e-01 9.07343897e-01 0.00000000e+00 -2.40807365e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16328694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.32, Y:-24.09, Z:-0.02 [[ 9.07552597e-01 4.19938429e-01 0.00000000e+00 1.55323666e+02] [-4.19938429e-01 9.07552597e-01 0.00000000e+00 -2.40918276e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04876379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.35, Y:-24.10, Z:-0.02 [[ 9.07771746e-01 4.19464488e-01 0.00000000e+00 1.55354660e+02] [-4.19464488e-01 9.07771746e-01 0.00000000e+00 -2.41012167e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.94824980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.39, Y:-24.11, Z:-0.02 [[ 9.07934620e-01 4.19111829e-01 0.00000000e+00 1.55386073e+02] [-4.19111829e-01 9.07934620e-01 0.00000000e+00 -2.41107562e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81168031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.42, Y:-24.12, Z:-0.02 [[ 9.08024459e-01 4.18917153e-01 0.00000000e+00 1.55417415e+02] [-4.18917153e-01 9.08024459e-01 0.00000000e+00 -2.41216072e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73956555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.45, Y:-24.13, Z:-0.02 [[ 9.08722038e-01 4.17401795e-01 0.00000000e+00 1.55446924e+02] [-4.17401795e-01 9.08722038e-01 0.00000000e+00 -2.41331112e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78511010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.48, Y:-24.14, Z:-0.02 [[ 9.09576836e-01 4.15535774e-01 0.00000000e+00 1.55477827e+02] [-4.15535774e-01 9.09576836e-01 0.00000000e+00 -2.41440683e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86214160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.51, Y:-24.15, Z:-0.02 [[ 9.10559481e-01 4.13378073e-01 0.00000000e+00 1.55507983e+02] [-4.13378073e-01 9.10559481e-01 0.00000000e+00 -2.41543563e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01551878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.54, Y:-24.17, Z:-0.02 [[ 9.11619589e-01 4.11034943e-01 0.00000000e+00 1.55539126e+02] [-4.11034943e-01 9.11619589e-01 0.00000000e+00 -2.41662631e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06161848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.57, Y:-24.18, Z:-0.02 [[ 9.13373726e-01 4.07122141e-01 0.00000000e+00 1.55567820e+02] [-4.07122141e-01 9.13373726e-01 0.00000000e+00 -2.41821936e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91626128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.60, Y:-24.20, Z:-0.02 [[ 9.14201280e-01 4.05260434e-01 0.00000000e+00 1.55597679e+02] [-4.05260434e-01 9.14201280e-01 0.00000000e+00 -2.41955958e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84158382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.63, Y:-24.21, Z:-0.02 [[ 9.14772763e-01 4.03968800e-01 0.00000000e+00 1.55628346e+02] [-4.03968800e-01 9.14772763e-01 0.00000000e+00 -2.42084716e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89905704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.66, Y:-24.22, Z:-0.02 [[ 9.15229666e-01 4.02932573e-01 0.00000000e+00 1.55658654e+02] [-4.02932573e-01 9.15229666e-01 0.00000000e+00 -2.42211368e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00392906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.69, Y:-24.23, Z:-0.02 [[ 9.15499234e-01 4.02319715e-01 0.00000000e+00 1.55688959e+02] [-4.02319715e-01 9.15499234e-01 0.00000000e+00 -2.42348715e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02299598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.72, Y:-24.25, Z:-0.02 [[ 9.15473171e-01 4.02379016e-01 0.00000000e+00 1.55718444e+02] [-4.02379016e-01 9.15473171e-01 0.00000000e+00 -2.42491051e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87086582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.75, Y:-24.26, Z:-0.02 [[ 9.14545827e-01 4.04482299e-01 0.00000000e+00 1.55747007e+02] [-4.04482299e-01 9.14545827e-01 0.00000000e+00 -2.42640384e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68944393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.78, Y:-24.28, Z:-0.02 [[ 9.13797655e-01 4.06169725e-01 0.00000000e+00 1.55777165e+02] [-4.06169725e-01 9.13797655e-01 0.00000000e+00 -2.42751309e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91345321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.81, Y:-24.29, Z:-0.02 [[ 9.12934825e-01 4.08105385e-01 0.00000000e+00 1.55808536e+02] [-4.08105385e-01 9.12934825e-01 0.00000000e+00 -2.42863266e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96216118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.84, Y:-24.30, Z:-0.02 [[ 9.11188429e-01 4.11989862e-01 0.00000000e+00 1.55838178e+02] [-4.11989862e-01 9.11188429e-01 0.00000000e+00 -2.42996101e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02226242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.87, Y:-24.31, Z:-0.02 [[ 9.10419668e-01 4.13685906e-01 0.00000000e+00 1.55867988e+02] [-4.13685906e-01 9.10419668e-01 0.00000000e+00 -2.43124131e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99490305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.90, Y:-24.32, Z:-0.02 [[ 9.09808146e-01 4.15029080e-01 0.00000000e+00 1.55898371e+02] [-4.15029080e-01 9.09808146e-01 0.00000000e+00 -2.43242676e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77227309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14140051299998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:155.93, Y:-24.33, Z:-0.02 [[ 9.09269338e-01 4.16208207e-01 0.00000000e+00 1.55930088e+02] [-4.16208207e-01 9.09269338e-01 0.00000000e+00 -2.43349756e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76221823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.96, Y:-24.34, Z:-0.02 [[ 9.08931160e-01 4.16946215e-01 0.00000000e+00 1.55960889e+02] [-4.16946215e-01 9.08931160e-01 0.00000000e+00 -2.43447993e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74454916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.99, Y:-24.35, Z:-0.02 [[ 9.08566640e-01 4.17739945e-01 0.00000000e+00 1.55992257e+02] [-4.17739945e-01 9.08566640e-01 0.00000000e+00 -2.43546972e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80195743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.02, Y:-24.36, Z:-0.02 [[ 9.08198143e-01 4.18540479e-01 0.00000000e+00 1.56023119e+02] [-4.18540479e-01 9.08198143e-01 0.00000000e+00 -2.43638409e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96659267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.05, Y:-24.37, Z:-0.02 [[ 9.08025921e-01 4.18913984e-01 0.00000000e+00 1.56054642e+02] [-4.18913984e-01 9.08025921e-01 0.00000000e+00 -2.43749122e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93977110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.08, Y:-24.39, Z:-0.02 [[ 9.07857506e-01 4.19278843e-01 0.00000000e+00 1.56084341e+02] [-4.19278843e-01 9.07857506e-01 0.00000000e+00 -2.43857779e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92264634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.11, Y:-24.40, Z:-0.02 [[ 9.07936714e-01 4.19107294e-01 0.00000000e+00 1.56113748e+02] [-4.19107294e-01 9.07936714e-01 0.00000000e+00 -2.43980433e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00556760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.14, Y:-24.41, Z:-0.02 [[ 9.08144997e-01 4.18655782e-01 0.00000000e+00 1.56143153e+02] [-4.18655782e-01 9.08144997e-01 0.00000000e+00 -2.44097632e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16601441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.17, Y:-24.42, Z:-0.02 [[ 9.08542798e-01 4.17791794e-01 0.00000000e+00 1.56173830e+02] [-4.17791794e-01 9.08542798e-01 0.00000000e+00 -2.44217940e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05325210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.20, Y:-24.43, Z:-0.02 [[ 9.08772677e-01 4.17291531e-01 0.00000000e+00 1.56203450e+02] [-4.17291531e-01 9.08772677e-01 0.00000000e+00 -2.44338432e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11114419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.23, Y:-24.45, Z:-0.02 [[ 9.09133133e-01 4.16505638e-01 0.00000000e+00 1.56233813e+02] [-4.16505638e-01 9.09133133e-01 0.00000000e+00 -2.44465646e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09574112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.26, Y:-24.46, Z:-0.02 [[ 9.09369827e-01 4.15988602e-01 0.00000000e+00 1.56264471e+02] [-4.15988602e-01 9.09369827e-01 0.00000000e+00 -2.44596688e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05782845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.30, Y:-24.47, Z:-0.02 [[ 9.09873049e-01 4.14886773e-01 0.00000000e+00 1.56295068e+02] [-4.14886773e-01 9.09873049e-01 0.00000000e+00 -2.44728923e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09822100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.33, Y:-24.49, Z:-0.02 [[ 9.09993567e-01 4.14622367e-01 0.00000000e+00 1.56325129e+02] [-4.14622367e-01 9.09993567e-01 0.00000000e+00 -2.44854316e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12205789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.561400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:156.35, Y:-24.50, Z:-0.02 [[ 9.09876756e-01 4.14878643e-01 0.00000000e+00 1.56354836e+02] [-4.14878643e-01 9.09876756e-01 0.00000000e+00 -2.44985585e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11490802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.591400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:156.39, Y:-24.51, Z:-0.02 [[ 9.09657807e-01 4.15358490e-01 0.00000000e+00 1.56385580e+02] [-4.15358490e-01 9.09657807e-01 0.00000000e+00 -2.45117837e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00040488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.41, Y:-24.52, Z:-0.02 [[ 9.09426551e-01 4.15864579e-01 0.00000000e+00 1.56414485e+02] [-4.15864579e-01 9.09426551e-01 0.00000000e+00 -2.45233232e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.94151435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.45, Y:-24.53, Z:-0.02 [[ 9.09198895e-01 4.16362065e-01 0.00000000e+00 1.56445622e+02] [-4.16362065e-01 9.09198895e-01 0.00000000e+00 -2.45344364e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85432898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.48, Y:-24.54, Z:-0.02 [[ 9.09149220e-01 4.16470522e-01 0.00000000e+00 1.56476976e+02] [-4.16470522e-01 9.09149220e-01 0.00000000e+00 -2.45437622e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88072594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.51, Y:-24.55, Z:-0.02 [[ 9.09365134e-01 4.15998862e-01 0.00000000e+00 1.56507202e+02] [-4.15998862e-01 9.09365134e-01 0.00000000e+00 -2.45545909e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97839520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.54, Y:-24.57, Z:-0.02 [[ 9.09916142e-01 4.14792256e-01 0.00000000e+00 1.56537751e+02] [-4.14792256e-01 9.09916142e-01 0.00000000e+00 -2.45663750e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96885461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.57, Y:-24.58, Z:-0.02 [[ 9.10613508e-01 4.13259046e-01 0.00000000e+00 1.56567530e+02] [-4.13259046e-01 9.10613508e-01 0.00000000e+00 -2.45783500e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01732192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.60, Y:-24.59, Z:-0.02 [[ 9.12703547e-01 4.08622363e-01 0.00000000e+00 1.56598740e+02] [-4.08622363e-01 9.12703547e-01 0.00000000e+00 -2.45898381e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71800952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.63, Y:-24.60, Z:-0.02 [[ 9.13549680e-01 4.06727159e-01 0.00000000e+00 1.56628284e+02] [-4.06727159e-01 9.13549680e-01 0.00000000e+00 -2.46008894e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68168530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:-24.61, Z:-0.02 [[ 9.14090322e-01 4.05510645e-01 0.00000000e+00 1.56657910e+02] [-4.05510645e-01 9.14090322e-01 0.00000000e+00 -2.46125186e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79646369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.69, Y:-24.63, Z:-0.02 [[ 9.14219198e-01 4.05220012e-01 0.00000000e+00 1.56687917e+02] [-4.05220012e-01 9.14219198e-01 0.00000000e+00 -2.46250386e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64543507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.72, Y:-24.64, Z:-0.02 [[ 9.14236181e-01 4.05181694e-01 0.00000000e+00 1.56717515e+02] [-4.05181694e-01 9.14236181e-01 0.00000000e+00 -2.46372928e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59701809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.75, Y:-24.65, Z:-0.02 [[ 9.14292563e-01 4.05054453e-01 0.00000000e+00 1.56748304e+02] [-4.05054453e-01 9.14292563e-01 0.00000000e+00 -2.46497173e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56292466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.78, Y:-24.66, Z:-0.01 [[ 9.14396749e-01 4.04819200e-01 0.00000000e+00 1.56778361e+02] [-4.04819200e-01 9.14396749e-01 0.00000000e+00 -2.46622829e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47654572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.81, Y:-24.68, Z:-0.02 [[ 9.14290835e-01 4.05058352e-01 0.00000000e+00 1.56808529e+02] [-4.05058352e-01 9.14290835e-01 0.00000000e+00 -2.46755058e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50781446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04140051299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.84, Y:-24.69, Z:-0.02 [[ 9.14341023e-01 4.04945050e-01 0.00000000e+00 1.56838065e+02] [-4.04945050e-01 9.14341023e-01 0.00000000e+00 -2.46888575e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58082090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.87, Y:-24.70, Z:-0.02 [[ 9.14526299e-01 4.04526449e-01 0.00000000e+00 1.56868126e+02] [-4.04526449e-01 9.14526299e-01 0.00000000e+00 -2.47021875e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54481056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.90, Y:-24.71, Z:-0.02 [[ 9.14673664e-01 4.04193132e-01 0.00000000e+00 1.56897188e+02] [-4.04193132e-01 9.14673664e-01 0.00000000e+00 -2.47146099e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50265896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.93, Y:-24.73, Z:-0.01 [[ 9.14603009e-01 4.04352984e-01 0.00000000e+00 1.56927720e+02] [-4.04352984e-01 9.14603009e-01 0.00000000e+00 -2.47280911e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43976379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.96, Y:-24.75, Z:-0.02 [[ 9.14221250e-01 4.05215381e-01 0.00000000e+00 1.56956221e+02] [-4.05215381e-01 9.14221250e-01 0.00000000e+00 -2.47458786e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60356164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.191400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:156.98, Y:-24.76, Z:-0.02 [[ 9.14033782e-01 4.05638072e-01 0.00000000e+00 1.56984449e+02] [-4.05638072e-01 9.14033782e-01 0.00000000e+00 -2.47612184e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.82708921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.221400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:157.02, Y:-24.77, Z:-0.02 [[ 9.13958175e-01 4.05808397e-01 0.00000000e+00 1.57015643e+02] [-4.05808397e-01 9.13958175e-01 0.00000000e+00 -2.47733163e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.82708921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.04, Y:-24.79, Z:-0.02 [[ 9.13561825e-01 4.06699880e-01 0.00000000e+00 1.57044009e+02] [-4.06699880e-01 9.13561825e-01 0.00000000e+00 -2.47889510e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.98703178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.07, Y:-24.81, Z:-0.02 [[ 9.12393725e-01 4.09313683e-01 0.00000000e+00 1.57072573e+02] [-4.09313683e-01 9.12393725e-01 0.00000000e+00 -2.48072974e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75173902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.10, Y:-24.82, Z:-0.02 [[ 9.11296370e-01 4.11751049e-01 0.00000000e+00 1.57101468e+02] [-4.11751049e-01 9.11296370e-01 0.00000000e+00 -2.48207024e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66979819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.13, Y:-24.83, Z:-0.02 [[ 9.09992967e-01 4.14623684e-01 0.00000000e+00 1.57130746e+02] [-4.14623684e-01 9.09992967e-01 0.00000000e+00 -2.48330496e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59096374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.16, Y:-24.84, Z:-0.02 [[ 9.08477251e-01 4.17934305e-01 0.00000000e+00 1.57160304e+02] [-4.17934305e-01 9.08477251e-01 0.00000000e+00 -2.48442499e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65540960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.19, Y:-24.86, Z:-0.02 [[ 9.06757735e-01 4.21652001e-01 0.00000000e+00 1.57191069e+02] [-4.21652001e-01 9.06757735e-01 0.00000000e+00 -2.48555092e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66276549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.22, Y:-24.87, Z:-0.02 [[ 9.05072301e-01 4.25257721e-01 0.00000000e+00 1.57221110e+02] [-4.25257721e-01 9.05072301e-01 0.00000000e+00 -2.48658221e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79351091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.25, Y:-24.88, Z:-0.02 [[ 9.02801391e-01 4.30057726e-01 0.00000000e+00 1.57250996e+02] [-4.30057726e-01 9.02801391e-01 0.00000000e+00 -2.48756110e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08867250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.28, Y:-24.89, Z:-0.02 [[ 9.02115665e-01 4.31494296e-01 0.00000000e+00 1.57281710e+02] [-4.31494296e-01 9.02115665e-01 0.00000000e+00 -2.48874585e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08245549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.31, Y:-24.90, Z:-0.02 [[ 9.01865412e-01 4.32017104e-01 0.00000000e+00 1.57312778e+02] [-4.32017104e-01 9.01865412e-01 0.00000000e+00 -2.48992865e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.98262589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.34, Y:-24.91, Z:-0.02 [[ 9.02263327e-01 4.31185445e-01 0.00000000e+00 1.57344260e+02] [-4.31185445e-01 9.02263327e-01 0.00000000e+00 -2.49105677e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85357085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.37, Y:-24.92, Z:-0.02 [[ 9.03097837e-01 4.29434858e-01 0.00000000e+00 1.57374329e+02] [-4.29434858e-01 9.03097837e-01 0.00000000e+00 -2.49203903e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78711488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.41, Y:-24.93, Z:-0.02 [[ 9.05439251e-01 4.24475868e-01 0.00000000e+00 1.57406270e+02] [-4.24475868e-01 9.05439251e-01 0.00000000e+00 -2.49302174e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60815808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.44, Y:-24.94, Z:-0.02 [[ 9.06769331e-01 4.21627064e-01 0.00000000e+00 1.57435486e+02] [-4.21627064e-01 9.06769331e-01 0.00000000e+00 -2.49425123e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59299379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.47, Y:-24.96, Z:-0.02 [[ 9.08077965e-01 4.18801157e-01 0.00000000e+00 1.57465771e+02] [-4.18801157e-01 9.08077965e-01 0.00000000e+00 -2.49557378e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52559460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.49, Y:-24.97, Z:-0.02 [[ 9.10056637e-01 4.14483917e-01 0.00000000e+00 1.57494770e+02] [-4.14483917e-01 9.10056637e-01 0.00000000e+00 -2.49698190e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58189391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.52, Y:-24.98, Z:-0.02 [[ 9.10618402e-01 4.13248261e-01 0.00000000e+00 1.57524594e+02] [-4.13248261e-01 9.10618402e-01 0.00000000e+00 -2.49843765e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70379294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.55, Y:-25.00, Z:-0.02 [[ 9.10991780e-01 4.12424511e-01 0.00000000e+00 1.57554347e+02] [-4.12424511e-01 9.10991780e-01 0.00000000e+00 -2.50000631e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80765391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.58, Y:-25.02, Z:-0.02 [[ 9.11060301e-01 4.12273123e-01 0.00000000e+00 1.57583839e+02] [-4.12273123e-01 9.11060301e-01 0.00000000e+00 -2.50156279e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77955189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.61, Y:-25.03, Z:-0.02 [[ 9.10664371e-01 4.13146950e-01 0.00000000e+00 1.57612764e+02] [-4.13146950e-01 9.10664371e-01 0.00000000e+00 -2.50298530e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58582948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.851400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:157.64, Y:-25.04, Z:-0.01 [[ 9.10075290e-01 4.14442960e-01 0.00000000e+00 1.57641756e+02] [-4.14442960e-01 9.10075290e-01 0.00000000e+00 -2.50425884e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35724638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.67, Y:-25.06, Z:-0.01 [[ 9.07834123e-01 4.19329470e-01 0.00000000e+00 1.57672078e+02] [-4.19329470e-01 9.07834123e-01 0.00000000e+00 -2.50556810e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25117723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.70, Y:-25.07, Z:-0.01 [[ 9.06054553e-01 4.23160899e-01 0.00000000e+00 1.57700937e+02] [-4.23160899e-01 9.06054553e-01 0.00000000e+00 -2.50685808e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33719876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.73, Y:-25.08, Z:-0.01 [[ 9.04266286e-01 4.26968949e-01 0.00000000e+00 1.57731201e+02] [-4.26968949e-01 9.04266286e-01 0.00000000e+00 -2.50827512e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31669690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.76, Y:-25.10, Z:-0.01 [[ 9.02411408e-01 4.30875446e-01 0.00000000e+00 1.57760661e+02] [-4.30875446e-01 9.02411408e-01 0.00000000e+00 -2.50957834e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32188016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.79, Y:-25.11, Z:-0.01 [[ 9.00728416e-01 4.34382688e-01 0.00000000e+00 1.57791229e+02] [-4.34382688e-01 9.00728416e-01 0.00000000e+00 -2.51072556e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39880241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.82, Y:-25.12, Z:-0.02 [[ 8.98077097e-01 4.39838069e-01 0.00000000e+00 1.57823052e+02] [-4.39838069e-01 8.98077097e-01 0.00000000e+00 -2.51153347e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78877493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.85, Y:-25.13, Z:-0.02 [[ 8.97178796e-01 4.41667532e-01 0.00000000e+00 1.57853281e+02] [-4.41667532e-01 8.97178796e-01 0.00000000e+00 -2.51261679e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92269886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.88, Y:-25.14, Z:-0.02 [[ 8.96837030e-01 4.42361098e-01 0.00000000e+00 1.57884330e+02] [-4.42361098e-01 8.96837030e-01 0.00000000e+00 -2.51374302e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92218257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.121400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:157.92, Y:-25.14, Z:-0.02 [[ 8.96669987e-01 4.42699599e-01 0.00000000e+00 1.57916541e+02] [-4.42699599e-01 8.96669987e-01 0.00000000e+00 -2.51449656e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80026632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.95, Y:-25.15, Z:-0.02 [[ 8.96217576e-01 4.43614762e-01 0.00000000e+00 1.57948474e+02] [-4.43614762e-01 8.96217576e-01 0.00000000e+00 -2.51540462e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79444258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.98, Y:-25.16, Z:-0.02 [[ 8.95955456e-01 4.44143919e-01 0.00000000e+00 1.57979633e+02] [-4.44143919e-01 8.95955456e-01 0.00000000e+00 -2.51629329e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86344363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.01, Y:-25.17, Z:-0.02 [[ 8.95950124e-01 4.44154675e-01 0.00000000e+00 1.58011758e+02] [-4.44154675e-01 8.95950124e-01 0.00000000e+00 -2.51723117e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91705621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.04, Y:-25.18, Z:-0.02 [[ 8.96318609e-01 4.43410590e-01 0.00000000e+00 1.58043445e+02] [-4.43410590e-01 8.96318609e-01 0.00000000e+00 -2.51808320e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99648012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.07, Y:-25.19, Z:-0.02 [[ 8.96860687e-01 4.42313134e-01 0.00000000e+00 1.58074896e+02] [-4.42313134e-01 8.96860687e-01 0.00000000e+00 -2.51881701e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06467976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.11, Y:-25.19, Z:-0.02 [[ 8.98751769e-01 4.38457817e-01 0.00000000e+00 1.58108317e+02] [-4.38457817e-01 8.98751769e-01 0.00000000e+00 -2.51914318e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90929137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.14, Y:-25.20, Z:-0.02 [[ 8.99885033e-01 4.36127191e-01 0.00000000e+00 1.58140129e+02] [-4.36127191e-01 8.99885033e-01 0.00000000e+00 -2.52002736e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71701739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.17, Y:-25.21, Z:-0.02 [[ 9.01292852e-01 4.33210336e-01 0.00000000e+00 1.58172361e+02] [-4.33210336e-01 9.01292852e-01 0.00000000e+00 -2.52094481e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57565437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.20, Y:-25.22, Z:-0.02 [[ 9.02633633e-01 4.30409716e-01 0.00000000e+00 1.58202991e+02] [-4.30409716e-01 9.02633633e-01 0.00000000e+00 -2.52178992e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50176469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.23, Y:-25.23, Z:-0.01 [[ 9.04043350e-01 4.27440781e-01 0.00000000e+00 1.58234555e+02] [-4.27440781e-01 9.04043350e-01 0.00000000e+00 -2.52260396e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45287172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.27, Y:-25.23, Z:-0.01 [[ 9.06244616e-01 4.22753706e-01 0.00000000e+00 1.58268017e+02] [-4.22753706e-01 9.06244616e-01 0.00000000e+00 -2.52323290e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24081143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.30, Y:-25.24, Z:-0.01 [[ 9.06864749e-01 4.21421792e-01 0.00000000e+00 1.58298071e+02] [-4.21421792e-01 9.06864749e-01 0.00000000e+00 -2.52420195e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01369985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.33, Y:-25.25, Z:-0.01 [[ 9.07265136e-01 4.20559119e-01 0.00000000e+00 1.58329796e+02] [-4.20559119e-01 9.07265136e-01 0.00000000e+00 -2.52526190e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.69217397e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.36, Y:-25.26, Z:-0.01 [[ 9.07416312e-01 4.20232835e-01 0.00000000e+00 1.58360359e+02] [-4.20232835e-01 9.07416312e-01 0.00000000e+00 -2.52623683e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.98553861e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.39, Y:-25.27, Z:-0.01 [[ 9.07871813e-01 4.19247863e-01 0.00000000e+00 1.58392371e+02] [-4.19247863e-01 9.07871813e-01 0.00000000e+00 -2.52712509e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.41843745e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.42, Y:-25.28, Z:-0.01 [[ 9.08125420e-01 4.18698247e-01 0.00000000e+00 1.58422767e+02] [-4.18698247e-01 9.08125420e-01 0.00000000e+00 -2.52830053e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03889616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.45, Y:-25.29, Z:-0.01 [[ 9.08301999e-01 4.18315048e-01 0.00000000e+00 1.58452591e+02] [-4.18315048e-01 9.08301999e-01 0.00000000e+00 -2.52944241e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10560196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.48, Y:-25.30, Z:-0.01 [[ 9.08517412e-01 4.17846997e-01 0.00000000e+00 1.58483965e+02] [-4.17846997e-01 9.08517412e-01 0.00000000e+00 -2.53049886e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15462186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.51, Y:-25.31, Z:-0.01 [[ 9.08484227e-01 4.17919142e-01 0.00000000e+00 1.58514731e+02] [-4.17919142e-01 9.08484227e-01 0.00000000e+00 -2.53141347e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17983626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.55, Y:-25.32, Z:-0.01 [[ 9.08293431e-01 4.18333652e-01 0.00000000e+00 1.58546484e+02] [-4.18333652e-01 9.08293431e-01 0.00000000e+00 -2.53230531e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27529994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.58, Y:-25.33, Z:-0.02 [[ 9.07609828e-01 4.19814721e-01 0.00000000e+00 1.58578797e+02] [-4.19814721e-01 9.07609828e-01 0.00000000e+00 -2.53319814e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58300340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.61, Y:-25.34, Z:-0.02 [[ 9.07619651e-01 4.19793484e-01 0.00000000e+00 1.58608787e+02] [-4.19793484e-01 9.07619651e-01 0.00000000e+00 -2.53430349e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60646819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.64, Y:-25.35, Z:-0.02 [[ 9.08039723e-01 4.18884067e-01 0.00000000e+00 1.58640051e+02] [-4.18884067e-01 9.08039723e-01 0.00000000e+00 -2.53544762e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55938128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.67, Y:-25.37, Z:-0.02 [[ 9.08742430e-01 4.17357396e-01 0.00000000e+00 1.58671202e+02] [-4.17357396e-01 9.08742430e-01 0.00000000e+00 -2.53657903e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57466515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.70, Y:-25.38, Z:-0.02 [[ 9.10472690e-01 4.13569197e-01 0.00000000e+00 1.58700448e+02] [-4.13569197e-01 9.10472690e-01 0.00000000e+00 -2.53798127e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67338536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.901400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:158.73, Y:-25.39, Z:-0.02 [[ 9.11361471e-01 4.11606935e-01 0.00000000e+00 1.58729970e+02] [-4.11606935e-01 9.11361471e-01 0.00000000e+00 -2.53942064e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61680222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.76, Y:-25.41, Z:-0.01 [[ 9.11966042e-01 4.10265693e-01 0.00000000e+00 1.58759440e+02] [-4.10265693e-01 9.11966042e-01 0.00000000e+00 -2.54073709e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41512697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.79, Y:-25.42, Z:-0.01 [[ 9.12205633e-01 4.09732698e-01 0.00000000e+00 1.58790006e+02] [-4.09732698e-01 9.12205633e-01 0.00000000e+00 -2.54185268e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32274097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.82, Y:-25.43, Z:-0.01 [[ 9.11689290e-01 4.10880321e-01 0.00000000e+00 1.58821364e+02] [-4.10880321e-01 9.11689290e-01 0.00000000e+00 -2.54294434e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31492869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.85, Y:-25.44, Z:-0.01 [[ 9.10448848e-01 4.13621682e-01 0.00000000e+00 1.58852392e+02] [-4.13621682e-01 9.10448848e-01 0.00000000e+00 -2.54409145e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42805738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.88, Y:-25.45, Z:-0.02 [[ 9.07097428e-01 4.20920724e-01 0.00000000e+00 1.58881672e+02] [-4.20920724e-01 9.07097428e-01 0.00000000e+00 -2.54529698e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63390407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.91, Y:-25.46, Z:-0.02 [[ 9.05670743e-01 4.23981727e-01 0.00000000e+00 1.58913235e+02] [-4.23981727e-01 9.05670743e-01 0.00000000e+00 -2.54638167e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67988511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.94, Y:-25.47, Z:-0.02 [[ 9.04596634e-01 4.26268611e-01 0.00000000e+00 1.58943631e+02] [-4.26268611e-01 9.04596634e-01 0.00000000e+00 -2.54735066e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75994137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.97, Y:-25.49, Z:-0.02 [[ 9.04530414e-01 4.26409111e-01 0.00000000e+00 1.58973943e+02] [-4.26409111e-01 9.04530414e-01 0.00000000e+00 -2.54856150e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75994137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.17140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:159.00, Y:-25.50, Z:-0.02 [[ 9.03861821e-01 4.27824507e-01 0.00000000e+00 1.59004673e+02] [-4.27824507e-01 9.03861821e-01 0.00000000e+00 -2.54967241e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76539027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.03, Y:-25.51, Z:-0.02 [[ 9.03260712e-01 4.29092165e-01 0.00000000e+00 1.59033369e+02] [-4.29092165e-01 9.03260712e-01 0.00000000e+00 -2.55116029e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66019929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.06, Y:-25.52, Z:-0.02 [[ 9.03171624e-01 4.29279650e-01 0.00000000e+00 1.59062204e+02] [-4.29279650e-01 9.03171624e-01 0.00000000e+00 -2.55231597e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58981378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.09, Y:-25.53, Z:-0.02 [[ 9.03048507e-01 4.29538582e-01 0.00000000e+00 1.59092982e+02] [-4.29538582e-01 9.03048507e-01 0.00000000e+00 -2.55334561e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53970888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.12, Y:-25.54, Z:-0.01 [[ 9.02941824e-01 4.29762797e-01 0.00000000e+00 1.59124499e+02] [-4.29762797e-01 9.02941824e-01 0.00000000e+00 -2.55444963e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48661787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.15, Y:-25.56, Z:-0.01 [[ 9.02790199e-01 4.30081221e-01 0.00000000e+00 1.59154258e+02] [-4.30081221e-01 9.02790199e-01 0.00000000e+00 -2.55568636e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40609042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.18, Y:-25.57, Z:-0.01 [[ 9.02278075e-01 4.31154583e-01 0.00000000e+00 1.59182512e+02] [-4.31154583e-01 9.02278075e-01 0.00000000e+00 -2.55722174e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32258637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.21, Y:-25.59, Z:-0.01 [[ 9.02102808e-01 4.31521174e-01 0.00000000e+00 1.59212045e+02] [-4.31521174e-01 9.02102808e-01 0.00000000e+00 -2.55850146e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47207840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.24, Y:-25.60, Z:-0.02 [[ 9.01981057e-01 4.31775604e-01 0.00000000e+00 1.59240515e+02] [-4.31775604e-01 9.01981057e-01 0.00000000e+00 -2.55971114e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68975853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.27, Y:-25.61, Z:-0.02 [[ 9.01724014e-01 4.32312158e-01 0.00000000e+00 1.59269564e+02] [-4.32312158e-01 9.01724014e-01 0.00000000e+00 -2.56110989e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79987554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.30, Y:-25.63, Z:-0.02 [[ 9.01725419e-01 4.32309228e-01 0.00000000e+00 1.59299283e+02] [-4.32309228e-01 9.01725419e-01 0.00000000e+00 -2.56251549e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68112570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.33, Y:-25.64, Z:-0.02 [[ 9.01736195e-01 4.32286750e-01 0.00000000e+00 1.59328405e+02] [-4.32286750e-01 9.01736195e-01 0.00000000e+00 -2.56388878e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59996332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.36, Y:-25.65, Z:-0.02 [[ 9.01819703e-01 4.32112513e-01 0.00000000e+00 1.59357961e+02] [-4.32112513e-01 9.01819703e-01 0.00000000e+00 -2.56527766e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54614442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.39, Y:-25.67, Z:-0.02 [[ 9.01829886e-01 4.32091260e-01 0.00000000e+00 1.59387481e+02] [-4.32091260e-01 9.01829886e-01 0.00000000e+00 -2.56656681e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55251714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.42, Y:-25.68, Z:-0.02 [[ 9.01645177e-01 4.32476560e-01 0.00000000e+00 1.59417889e+02] [-4.32476560e-01 9.01645177e-01 0.00000000e+00 -2.56780678e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63509615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.45, Y:-25.69, Z:-0.02 [[ 9.01249446e-01 4.33300630e-01 0.00000000e+00 1.59448206e+02] [-4.33300630e-01 9.01249446e-01 0.00000000e+00 -2.56915945e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91164391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.48, Y:-25.71, Z:-0.02 [[ 9.01070557e-01 4.33672516e-01 0.00000000e+00 1.59477308e+02] [-4.33672516e-01 9.01070557e-01 0.00000000e+00 -2.57059411e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01063492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.50, Y:-25.72, Z:-0.02 [[ 9.00830159e-01 4.34171654e-01 0.00000000e+00 1.59503695e+02] [-4.34171654e-01 9.00830159e-01 0.00000000e+00 -2.57202549e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95658428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.53, Y:-25.74, Z:-0.02 [[ 9.00751471e-01 4.34334879e-01 0.00000000e+00 1.59533086e+02] [-4.34334879e-01 9.00751471e-01 0.00000000e+00 -2.57351531e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87468236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.56, Y:-25.75, Z:-0.02 [[ 9.00884864e-01 4.34058131e-01 0.00000000e+00 1.59563399e+02] [-4.34058131e-01 9.00884864e-01 0.00000000e+00 -2.57491511e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93066391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.59, Y:-25.76, Z:-0.02 [[ 9.00756510e-01 4.34324428e-01 0.00000000e+00 1.59592379e+02] [-4.34324428e-01 9.00756510e-01 0.00000000e+00 -2.57622144e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99351525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.62, Y:-25.78, Z:-0.02 [[ 9.00390497e-01 4.35082696e-01 0.00000000e+00 1.59622432e+02] [-4.35082696e-01 9.00390497e-01 0.00000000e+00 -2.57770799e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88397079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.83140051299998 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:159.65, Y:-25.79, Z:-0.02 [[ 9.00010623e-01 4.35867961e-01 0.00000000e+00 1.59651696e+02] [-4.35867961e-01 9.00010623e-01 0.00000000e+00 -2.57921774e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69834894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.68, Y:-25.81, Z:-0.01 [[ 8.99513410e-01 4.36893150e-01 0.00000000e+00 1.59679915e+02] [-4.36893150e-01 8.99513410e-01 0.00000000e+00 -2.58066843e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38608892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.71, Y:-25.82, Z:-0.01 [[ 8.98970373e-01 4.38009439e-01 0.00000000e+00 1.59710040e+02] [-4.38009439e-01 8.98970373e-01 0.00000000e+00 -2.58210265e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32187836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.74, Y:-25.84, Z:-0.01 [[ 8.98130753e-01 4.39728497e-01 0.00000000e+00 1.59737863e+02] [-4.39728497e-01 8.98130753e-01 0.00000000e+00 -2.58373773e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43357084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.77, Y:-25.85, Z:-0.01 [[ 8.97902732e-01 4.40193917e-01 0.00000000e+00 1.59767191e+02] [-4.40193917e-01 8.97902732e-01 0.00000000e+00 -2.58527932e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44592055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.80, Y:-25.87, Z:-0.01 [[ 8.97774215e-01 4.40455967e-01 0.00000000e+00 1.59797007e+02] [-4.40455967e-01 8.97774215e-01 0.00000000e+00 -2.58675921e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41034373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.83, Y:-25.88, Z:-0.01 [[ 8.97778579e-01 4.40447073e-01 0.00000000e+00 1.59826223e+02] [-4.40447073e-01 8.97778579e-01 0.00000000e+00 -2.58810759e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44315902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.86, Y:-25.89, Z:-0.01 [[ 8.97923806e-01 4.40150927e-01 0.00000000e+00 1.59856030e+02] [-4.40150927e-01 8.97923806e-01 0.00000000e+00 -2.58939439e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42428666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.89, Y:-25.91, Z:-0.01 [[ 8.98211606e-01 4.39563319e-01 0.00000000e+00 1.59885682e+02] [-4.39563319e-01 8.98211606e-01 0.00000000e+00 -2.59085120e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40052190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.91, Y:-25.92, Z:-0.01 [[ 8.98225913e-01 4.39534083e-01 0.00000000e+00 1.59914908e+02] [-4.39534083e-01 8.98225913e-01 0.00000000e+00 -2.59223517e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29427643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.94, Y:-25.94, Z:-0.01 [[ 8.98293935e-01 4.39395045e-01 0.00000000e+00 1.59944789e+02] [-4.39395045e-01 8.98293935e-01 0.00000000e+00 -2.59363136e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14012939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.97, Y:-25.95, Z:-0.01 [[ 8.98448907e-01 4.39078082e-01 0.00000000e+00 1.59974133e+02] [-4.39078082e-01 8.98448907e-01 0.00000000e+00 -2.59484690e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12579481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.01, Y:-25.96, Z:-0.02 [[ 8.99053596e-01 4.37838591e-01 0.00000000e+00 1.60005645e+02] [-4.37838591e-01 8.99053596e-01 0.00000000e+00 -2.59579673e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54954576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.04, Y:-25.97, Z:-0.02 [[ 8.99331241e-01 4.37268018e-01 0.00000000e+00 1.60035945e+02] [-4.37268018e-01 8.99331241e-01 0.00000000e+00 -2.59686311e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62690336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.07, Y:-25.98, Z:-0.02 [[ 8.99546384e-01 4.36825255e-01 0.00000000e+00 1.60066160e+02] [-4.36825255e-01 8.99546384e-01 0.00000000e+00 -2.59795370e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58306747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.10, Y:-25.99, Z:-0.01 [[ 8.99818816e-01 4.36263795e-01 0.00000000e+00 1.60096735e+02] [-4.36263795e-01 8.99818816e-01 0.00000000e+00 -2.59917740e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45799655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.311400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:160.13, Y:-26.00, Z:-0.01 [[ 9.00540507e-01 4.34772118e-01 0.00000000e+00 1.60127550e+02] [-4.34772118e-01 9.00540507e-01 0.00000000e+00 -2.60048094e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41727760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.16, Y:-26.02, Z:-0.02 [[ 9.02759044e-01 4.30146612e-01 0.00000000e+00 1.60156043e+02] [-4.30146612e-01 9.02759044e-01 0.00000000e+00 -2.60183395e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52832507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.19, Y:-26.03, Z:-0.02 [[ 9.03805658e-01 4.27943142e-01 0.00000000e+00 1.60186910e+02] [-4.27943142e-01 9.03805658e-01 0.00000000e+00 -2.60311524e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68421511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.22, Y:-26.04, Z:-0.02 [[ 9.04457226e-01 4.26564328e-01 0.00000000e+00 1.60216403e+02] [-4.26564328e-01 9.04457226e-01 0.00000000e+00 -2.60426948e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76836233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.25, Y:-26.05, Z:-0.02 [[ 9.04599736e-01 4.26262030e-01 0.00000000e+00 1.60247531e+02] [-4.26262030e-01 9.04599736e-01 0.00000000e+00 -2.60544659e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75800613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.28, Y:-26.06, Z:-0.02 [[ 9.03614210e-01 4.28347242e-01 0.00000000e+00 1.60279586e+02] [-4.28347242e-01 9.03614210e-01 0.00000000e+00 -2.60643282e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70833959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.31, Y:-26.07, Z:-0.02 [[ 9.02540554e-01 4.30604863e-01 0.00000000e+00 1.60309512e+02] [-4.30604863e-01 9.02540554e-01 0.00000000e+00 -2.60745980e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81315815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.34, Y:-26.09, Z:-0.02 [[ 9.01305118e-01 4.33184816e-01 0.00000000e+00 1.60340636e+02] [-4.33184816e-01 9.01305118e-01 0.00000000e+00 -2.60858885e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86302138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.37, Y:-26.10, Z:-0.02 [[ 9.00287293e-01 4.35296210e-01 0.00000000e+00 1.60370972e+02] [-4.35296210e-01 9.00287293e-01 0.00000000e+00 -2.60973187e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00817502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.40, Y:-26.11, Z:-0.02 [[ 8.99529411e-01 4.36860205e-01 0.00000000e+00 1.60400827e+02] [-4.36860205e-01 8.99529411e-01 0.00000000e+00 -2.61088942e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08150033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.43, Y:-26.12, Z:-0.02 [[ 8.99179765e-01 4.37579422e-01 0.00000000e+00 1.60431353e+02] [-4.37579422e-01 8.99179765e-01 0.00000000e+00 -2.61205630e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14142086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.46, Y:-26.13, Z:-0.02 [[ 8.99552295e-01 4.36813081e-01 0.00000000e+00 1.60462499e+02] [-4.36813081e-01 8.99552295e-01 0.00000000e+00 -2.61302726e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14730171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.49, Y:-26.14, Z:-0.02 [[ 9.00008329e-01 4.35872696e-01 0.00000000e+00 1.60493179e+02] [-4.35872696e-01 9.00008329e-01 0.00000000e+00 -2.61414370e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12388547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.52, Y:-26.15, Z:-0.02 [[ 9.00722832e-01 4.34394269e-01 0.00000000e+00 1.60523897e+02] [-4.34394269e-01 9.00722832e-01 0.00000000e+00 -2.61527328e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.07760415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.55, Y:-26.16, Z:-0.02 [[ 9.02550146e-01 4.30584758e-01 0.00000000e+00 1.60553071e+02] [-4.30584758e-01 9.02550146e-01 0.00000000e+00 -2.61632831e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.25744354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.58, Y:-26.18, Z:-0.02 [[ 9.03268031e-01 4.29076758e-01 0.00000000e+00 1.60583388e+02] [-4.29076758e-01 9.03268031e-01 0.00000000e+00 -2.61754397e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.20735851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.61, Y:-26.19, Z:-0.02 [[ 9.03584128e-01 4.28410696e-01 0.00000000e+00 1.60613909e+02] [-4.28410696e-01 9.03584128e-01 0.00000000e+00 -2.61884384e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03035430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.64, Y:-26.20, Z:-0.02 [[ 9.03620892e-01 4.28333146e-01 0.00000000e+00 1.60643844e+02] [-4.28333146e-01 9.03620892e-01 0.00000000e+00 -2.62011631e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78740751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.67, Y:-26.21, Z:-0.02 [[ 9.03346617e-01 4.28911283e-01 0.00000000e+00 1.60674077e+02] [-4.28911283e-01 9.03346617e-01 0.00000000e+00 -2.62132173e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67983150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.70, Y:-26.22, Z:-0.02 [[ 9.03002622e-01 4.29635038e-01 0.00000000e+00 1.60704754e+02] [-4.29635038e-01 9.03002622e-01 0.00000000e+00 -2.62244766e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70191254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.74, Y:-26.24, Z:-0.02 [[ 9.02616844e-01 4.30444923e-01 0.00000000e+00 1.60735538e+02] [-4.30444923e-01 9.02616844e-01 0.00000000e+00 -2.62356310e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78464413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.77, Y:-26.25, Z:-0.02 [[ 9.01317558e-01 4.33158932e-01 0.00000000e+00 1.60767031e+02] [-4.33158932e-01 9.01317558e-01 0.00000000e+00 -2.62469283e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77897411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.80, Y:-26.26, Z:-0.02 [[ 9.00321667e-01 4.35225110e-01 0.00000000e+00 1.60795995e+02] [-4.35225110e-01 9.00321667e-01 0.00000000e+00 -2.62598597e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60412135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.83, Y:-26.27, Z:-0.01 [[ 8.99335096e-01 4.37260089e-01 0.00000000e+00 1.60826435e+02] [-4.37260089e-01 8.99335096e-01 0.00000000e+00 -2.62737282e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37479425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.86, Y:-26.29, Z:-0.01 [[ 8.99257584e-01 4.37419475e-01 0.00000000e+00 1.60857370e+02] [-4.37419475e-01 8.99257584e-01 0.00000000e+00 -2.62864940e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37479425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.89, Y:-26.30, Z:-0.01 [[ 8.98493548e-01 4.38986725e-01 0.00000000e+00 1.60887240e+02] [-4.38986725e-01 8.98493548e-01 0.00000000e+00 -2.62994820e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29030964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.92, Y:-26.31, Z:-0.02 [[ 8.97439298e-01 4.41137968e-01 0.00000000e+00 1.60917025e+02] [-4.41137968e-01 8.97439298e-01 0.00000000e+00 -2.63118259e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52709313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.95, Y:-26.32, Z:-0.02 [[ 8.96856523e-01 4.42321577e-01 0.00000000e+00 1.60946482e+02] [-4.42321577e-01 8.96856523e-01 0.00000000e+00 -2.63243141e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73983804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.98, Y:-26.34, Z:-0.02 [[ 8.96222999e-01 4.43603806e-01 0.00000000e+00 1.60976375e+02] [-4.43603806e-01 8.96222999e-01 0.00000000e+00 -2.63372874e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91892785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.01, Y:-26.35, Z:-0.02 [[ 8.95065930e-01 4.45933831e-01 0.00000000e+00 1.61006701e+02] [-4.45933831e-01 8.95065930e-01 0.00000000e+00 -2.63492771e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09889226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.04, Y:-26.36, Z:-0.02 [[ 8.94337127e-01 4.47393679e-01 0.00000000e+00 1.61037270e+02] [-4.47393679e-01 8.94337127e-01 0.00000000e+00 -2.63604374e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08855973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.07, Y:-26.37, Z:-0.02 [[ 8.93590695e-01 4.48882690e-01 0.00000000e+00 1.61068511e+02] [-4.48882690e-01 8.93590695e-01 0.00000000e+00 -2.63719074e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.98610954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.10, Y:-26.38, Z:-0.02 [[ 8.92637471e-01 4.50775272e-01 0.00000000e+00 1.61098676e+02] [-4.50775272e-01 8.92637471e-01 0.00000000e+00 -2.63841723e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.82332662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.13, Y:-26.40, Z:-0.02 [[ 8.91743023e-01 4.52542132e-01 0.00000000e+00 1.61127966e+02] [-4.52542132e-01 8.91743023e-01 0.00000000e+00 -2.63966100e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75746431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.16, Y:-26.41, Z:-0.02 [[ 8.91164463e-01 4.53680393e-01 0.00000000e+00 1.61158314e+02] [-4.53680393e-01 8.91164463e-01 0.00000000e+00 -2.64094067e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16276332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.19, Y:-26.42, Z:-0.02 [[ 8.91422323e-01 4.53173522e-01 0.00000000e+00 1.61187866e+02] [-4.53173522e-01 8.91422323e-01 0.00000000e+00 -2.64214868e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.44210009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.22, Y:-26.43, Z:-0.03 [[ 8.91987323e-01 4.52060412e-01 0.00000000e+00 1.61217949e+02] [-4.52060412e-01 8.91987323e-01 0.00000000e+00 -2.64337725e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.56562121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.25, Y:-26.45, Z:-0.03 [[ 8.92719409e-01 4.50612979e-01 0.00000000e+00 1.61248045e+02] [-4.50612979e-01 8.92719409e-01 0.00000000e+00 -2.64464945e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.50413366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.28, Y:-26.46, Z:-0.02 [[ 8.94043499e-01 4.47980158e-01 0.00000000e+00 1.61276849e+02] [-4.47980158e-01 8.94043499e-01 0.00000000e+00 -2.64595270e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.25860502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48140051299998 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:161.31, Y:-26.47, Z:-0.02 [[ 8.94422063e-01 4.47223852e-01 0.00000000e+00 1.61307778e+02] [-4.47223852e-01 8.94422063e-01 0.00000000e+00 -2.64722248e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.25233684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.34, Y:-26.49, Z:-0.02 [[ 8.94328237e-01 4.47411449e-01 0.00000000e+00 1.61336845e+02] [-4.47411449e-01 8.94328237e-01 0.00000000e+00 -2.64852782e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21833443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.37, Y:-26.50, Z:-0.02 [[ 8.94365187e-01 4.47337583e-01 0.00000000e+00 1.61366814e+02] [-4.47337583e-01 8.94365187e-01 0.00000000e+00 -2.64977852e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22145589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.40, Y:-26.51, Z:-0.02 [[ 8.94348263e-01 4.47371417e-01 0.00000000e+00 1.61397468e+02] [-4.47371417e-01 8.94348263e-01 0.00000000e+00 -2.65103462e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21508302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.601400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:161.43, Y:-26.52, Z:-0.02 [[ 8.94244547e-01 4.47578697e-01 0.00000000e+00 1.61427596e+02] [-4.47578697e-01 8.94244547e-01 0.00000000e+00 -2.65217869e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11658241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.46, Y:-26.53, Z:-0.02 [[ 8.93554004e-01 4.48955724e-01 0.00000000e+00 1.61457853e+02] [-4.48955724e-01 8.93554004e-01 0.00000000e+00 -2.65324050e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27589127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.661400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:161.49, Y:-26.54, Z:-0.03 [[ 8.92704672e-01 4.50642173e-01 0.00000000e+00 1.61485785e+02] [-4.50642173e-01 8.92704672e-01 0.00000000e+00 -2.65422286e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.58118427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.52, Y:-26.55, Z:-0.03 [[ 8.91455639e-01 4.53107983e-01 0.00000000e+00 1.61516047e+02] [-4.53107983e-01 8.91455639e-01 0.00000000e+00 -2.65531470e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.70443437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.55, Y:-26.56, Z:-0.03 [[ 8.89120858e-01 4.57672482e-01 0.00000000e+00 1.61547059e+02] [-4.57672482e-01 8.89120858e-01 0.00000000e+00 -2.65603835e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.84063499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.58, Y:-26.57, Z:-0.03 [[ 8.88000821e-01 4.59841865e-01 0.00000000e+00 1.61577964e+02] [-4.59841865e-01 8.88000821e-01 0.00000000e+00 -2.65699397e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.56339830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.781400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:161.61, Y:-26.58, Z:-0.02 [[ 8.87099126e-01 4.61578966e-01 0.00000000e+00 1.61608726e+02] [-4.61578966e-01 8.87099126e-01 0.00000000e+00 -2.65805595e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29350214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.64, Y:-26.59, Z:-0.02 [[ 8.86247672e-01 4.63211684e-01 0.00000000e+00 1.61638100e+02] [-4.63211684e-01 8.86247672e-01 0.00000000e+00 -2.65928225e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99667547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.67, Y:-26.61, Z:-0.02 [[ 8.86150450e-01 4.63397649e-01 0.00000000e+00 1.61667901e+02] [-4.63397649e-01 8.86150450e-01 0.00000000e+00 -2.66050124e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90009435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.70, Y:-26.62, Z:-0.02 [[ 8.86477380e-01 4.62771926e-01 0.00000000e+00 1.61698657e+02] [-4.62771926e-01 8.86477380e-01 0.00000000e+00 -2.66169281e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05684482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.73, Y:-26.63, Z:-0.02 [[ 8.87663842e-01 4.60492024e-01 0.00000000e+00 1.61729146e+02] [-4.60492024e-01 8.87663842e-01 0.00000000e+00 -2.66263813e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.34966574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.76, Y:-26.64, Z:-0.02 [[ 8.88203354e-01 4.59450544e-01 0.00000000e+00 1.61757018e+02] [-4.59450544e-01 8.88203354e-01 0.00000000e+00 -2.66377978e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29241559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.79, Y:-26.65, Z:-0.02 [[ 8.88530924e-01 4.58816736e-01 0.00000000e+00 1.61786604e+02] [-4.58816736e-01 8.88530924e-01 0.00000000e+00 -2.66515946e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13702436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.82, Y:-26.67, Z:-0.02 [[ 8.88791091e-01 4.58312553e-01 0.00000000e+00 1.61815428e+02] [-4.58312553e-01 8.88791091e-01 0.00000000e+00 -2.66651253e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04149779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.84, Y:-26.68, Z:-0.02 [[ 8.89182129e-01 4.57553431e-01 0.00000000e+00 1.61842927e+02] [-4.57553431e-01 8.89182129e-01 0.00000000e+00 -2.66768411e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14474948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.87, Y:-26.69, Z:-0.02 [[ 8.89339861e-01 4.57246773e-01 0.00000000e+00 1.61870663e+02] [-4.57246773e-01 8.89339861e-01 0.00000000e+00 -2.66877047e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27266416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.90, Y:-26.70, Z:-0.02 [[ 8.89463228e-01 4.57006746e-01 0.00000000e+00 1.61900060e+02] [-4.57006746e-01 8.89463228e-01 0.00000000e+00 -2.66999237e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29860039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.93, Y:-26.71, Z:-0.02 [[ 8.89927115e-01 4.56102763e-01 0.00000000e+00 1.61930283e+02] [-4.56102763e-01 8.89927115e-01 0.00000000e+00 -2.67120146e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13201772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.96, Y:-26.72, Z:-0.02 [[ 8.90458783e-01 4.55063902e-01 0.00000000e+00 1.61959973e+02] [-4.55063902e-01 8.90458783e-01 0.00000000e+00 -2.67235650e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97893013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.99, Y:-26.73, Z:-0.02 [[ 8.90979796e-01 4.54042953e-01 0.00000000e+00 1.61989585e+02] [-4.54042953e-01 8.90979796e-01 0.00000000e+00 -2.67347936e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86089578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.02, Y:-26.74, Z:-0.02 [[ 8.91432888e-01 4.53152740e-01 0.00000000e+00 1.62018536e+02] [-4.53152740e-01 8.91432888e-01 0.00000000e+00 -2.67446291e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.98746040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.05, Y:-26.75, Z:-0.02 [[ 8.91743032e-01 4.52542113e-01 0.00000000e+00 1.62047819e+02] [-4.52542113e-01 8.91743032e-01 0.00000000e+00 -2.67548823e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17900269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.08, Y:-26.76, Z:-0.02 [[ 8.92510785e-01 4.51026050e-01 0.00000000e+00 1.62077220e+02] [-4.51026050e-01 8.92510785e-01 0.00000000e+00 -2.67622191e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23604010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.11, Y:-26.77, Z:-0.02 [[ 8.93233593e-01 4.49592870e-01 0.00000000e+00 1.62105638e+02] [-4.49592870e-01 8.93233593e-01 0.00000000e+00 -2.67720467e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95130099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.13, Y:-26.78, Z:-0.02 [[ 8.94141694e-01 4.47784134e-01 0.00000000e+00 1.62133633e+02] [-4.47784134e-01 8.94141694e-01 0.00000000e+00 -2.67825084e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74004796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.16, Y:-26.79, Z:-0.02 [[ 8.95138689e-01 4.45787760e-01 0.00000000e+00 1.62159693e+02] [-4.45787760e-01 8.95138689e-01 0.00000000e+00 -2.67934042e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61489921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.19, Y:-26.81, Z:-0.02 [[ 8.96271040e-01 4.43506734e-01 0.00000000e+00 1.62188579e+02] [-4.43506734e-01 8.96271040e-01 0.00000000e+00 -2.68063220e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55101463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.22, Y:-26.82, Z:-0.02 [[ 8.97551655e-01 4.40909318e-01 0.00000000e+00 1.62215935e+02] [-4.40909318e-01 8.97551655e-01 0.00000000e+00 -2.68193301e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57604057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.441400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:162.25, Y:-26.83, Z:-0.02 [[ 9.00046232e-01 4.35794425e-01 0.00000000e+00 1.62245866e+02] [-4.35794425e-01 9.00046232e-01 0.00000000e+00 -2.68343320e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68197523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.28, Y:-26.85, Z:-0.02 [[ 9.00692650e-01 4.34456845e-01 0.00000000e+00 1.62275033e+02] [-4.34456845e-01 9.00692650e-01 0.00000000e+00 -2.68475383e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59423614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.30, Y:-26.86, Z:-0.02 [[ 9.01179571e-01 4.33445937e-01 0.00000000e+00 1.62304551e+02] [-4.33445937e-01 9.01179571e-01 0.00000000e+00 -2.68607972e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63260673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.33, Y:-26.87, Z:-0.02 [[ 9.01561116e-01 4.32651769e-01 0.00000000e+00 1.62333992e+02] [-4.32651769e-01 9.01561116e-01 0.00000000e+00 -2.68746792e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65705043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.36, Y:-26.89, Z:-0.02 [[ 9.01862739e-01 4.32022685e-01 0.00000000e+00 1.62363005e+02] [-4.32022685e-01 9.01862739e-01 0.00000000e+00 -2.68891388e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75067792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.39, Y:-26.91, Z:-0.02 [[ 9.02562393e-01 4.30559087e-01 0.00000000e+00 1.62390695e+02] [-4.30559087e-01 9.02562393e-01 0.00000000e+00 -2.69067615e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73630532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.42, Y:-26.92, Z:-0.02 [[ 9.02975463e-01 4.29692114e-01 0.00000000e+00 1.62419677e+02] [-4.29692114e-01 9.02975463e-01 0.00000000e+00 -2.69219330e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64940765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.45, Y:-26.94, Z:-0.02 [[ 9.03479670e-01 4.28630944e-01 0.00000000e+00 1.62447661e+02] [-4.28630944e-01 9.03479670e-01 0.00000000e+00 -2.69380463e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58505872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.48, Y:-26.95, Z:-0.02 [[ 9.04099182e-01 4.27322675e-01 0.00000000e+00 1.62476113e+02] [-4.27322675e-01 9.04099182e-01 0.00000000e+00 -2.69548307e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51017045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.50, Y:-26.97, Z:-0.02 [[ 9.04919159e-01 4.25583499e-01 0.00000000e+00 1.62504740e+02] [-4.25583499e-01 9.04919159e-01 0.00000000e+00 -2.69713128e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52080729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.53, Y:-26.99, Z:-0.02 [[ 9.05768077e-01 4.23773750e-01 0.00000000e+00 1.62532685e+02] [-4.23773750e-01 9.05768077e-01 0.00000000e+00 -2.69879441e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65870709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.56, Y:-27.01, Z:-0.02 [[ 9.07055129e-01 4.21011868e-01 0.00000000e+00 1.62558644e+02] [-4.21011868e-01 9.07055129e-01 0.00000000e+00 -2.70103003e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86500721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.59, Y:-27.03, Z:-0.02 [[ 9.07280545e-01 4.20525875e-01 0.00000000e+00 1.62586097e+02] [-4.20525875e-01 9.07280545e-01 0.00000000e+00 -2.70280118e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78243625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.61, Y:-27.05, Z:-0.02 [[ 9.07301495e-01 4.20480673e-01 0.00000000e+00 1.62613323e+02] [-4.20480673e-01 9.07301495e-01 0.00000000e+00 -2.70487211e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51983655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.64, Y:-27.06, Z:-0.02 [[ 9.07049518e-01 4.21023957e-01 0.00000000e+00 1.62643169e+02] [-4.21023957e-01 9.07049518e-01 0.00000000e+00 -2.70639705e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54439734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.67, Y:-27.08, Z:-0.02 [[ 9.06863735e-01 4.21423975e-01 0.00000000e+00 1.62671750e+02] [-4.21423975e-01 9.06863735e-01 0.00000000e+00 -2.70787715e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69934587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.70, Y:-27.09, Z:-0.02 [[ 9.06845154e-01 4.21463956e-01 0.00000000e+00 1.62700657e+02] [-4.21463956e-01 9.06845154e-01 0.00000000e+00 -2.70946516e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72991656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.73, Y:-27.11, Z:-0.02 [[ 9.06766959e-01 4.21632165e-01 0.00000000e+00 1.62731473e+02] [-4.21632165e-01 9.06766959e-01 0.00000000e+00 -2.71076770e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72991656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.76, Y:-27.12, Z:-0.02 [[ 9.07023947e-01 4.21079042e-01 0.00000000e+00 1.62760356e+02] [-4.21079042e-01 9.07023947e-01 0.00000000e+00 -2.71241368e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64689810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.79, Y:-27.14, Z:-0.01 [[ 9.07973559e-01 4.19027464e-01 0.00000000e+00 1.62788134e+02] [-4.19027464e-01 9.07973559e-01 0.00000000e+00 -2.71424480e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38397800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.82, Y:-27.16, Z:-0.01 [[ 9.08594348e-01 4.17679675e-01 0.00000000e+00 1.62816704e+02] [-4.17679675e-01 9.08594348e-01 0.00000000e+00 -2.71560832e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40988176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.85, Y:-27.17, Z:-0.02 [[ 9.09389818e-01 4.15944899e-01 0.00000000e+00 1.62845570e+02] [-4.15944899e-01 9.09389818e-01 0.00000000e+00 -2.71694165e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53093630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.88, Y:-27.18, Z:-0.02 [[ 9.10151602e-01 4.14275346e-01 0.00000000e+00 1.62875241e+02] [-4.14275346e-01 9.10151602e-01 0.00000000e+00 -2.71834677e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59066313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.131400513 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:162.90, Y:-27.20, Z:-0.02 [[ 9.11156785e-01 4.12059842e-01 0.00000000e+00 1.62904822e+02] [-4.12059842e-01 9.11156785e-01 0.00000000e+00 -2.71975403e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53130737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.161400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:162.93, Y:-27.21, Z:-0.01 [[ 9.12272052e-01 4.09584794e-01 0.00000000e+00 1.62933895e+02] [-4.09584794e-01 9.12272052e-01 0.00000000e+00 -2.72116440e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49411260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.96, Y:-27.22, Z:-0.02 [[ 9.12090611e-01 4.09988680e-01 0.00000000e+00 1.62964594e+02] [-4.09988680e-01 9.12090611e-01 0.00000000e+00 -2.72239848e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58894206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.99, Y:-27.23, Z:-0.02 [[ 9.11723341e-01 4.10804757e-01 0.00000000e+00 1.62993838e+02] [-4.10804757e-01 9.11723341e-01 0.00000000e+00 -2.72348021e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89731674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.251400513 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:163.02, Y:-27.25, Z:-0.02 [[ 9.11546075e-01 4.11197949e-01 0.00000000e+00 1.63024015e+02] [-4.11197949e-01 9.11546075e-01 0.00000000e+00 -2.72453150e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02406312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.06, Y:-27.25, Z:-0.02 [[ 9.11422504e-01 4.11471773e-01 0.00000000e+00 1.63056316e+02] [-4.11471773e-01 9.11422504e-01 0.00000000e+00 -2.72536824e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66576419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.09, Y:-27.26, Z:-0.02 [[ 9.11544780e-01 4.11200820e-01 0.00000000e+00 1.63087790e+02] [-4.11200820e-01 9.11544780e-01 0.00000000e+00 -2.72641654e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52700734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.12, Y:-27.27, Z:-0.02 [[ 9.11994953e-01 4.10201421e-01 0.00000000e+00 1.63118398e+02] [-4.10201421e-01 9.11994953e-01 0.00000000e+00 -2.72740399e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50445724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.371400513 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:163.15, Y:-27.28, Z:-0.01 [[ 9.12851361e-01 4.08292043e-01 0.00000000e+00 1.63150243e+02] [-4.08292043e-01 9.12851361e-01 0.00000000e+00 -2.72839892e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43711612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.18, Y:-27.29, Z:-0.01 [[ 9.13608924e-01 4.06594066e-01 0.00000000e+00 1.63180458e+02] [-4.06594066e-01 9.13608924e-01 0.00000000e+00 -2.72936103e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46076478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.21, Y:-27.30, Z:-0.01 [[ 9.14500363e-01 4.04585079e-01 0.00000000e+00 1.63211711e+02] [-4.04585079e-01 9.14500363e-01 0.00000000e+00 -2.73041953e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41012517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.24, Y:-27.31, Z:-0.01 [[ 9.16132898e-01 4.00874684e-01 0.00000000e+00 1.63242773e+02] [-4.00874684e-01 9.16132898e-01 0.00000000e+00 -2.73124899e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29924966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.27, Y:-27.32, Z:-0.01 [[ 9.16585722e-01 3.99838236e-01 0.00000000e+00 1.63274261e+02] [-3.99838236e-01 9.16585722e-01 0.00000000e+00 -2.73231930e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26473355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.30, Y:-27.33, Z:-0.01 [[ 9.16820082e-01 3.99300559e-01 0.00000000e+00 1.63304868e+02] [-3.99300559e-01 9.16820082e-01 0.00000000e+00 -2.73333234e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32984365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.34, Y:-27.34, Z:-0.01 [[ 9.16518008e-01 3.99993427e-01 0.00000000e+00 1.63336596e+02] [-3.99993427e-01 9.16518008e-01 0.00000000e+00 -2.73426027e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31504218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.37, Y:-27.35, Z:-0.01 [[ 9.16053624e-01 4.01055803e-01 0.00000000e+00 1.63366919e+02] [-4.01055803e-01 9.16053624e-01 0.00000000e+00 -2.73534302e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33744297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.40, Y:-27.36, Z:-0.01 [[ 9.15558881e-01 4.02183958e-01 0.00000000e+00 1.63396911e+02] [-4.02183958e-01 9.15558881e-01 0.00000000e+00 -2.73642398e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41376353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.43, Y:-27.38, Z:-0.02 [[ 9.15097402e-01 4.03232866e-01 0.00000000e+00 1.63427868e+02] [-4.03232866e-01 9.15097402e-01 0.00000000e+00 -2.73758602e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54127330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.46, Y:-27.39, Z:-0.02 [[ 9.14599125e-01 4.04361769e-01 0.00000000e+00 1.63457838e+02] [-4.04361769e-01 9.14599125e-01 0.00000000e+00 -2.73876466e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64461021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.49, Y:-27.40, Z:-0.02 [[ 9.14111458e-01 4.05462998e-01 0.00000000e+00 1.63487512e+02] [-4.05462998e-01 9.14111458e-01 0.00000000e+00 -2.73997698e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58121662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.52, Y:-27.41, Z:-0.01 [[ 9.12821208e-01 4.08359453e-01 0.00000000e+00 1.63517859e+02] [-4.08359453e-01 9.12821208e-01 0.00000000e+00 -2.74135436e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29986558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.55, Y:-27.43, Z:-0.01 [[ 9.12062851e-01 4.10050430e-01 0.00000000e+00 1.63547743e+02] [-4.10050430e-01 9.12062851e-01 0.00000000e+00 -2.74271188e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25426084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.58, Y:-27.44, Z:-0.01 [[ 9.11314313e-01 4.11711334e-01 0.00000000e+00 1.63577928e+02] [-4.11711334e-01 9.11314313e-01 0.00000000e+00 -2.74409528e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21614986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.61, Y:-27.45, Z:-0.01 [[ 9.09935778e-01 4.14749177e-01 0.00000000e+00 1.63607186e+02] [-4.14749177e-01 9.09935778e-01 0.00000000e+00 -2.74534969e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03013738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.64, Y:-27.47, Z:-0.01 [[ 9.08935840e-01 4.16936012e-01 0.00000000e+00 1.63637351e+02] [-4.16936012e-01 9.08935840e-01 0.00000000e+00 -2.74668030e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03950385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.67, Y:-27.48, Z:-0.01 [[ 9.07659116e-01 4.19708147e-01 0.00000000e+00 1.63666454e+02] [-4.19708147e-01 9.07659116e-01 0.00000000e+00 -2.74800837e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09760453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.70, Y:-27.49, Z:-0.01 [[ 9.06302103e-01 4.22630451e-01 0.00000000e+00 1.63696243e+02] [-4.22630451e-01 9.06302103e-01 0.00000000e+00 -2.74931810e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27305685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.73, Y:-27.51, Z:-0.01 [[ 9.05010112e-01 4.25390053e-01 0.00000000e+00 1.63726350e+02] [-4.25390053e-01 9.05010112e-01 0.00000000e+00 -2.75060281e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36991473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.76, Y:-27.52, Z:-0.01 [[ 9.03343305e-01 4.28918260e-01 0.00000000e+00 1.63755687e+02] [-4.28918260e-01 9.03343305e-01 0.00000000e+00 -2.75175330e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49561062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.79, Y:-27.53, Z:-0.01 [[ 9.02846858e-01 4.29962268e-01 0.00000000e+00 1.63786075e+02] [-4.29962268e-01 9.02846858e-01 0.00000000e+00 -2.75312519e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47382699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.81, Y:-27.55, Z:-0.01 [[ 9.02563100e-01 4.30557605e-01 0.00000000e+00 1.63814420e+02] [-4.30557605e-01 9.02563100e-01 0.00000000e+00 -2.75453182e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49204522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.84, Y:-27.56, Z:-0.01 [[ 9.02573102e-01 4.30536636e-01 0.00000000e+00 1.63843814e+02] [-4.30536636e-01 9.02573102e-01 0.00000000e+00 -2.75594432e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34601120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.87, Y:-27.57, Z:-0.01 [[ 9.02707733e-01 4.30254283e-01 0.00000000e+00 1.63872566e+02] [-4.30254283e-01 9.02707733e-01 0.00000000e+00 -2.75724778e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24995936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.90, Y:-27.58, Z:-0.01 [[ 9.02471962e-01 4.30748602e-01 0.00000000e+00 1.63903273e+02] [-4.30748602e-01 9.02471962e-01 0.00000000e+00 -2.75837450e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21045787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.93, Y:-27.60, Z:-0.01 [[ 9.01726604e-01 4.32306757e-01 0.00000000e+00 1.63934520e+02] [-4.32306757e-01 9.01726604e-01 0.00000000e+00 -2.75952798e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33371186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.97, Y:-27.61, Z:-0.01 [[ 9.00755626e-01 4.34326262e-01 0.00000000e+00 1.63965285e+02] [-4.34326262e-01 9.00755626e-01 0.00000000e+00 -2.76063331e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42041017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.00, Y:-27.62, Z:-0.02 [[ 8.99772423e-01 4.36359470e-01 0.00000000e+00 1.63995908e+02] [-4.36359470e-01 8.99772423e-01 0.00000000e+00 -2.76162380e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50834547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.03, Y:-27.63, Z:-0.01 [[ 8.98831603e-01 4.38294137e-01 0.00000000e+00 1.64026279e+02] [-4.38294137e-01 8.98831603e-01 0.00000000e+00 -2.76253413e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47418975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.06, Y:-27.64, Z:-0.01 [[ 8.98187399e-01 4.39612780e-01 0.00000000e+00 1.64057601e+02] [-4.39612780e-01 8.98187399e-01 0.00000000e+00 -2.76352035e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25276815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.09, Y:-27.64, Z:-0.01 [[ 8.98286502e-01 4.39410242e-01 0.00000000e+00 1.64088464e+02] [-4.39410242e-01 8.98286502e-01 0.00000000e+00 -2.76444372e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13723967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.12, Y:-27.66, Z:-0.01 [[ 8.98493854e-01 4.38986099e-01 0.00000000e+00 1.64118048e+02] [-4.38986099e-01 8.98493854e-01 0.00000000e+00 -2.76557352e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09039781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.15, Y:-27.67, Z:-0.01 [[ 8.98994621e-01 4.37959668e-01 0.00000000e+00 1.64149066e+02] [-4.37959668e-01 8.98994621e-01 0.00000000e+00 -2.76656743e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.69199944e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.18, Y:-27.67, Z:-0.01 [[ 8.99703103e-01 4.36502378e-01 0.00000000e+00 1.64182284e+02] [-4.36502378e-01 8.99703103e-01 0.00000000e+00 -2.76703186e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.93437028e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.21, Y:-27.68, Z:-0.01 [[ 8.99746071e-01 4.36413803e-01 0.00000000e+00 1.64213452e+02] [-4.36413803e-01 8.99746071e-01 0.00000000e+00 -2.76800935e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.46243196e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.24, Y:-27.69, Z:-0.01 [[ 8.99577434e-01 4.36761309e-01 0.00000000e+00 1.64244081e+02] [-4.36761309e-01 8.99577434e-01 0.00000000e+00 -2.76901712e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.82776051e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.27, Y:-27.70, Z:-0.01 [[ 8.99410320e-01 4.37105338e-01 0.00000000e+00 1.64274207e+02] [-4.37105338e-01 8.99410320e-01 0.00000000e+00 -2.77001005e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.34491088e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.30, Y:-27.71, Z:-0.01 [[ 8.99466376e-01 4.36989976e-01 0.00000000e+00 1.64304986e+02] [-4.36989976e-01 8.99466376e-01 0.00000000e+00 -2.77106156e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12532912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.34, Y:-27.72, Z:-0.01 [[ 8.99625511e-01 4.36662271e-01 0.00000000e+00 1.64336262e+02] [-4.36662271e-01 8.99625511e-01 0.00000000e+00 -2.77214751e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17615951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.37, Y:-27.73, Z:-0.01 [[ 9.00198838e-01 4.35479106e-01 0.00000000e+00 1.64365855e+02] [-4.35479106e-01 9.00198838e-01 0.00000000e+00 -2.77333714e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18791104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.40, Y:-27.75, Z:-0.01 [[ 9.00564780e-01 4.34721838e-01 0.00000000e+00 1.64395846e+02] [-4.34721838e-01 9.00564780e-01 0.00000000e+00 -2.77468632e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05690020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.43, Y:-27.76, Z:-0.01 [[ 9.00748681e-01 4.34340666e-01 0.00000000e+00 1.64425613e+02] [-4.34340666e-01 9.00748681e-01 0.00000000e+00 -2.77592418e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.98215195e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.46, Y:-27.77, Z:-0.01 [[ 9.00650526e-01 4.34544164e-01 0.00000000e+00 1.64456686e+02] [-4.34544164e-01 9.00650526e-01 0.00000000e+00 -2.77713321e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.38928977e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.49, Y:-27.79, Z:-0.01 [[ 8.99610387e-01 4.36693429e-01 0.00000000e+00 1.64486871e+02] [-4.36693429e-01 8.99610387e-01 0.00000000e+00 -2.77857505e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12770612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.51, Y:-27.80, Z:-0.01 [[ 8.98897396e-01 4.38159185e-01 0.00000000e+00 1.64514771e+02] [-4.38159185e-01 8.98897396e-01 0.00000000e+00 -2.77999291e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37486843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.54, Y:-27.81, Z:-0.02 [[ 8.98171325e-01 4.39645619e-01 0.00000000e+00 1.64541797e+02] [-4.39645619e-01 8.98171325e-01 0.00000000e+00 -2.78126779e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58218467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.57, Y:-27.83, Z:-0.01 [[ 8.97541691e-01 4.40929600e-01 0.00000000e+00 1.64572064e+02] [-4.40929600e-01 8.97541691e-01 0.00000000e+00 -2.78260765e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49287579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.60, Y:-27.84, Z:-0.01 [[ 8.96666775e-01 4.42706104e-01 0.00000000e+00 1.64599607e+02] [-4.42706104e-01 8.96666775e-01 0.00000000e+00 -2.78405108e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19783041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.63, Y:-27.85, Z:-0.01 [[ 8.96694986e-01 4.42648960e-01 0.00000000e+00 1.64625848e+02] [-4.42648960e-01 8.96694986e-01 0.00000000e+00 -2.78516611e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19783041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.65, Y:-27.87, Z:-0.01 [[ 8.96715635e-01 4.42607127e-01 0.00000000e+00 1.64652343e+02] [-4.42607127e-01 8.96715635e-01 0.00000000e+00 -2.78660529e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06392803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.68, Y:-27.88, Z:-0.01 [[ 8.96846579e-01 4.42341739e-01 0.00000000e+00 1.64681422e+02] [-4.42341739e-01 8.96846579e-01 0.00000000e+00 -2.78820440e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.85373277e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.71, Y:-27.90, Z:-0.01 [[ 8.97159789e-01 4.41706140e-01 0.00000000e+00 1.64709909e+02] [-4.41706140e-01 8.97159789e-01 0.00000000e+00 -2.78972375e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.22181611e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.74, Y:-27.92, Z:-0.01 [[ 8.97416513e-01 4.41184317e-01 0.00000000e+00 1.64737961e+02] [-4.41184317e-01 8.97416513e-01 0.00000000e+00 -2.79155121e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.91576141e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.77, Y:-27.93, Z:-0.01 [[ 8.97199223e-01 4.41626035e-01 0.00000000e+00 1.64766378e+02] [-4.41626035e-01 8.97199223e-01 0.00000000e+00 -2.79312342e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.30735577e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.80, Y:-27.95, Z:-0.01 [[ 8.96674056e-01 4.42691357e-01 0.00000000e+00 1.64795922e+02] [-4.42691357e-01 8.96674056e-01 0.00000000e+00 -2.79469640e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.61539741e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.82, Y:-27.96, Z:-0.01 [[ 8.95795943e-01 4.44465553e-01 0.00000000e+00 1.64824433e+02] [-4.44465553e-01 8.95795943e-01 0.00000000e+00 -2.79615439e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15530553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.85, Y:-27.98, Z:-0.01 [[ 8.94528436e-01 4.47011047e-01 0.00000000e+00 1.64854474e+02] [-4.47011047e-01 8.94528436e-01 0.00000000e+00 -2.79759607e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31827477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.88, Y:-27.99, Z:-0.02 [[ 8.90704671e-01 4.54582433e-01 0.00000000e+00 1.64882307e+02] [-4.54582433e-01 8.90704671e-01 0.00000000e+00 -2.79904235e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62729543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.91, Y:-28.00, Z:-0.02 [[ 8.88473084e-01 4.58928729e-01 0.00000000e+00 1.64908243e+02] [-4.58928729e-01 8.88473084e-01 0.00000000e+00 -2.80023390e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73915538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.94, Y:-28.01, Z:-0.02 [[ 8.86451460e-01 4.62821573e-01 0.00000000e+00 1.64936883e+02] [-4.62821573e-01 8.86451460e-01 0.00000000e+00 -2.80141155e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75531786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.97, Y:-28.02, Z:-0.02 [[ 8.83423625e-01 4.68575179e-01 0.00000000e+00 1.64965010e+02] [-4.68575179e-01 8.83423625e-01 0.00000000e+00 -2.80220520e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62231186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.99, Y:-28.03, Z:-0.01 [[ 8.82471138e-01 4.70366550e-01 0.00000000e+00 1.64993432e+02] [-4.70366550e-01 8.82471138e-01 0.00000000e+00 -2.80332428e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41498344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.02, Y:-28.05, Z:-0.01 [[ 8.81935005e-01 4.71371029e-01 0.00000000e+00 1.65023597e+02] [-4.71371029e-01 8.81935005e-01 0.00000000e+00 -2.80457849e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28269312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.05, Y:-28.06, Z:-0.01 [[ 8.82070427e-01 4.71117567e-01 0.00000000e+00 1.65053662e+02] [-4.71117567e-01 8.82070427e-01 0.00000000e+00 -2.80579992e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34655949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.09, Y:-28.07, Z:-0.02 [[ 8.83956248e-01 4.67569622e-01 0.00000000e+00 1.65085631e+02] [-4.67569622e-01 8.83956248e-01 0.00000000e+00 -2.80674799e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50100296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.12, Y:-28.08, Z:-0.01 [[ 8.85304906e-01 4.65010994e-01 0.00000000e+00 1.65115814e+02] [-4.65010994e-01 8.85304906e-01 0.00000000e+00 -2.80785013e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42725650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.15, Y:-28.09, Z:-0.01 [[ 8.86707706e-01 4.62330448e-01 0.00000000e+00 1.65146148e+02] [-4.62330448e-01 8.86707706e-01 0.00000000e+00 -2.80908364e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28134322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.18, Y:-28.10, Z:-0.01 [[ 8.88009131e-01 4.59825819e-01 0.00000000e+00 1.65175701e+02] [-4.59825819e-01 8.88009131e-01 0.00000000e+00 -2.81028986e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18115006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.20, Y:-28.11, Z:-0.01 [[ 8.89212991e-01 4.57493449e-01 0.00000000e+00 1.65204614e+02] [-4.57493449e-01 8.89212991e-01 0.00000000e+00 -2.81133477e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11378336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.23, Y:-28.12, Z:-0.01 [[ 8.90550120e-01 4.54885132e-01 0.00000000e+00 1.65234185e+02] [-4.54885132e-01 8.90550120e-01 0.00000000e+00 -2.81203667e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12202658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.26, Y:-28.13, Z:-0.01 [[ 8.90558043e-01 4.54869622e-01 0.00000000e+00 1.65264892e+02] [-4.54869622e-01 8.90558043e-01 0.00000000e+00 -2.81321008e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15508257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.29, Y:-28.14, Z:-0.01 [[ 8.90442661e-01 4.55095448e-01 0.00000000e+00 1.65294600e+02] [-4.55095448e-01 8.90442661e-01 0.00000000e+00 -2.81439719e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15359546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.32, Y:-28.16, Z:-0.01 [[ 8.90447076e-01 4.55086811e-01 0.00000000e+00 1.65324254e+02] [-4.55086811e-01 8.90447076e-01 0.00000000e+00 -2.81552144e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05852655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.35, Y:-28.16, Z:-0.01 [[ 8.90794116e-01 4.54407133e-01 0.00000000e+00 1.65352557e+02] [-4.54407133e-01 8.90794116e-01 0.00000000e+00 -2.81630707e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.85187265e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.38, Y:-28.17, Z:-0.01 [[ 8.91110916e-01 4.53785561e-01 0.00000000e+00 1.65380746e+02] [-4.53785561e-01 8.91110916e-01 0.00000000e+00 -2.81748777e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03422489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.41, Y:-28.19, Z:-0.01 [[ 8.91656358e-01 4.52712866e-01 0.00000000e+00 1.65407947e+02] [-4.52712866e-01 8.91656358e-01 0.00000000e+00 -2.81871728e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09466750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.44, Y:-28.20, Z:-0.01 [[ 8.92211089e-01 4.51618614e-01 0.00000000e+00 1.65438115e+02] [-4.51618614e-01 8.92211089e-01 0.00000000e+00 -2.82002647e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10083711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.47, Y:-28.21, Z:-0.01 [[ 8.92673522e-01 4.50703875e-01 0.00000000e+00 1.65468714e+02] [-4.50703875e-01 8.92673522e-01 0.00000000e+00 -2.82122690e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08727135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.50, Y:-28.22, Z:-0.01 [[ 8.92885945e-01 4.50282900e-01 0.00000000e+00 1.65499231e+02] [-4.50282900e-01 8.92885945e-01 0.00000000e+00 -2.82238153e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00446690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.77140051299997 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:165.53, Y:-28.24, Z:-0.01 [[ 8.92937103e-01 4.50181441e-01 0.00000000e+00 1.65528719e+02] [-4.50181441e-01 8.92937103e-01 0.00000000e+00 -2.82365387e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.77630943e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.55, Y:-28.25, Z:-0.01 [[ 8.92639855e-01 4.50770550e-01 0.00000000e+00 1.65554329e+02] [-4.50770550e-01 8.92639855e-01 0.00000000e+00 -2.82491240e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.46494752e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.58, Y:-28.26, Z:-0.01 [[ 8.92356694e-01 4.51330844e-01 0.00000000e+00 1.65581251e+02] [-4.51330844e-01 8.92356694e-01 0.00000000e+00 -2.82612414e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10706668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.61, Y:-28.27, Z:-0.01 [[ 8.91594922e-01 4.52833850e-01 0.00000000e+00 1.65611984e+02] [-4.52833850e-01 8.91594922e-01 0.00000000e+00 -2.82724289e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38864550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.64, Y:-28.28, Z:-0.01 [[ 8.91173333e-01 4.53662970e-01 0.00000000e+00 1.65641177e+02] [-4.53662970e-01 8.91173333e-01 0.00000000e+00 -2.82842113e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48336918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.67, Y:-28.30, Z:-0.01 [[ 8.90771682e-01 4.54451109e-01 0.00000000e+00 1.65667343e+02] [-4.54451109e-01 8.90771682e-01 0.00000000e+00 -2.82956562e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41023798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.70, Y:-28.31, Z:-0.01 [[ 8.90406905e-01 4.55165402e-01 0.00000000e+00 1.65696051e+02] [-4.55165402e-01 8.90406905e-01 0.00000000e+00 -2.83088077e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26177257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.72, Y:-28.32, Z:-0.01 [[ 8.90327984e-01 4.55319757e-01 0.00000000e+00 1.65724208e+02] [-4.55319757e-01 8.90327984e-01 0.00000000e+00 -2.83212410e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19685925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.75, Y:-28.33, Z:-0.01 [[ 8.90661823e-01 4.54666380e-01 0.00000000e+00 1.65750506e+02] [-4.54666380e-01 8.90661823e-01 0.00000000e+00 -2.83313634e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28798345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.78, Y:-28.34, Z:-0.01 [[ 8.90964079e-01 4.54073793e-01 0.00000000e+00 1.65780733e+02] [-4.54073793e-01 8.90964079e-01 0.00000000e+00 -2.83438510e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36780467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.81, Y:-28.36, Z:-0.02 [[ 8.91355439e-01 4.53305064e-01 0.00000000e+00 1.65809797e+02] [-4.53305064e-01 8.91355439e-01 0.00000000e+00 -2.83559896e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59627964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.84, Y:-28.37, Z:-0.02 [[ 8.91750622e-01 4.52527158e-01 0.00000000e+00 1.65836336e+02] [-4.52527158e-01 8.91750622e-01 0.00000000e+00 -2.83669313e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.82800563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.86, Y:-28.38, Z:-0.02 [[ 8.92437549e-01 4.51170944e-01 0.00000000e+00 1.65861876e+02] [-4.51170944e-01 8.92437549e-01 0.00000000e+00 -2.83774784e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87661853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.161400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:165.89, Y:-28.39, Z:-0.02 [[ 8.92597069e-01 4.50855268e-01 0.00000000e+00 1.65888235e+02] [-4.50855268e-01 8.92597069e-01 0.00000000e+00 -2.83890329e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59654244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.92, Y:-28.40, Z:-0.01 [[ 8.92257417e-01 4.51527078e-01 0.00000000e+00 1.65918761e+02] [-4.51527078e-01 8.92257417e-01 0.00000000e+00 -2.84026942e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22710174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.95, Y:-28.42, Z:-0.01 [[ 8.91775178e-01 4.52478763e-01 0.00000000e+00 1.65949311e+02] [-4.52478763e-01 8.91775178e-01 0.00000000e+00 -2.84154125e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17553688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.98, Y:-28.43, Z:-0.01 [[ 8.90599598e-01 4.54788255e-01 0.00000000e+00 1.65978000e+02] [-4.54788255e-01 8.90599598e-01 0.00000000e+00 -2.84277180e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06537456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.00, Y:-28.44, Z:-0.01 [[ 8.89814431e-01 4.56322559e-01 0.00000000e+00 1.66004652e+02] [-4.56322559e-01 8.89814431e-01 0.00000000e+00 -2.84399874e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.58543940e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.03, Y:-28.45, Z:-0.01 [[ 8.88913438e-01 4.58075212e-01 0.00000000e+00 1.66032207e+02] [-4.58075212e-01 8.88913438e-01 0.00000000e+00 -2.84520856e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.20034314e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.06, Y:-28.46, Z:-0.01 [[ 8.87929152e-01 4.59980240e-01 0.00000000e+00 1.66058048e+02] [-4.59980240e-01 8.87929152e-01 0.00000000e+00 -2.84627180e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.92275367e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.09, Y:-28.47, Z:-0.01 [[ 8.86008891e-01 4.63668250e-01 0.00000000e+00 1.66085756e+02] [-4.63668250e-01 8.86008891e-01 0.00000000e+00 -2.84742769e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.81298610e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.11, Y:-28.49, Z:-0.01 [[ 8.85258661e-01 4.65099026e-01 0.00000000e+00 1.66112609e+02] [-4.65099026e-01 8.85258661e-01 0.00000000e+00 -2.84868322e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.52245848e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.14, Y:-28.50, Z:-0.01 [[ 8.84764794e-01 4.66037830e-01 0.00000000e+00 1.66138936e+02] [-4.66037830e-01 8.84764794e-01 0.00000000e+00 -2.84995179e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.89177268e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.17, Y:-28.51, Z:-0.01 [[ 8.84378223e-01 4.66770992e-01 0.00000000e+00 1.66165015e+02] [-4.66770992e-01 8.84378223e-01 0.00000000e+00 -2.85119453e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.82384670e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.19, Y:-28.53, Z:-0.01 [[ 8.83754249e-01 4.67951308e-01 0.00000000e+00 1.66193544e+02] [-4.67951308e-01 8.83754249e-01 0.00000000e+00 -2.85252781e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.71759220e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.22, Y:-28.54, Z:-0.01 [[ 8.83067948e-01 4.69245138e-01 0.00000000e+00 1.66221335e+02] [-4.69245138e-01 8.83067948e-01 0.00000000e+00 -2.85378180e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.04887580e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.25, Y:-28.55, Z:-0.01 [[ 8.81339503e-01 4.72483525e-01 0.00000000e+00 1.66250975e+02] [-4.72483525e-01 8.81339503e-01 0.00000000e+00 -2.85516153e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01376384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.28, Y:-28.56, Z:-0.01 [[ 8.80650734e-01 4.73766066e-01 0.00000000e+00 1.66280579e+02] [-4.73766066e-01 8.80650734e-01 0.00000000e+00 -2.85638906e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13614441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.31, Y:-28.57, Z:-0.01 [[ 8.80153194e-01 4.74689746e-01 0.00000000e+00 1.66306290e+02] [-4.74689746e-01 8.80153194e-01 0.00000000e+00 -2.85737735e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19884396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.34, Y:-28.58, Z:-0.01 [[ 8.80082201e-01 4.74821355e-01 0.00000000e+00 1.66335379e+02] [-4.74821355e-01 8.80082201e-01 0.00000000e+00 -2.85834942e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39476771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.36, Y:-28.59, Z:-0.02 [[ 8.80414791e-01 4.74204381e-01 0.00000000e+00 1.66364585e+02] [-4.74204381e-01 8.80414791e-01 0.00000000e+00 -2.85947272e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50543132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.39, Y:-28.60, Z:-0.02 [[ 8.80801039e-01 4.73486567e-01 0.00000000e+00 1.66392032e+02] [-4.73486567e-01 8.80801039e-01 0.00000000e+00 -2.86049840e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56663573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.42, Y:-28.62, Z:-0.01 [[ 8.81133376e-01 4.72867818e-01 0.00000000e+00 1.66419445e+02] [-4.72867818e-01 8.81133376e-01 0.00000000e+00 -2.86152270e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42357927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.45, Y:-28.63, Z:-0.01 [[ 8.81144127e-01 4.72847785e-01 0.00000000e+00 1.66447126e+02] [-4.72847785e-01 8.81144127e-01 0.00000000e+00 -2.86272262e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42357927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.47, Y:-28.64, Z:-0.01 [[ 8.81332885e-01 4.72495868e-01 0.00000000e+00 1.66474051e+02] [-4.72495868e-01 8.81332885e-01 0.00000000e+00 -2.86359272e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15566795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.50, Y:-28.65, Z:-0.01 [[ 8.81416657e-01 4.72339578e-01 0.00000000e+00 1.66500647e+02] [-4.72339578e-01 8.81416657e-01 0.00000000e+00 -2.86459351e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.49292861e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.53, Y:-28.66, Z:-0.01 [[ 8.81479054e-01 4.72223122e-01 0.00000000e+00 1.66527789e+02] [-4.72223122e-01 8.81479054e-01 0.00000000e+00 -2.86553559e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.38721473e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.56, Y:-28.66, Z:-0.01 [[ 8.81448390e-01 4.72280358e-01 0.00000000e+00 1.66556675e+02] [-4.72280358e-01 8.81448390e-01 0.00000000e+00 -2.86604382e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.85397230e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.58, Y:-28.67, Z:-0.01 [[ 8.81590169e-01 4.72015650e-01 0.00000000e+00 1.66583644e+02] [-4.72015650e-01 8.81590169e-01 0.00000000e+00 -2.86682370e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20864322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.61, Y:-28.68, Z:-0.01 [[ 8.81931745e-01 4.71377128e-01 0.00000000e+00 1.66609422e+02] [-4.71377128e-01 8.81931745e-01 0.00000000e+00 -2.86761491e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37367685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.64, Y:-28.68, Z:-0.01 [[ 8.82737077e-01 4.69867271e-01 0.00000000e+00 1.66638091e+02] [-4.69867271e-01 8.82737077e-01 0.00000000e+00 -2.86828466e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.63251888e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.66, Y:-28.69, Z:-0.01 [[ 8.83335427e-01 4.68741425e-01 0.00000000e+00 1.66664024e+02] [-4.68741425e-01 8.83335427e-01 0.00000000e+00 -2.86919179e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.15095955e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.69, Y:-28.70, Z:-0.01 [[ 8.84131480e-01 4.67238189e-01 0.00000000e+00 1.66690752e+02] [-4.67238189e-01 8.84131480e-01 0.00000000e+00 -2.87014519e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.69669900e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.72, Y:-28.71, Z:-0.00 [[ 8.84641383e-01 4.66272050e-01 0.00000000e+00 1.66716485e+02] [-4.66272050e-01 8.84641383e-01 0.00000000e+00 -2.87106433e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.66990540e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.74, Y:-28.72, Z:-0.00 [[ 8.84982422e-01 4.65624433e-01 0.00000000e+00 1.66742978e+02] [-4.65624433e-01 8.84982422e-01 0.00000000e+00 -2.87197452e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.25279818e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.77, Y:-28.73, Z:-0.01 [[ 8.85109140e-01 4.65383509e-01 0.00000000e+00 1.66770059e+02] [-4.65383509e-01 8.85109140e-01 0.00000000e+00 -2.87264457e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.27171556e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.79, Y:-28.74, Z:-0.01 [[ 8.84800816e-01 4.65969437e-01 0.00000000e+00 1.66794683e+02] [-4.65969437e-01 8.84800816e-01 0.00000000e+00 -2.87365925e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.56963749e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.82, Y:-28.75, Z:-0.01 [[ 8.84418766e-01 4.66694168e-01 0.00000000e+00 1.66820743e+02] [-4.66694168e-01 8.84418766e-01 0.00000000e+00 -2.87478497e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.21976920e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.85, Y:-28.76, Z:-0.01 [[ 8.83987026e-01 4.67511431e-01 0.00000000e+00 1.66846973e+02] [-4.67511431e-01 8.83987026e-01 0.00000000e+00 -2.87588501e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.74216172e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.87, Y:-28.77, Z:-0.01 [[ 8.83440376e-01 4.68543596e-01 0.00000000e+00 1.66873612e+02] [-4.68543596e-01 8.83440376e-01 0.00000000e+00 -2.87669746e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.72071826e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.90, Y:-28.78, Z:-0.01 [[ 8.83433578e-01 4.68556414e-01 0.00000000e+00 1.66899779e+02] [-4.68556414e-01 8.83433578e-01 0.00000000e+00 -2.87769845e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.88190681e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.93, Y:-28.79, Z:-0.01 [[ 8.83580479e-01 4.68279337e-01 0.00000000e+00 1.66925734e+02] [-4.68279337e-01 8.83580479e-01 0.00000000e+00 -2.87882205e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00137880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.95, Y:-28.80, Z:-0.01 [[ 8.83858194e-01 4.67754950e-01 0.00000000e+00 1.66950674e+02] [-4.67754950e-01 8.83858194e-01 0.00000000e+00 -2.87997611e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06927518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.97, Y:-28.81, Z:-0.01 [[ 8.84491625e-01 4.66556069e-01 0.00000000e+00 1.66974956e+02] [-4.66556069e-01 8.84491625e-01 0.00000000e+00 -2.88104982e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24880757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.00, Y:-28.82, Z:-0.01 [[ 8.84905315e-01 4.65770956e-01 0.00000000e+00 1.67000723e+02] [-4.65770956e-01 8.84905315e-01 0.00000000e+00 -2.88213290e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29673140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.03, Y:-28.83, Z:-0.01 [[ 8.85340816e-01 4.64942620e-01 0.00000000e+00 1.67025434e+02] [-4.64942620e-01 8.85340816e-01 0.00000000e+00 -2.88321441e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42939302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.05, Y:-28.84, Z:-0.02 [[ 8.85621166e-01 4.64408387e-01 0.00000000e+00 1.67051524e+02] [-4.64408387e-01 8.85621166e-01 0.00000000e+00 -2.88442386e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54023707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.08, Y:-28.86, Z:-0.02 [[ 8.86131168e-01 4.63434519e-01 0.00000000e+00 1.67077219e+02] [-4.63434519e-01 8.86131168e-01 0.00000000e+00 -2.88552206e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89457375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.51140051299998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:167.10, Y:-28.87, Z:-0.02 [[ 8.86601527e-01 4.62534033e-01 0.00000000e+00 1.67103957e+02] [-4.62534033e-01 8.86601527e-01 0.00000000e+00 -2.88659200e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80751412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.13, Y:-28.88, Z:-0.02 [[ 8.86666164e-01 4.62410113e-01 0.00000000e+00 1.67129780e+02] [-4.62410113e-01 8.86666164e-01 0.00000000e+00 -2.88770005e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70194738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.16, Y:-28.89, Z:-0.01 [[ 8.86558744e-01 4.62616033e-01 0.00000000e+00 1.67155638e+02] [-4.62616033e-01 8.86558744e-01 0.00000000e+00 -2.88887437e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39265909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.18, Y:-28.90, Z:-0.01 [[ 8.86071289e-01 4.63548994e-01 0.00000000e+00 1.67181704e+02] [-4.63548994e-01 8.86071289e-01 0.00000000e+00 -2.89015842e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11553490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.21, Y:-28.91, Z:-0.01 [[ 8.86009360e-01 4.63667353e-01 0.00000000e+00 1.67206582e+02] [-4.63667353e-01 8.86009360e-01 0.00000000e+00 -2.89113389e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29645935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.23, Y:-28.92, Z:-0.01 [[ 8.86366451e-01 4.62984357e-01 0.00000000e+00 1.67232477e+02] [-4.62984357e-01 8.86366451e-01 0.00000000e+00 -2.89214161e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43716132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.26, Y:-28.93, Z:-0.01 [[ 8.88040644e-01 4.59764955e-01 0.00000000e+00 1.67258552e+02] [-4.59764955e-01 8.88040644e-01 0.00000000e+00 -2.89337315e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17119632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.28, Y:-28.95, Z:-0.01 [[ 8.89173747e-01 4.57569718e-01 0.00000000e+00 1.67282524e+02] [-4.57569718e-01 8.89173747e-01 0.00000000e+00 -2.89453996e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.40033366e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.31, Y:-28.96, Z:-0.01 [[ 8.90167379e-01 4.55633666e-01 0.00000000e+00 1.67307936e+02] [-4.55633666e-01 8.90167379e-01 0.00000000e+00 -2.89568140e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.31684867e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.34, Y:-28.97, Z:-0.01 [[ 8.91389295e-01 4.53238485e-01 0.00000000e+00 1.67335526e+02] [-4.53238485e-01 8.91389295e-01 0.00000000e+00 -2.89664884e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33249335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.36, Y:-28.98, Z:-0.01 [[ 8.91585664e-01 4.52852078e-01 0.00000000e+00 1.67360701e+02] [-4.52852078e-01 8.91585664e-01 0.00000000e+00 -2.89758408e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44448387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.39, Y:-28.99, Z:-0.01 [[ 8.91654256e-01 4.52717006e-01 0.00000000e+00 1.67385532e+02] [-4.52717006e-01 8.91654256e-01 0.00000000e+00 -2.89862667e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37874644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.41, Y:-29.00, Z:-0.01 [[ 8.91631845e-01 4.52761143e-01 0.00000000e+00 1.67412117e+02] [-4.52761143e-01 8.91631845e-01 0.00000000e+00 -2.89978093e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14535667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.44, Y:-29.01, Z:-0.01 [[ 8.91137669e-01 4.53733022e-01 0.00000000e+00 1.67437856e+02] [-4.53733022e-01 8.91137669e-01 0.00000000e+00 -2.90096154e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.68618167e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.46, Y:-29.02, Z:-0.01 [[ 8.90840034e-01 4.54317107e-01 0.00000000e+00 1.67462399e+02] [-4.54317107e-01 8.90840034e-01 0.00000000e+00 -2.90208235e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02398964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.49, Y:-29.03, Z:-0.01 [[ 8.90674600e-01 4.54641349e-01 0.00000000e+00 1.67488826e+02] [-4.54641349e-01 8.90674600e-01 0.00000000e+00 -2.90327676e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15120874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.51, Y:-29.04, Z:-0.01 [[ 8.90575012e-01 4.54836397e-01 0.00000000e+00 1.67514673e+02] [-4.54836397e-01 8.90575012e-01 0.00000000e+00 -2.90439784e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34604197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.54, Y:-29.05, Z:-0.01 [[ 8.90629597e-01 4.54729504e-01 0.00000000e+00 1.67540795e+02] [-4.54729504e-01 8.90629597e-01 0.00000000e+00 -2.90545163e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39598580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.57, Y:-29.06, Z:-0.01 [[ 8.90710056e-01 4.54571881e-01 0.00000000e+00 1.67565563e+02] [-4.54571881e-01 8.90710056e-01 0.00000000e+00 -2.90647056e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39742005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.59, Y:-29.08, Z:-0.01 [[ 8.90473977e-01 4.55034171e-01 0.00000000e+00 1.67591622e+02] [-4.55034171e-01 8.90473977e-01 0.00000000e+00 -2.90764883e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.60192332e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.62, Y:-29.09, Z:-0.01 [[ 8.90187650e-01 4.55594061e-01 0.00000000e+00 1.67616260e+02] [-4.55594061e-01 8.90187650e-01 0.00000000e+00 -2.90864424e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.50718762e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.64, Y:-29.10, Z:-0.01 [[ 8.89893035e-01 4.56169253e-01 0.00000000e+00 1.67642315e+02] [-4.56169253e-01 8.89893035e-01 0.00000000e+00 -2.90959099e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01006423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.67, Y:-29.11, Z:-0.01 [[ 8.89463089e-01 4.57007016e-01 0.00000000e+00 1.67668237e+02] [-4.57007016e-01 8.89463089e-01 0.00000000e+00 -2.91055792e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30850139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.69, Y:-29.12, Z:-0.01 [[ 8.88491601e-01 4.58892880e-01 0.00000000e+00 1.67693998e+02] [-4.58892880e-01 8.88491601e-01 0.00000000e+00 -2.91177429e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48664121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.72, Y:-29.13, Z:-0.01 [[ 8.88056470e-01 4.59734387e-01 0.00000000e+00 1.67718686e+02] [-4.59734387e-01 8.88056470e-01 0.00000000e+00 -2.91304981e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40639071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.74, Y:-29.14, Z:-0.01 [[ 8.87502724e-01 4.60802468e-01 0.00000000e+00 1.67743780e+02] [-4.60802468e-01 8.87502724e-01 0.00000000e+00 -2.91408331e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42674706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.77, Y:-29.15, Z:-0.01 [[ 8.87000288e-01 4.61768870e-01 0.00000000e+00 1.67768728e+02] [-4.61768870e-01 8.87000288e-01 0.00000000e+00 -2.91499789e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46782195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.80, Y:-29.16, Z:-0.01 [[ 8.86295672e-01 4.63119834e-01 0.00000000e+00 1.67795161e+02] [-4.63119834e-01 8.86295672e-01 0.00000000e+00 -2.91602740e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39108444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.82, Y:-29.17, Z:-0.01 [[ 8.85322969e-01 4.64976603e-01 0.00000000e+00 1.67821002e+02] [-4.64976603e-01 8.85322969e-01 0.00000000e+00 -2.91716120e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23408577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.85, Y:-29.18, Z:-0.01 [[ 8.84273292e-01 4.66969748e-01 0.00000000e+00 1.67845754e+02] [-4.66969748e-01 8.84273292e-01 0.00000000e+00 -2.91824535e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10419174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.87, Y:-29.19, Z:-0.01 [[ 8.82410215e-01 4.70480830e-01 0.00000000e+00 1.67872457e+02] [-4.70480830e-01 8.82410215e-01 0.00000000e+00 -2.91907064e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00374020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.90, Y:-29.20, Z:-0.01 [[ 8.81752512e-01 4.71712315e-01 0.00000000e+00 1.67898183e+02] [-4.71712315e-01 8.81752512e-01 0.00000000e+00 -2.91993593e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12251516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.92, Y:-29.21, Z:-0.01 [[ 8.81337690e-01 4.72486907e-01 0.00000000e+00 1.67923365e+02] [-4.72486907e-01 8.81337690e-01 0.00000000e+00 -2.92090301e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29840464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.95, Y:-29.22, Z:-0.01 [[ 8.81344794e-01 4.72473654e-01 0.00000000e+00 1.67950323e+02] [-4.72473654e-01 8.81344794e-01 0.00000000e+00 -2.92198778e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37479879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.98, Y:-29.23, Z:-0.01 [[ 8.81828750e-01 4.71569778e-01 0.00000000e+00 1.67975681e+02] [-4.71569778e-01 8.81828750e-01 0.00000000e+00 -2.92281896e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26044735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.00, Y:-29.24, Z:-0.01 [[ 8.82302837e-01 4.70682169e-01 0.00000000e+00 1.68003508e+02] [-4.70682169e-01 8.82302837e-01 0.00000000e+00 -2.92370197e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11490831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.03, Y:-29.25, Z:-0.01 [[ 8.82752475e-01 4.69838342e-01 0.00000000e+00 1.68029373e+02] [-4.69838342e-01 8.82752475e-01 0.00000000e+00 -2.92457947e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16063888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.05, Y:-29.26, Z:-0.01 [[ 8.82929488e-01 4.69505612e-01 0.00000000e+00 1.68054906e+02] [-4.69505612e-01 8.82929488e-01 0.00000000e+00 -2.92572853e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09545623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.08, Y:-29.27, Z:-0.01 [[ 8.83011256e-01 4.69351811e-01 0.00000000e+00 1.68081169e+02] [-4.69351811e-01 8.83011256e-01 0.00000000e+00 -2.92684031e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09545623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.11, Y:-29.28, Z:-0.01 [[ 8.83229940e-01 4.68940159e-01 0.00000000e+00 1.68107331e+02] [-4.68940159e-01 8.83229940e-01 0.00000000e+00 -2.92792206e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.16594583e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.13, Y:-29.29, Z:-0.01 [[ 8.83214329e-01 4.68969561e-01 0.00000000e+00 1.68133553e+02] [-4.68969561e-01 8.83214329e-01 0.00000000e+00 -2.92881047e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.64064034e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.16, Y:-29.30, Z:-0.01 [[ 8.83051218e-01 4.69276621e-01 0.00000000e+00 1.68160770e+02] [-4.69276621e-01 8.83051218e-01 0.00000000e+00 -2.92968605e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.49579674e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.19, Y:-29.31, Z:-0.01 [[ 8.82736877e-01 4.69867646e-01 0.00000000e+00 1.68185850e+02] [-4.69867646e-01 8.82736877e-01 0.00000000e+00 -2.93057320e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.21416688e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.21, Y:-29.32, Z:-0.01 [[ 8.82497135e-01 4.70317773e-01 0.00000000e+00 1.68211028e+02] [-4.70317773e-01 8.82497135e-01 0.00000000e+00 -2.93158427e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01585905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.24, Y:-29.33, Z:-0.01 [[ 8.83136960e-01 4.69115242e-01 0.00000000e+00 1.68237248e+02] [-4.69115242e-01 8.83136960e-01 0.00000000e+00 -2.93261326e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01919238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.26, Y:-29.34, Z:-0.01 [[ 8.84211915e-01 4.67085955e-01 0.00000000e+00 1.68263522e+02] [-4.67085955e-01 8.84211915e-01 0.00000000e+00 -2.93362873e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02654358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.29, Y:-29.35, Z:-0.01 [[ 8.85435872e-01 4.64761569e-01 0.00000000e+00 1.68289190e+02] [-4.64761569e-01 8.85435872e-01 0.00000000e+00 -2.93471344e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04475049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.31, Y:-29.36, Z:-0.01 [[ 8.86865729e-01 4.62027248e-01 0.00000000e+00 1.68313233e+02] [-4.62027248e-01 8.86865729e-01 0.00000000e+00 -2.93584509e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11803791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.34, Y:-29.37, Z:-0.01 [[ 8.89839992e-01 4.56272713e-01 0.00000000e+00 1.68337654e+02] [-4.56272713e-01 8.89839992e-01 0.00000000e+00 -2.93718150e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20743052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.36, Y:-29.38, Z:-0.01 [[ 8.90936821e-01 4.54127275e-01 0.00000000e+00 1.68361912e+02] [-4.54127275e-01 8.90936821e-01 0.00000000e+00 -2.93825740e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21786284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.39, Y:-29.40, Z:-0.01 [[ 8.91737252e-01 4.52553503e-01 0.00000000e+00 1.68387778e+02] [-4.52553503e-01 8.91737252e-01 0.00000000e+00 -2.93953480e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38789738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.41, Y:-29.41, Z:-0.02 [[ 8.91543581e-01 4.52934922e-01 0.00000000e+00 1.68413730e+02] [-4.52934922e-01 8.91543581e-01 0.00000000e+00 -2.94079835e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50312502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.071400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:168.44, Y:-29.42, Z:-0.02 [[ 8.91235981e-01 4.53539884e-01 0.00000000e+00 1.68437683e+02] [-4.53539884e-01 8.91235981e-01 0.00000000e+00 -2.94196336e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73823277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.46, Y:-29.43, Z:-0.02 [[ 8.90628507e-01 4.54731639e-01 0.00000000e+00 1.68462696e+02] [-4.54731639e-01 8.90628507e-01 0.00000000e+00 -2.94315980e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53845658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.49, Y:-29.44, Z:-0.02 [[ 8.89965763e-01 4.56027346e-01 0.00000000e+00 1.68487401e+02] [-4.56027346e-01 8.89965763e-01 0.00000000e+00 -2.94423952e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57681902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.51, Y:-29.45, Z:-0.02 [[ 8.88339399e-01 4.59187449e-01 0.00000000e+00 1.68514446e+02] [-4.59187449e-01 8.88339399e-01 0.00000000e+00 -2.94533100e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93103530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.191400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:168.54, Y:-29.46, Z:-0.02 [[ 8.87812355e-01 4.60205631e-01 0.00000000e+00 1.68539126e+02] [-4.60205631e-01 8.87812355e-01 0.00000000e+00 -2.94632023e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19491296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.57, Y:-29.47, Z:-0.02 [[ 8.87417957e-01 4.60965692e-01 0.00000000e+00 1.68566139e+02] [-4.60965692e-01 8.87417957e-01 0.00000000e+00 -2.94746102e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12053330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.59, Y:-29.49, Z:-0.02 [[ 8.87043694e-01 4.61685482e-01 0.00000000e+00 1.68592665e+02] [-4.61685482e-01 8.87043694e-01 0.00000000e+00 -2.94861680e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91147486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.62, Y:-29.50, Z:-0.02 [[ 8.86749766e-01 4.62249773e-01 0.00000000e+00 1.68619046e+02] [-4.62249773e-01 8.86749766e-01 0.00000000e+00 -2.94987954e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59813778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.64, Y:-29.51, Z:-0.01 [[ 8.86235937e-01 4.63234135e-01 0.00000000e+00 1.68643287e+02] [-4.63234135e-01 8.86235937e-01 0.00000000e+00 -2.95111167e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47159735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.67, Y:-29.52, Z:-0.02 [[ 8.85932391e-01 4.63814401e-01 0.00000000e+00 1.68669791e+02] [-4.63814401e-01 8.85932391e-01 0.00000000e+00 -2.95219998e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54731169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.70, Y:-29.53, Z:-0.02 [[ 8.85574501e-01 4.64497365e-01 0.00000000e+00 1.68695550e+02] [-4.64497365e-01 8.85574501e-01 0.00000000e+00 -2.95318784e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65804389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.72, Y:-29.54, Z:-0.02 [[ 8.85136512e-01 4.65331447e-01 0.00000000e+00 1.68721514e+02] [-4.65331447e-01 8.85136512e-01 0.00000000e+00 -2.95423365e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67716315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.75, Y:-29.55, Z:-0.01 [[ 8.83931324e-01 4.67616738e-01 0.00000000e+00 1.68746180e+02] [-4.67616738e-01 8.83931324e-01 0.00000000e+00 -2.95549005e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46609781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.77, Y:-29.57, Z:-0.01 [[ 8.83492056e-01 4.68446140e-01 0.00000000e+00 1.68771683e+02] [-4.68446140e-01 8.83492056e-01 0.00000000e+00 -2.95668519e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32064732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.80, Y:-29.58, Z:-0.01 [[ 8.83241354e-01 4.68918660e-01 0.00000000e+00 1.68797217e+02] [-4.68918660e-01 8.83241354e-01 0.00000000e+00 -2.95773861e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20379843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.82, Y:-29.59, Z:-0.01 [[ 8.83438691e-01 4.68546775e-01 0.00000000e+00 1.68823087e+02] [-4.68546775e-01 8.83438691e-01 0.00000000e+00 -2.95857973e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17775572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.85, Y:-29.60, Z:-0.01 [[ 8.83576224e-01 4.68287365e-01 0.00000000e+00 1.68848580e+02] [-4.68287365e-01 8.83576224e-01 0.00000000e+00 -2.95957679e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22024016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.87, Y:-29.61, Z:-0.01 [[ 8.83750137e-01 4.67959074e-01 0.00000000e+00 1.68874779e+02] [-4.67959074e-01 8.83750137e-01 0.00000000e+00 -2.96066629e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23518251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.90, Y:-29.62, Z:-0.01 [[ 8.85042629e-01 4.65509984e-01 0.00000000e+00 1.68902062e+02] [-4.65509984e-01 8.85042629e-01 0.00000000e+00 -2.96166887e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.98082626e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.93, Y:-29.63, Z:-0.01 [[ 8.86182365e-01 4.63336612e-01 0.00000000e+00 1.68927089e+02] [-4.63336612e-01 8.86182365e-01 0.00000000e+00 -2.96267057e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.49356603e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.95, Y:-29.64, Z:-0.01 [[ 8.87439874e-01 4.60923497e-01 0.00000000e+00 1.68952946e+02] [-4.60923497e-01 8.87439874e-01 0.00000000e+00 -2.96382082e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.39240348e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.98, Y:-29.65, Z:-0.01 [[ 8.88479224e-01 4.58916842e-01 0.00000000e+00 1.68977126e+02] [-4.58916842e-01 8.88479224e-01 0.00000000e+00 -2.96502116e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.11253764e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.00, Y:-29.66, Z:-0.01 [[ 8.89036379e-01 4.57836561e-01 0.00000000e+00 1.69001881e+02] [-4.57836561e-01 8.89036379e-01 0.00000000e+00 -2.96626590e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.98173073e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.03, Y:-29.67, Z:-0.01 [[ 8.89136580e-01 4.57641937e-01 0.00000000e+00 1.69026235e+02] [-4.57641937e-01 8.89136580e-01 0.00000000e+00 -2.96735717e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.00686507e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.05, Y:-29.68, Z:-0.01 [[ 8.88016283e-01 4.59812006e-01 0.00000000e+00 1.69052403e+02] [-4.59812006e-01 8.88016283e-01 0.00000000e+00 -2.96813823e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.31945071e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.08, Y:-29.69, Z:-0.01 [[ 8.86916832e-01 4.61929143e-01 0.00000000e+00 1.69079190e+02] [-4.61929143e-01 8.86916832e-01 0.00000000e+00 -2.96908486e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.95777495e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.10, Y:-29.70, Z:-0.01 [[ 8.85408411e-01 4.64813883e-01 0.00000000e+00 1.69103962e+02] [-4.64813883e-01 8.85408411e-01 0.00000000e+00 -2.97005529e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.28867261e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.881400513 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:169.13, Y:-29.71, Z:-0.01 [[ 8.83471913e-01 4.68484130e-01 0.00000000e+00 1.69129929e+02] [-4.68484130e-01 8.83471913e-01 0.00000000e+00 -2.97120177e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16450843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.16, Y:-29.72, Z:-0.01 [[ 8.80340695e-01 4.74341925e-01 0.00000000e+00 1.69156341e+02] [-4.74341925e-01 8.80340695e-01 0.00000000e+00 -2.97213973e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42055798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.18, Y:-29.73, Z:-0.02 [[ 8.79169516e-01 4.76509142e-01 0.00000000e+00 1.69183245e+02] [-4.76509142e-01 8.79169516e-01 0.00000000e+00 -2.97296724e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50756710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.21, Y:-29.74, Z:-0.02 [[ 8.78327582e-01 4.78059263e-01 0.00000000e+00 1.69209059e+02] [-4.78059263e-01 8.78327582e-01 0.00000000e+00 -2.97379469e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59100609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.23, Y:-29.75, Z:-0.01 [[ 8.78104721e-01 4.78468493e-01 0.00000000e+00 1.69234859e+02] [-4.78468493e-01 8.78104721e-01 0.00000000e+00 -2.97475658e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46676075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.031400513 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:169.26, Y:-29.76, Z:-0.01 [[ 8.79143254e-01 4.76557593e-01 0.00000000e+00 1.69262222e+02] [-4.76557593e-01 8.79143254e-01 0.00000000e+00 -2.97565000e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20439214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.29, Y:-29.76, Z:-0.01 [[ 8.79828791e-01 4.75290751e-01 0.00000000e+00 1.69288648e+02] [-4.75290751e-01 8.79828791e-01 0.00000000e+00 -2.97638847e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11590042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.32, Y:-29.77, Z:-0.01 [[ 8.80512017e-01 4.74023826e-01 0.00000000e+00 1.69315814e+02] [-4.74023826e-01 8.80512017e-01 0.00000000e+00 -2.97708192e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15230649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.34, Y:-29.78, Z:-0.01 [[ 8.81232665e-01 4.72682759e-01 0.00000000e+00 1.69342947e+02] [-4.72682759e-01 8.81232665e-01 0.00000000e+00 -2.97787979e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28282736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.37, Y:-29.79, Z:-0.01 [[ 8.82058397e-01 4.71140090e-01 0.00000000e+00 1.69368488e+02] [-4.71140090e-01 8.82058397e-01 0.00000000e+00 -2.97880419e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36068282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.39, Y:-29.80, Z:-0.01 [[ 8.83021377e-01 4.69332769e-01 0.00000000e+00 1.69394741e+02] [-4.69332769e-01 8.83021377e-01 0.00000000e+00 -2.97977986e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35663179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.42, Y:-29.80, Z:-0.01 [[ 8.84613468e-01 4.66325006e-01 0.00000000e+00 1.69421830e+02] [-4.66325006e-01 8.84613468e-01 0.00000000e+00 -2.98047098e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29192535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.45, Y:-29.81, Z:-0.01 [[ 8.85312665e-01 4.64996221e-01 0.00000000e+00 1.69449286e+02] [-4.64996221e-01 8.85312665e-01 0.00000000e+00 -2.98129883e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23596186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.48, Y:-29.82, Z:-0.01 [[ 8.85942091e-01 4.63795873e-01 0.00000000e+00 1.69475690e+02] [-4.63795873e-01 8.85942091e-01 0.00000000e+00 -2.98212685e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19626514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.50, Y:-29.83, Z:-0.01 [[ 8.86900022e-01 4.61961418e-01 0.00000000e+00 1.69501905e+02] [-4.61961418e-01 8.86900022e-01 0.00000000e+00 -2.98300629e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12192052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.53, Y:-29.84, Z:-0.01 [[ 8.87296139e-01 4.61200133e-01 0.00000000e+00 1.69526535e+02] [-4.61200133e-01 8.87296139e-01 0.00000000e+00 -2.98407259e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15691610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.55, Y:-29.85, Z:-0.01 [[ 8.87680711e-01 4.60459504e-01 0.00000000e+00 1.69551205e+02] [-4.60459504e-01 8.87680711e-01 0.00000000e+00 -2.98507635e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12869604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.58, Y:-29.86, Z:-0.01 [[ 8.88031199e-01 4.59783199e-01 0.00000000e+00 1.69577462e+02] [-4.59783199e-01 8.88031199e-01 0.00000000e+00 -2.98600907e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06180354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.60, Y:-29.87, Z:-0.01 [[ 8.88184329e-01 4.59487321e-01 0.00000000e+00 1.69603057e+02] [-4.59487321e-01 8.88184329e-01 0.00000000e+00 -2.98686648e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13937210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.63, Y:-29.88, Z:-0.01 [[ 8.88189873e-01 4.59476604e-01 0.00000000e+00 1.69629485e+02] [-4.59476604e-01 8.88189873e-01 0.00000000e+00 -2.98783518e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15464176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.65, Y:-29.89, Z:-0.01 [[ 8.86920315e-01 4.61922456e-01 0.00000000e+00 1.69654934e+02] [-4.61922456e-01 8.86920315e-01 0.00000000e+00 -2.98894895e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.98782334e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.68, Y:-29.90, Z:-0.01 [[ 8.86014499e-01 4.63657532e-01 0.00000000e+00 1.69680799e+02] [-4.63657532e-01 8.86014499e-01 0.00000000e+00 -2.98994702e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.44335905e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.71, Y:-29.91, Z:-0.01 [[ 8.84753556e-01 4.66059166e-01 0.00000000e+00 1.69706888e+02] [-4.66059166e-01 8.84753556e-01 0.00000000e+00 -2.99082112e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.72551009e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.73, Y:-29.92, Z:-0.01 [[ 8.84837183e-01 4.65900376e-01 0.00000000e+00 1.69733225e+02] [-4.65900376e-01 8.84837183e-01 0.00000000e+00 -2.99191368e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.72551009e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.76, Y:-29.93, Z:-0.01 [[ 8.83388194e-01 4.68641974e-01 0.00000000e+00 1.69759671e+02] [-4.68641974e-01 8.83388194e-01 0.00000000e+00 -2.99269975e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07663740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.79, Y:-29.93, Z:-0.01 [[ 8.79639959e-01 4.75640139e-01 0.00000000e+00 1.69787567e+02] [-4.75640139e-01 8.79639959e-01 0.00000000e+00 -2.99325489e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19927867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.81, Y:-29.94, Z:-0.01 [[ 8.77657836e-01 4.79287724e-01 0.00000000e+00 1.69814641e+02] [-4.79287724e-01 8.77657836e-01 0.00000000e+00 -2.99402217e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21982620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.84, Y:-29.95, Z:-0.01 [[ 8.76046723e-01 4.82226232e-01 0.00000000e+00 1.69842322e+02] [-4.82226232e-01 8.76046723e-01 0.00000000e+00 -2.99473265e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27093237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.87, Y:-29.95, Z:-0.01 [[ 8.74381662e-01 4.85238816e-01 0.00000000e+00 1.69871036e+02] [-4.85238816e-01 8.74381662e-01 0.00000000e+00 -2.99479319e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32096502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.90, Y:-29.95, Z:-0.01 [[ 8.74401017e-01 4.85203938e-01 0.00000000e+00 1.69898892e+02] [-4.85203938e-01 8.74401017e-01 0.00000000e+00 -2.99545720e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28587186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.93, Y:-29.96, Z:-0.01 [[ 8.75185045e-01 4.83788319e-01 0.00000000e+00 1.69926295e+02] [-4.83788319e-01 8.75185045e-01 0.00000000e+00 -2.99624981e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12338092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.95, Y:-29.97, Z:-0.01 [[ 8.76690378e-01 4.81055070e-01 0.00000000e+00 1.69953194e+02] [-4.81055070e-01 8.76690378e-01 0.00000000e+00 -2.99706089e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.15580618e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.98, Y:-29.98, Z:-0.01 [[ 8.78742860e-01 4.77295492e-01 0.00000000e+00 1.69980314e+02] [-4.77295492e-01 8.78742860e-01 0.00000000e+00 -2.99783268e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.20479984e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.01, Y:-29.98, Z:-0.01 [[ 8.83890871e-01 4.67693199e-01 0.00000000e+00 1.70008110e+02] [-4.67693199e-01 8.83890871e-01 0.00000000e+00 -2.99825845e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.51480554e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.03, Y:-29.99, Z:-0.01 [[ 8.86426146e-01 4.62870054e-01 0.00000000e+00 1.70033837e+02] [-4.62870054e-01 8.86426146e-01 0.00000000e+00 -2.99899504e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.31188460e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.06, Y:-30.00, Z:-0.01 [[ 8.88492076e-01 4.58891959e-01 0.00000000e+00 1.70060874e+02] [-4.58891959e-01 8.88492076e-01 0.00000000e+00 -2.99977414e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.37369387e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.09, Y:-30.01, Z:-0.01 [[ 8.89738242e-01 4.56471095e-01 0.00000000e+00 1.70086716e+02] [-4.56471095e-01 8.89738242e-01 0.00000000e+00 -3.00052274e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.20489242e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.11, Y:-30.01, Z:-0.00 [[ 8.90472588e-01 4.55036889e-01 0.00000000e+00 1.70113812e+02] [-4.55036889e-01 8.90472588e-01 0.00000000e+00 -3.00118768e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.90531525e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.14, Y:-30.02, Z:-0.01 [[ 8.90142861e-01 4.55681563e-01 0.00000000e+00 1.70139023e+02] [-4.55681563e-01 8.90142861e-01 0.00000000e+00 -3.00212651e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.67060178e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.16, Y:-30.03, Z:-0.01 [[ 8.89456186e-01 4.57020451e-01 0.00000000e+00 1.70164877e+02] [-4.57020451e-01 8.89456186e-01 0.00000000e+00 -3.00304835e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.43831650e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.19, Y:-30.04, Z:-0.01 [[ 8.88491538e-01 4.58893002e-01 0.00000000e+00 1.70191688e+02] [-4.58893002e-01 8.88491538e-01 0.00000000e+00 -3.00390147e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.82612588e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.22, Y:-30.05, Z:-0.01 [[ 8.87305037e-01 4.61183013e-01 0.00000000e+00 1.70217810e+02] [-4.61183013e-01 8.87305037e-01 0.00000000e+00 -3.00457970e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.70736054e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.25, Y:-30.05, Z:-0.01 [[ 8.84686471e-01 4.66186495e-01 0.00000000e+00 1.70247392e+02] [-4.66186495e-01 8.84686471e-01 0.00000000e+00 -3.00482112e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.97863144e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.17140051299998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:170.27, Y:-30.05, Z:-0.01 [[ 8.83469498e-01 4.68488682e-01 0.00000000e+00 1.70274985e+02] [-4.68488682e-01 8.83469498e-01 0.00000000e+00 -3.00540592e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.00980839e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.30, Y:-30.06, Z:-0.01 [[ 8.82270285e-01 4.70743183e-01 0.00000000e+00 1.70302246e+02] [-4.70743183e-01 8.82270285e-01 0.00000000e+00 -3.00598840e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.27632008e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.33, Y:-30.07, Z:-0.01 [[ 8.81573569e-01 4.72046653e-01 0.00000000e+00 1.70330480e+02] [-4.72046653e-01 8.81573569e-01 0.00000000e+00 -3.00660604e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.57146961e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.36, Y:-30.07, Z:-0.01 [[ 8.81120273e-01 4.72892234e-01 0.00000000e+00 1.70357598e+02] [-4.72892234e-01 8.81120273e-01 0.00000000e+00 -3.00723646e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01974227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.39, Y:-30.08, Z:-0.01 [[ 8.81498145e-01 4.72187485e-01 0.00000000e+00 1.70386112e+02] [-4.72187485e-01 8.81498145e-01 0.00000000e+00 -3.00766099e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.64439851e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.41, Y:-30.08, Z:-0.01 [[ 8.82615092e-01 4.70096372e-01 0.00000000e+00 1.70412942e+02] [-4.70096372e-01 8.82615092e-01 0.00000000e+00 -3.00843121e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.40531900e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.44, Y:-30.09, Z:-0.01 [[ 8.84490027e-01 4.66559098e-01 0.00000000e+00 1.70440333e+02] [-4.66559098e-01 8.84490027e-01 0.00000000e+00 -3.00924186e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.25949435e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.47, Y:-30.10, Z:-0.01 [[ 8.86462747e-01 4.62799954e-01 0.00000000e+00 1.70467234e+02] [-4.62799954e-01 8.86462747e-01 0.00000000e+00 -3.01015146e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.41305865e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.411400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:170.49, Y:-30.11, Z:-0.01 [[ 8.89935242e-01 4.56086906e-01 0.00000000e+00 1.70494157e+02] [-4.56086906e-01 8.89935242e-01 0.00000000e+00 -3.01086242e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.35898779e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.52, Y:-30.12, Z:-0.01 [[ 8.91123415e-01 4.53761016e-01 0.00000000e+00 1.70520483e+02] [-4.53761016e-01 8.91123415e-01 0.00000000e+00 -3.01178600e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.20749956e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.55, Y:-30.13, Z:-0.01 [[ 8.92056182e-01 4.51924516e-01 0.00000000e+00 1.70546615e+02] [-4.51924516e-01 8.92056182e-01 0.00000000e+00 -3.01280701e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.89729989e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.57, Y:-30.14, Z:-0.01 [[ 8.92370041e-01 4.51304453e-01 0.00000000e+00 1.70571729e+02] [-4.51304453e-01 8.92370041e-01 0.00000000e+00 -3.01397266e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.37947085e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.60, Y:-30.15, Z:-0.01 [[ 8.92162094e-01 4.51715396e-01 0.00000000e+00 1.70597121e+02] [-4.51715396e-01 8.92162094e-01 0.00000000e+00 -3.01501877e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.46456141e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.62, Y:-30.16, Z:-0.01 [[ 8.91747222e-01 4.52533857e-01 0.00000000e+00 1.70623120e+02] [-4.52533857e-01 8.91747222e-01 0.00000000e+00 -3.01606938e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.41133621e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.65, Y:-30.17, Z:-0.01 [[ 8.91392195e-01 4.53232782e-01 0.00000000e+00 1.70648985e+02] [-4.53232782e-01 8.91392195e-01 0.00000000e+00 -3.01715008e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.42910301e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.67, Y:-30.18, Z:-0.01 [[ 8.91114417e-01 4.53778685e-01 0.00000000e+00 1.70673783e+02] [-4.53778685e-01 8.91114417e-01 0.00000000e+00 -3.01826347e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.77736598e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.70, Y:-30.20, Z:-0.01 [[ 8.91053934e-01 4.53897441e-01 0.00000000e+00 1.70698140e+02] [-4.53897441e-01 8.91053934e-01 0.00000000e+00 -3.01962380e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.15729499e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.72, Y:-30.21, Z:-0.01 [[ 8.91090978e-01 4.53824711e-01 0.00000000e+00 1.70722793e+02] [-4.53824711e-01 8.91090978e-01 0.00000000e+00 -3.02082660e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.07502345e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.75, Y:-30.22, Z:-0.01 [[ 8.91190098e-01 4.53630036e-01 0.00000000e+00 1.70748270e+02] [-4.53630036e-01 8.91190098e-01 0.00000000e+00 -3.02210501e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.73959224e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.77, Y:-30.23, Z:-0.01 [[ 8.91163321e-01 4.53682638e-01 0.00000000e+00 1.70771985e+02] [-4.53682638e-01 8.91163321e-01 0.00000000e+00 -3.02334516e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.43499592e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.80, Y:-30.25, Z:-0.01 [[ 8.90713502e-01 4.54565129e-01 0.00000000e+00 1.70796236e+02] [-4.54565129e-01 8.90713502e-01 0.00000000e+00 -3.02473369e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.96117632e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.82, Y:-30.26, Z:-0.01 [[ 8.90376370e-01 4.55225131e-01 0.00000000e+00 1.70822126e+02] [-4.55225131e-01 8.90376370e-01 0.00000000e+00 -3.02591036e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03780016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.85, Y:-30.27, Z:-0.01 [[ 8.89975265e-01 4.56008803e-01 0.00000000e+00 1.70847636e+02] [-4.56008803e-01 8.89975265e-01 0.00000000e+00 -3.02703634e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19369834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.87, Y:-30.28, Z:-0.01 [[ 8.89414937e-01 4.57100722e-01 0.00000000e+00 1.70873054e+02] [-4.57100722e-01 8.89414937e-01 0.00000000e+00 -3.02822417e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16285571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.90, Y:-30.29, Z:-0.01 [[ 8.87798168e-01 4.60232998e-01 0.00000000e+00 1.70898693e+02] [-4.60232998e-01 8.87798168e-01 0.00000000e+00 -3.02947703e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.55385976e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.93, Y:-30.30, Z:-0.01 [[ 8.86979503e-01 4.61808794e-01 0.00000000e+00 1.70925310e+02] [-4.61808794e-01 8.86979503e-01 0.00000000e+00 -3.03042348e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.71916330e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.95, Y:-30.31, Z:-0.01 [[ 8.86115042e-01 4.63465352e-01 0.00000000e+00 1.70952289e+02] [-4.63465352e-01 8.86115042e-01 0.00000000e+00 -3.03127678e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00683996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.98, Y:-30.32, Z:-0.01 [[ 8.85688575e-01 4.64279817e-01 0.00000000e+00 1.70979279e+02] [-4.64279817e-01 8.85688575e-01 0.00000000e+00 -3.03213031e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03379222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.01, Y:-30.33, Z:-0.01 [[ 8.85858035e-01 4.63956401e-01 0.00000000e+00 1.71006879e+02] [-4.63956401e-01 8.85858035e-01 0.00000000e+00 -3.03299058e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.26152775e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.03, Y:-30.34, Z:-0.01 [[ 8.86443783e-01 4.62836278e-01 0.00000000e+00 1.71032889e+02] [-4.62836278e-01 8.86443783e-01 0.00000000e+00 -3.03399624e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.56748761e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.06, Y:-30.35, Z:-0.01 [[ 8.87375692e-01 4.61047050e-01 0.00000000e+00 1.71058631e+02] [-4.61047050e-01 8.87375692e-01 0.00000000e+00 -3.03499486e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.23709547e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.09, Y:-30.36, Z:-0.01 [[ 8.88358893e-01 4.59149733e-01 0.00000000e+00 1.71085240e+02] [-4.59149733e-01 8.88358893e-01 0.00000000e+00 -3.03600304e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.17189922e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.11, Y:-30.37, Z:-0.01 [[ 8.89172727e-01 4.57571701e-01 0.00000000e+00 1.71111005e+02] [-4.57571701e-01 8.89172727e-01 0.00000000e+00 -3.03696279e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.47878720e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.14, Y:-30.38, Z:-0.01 [[ 8.90233859e-01 4.55503761e-01 0.00000000e+00 1.71137703e+02] [-4.55503761e-01 8.90233859e-01 0.00000000e+00 -3.03792736e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.73525322e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.16, Y:-30.39, Z:-0.01 [[ 8.90330994e-01 4.55313870e-01 0.00000000e+00 1.71164513e+02] [-4.55313870e-01 8.90330994e-01 0.00000000e+00 -3.03881756e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.21534379e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.19, Y:-30.40, Z:-0.01 [[ 8.89976332e-01 4.56006719e-01 0.00000000e+00 1.71190772e+02] [-4.56006719e-01 8.89976332e-01 0.00000000e+00 -3.03964219e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.58978275e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.22, Y:-30.41, Z:-0.01 [[ 8.89545816e-01 4.56845972e-01 0.00000000e+00 1.71217637e+02] [-4.56845972e-01 8.89545816e-01 0.00000000e+00 -3.04052040e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03627848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.24, Y:-30.41, Z:-0.01 [[ 8.89279640e-01 4.57363884e-01 0.00000000e+00 1.71243782e+02] [-4.57363884e-01 8.89279640e-01 0.00000000e+00 -3.04145513e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.88085279e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.27, Y:-30.43, Z:-0.01 [[ 8.89904282e-01 4.56147311e-01 0.00000000e+00 1.71269311e+02] [-4.56147311e-01 8.89904282e-01 0.00000000e+00 -3.04252741e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.20069227e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.29, Y:-30.44, Z:-0.01 [[ 8.90760119e-01 4.54473774e-01 0.00000000e+00 1.71294635e+02] [-4.54473774e-01 8.90760119e-01 0.00000000e+00 -3.04359104e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.39682864e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.32, Y:-30.45, Z:-0.01 [[ 8.91657627e-01 4.52710366e-01 0.00000000e+00 1.71320197e+02] [-4.52710366e-01 8.91657627e-01 0.00000000e+00 -3.04470721e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.01117786e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.34, Y:-30.46, Z:-0.01 [[ 8.92938201e-01 4.50179264e-01 0.00000000e+00 1.71343707e+02] [-4.50179264e-01 8.92938201e-01 0.00000000e+00 -3.04597844e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.61704010e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.37, Y:-30.47, Z:-0.01 [[ 8.93123952e-01 4.49810633e-01 0.00000000e+00 1.71369674e+02] [-4.49810633e-01 8.93123952e-01 0.00000000e+00 -3.04711649e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.61577721e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.40, Y:-30.48, Z:-0.01 [[ 8.93204089e-01 4.49651483e-01 0.00000000e+00 1.71396096e+02] [-4.49651483e-01 8.93204089e-01 0.00000000e+00 -3.04818300e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.61577721e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.42, Y:-30.49, Z:-0.00 [[ 8.92921504e-01 4.50212381e-01 0.00000000e+00 1.71422010e+02] [-4.50212381e-01 8.92921504e-01 0.00000000e+00 -3.04918789e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.54572940e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.45, Y:-30.50, Z:-0.01 [[ 8.92371896e-01 4.51300787e-01 0.00000000e+00 1.71448234e+02] [-4.51300787e-01 8.92371896e-01 0.00000000e+00 -3.05010690e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.61651849e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.47, Y:-30.51, Z:-0.01 [[ 8.91479259e-01 4.53061508e-01 0.00000000e+00 1.71474282e+02] [-4.53061508e-01 8.91479259e-01 0.00000000e+00 -3.05099848e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.65886654e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:-30.52, Z:-0.01 [[ 8.89656724e-01 4.56629953e-01 0.00000000e+00 1.71500830e+02] [-4.56629953e-01 8.89656724e-01 0.00000000e+00 -3.05190272e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.39611462e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.53, Y:-30.53, Z:-0.01 [[ 8.89043357e-01 4.57823011e-01 0.00000000e+00 1.71525752e+02] [-4.57823011e-01 8.89043357e-01 0.00000000e+00 -3.05292502e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.08858708e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:-30.54, Z:-0.01 [[ 8.88739140e-01 4.58413286e-01 0.00000000e+00 1.71551994e+02] [-4.58413286e-01 8.88739140e-01 0.00000000e+00 -3.05399383e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.40396943e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:-30.55, Z:-0.01 [[ 8.88837077e-01 4.58223362e-01 0.00000000e+00 1.71577822e+02] [-4.58223362e-01 8.88837077e-01 0.00000000e+00 -3.05496519e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.58084366e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.60, Y:-30.56, Z:-0.01 [[ 8.89618463e-01 4.56704490e-01 0.00000000e+00 1.71603414e+02] [-4.56704490e-01 8.89618463e-01 0.00000000e+00 -3.05591407e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.87055475e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.63, Y:-30.57, Z:-0.01 [[ 8.90312460e-01 4.55350111e-01 0.00000000e+00 1.71629045e+02] [-4.55350111e-01 8.90312460e-01 0.00000000e+00 -3.05699996e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.07463213e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:-30.58, Z:-0.01 [[ 8.90968359e-01 4.54065396e-01 0.00000000e+00 1.71653974e+02] [-4.54065396e-01 8.90968359e-01 0.00000000e+00 -3.05809123e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.96750732e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:-30.59, Z:-0.01 [[ 8.91406452e-01 4.53204742e-01 0.00000000e+00 1.71678925e+02] [-4.53204742e-01 8.91406452e-01 0.00000000e+00 -3.05907280e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.26371289e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:-30.60, Z:-0.01 [[ 8.91325504e-01 4.53363922e-01 0.00000000e+00 1.71705144e+02] [-4.53363922e-01 8.91325504e-01 0.00000000e+00 -3.06005300e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.29625068e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.851400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:171.73, Y:-30.61, Z:-0.01 [[ 8.91125964e-01 4.53756009e-01 0.00000000e+00 1.71730868e+02] [-4.53756009e-01 8.91125964e-01 0.00000000e+00 -3.06104603e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.87532434e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.76, Y:-30.62, Z:-0.01 [[ 8.90988821e-01 4.54025243e-01 0.00000000e+00 1.71756441e+02] [-4.54025243e-01 8.90988821e-01 0.00000000e+00 -3.06204769e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02707037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.78, Y:-30.63, Z:-0.01 [[ 8.90789683e-01 4.54415824e-01 0.00000000e+00 1.71781689e+02] [-4.54415824e-01 8.90789683e-01 0.00000000e+00 -3.06311585e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08346296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.81, Y:-30.64, Z:-0.01 [[ 8.91142722e-01 4.53723097e-01 0.00000000e+00 1.71806902e+02] [-4.53723097e-01 8.91142722e-01 0.00000000e+00 -3.06429377e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.71144290e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.83, Y:-30.65, Z:-0.01 [[ 8.91831959e-01 4.52366838e-01 0.00000000e+00 1.71832253e+02] [-4.52366838e-01 8.91831959e-01 0.00000000e+00 -3.06546204e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.27277692e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.86, Y:-30.67, Z:-0.01 [[ 8.92587902e-01 4.50873416e-01 0.00000000e+00 1.71857349e+02] [-4.50873416e-01 8.92587902e-01 0.00000000e+00 -3.06661301e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.52061993e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.88, Y:-30.68, Z:-0.01 [[ 8.93066184e-01 4.49925317e-01 0.00000000e+00 1.71882757e+02] [-4.49925317e-01 8.93066184e-01 0.00000000e+00 -3.06780210e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.73257202e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.91, Y:-30.69, Z:-0.01 [[ 8.93157082e-01 4.49744846e-01 0.00000000e+00 1.71908466e+02] [-4.49744846e-01 8.93157082e-01 0.00000000e+00 -3.06900002e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.10483041e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.93, Y:-30.70, Z:-0.01 [[ 8.92520062e-01 4.51007694e-01 0.00000000e+00 1.71932855e+02] [-4.51007694e-01 8.92520062e-01 0.00000000e+00 -3.07032170e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.11764829e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.96, Y:-30.72, Z:-0.01 [[ 8.92099439e-01 4.51839121e-01 0.00000000e+00 1.71957869e+02] [-4.51839121e-01 8.92099439e-01 0.00000000e+00 -3.07150486e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01909294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.98, Y:-30.73, Z:-0.01 [[ 8.91686724e-01 4.52653053e-01 0.00000000e+00 1.71982383e+02] [-4.52653053e-01 8.91686724e-01 0.00000000e+00 -3.07262047e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06901436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.01, Y:-30.74, Z:-0.01 [[ 8.90992952e-01 4.54017136e-01 0.00000000e+00 1.72007315e+02] [-4.54017136e-01 8.90992952e-01 0.00000000e+00 -3.07382818e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.64468225e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.03, Y:-30.75, Z:-0.01 [[ 8.90842381e-01 4.54312504e-01 0.00000000e+00 1.72033383e+02] [-4.54312504e-01 8.90842381e-01 0.00000000e+00 -3.07497627e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.43272068e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.06, Y:-30.76, Z:-0.01 [[ 8.90773414e-01 4.54447714e-01 0.00000000e+00 1.72059243e+02] [-4.54447714e-01 8.90773414e-01 0.00000000e+00 -3.07612492e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.61544431e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.08, Y:-30.77, Z:-0.01 [[ 8.90727059e-01 4.54538563e-01 0.00000000e+00 1.72084683e+02] [-4.54538563e-01 8.90727059e-01 0.00000000e+00 -3.07726582e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.17006766e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.11, Y:-30.78, Z:-0.01 [[ 8.90919544e-01 4.54161167e-01 0.00000000e+00 1.72110883e+02] [-4.54161167e-01 8.90919544e-01 0.00000000e+00 -3.07831422e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.44186268e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.14, Y:-30.79, Z:-0.01 [[ 8.90888914e-01 4.54221248e-01 0.00000000e+00 1.72136060e+02] [-4.54221248e-01 8.90888914e-01 0.00000000e+00 -3.07929904e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.79840361e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.16, Y:-30.80, Z:-0.01 [[ 8.90841420e-01 4.54314389e-01 0.00000000e+00 1.72161855e+02] [-4.54314389e-01 8.90841420e-01 0.00000000e+00 -3.08038369e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.65692497e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.19, Y:-30.81, Z:-0.01 [[ 8.90619842e-01 4.54748608e-01 0.00000000e+00 1.72187674e+02] [-4.54748608e-01 8.90619842e-01 0.00000000e+00 -3.08149253e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.49257491e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.21, Y:-30.83, Z:-0.01 [[ 8.90365323e-01 4.55246737e-01 0.00000000e+00 1.72213744e+02] [-4.55246737e-01 8.90365323e-01 0.00000000e+00 -3.08251816e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03594059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.24, Y:-30.83, Z:-0.01 [[ 8.90410718e-01 4.55157943e-01 0.00000000e+00 1.72239539e+02] [-4.55157943e-01 8.90410718e-01 0.00000000e+00 -3.08343236e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.68971982e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.27, Y:-30.85, Z:-0.01 [[ 8.90653631e-01 4.54682428e-01 0.00000000e+00 1.72265140e+02] [-4.54682428e-01 8.90653631e-01 0.00000000e+00 -3.08454863e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.72805672e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.29, Y:-30.86, Z:-0.01 [[ 8.90924237e-01 4.54151961e-01 0.00000000e+00 1.72290416e+02] [-4.54151961e-01 8.90924237e-01 0.00000000e+00 -3.08574145e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.58103563e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54140051299999 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:172.32, Y:-30.87, Z:-0.01 [[ 8.91071354e-01 4.53863241e-01 0.00000000e+00 1.72316342e+02] [-4.53863241e-01 8.91071354e-01 0.00000000e+00 -3.08690951e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.82070890e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.34, Y:-30.88, Z:-0.01 [[ 8.91251082e-01 4.53510207e-01 0.00000000e+00 1.72342791e+02] [-4.53510207e-01 8.91251082e-01 0.00000000e+00 -3.08780159e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.75310112e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.37, Y:-30.89, Z:-0.01 [[ 8.90994564e-01 4.54013972e-01 0.00000000e+00 1.72368284e+02] [-4.54013972e-01 8.90994564e-01 0.00000000e+00 -3.08866900e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04662220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.39, Y:-30.90, Z:-0.01 [[ 8.90620436e-01 4.54747445e-01 0.00000000e+00 1.72394896e+02] [-4.54747445e-01 8.90620436e-01 0.00000000e+00 -3.08967497e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.57661542e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.42, Y:-30.91, Z:-0.01 [[ 8.90200166e-01 4.55569605e-01 0.00000000e+00 1.72420601e+02] [-4.55569605e-01 8.90200166e-01 0.00000000e+00 -3.09075317e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.78790868e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.45, Y:-30.92, Z:-0.01 [[ 8.89816975e-01 4.56317598e-01 0.00000000e+00 1.72445601e+02] [-4.56317598e-01 8.89816975e-01 0.00000000e+00 -3.09184517e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08095076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.47, Y:-30.93, Z:-0.01 [[ 8.89627907e-01 4.56686092e-01 0.00000000e+00 1.72472087e+02] [-4.56686092e-01 8.89627907e-01 0.00000000e+00 -3.09299456e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.78067183e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.50, Y:-30.94, Z:-0.01 [[ 8.90136827e-01 4.55693350e-01 0.00000000e+00 1.72497241e+02] [-4.55693350e-01 8.90136827e-01 0.00000000e+00 -3.09391589e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.71900069e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.52, Y:-30.95, Z:-0.01 [[ 8.90782971e-01 4.54428981e-01 0.00000000e+00 1.72523420e+02] [-4.54428981e-01 8.90782971e-01 0.00000000e+00 -3.09481264e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.70640264e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.55, Y:-30.96, Z:-0.01 [[ 8.91682476e-01 4.52661421e-01 0.00000000e+00 1.72549601e+02] [-4.52661421e-01 8.91682476e-01 0.00000000e+00 -3.09572881e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.48748832e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.841400513 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:172.58, Y:-30.97, Z:-0.01 [[ 8.93257316e-01 4.49545734e-01 0.00000000e+00 1.72575807e+02] [-4.49545734e-01 8.93257316e-01 0.00000000e+00 -3.09688170e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.61499144e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.60, Y:-30.98, Z:-0.01 [[ 8.94002318e-01 4.48062334e-01 0.00000000e+00 1.72600422e+02] [-4.48062334e-01 8.94002318e-01 0.00000000e+00 -3.09793066e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.17491580e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.63, Y:-30.99, Z:-0.01 [[ 8.94432887e-01 4.47202204e-01 0.00000000e+00 1.72625634e+02] [-4.47202204e-01 8.94432887e-01 0.00000000e+00 -3.09890229e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.53858407e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.65, Y:-31.00, Z:-0.01 [[ 8.94527664e-01 4.47012592e-01 0.00000000e+00 1.72652368e+02] [-4.47012592e-01 8.94527664e-01 0.00000000e+00 -3.09982019e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.31108926e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.68, Y:-31.01, Z:-0.01 [[ 8.94391593e-01 4.47284785e-01 0.00000000e+00 1.72678456e+02] [-4.47284785e-01 8.94391593e-01 0.00000000e+00 -3.10087036e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.13048373e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.70, Y:-31.02, Z:-0.01 [[ 8.94277069e-01 4.47513714e-01 0.00000000e+00 1.72702953e+02] [-4.47513714e-01 8.94277069e-01 0.00000000e+00 -3.10191784e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.66120207e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.73, Y:-31.03, Z:-0.00 [[ 8.94484102e-01 4.47099756e-01 0.00000000e+00 1.72728672e+02] [-4.47099756e-01 8.94484102e-01 0.00000000e+00 -3.10303517e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.20210750e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.75, Y:-31.04, Z:-0.00 [[ 8.94737268e-01 4.46592904e-01 0.00000000e+00 1.72753022e+02] [-4.46592904e-01 8.94737268e-01 0.00000000e+00 -3.10413364e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.86315568e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.78, Y:-31.05, Z:-0.00 [[ 8.95259316e-01 4.45545461e-01 0.00000000e+00 1.72778536e+02] [-4.45545461e-01 8.95259316e-01 0.00000000e+00 -3.10526709e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.12144028e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.80, Y:-31.07, Z:-0.01 [[ 8.96503850e-01 4.43035944e-01 0.00000000e+00 1.72803906e+02] [-4.43035944e-01 8.96503850e-01 0.00000000e+00 -3.10656164e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.75101630e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.83, Y:-31.08, Z:-0.01 [[ 8.97009760e-01 4.42010735e-01 0.00000000e+00 1.72830147e+02] [-4.42010735e-01 8.97009760e-01 0.00000000e+00 -3.10767355e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.45796996e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.86, Y:-31.09, Z:-0.01 [[ 8.97171598e-01 4.41682153e-01 0.00000000e+00 1.72855711e+02] [-4.41682153e-01 8.97171598e-01 0.00000000e+00 -3.10868642e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.08835505e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.88, Y:-31.10, Z:-0.01 [[ 8.97103343e-01 4.41820769e-01 0.00000000e+00 1.72881828e+02] [-4.41820769e-01 8.97103343e-01 0.00000000e+00 -3.10972833e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.22448032e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.91, Y:-31.11, Z:-0.01 [[ 8.97581814e-01 4.40847917e-01 0.00000000e+00 1.72906349e+02] [-4.40847917e-01 8.97581814e-01 0.00000000e+00 -3.11102092e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.30131674e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.93, Y:-31.12, Z:-0.01 [[ 8.98060210e-01 4.39872548e-01 0.00000000e+00 1.72930367e+02] [-4.39872548e-01 8.98060210e-01 0.00000000e+00 -3.11224009e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.66570247e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.96, Y:-31.13, Z:-0.01 [[ 8.98687306e-01 4.38589929e-01 0.00000000e+00 1.72955306e+02] [-4.38589929e-01 8.98687306e-01 0.00000000e+00 -3.11344948e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.89733897e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.98, Y:-31.15, Z:-0.01 [[ 8.99207028e-01 4.37523395e-01 0.00000000e+00 1.72980731e+02] [-4.37523395e-01 8.99207028e-01 0.00000000e+00 -3.11454068e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.13742965e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.01, Y:-31.16, Z:-0.00 [[ 8.99708295e-01 4.36491678e-01 0.00000000e+00 1.73007439e+02] [-4.36491678e-01 8.99708295e-01 0.00000000e+00 -3.11553914e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41048640e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.03, Y:-31.17, Z:-0.00 [[ 8.99785337e-01 4.36332841e-01 0.00000000e+00 1.73033958e+02] [-4.36332841e-01 8.99785337e-01 0.00000000e+00 -3.11658287e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41048640e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.06, Y:-31.18, Z:-0.00 [[ 8.99818049e-01 4.36265376e-01 0.00000000e+00 1.73059650e+02] [-4.36265376e-01 8.99818049e-01 0.00000000e+00 -3.11763055e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35277353e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.08, Y:-31.19, Z:-0.00 [[ 8.99819354e-01 4.36262686e-01 0.00000000e+00 1.73084967e+02] [-4.36262686e-01 8.99819354e-01 0.00000000e+00 -3.11871615e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.89982109e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.11, Y:-31.20, Z:-0.00 [[ 8.99708171e-01 4.36491933e-01 0.00000000e+00 1.73110488e+02] [-4.36491933e-01 8.99708171e-01 0.00000000e+00 -3.11977504e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.26964057e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.14, Y:-31.21, Z:-0.00 [[ 8.99501555e-01 4.36917557e-01 0.00000000e+00 1.73136686e+02] [-4.36917557e-01 8.99501555e-01 0.00000000e+00 -3.12078716e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.04835128e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.16, Y:-31.22, Z:-0.00 [[ 8.98529542e-01 4.38913047e-01 0.00000000e+00 1.73162302e+02] [-4.38913047e-01 8.98529542e-01 0.00000000e+00 -3.12170169e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.80826977e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.19, Y:-31.23, Z:-0.00 [[ 8.97855538e-01 4.40290168e-01 0.00000000e+00 1.73187478e+02] [-4.40290168e-01 8.97855538e-01 0.00000000e+00 -3.12260961e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43827349e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.21, Y:-31.24, Z:-0.00 [[ 8.97187005e-01 4.41650855e-01 0.00000000e+00 1.73213858e+02] [-4.41650855e-01 8.97187005e-01 0.00000000e+00 -3.12351831e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83943745e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.24, Y:-31.24, Z:-0.00 [[ 8.95738238e-01 4.44581836e-01 0.00000000e+00 1.73240878e+02] [-4.44581836e-01 8.95738238e-01 0.00000000e+00 -3.12430007e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.97240132e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.27, Y:-31.25, Z:-0.01 [[ 8.95471156e-01 4.45119545e-01 0.00000000e+00 1.73267342e+02] [-4.45119545e-01 8.95471156e-01 0.00000000e+00 -3.12528273e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.23004591e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.29, Y:-31.26, Z:-0.01 [[ 8.95385846e-01 4.45291125e-01 0.00000000e+00 1.73292791e+02] [-4.45291125e-01 8.95385846e-01 0.00000000e+00 -3.12633522e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.65888100e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.32, Y:-31.27, Z:-0.01 [[ 8.95251739e-01 4.45560685e-01 0.00000000e+00 1.73316960e+02] [-4.45560685e-01 8.95251739e-01 0.00000000e+00 -3.12745931e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05092832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.34, Y:-31.29, Z:-0.01 [[ 8.95077160e-01 4.45911290e-01 0.00000000e+00 1.73342008e+02] [-4.45911290e-01 8.95077160e-01 0.00000000e+00 -3.12866998e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.15923324e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.37, Y:-31.30, Z:-0.00 [[ 8.94453975e-01 4.47160024e-01 0.00000000e+00 1.73367131e+02] [-4.47160024e-01 8.94453975e-01 0.00000000e+00 -3.13011987e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.97278878e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.39, Y:-31.31, Z:-0.01 [[ 8.94019997e-01 4.48027059e-01 0.00000000e+00 1.73391772e+02] [-4.48027059e-01 8.94019997e-01 0.00000000e+00 -3.13117955e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.39827572e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.42, Y:-31.32, Z:-0.01 [[ 8.93375131e-01 4.49311557e-01 0.00000000e+00 1.73417977e+02] [-4.49311557e-01 8.93375131e-01 0.00000000e+00 -3.13220746e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.39195457e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.44, Y:-31.33, Z:-0.01 [[ 8.92593276e-01 4.50862778e-01 0.00000000e+00 1.73443779e+02] [-4.50862778e-01 8.92593276e-01 0.00000000e+00 -3.13323679e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.59356971e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.47, Y:-31.34, Z:-0.01 [[ 8.91002743e-01 4.53997921e-01 0.00000000e+00 1.73469139e+02] [-4.53997921e-01 8.91002743e-01 0.00000000e+00 -3.13427078e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18050683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.49, Y:-31.35, Z:-0.01 [[ 8.90481801e-01 4.55018859e-01 0.00000000e+00 1.73494849e+02] [-4.55018859e-01 8.90481801e-01 0.00000000e+00 -3.13527342e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14992296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.52, Y:-31.36, Z:-0.01 [[ 8.90128491e-01 4.55709632e-01 0.00000000e+00 1.73520063e+02] [-4.55709632e-01 8.90128491e-01 0.00000000e+00 -3.13628030e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04267753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.55, Y:-31.37, Z:-0.01 [[ 8.89910812e-01 4.56134572e-01 0.00000000e+00 1.73545444e+02] [-4.56134572e-01 8.89910812e-01 0.00000000e+00 -3.13737102e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04595642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.57, Y:-31.38, Z:-0.01 [[ 8.90114733e-01 4.55736505e-01 0.00000000e+00 1.73571229e+02] [-4.55736505e-01 8.90114733e-01 0.00000000e+00 -3.13849839e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.48254271e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.60, Y:-31.40, Z:-0.01 [[ 8.91026452e-01 4.53951387e-01 0.00000000e+00 1.73597132e+02] [-4.53951387e-01 8.91026452e-01 0.00000000e+00 -3.13965377e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.90754041e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.62, Y:-31.41, Z:-0.01 [[ 8.91690605e-01 4.52645407e-01 0.00000000e+00 1.73622462e+02] [-4.52645407e-01 8.91690605e-01 0.00000000e+00 -3.14065711e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.00159627e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.65, Y:-31.42, Z:-0.01 [[ 8.92506536e-01 4.51034459e-01 0.00000000e+00 1.73648105e+02] [-4.51034459e-01 8.92506536e-01 0.00000000e+00 -3.14171083e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.64919671e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.67, Y:-31.43, Z:-0.01 [[ 8.93170198e-01 4.49718798e-01 0.00000000e+00 1.73673439e+02] [-4.49718798e-01 8.93170198e-01 0.00000000e+00 -3.14280615e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.85235879e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.70, Y:-31.44, Z:-0.01 [[ 8.93913195e-01 4.48240113e-01 0.00000000e+00 1.73698627e+02] [-4.48240113e-01 8.93913195e-01 0.00000000e+00 -3.14396114e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.45288750e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.73, Y:-31.45, Z:-0.01 [[ 8.94179595e-01 4.47708446e-01 0.00000000e+00 1.73725007e+02] [-4.47708446e-01 8.94179595e-01 0.00000000e+00 -3.14498278e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.67524041e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.75, Y:-31.46, Z:-0.01 [[ 8.94368056e-01 4.47331846e-01 0.00000000e+00 1.73751451e+02] [-4.47331846e-01 8.94368056e-01 0.00000000e+00 -3.14595498e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.68090994e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.78, Y:-31.47, Z:-0.01 [[ 8.94611626e-01 4.46844536e-01 0.00000000e+00 1.73778083e+02] [-4.46844536e-01 8.94611626e-01 0.00000000e+00 -3.14698638e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.00254910e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.80, Y:-31.48, Z:-0.00 [[ 8.94919185e-01 4.46228252e-01 0.00000000e+00 1.73803931e+02] [-4.46228252e-01 8.94919185e-01 0.00000000e+00 -3.14807148e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.50625089e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.83, Y:-31.49, Z:-0.00 [[ 8.96017758e-01 4.44018216e-01 0.00000000e+00 1.73829336e+02] [-4.44018216e-01 8.96017758e-01 0.00000000e+00 -3.14917277e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.31176899e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.85, Y:-31.50, Z:-0.00 [[ 8.96831617e-01 4.42372072e-01 0.00000000e+00 1.73854187e+02] [-4.42372072e-01 8.96831617e-01 0.00000000e+00 -3.15012430e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.84830296e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.88, Y:-31.51, Z:-0.00 [[ 8.97669690e-01 4.40668956e-01 0.00000000e+00 1.73880577e+02] [-4.40668956e-01 8.97669690e-01 0.00000000e+00 -3.15119608e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.57916612e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.91, Y:-31.52, Z:-0.00 [[ 8.98459839e-01 4.39055712e-01 0.00000000e+00 1.73906223e+02] [-4.39055712e-01 8.98459839e-01 0.00000000e+00 -3.15241061e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23484220e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.93, Y:-31.54, Z:0.00 [[ 8.99379553e-01 4.37168639e-01 0.00000000e+00 1.73928896e+02] [-4.37168639e-01 8.99379553e-01 0.00000000e+00 -3.15392246e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.75942287e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.96, Y:-31.55, Z:-0.00 [[ 8.99531805e-01 4.36855275e-01 0.00000000e+00 1.73955124e+02] [-4.36855275e-01 8.99531805e-01 0.00000000e+00 -3.15499064e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.68494128e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.98, Y:-31.56, Z:-0.00 [[ 8.99439022e-01 4.37046273e-01 0.00000000e+00 1.73980480e+02] [-4.37046273e-01 8.99439022e-01 0.00000000e+00 -3.15591343e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84516787e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.01, Y:-31.57, Z:-0.00 [[ 8.99280812e-01 4.37371720e-01 0.00000000e+00 1.74007089e+02] [-4.37371720e-01 8.99280812e-01 0.00000000e+00 -3.15693173e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.90237910e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.03, Y:-31.58, Z:-0.00 [[ 8.98994285e-01 4.37960358e-01 0.00000000e+00 1.74031646e+02] [-4.37960358e-01 8.98994285e-01 0.00000000e+00 -3.15800977e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.58989612e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.06, Y:-31.59, Z:-0.01 [[ 8.98858587e-01 4.38238795e-01 0.00000000e+00 1.74056782e+02] [-4.38238795e-01 8.98858587e-01 0.00000000e+00 -3.15923827e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.02499726e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.08, Y:-31.61, Z:-0.01 [[ 8.98999982e-01 4.37948665e-01 0.00000000e+00 1.74080717e+02] [-4.37948665e-01 8.98999982e-01 0.00000000e+00 -3.16051652e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.37118181e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.11, Y:-31.62, Z:-0.01 [[ 8.99272418e-01 4.37388979e-01 0.00000000e+00 1.74105807e+02] [-4.37388979e-01 8.99272418e-01 0.00000000e+00 -3.16155572e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.79341274e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.13, Y:-31.63, Z:-0.01 [[ 8.99609834e-01 4.36694568e-01 0.00000000e+00 1.74131312e+02] [-4.36694568e-01 8.99609834e-01 0.00000000e+00 -3.16261365e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.17499849e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.16, Y:-31.64, Z:-0.00 [[ 8.99830425e-01 4.36239848e-01 0.00000000e+00 1.74156959e+02] [-4.36239848e-01 8.99830425e-01 0.00000000e+00 -3.16375386e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.53545582e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.18, Y:-31.65, Z:-0.00 [[ 9.00224190e-01 4.35426697e-01 0.00000000e+00 1.74182225e+02] [-4.35426697e-01 9.00224190e-01 0.00000000e+00 -3.16491489e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.91017777e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.21, Y:-31.66, Z:-0.00 [[ 9.00674090e-01 4.34495321e-01 0.00000000e+00 1.74207578e+02] [-4.34495321e-01 9.00674090e-01 0.00000000e+00 -3.16608569e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.80231374e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.23, Y:-31.67, Z:-0.01 [[ 9.01592666e-01 4.32586019e-01 0.00000000e+00 1.74232456e+02] [-4.32586019e-01 9.01592666e-01 0.00000000e+00 -3.16740842e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.65411462e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.26, Y:-31.69, Z:-0.01 [[ 9.02067320e-01 4.31595355e-01 0.00000000e+00 1.74258247e+02] [-4.31595355e-01 9.02067320e-01 0.00000000e+00 -3.16856479e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07378113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.28, Y:-31.70, Z:-0.01 [[ 9.02563062e-01 4.30557684e-01 0.00000000e+00 1.74284243e+02] [-4.30557684e-01 9.02563062e-01 0.00000000e+00 -3.16968274e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06694126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.31, Y:-31.71, Z:-0.01 [[ 9.03063779e-01 4.29506474e-01 0.00000000e+00 1.74308767e+02] [-4.29506474e-01 9.03063779e-01 0.00000000e+00 -3.17078533e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12180611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.33, Y:-31.72, Z:-0.01 [[ 9.04426716e-01 4.26629014e-01 0.00000000e+00 1.74333853e+02] [-4.26629014e-01 9.04426716e-01 0.00000000e+00 -3.17216846e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.25899870e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.36, Y:-31.73, Z:-0.01 [[ 9.05154965e-01 4.25081744e-01 0.00000000e+00 1.74359876e+02] [-4.25081744e-01 9.05154965e-01 0.00000000e+00 -3.17337666e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.07252670e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.39, Y:-31.75, Z:-0.00 [[ 9.05772098e-01 4.23765154e-01 0.00000000e+00 1.74385569e+02] [-4.23765154e-01 9.05772098e-01 0.00000000e+00 -3.17454391e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.34069646e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.41, Y:-31.76, Z:-0.00 [[ 9.06552057e-01 4.22094027e-01 0.00000000e+00 1.74410983e+02] [-4.22094027e-01 9.06552057e-01 0.00000000e+00 -3.17565222e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.87057046e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.44, Y:-31.77, Z:-0.00 [[ 9.07321594e-01 4.20437303e-01 0.00000000e+00 1.74436730e+02] [-4.20437303e-01 9.07321594e-01 0.00000000e+00 -3.17678097e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.41917643e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.061400513 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:174.46, Y:-31.78, Z:-0.01 [[ 9.08535055e-01 4.17808633e-01 0.00000000e+00 1.74461552e+02] [-4.17808633e-01 9.08535055e-01 0.00000000e+00 -3.17821787e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.69644342e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.091400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:174.49, Y:-31.79, Z:-0.01 [[ 9.08884613e-01 4.17047671e-01 0.00000000e+00 1.74485946e+02] [-4.17047671e-01 9.08884613e-01 0.00000000e+00 -3.17948248e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.01922466e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:-31.81, Z:-0.01 [[ 9.09088747e-01 4.16602508e-01 0.00000000e+00 1.74509521e+02] [-4.16602508e-01 9.09088747e-01 0.00000000e+00 -3.18075174e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.03728931e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:-31.82, Z:-0.01 [[ 9.09198282e-01 4.16363404e-01 0.00000000e+00 1.74534012e+02] [-4.16363404e-01 9.09198282e-01 0.00000000e+00 -3.18221174e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.75628606e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.56, Y:-31.83, Z:-0.01 [[ 9.08941594e-01 4.16923469e-01 0.00000000e+00 1.74559197e+02] [-4.16923469e-01 9.08941594e-01 0.00000000e+00 -3.18342753e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.44825075e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.58, Y:-31.85, Z:-0.01 [[ 9.08370525e-01 4.18166223e-01 0.00000000e+00 1.74583758e+02] [-4.18166223e-01 9.08370525e-01 0.00000000e+00 -3.18461513e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.36517121e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.61, Y:-31.86, Z:-0.00 [[ 9.07510038e-01 4.20030392e-01 0.00000000e+00 1.74608965e+02] [-4.20030392e-01 9.07510038e-01 0.00000000e+00 -3.18581476e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.62374773e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.64, Y:-31.87, Z:-0.00 [[ 9.07539391e-01 4.19966967e-01 0.00000000e+00 1.74635565e+02] [-4.19966967e-01 9.07539391e-01 0.00000000e+00 -3.18683931e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.62374773e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.66, Y:-31.88, Z:-0.00 [[ 9.06311333e-01 4.22610658e-01 0.00000000e+00 1.74661458e+02] [-4.22610658e-01 9.06311333e-01 0.00000000e+00 -3.18799031e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.41342599e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.69, Y:-31.89, Z:-0.00 [[ 9.04801424e-01 4.25833751e-01 0.00000000e+00 1.74687473e+02] [-4.25833751e-01 9.04801424e-01 0.00000000e+00 -3.18906858e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.37590114e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.71, Y:-31.90, Z:-0.00 [[ 9.01248136e-01 4.33303355e-01 0.00000000e+00 1.74713125e+02] [-4.33303355e-01 9.01248136e-01 0.00000000e+00 -3.19027277e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.62909144e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.74, Y:-31.91, Z:-0.00 [[ 8.99740105e-01 4.36426103e-01 0.00000000e+00 1.74737969e+02] [-4.36426103e-01 8.99740105e-01 0.00000000e+00 -3.19132527e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.94993513e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.76, Y:-31.92, Z:-0.00 [[ 8.98532853e-01 4.38906268e-01 0.00000000e+00 1.74763774e+02] [-4.38906268e-01 8.98532853e-01 0.00000000e+00 -3.19233814e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.76083649e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.79, Y:-31.93, Z:-0.00 [[ 8.97624382e-01 4.40761239e-01 0.00000000e+00 1.74788723e+02] [-4.40761239e-01 8.97624382e-01 0.00000000e+00 -3.19329694e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.18033352e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.81, Y:-31.94, Z:-0.01 [[ 8.96446939e-01 4.43151087e-01 0.00000000e+00 1.74814621e+02] [-4.43151087e-01 8.96446939e-01 0.00000000e+00 -3.19433809e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.84603681e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.84, Y:-31.95, Z:-0.01 [[ 8.96099616e-01 4.43852992e-01 0.00000000e+00 1.74840934e+02] [-4.43852992e-01 8.96099616e-01 0.00000000e+00 -3.19535222e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.73178123e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.87, Y:-31.96, Z:-0.01 [[ 8.95975728e-01 4.44103023e-01 0.00000000e+00 1.74866540e+02] [-4.44103023e-01 8.95975728e-01 0.00000000e+00 -3.19626358e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.45927547e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.89, Y:-31.97, Z:-0.01 [[ 8.96084428e-01 4.43883654e-01 0.00000000e+00 1.74893042e+02] [-4.43883654e-01 8.96084428e-01 0.00000000e+00 -3.19716907e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.42191353e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.92, Y:-31.98, Z:-0.00 [[ 8.97090751e-01 4.41846337e-01 0.00000000e+00 1.74918975e+02] [-4.41846337e-01 8.97090751e-01 0.00000000e+00 -3.19810929e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.84755886e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.631400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:174.94, Y:-31.99, Z:-0.00 [[ 8.98022950e-01 4.39948611e-01 0.00000000e+00 1.74944863e+02] [-4.39948611e-01 8.98022950e-01 0.00000000e+00 -3.19909943e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.99785803e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.97, Y:-32.00, Z:-0.01 [[ 8.98924240e-01 4.38104110e-01 0.00000000e+00 1.74970060e+02] [-4.38104110e-01 8.98924240e-01 0.00000000e+00 -3.20008188e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.48292214e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.00, Y:-32.01, Z:-0.01 [[ 8.99839796e-01 4.36220519e-01 0.00000000e+00 1.74995405e+02] [-4.36220519e-01 8.99839796e-01 0.00000000e+00 -3.20104748e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.98687613e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.02, Y:-32.02, Z:-0.01 [[ 9.00748836e-01 4.34340344e-01 0.00000000e+00 1.75021472e+02] [-4.34340344e-01 9.00748836e-01 0.00000000e+00 -3.20209600e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.14586528e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.05, Y:-32.03, Z:-0.01 [[ 9.01778380e-01 4.32198744e-01 0.00000000e+00 1.75047832e+02] [-4.32198744e-01 9.01778380e-01 0.00000000e+00 -3.20332050e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.17720987e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.07, Y:-32.04, Z:-0.01 [[ 9.01921699e-01 4.31899582e-01 0.00000000e+00 1.75072554e+02] [-4.31899582e-01 9.01921699e-01 0.00000000e+00 -3.20439270e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.54247373e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.10, Y:-32.05, Z:-0.01 [[ 9.02029044e-01 4.31675346e-01 0.00000000e+00 1.75098653e+02] [-4.31675346e-01 9.02029044e-01 0.00000000e+00 -3.20548317e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.37522895e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.12, Y:-32.07, Z:-0.01 [[ 9.02064737e-01 4.31600752e-01 0.00000000e+00 1.75124395e+02] [-4.31600752e-01 9.02064737e-01 0.00000000e+00 -3.20652271e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.55656710e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.15, Y:-32.08, Z:-0.00 [[ 9.02055878e-01 4.31619269e-01 0.00000000e+00 1.75149093e+02] [-4.31619269e-01 9.02055878e-01 0.00000000e+00 -3.20758086e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.66494410e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.17, Y:-32.09, Z:-0.00 [[ 9.02207598e-01 4.31302040e-01 0.00000000e+00 1.75174894e+02] [-4.31302040e-01 9.02207598e-01 0.00000000e+00 -3.20866129e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81892083e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.20, Y:-32.10, Z:-0.00 [[ 9.02377437e-01 4.30946586e-01 0.00000000e+00 1.75200523e+02] [-4.30946586e-01 9.02377437e-01 0.00000000e+00 -3.20973878e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.65461276e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.23, Y:-32.11, Z:-0.00 [[ 9.02656694e-01 4.30361351e-01 0.00000000e+00 1.75226151e+02] [-4.30361351e-01 9.02656694e-01 0.00000000e+00 -3.21086325e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.82091860e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.25, Y:-32.12, Z:-0.00 [[ 9.03023332e-01 4.29591505e-01 0.00000000e+00 1.75251301e+02] [-4.29591505e-01 9.03023332e-01 0.00000000e+00 -3.21204927e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.08142990e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.28, Y:-32.14, Z:-0.01 [[ 9.04215047e-01 4.27077450e-01 0.00000000e+00 1.75275737e+02] [-4.27077450e-01 9.04215047e-01 0.00000000e+00 -3.21354010e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.67984151e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.30, Y:-32.15, Z:-0.01 [[ 9.04703443e-01 4.26041877e-01 0.00000000e+00 1.75301965e+02] [-4.26041877e-01 9.04703443e-01 0.00000000e+00 -3.21479154e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.96853663e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.33, Y:-32.16, Z:-0.01 [[ 9.05173965e-01 4.25041283e-01 0.00000000e+00 1.75327450e+02] [-4.25041283e-01 9.05173965e-01 0.00000000e+00 -3.21597277e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02702602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.35, Y:-32.17, Z:-0.01 [[ 9.05469858e-01 4.24410575e-01 0.00000000e+00 1.75352078e+02] [-4.24410575e-01 9.05469858e-01 0.00000000e+00 -3.21707489e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04921668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14140051299998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:175.38, Y:-32.18, Z:-0.01 [[ 9.05571651e-01 4.24193334e-01 0.00000000e+00 1.75377863e+02] [-4.24193334e-01 9.05571651e-01 0.00000000e+00 -3.21820608e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06596236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.40, Y:-32.20, Z:-0.01 [[ 9.05641866e-01 4.24043405e-01 0.00000000e+00 1.75402003e+02] [-4.24043405e-01 9.05641866e-01 0.00000000e+00 -3.21956069e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30547656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.43, Y:-32.21, Z:-0.01 [[ 9.05536057e-01 4.24269312e-01 0.00000000e+00 1.75427782e+02] [-4.24269312e-01 9.05536057e-01 0.00000000e+00 -3.22079466e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23601474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.45, Y:-32.22, Z:-0.01 [[ 9.05556570e-01 4.24225529e-01 0.00000000e+00 1.75452989e+02] [-4.24225529e-01 9.05556570e-01 0.00000000e+00 -3.22197949e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07518971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.48, Y:-32.23, Z:-0.01 [[ 9.05640483e-01 4.24046361e-01 0.00000000e+00 1.75479235e+02] [-4.24046361e-01 9.05640483e-01 0.00000000e+00 -3.22320958e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.16853984e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.50, Y:-32.25, Z:-0.00 [[ 9.06084244e-01 4.23097320e-01 0.00000000e+00 1.75502730e+02] [-4.23097320e-01 9.06084244e-01 0.00000000e+00 -3.22477009e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.96464230e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.53, Y:-32.26, Z:-0.00 [[ 9.06520973e-01 4.22160781e-01 0.00000000e+00 1.75527019e+02] [-4.22160781e-01 9.06520973e-01 0.00000000e+00 -3.22594515e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.58791680e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.55, Y:-32.27, Z:-0.00 [[ 9.06905887e-01 4.21333255e-01 0.00000000e+00 1.75552394e+02] [-4.21333255e-01 9.06905887e-01 0.00000000e+00 -3.22706599e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.87403746e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.58, Y:-32.28, Z:-0.00 [[ 9.07084542e-01 4.20948492e-01 0.00000000e+00 1.75577218e+02] [-4.20948492e-01 9.07084542e-01 0.00000000e+00 -3.22809509e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.32688571e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.411400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:175.60, Y:-32.29, Z:-0.01 [[ 9.07001957e-01 4.21126407e-01 0.00000000e+00 1.75602980e+02] [-4.21126407e-01 9.07001957e-01 0.00000000e+00 -3.22913029e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.20469699e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.63, Y:-32.31, Z:-0.00 [[ 9.06681053e-01 4.21816865e-01 0.00000000e+00 1.75628968e+02] [-4.21816865e-01 9.06681053e-01 0.00000000e+00 -3.23050008e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.56599443e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.65, Y:-32.32, Z:-0.00 [[ 9.06727264e-01 4.21717523e-01 0.00000000e+00 1.75654801e+02] [-4.21717523e-01 9.06727264e-01 0.00000000e+00 -3.23161708e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09665149e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.68, Y:-32.33, Z:0.00 [[ 9.06888425e-01 4.21370840e-01 0.00000000e+00 1.75681226e+02] [-4.21370840e-01 9.06888425e-01 0.00000000e+00 -3.23271841e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.84954551e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.71, Y:-32.34, Z:-0.00 [[ 9.07042701e-01 4.21038643e-01 0.00000000e+00 1.75706381e+02] [-4.21038643e-01 9.07042701e-01 0.00000000e+00 -3.23380031e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44911100e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.73, Y:-32.35, Z:-0.00 [[ 9.07297371e-01 4.20489573e-01 0.00000000e+00 1.75732541e+02] [-4.20489573e-01 9.07297371e-01 0.00000000e+00 -3.23495897e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84673254e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.76, Y:-32.36, Z:-0.00 [[ 9.07485973e-01 4.20082384e-01 0.00000000e+00 1.75758480e+02] [-4.20082384e-01 9.07485973e-01 0.00000000e+00 -3.23616493e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.58369238e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.78, Y:-32.37, Z:-0.00 [[ 9.08107353e-01 4.18737430e-01 0.00000000e+00 1.75784190e+02] [-4.18737430e-01 9.08107353e-01 0.00000000e+00 -3.23748479e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.04566224e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.81, Y:-32.39, Z:-0.00 [[ 9.08440666e-01 4.18013822e-01 0.00000000e+00 1.75809827e+02] [-4.18013822e-01 9.08440666e-01 0.00000000e+00 -3.23864858e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.36087981e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.681400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:175.84, Y:-32.40, Z:-0.01 [[ 9.08746432e-01 4.17348682e-01 0.00000000e+00 1.75836496e+02] [-4.17348682e-01 9.08746432e-01 0.00000000e+00 -3.23989634e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.70203468e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.86, Y:-32.42, Z:-0.01 [[ 9.08940292e-01 4.16926307e-01 0.00000000e+00 1.75861267e+02] [-4.16926307e-01 9.08940292e-01 0.00000000e+00 -3.24166513e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.33724226e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.89, Y:-32.43, Z:-0.01 [[ 9.09009747e-01 4.16774854e-01 0.00000000e+00 1.75886705e+02] [-4.16774854e-01 9.09009747e-01 0.00000000e+00 -3.24301571e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.85342158e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.92, Y:-32.44, Z:-0.01 [[ 9.08965536e-01 4.16871268e-01 0.00000000e+00 1.75915811e+02] [-4.16871268e-01 9.08965536e-01 0.00000000e+00 -3.24447410e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.38150452e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.94, Y:-32.46, Z:-0.01 [[ 9.08520107e-01 4.17841137e-01 0.00000000e+00 1.75944974e+02] [-4.17841137e-01 9.08520107e-01 0.00000000e+00 -3.24598161e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.94943508e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.97, Y:-32.48, Z:-0.01 [[ 9.07801746e-01 4.19399558e-01 0.00000000e+00 1.75973002e+02] [-4.19399558e-01 9.07801746e-01 0.00000000e+00 -3.24751799e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.45296570e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.00, Y:-32.49, Z:-0.01 [[ 9.05568419e-01 4.24200235e-01 0.00000000e+00 1.75999409e+02] [-4.24200235e-01 9.05568419e-01 0.00000000e+00 -3.24942515e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.68375483e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.03, Y:-32.51, Z:-0.01 [[ 9.04286209e-01 4.26926753e-01 0.00000000e+00 1.76029011e+02] [-4.26926753e-01 9.04286209e-01 0.00000000e+00 -3.25081817e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.81381516e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.06, Y:-32.52, Z:-0.01 [[ 9.02976091e-01 4.29690795e-01 0.00000000e+00 1.76057872e+02] [-4.29690795e-01 9.02976091e-01 0.00000000e+00 -3.25204217e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04809503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.95140051299998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:176.09, Y:-32.53, Z:-0.01 [[ 9.01658456e-01 4.32448873e-01 0.00000000e+00 1.76088398e+02] [-4.32448873e-01 9.01658456e-01 0.00000000e+00 -3.25323125e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05400046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.12, Y:-32.55, Z:-0.01 [[ 8.98752374e-01 4.38456577e-01 0.00000000e+00 1.76117684e+02] [-4.38456577e-01 8.98752374e-01 0.00000000e+00 -3.25454701e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.42524715e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.14, Y:-32.56, Z:-0.01 [[ 8.97547856e-01 4.40917052e-01 0.00000000e+00 1.76144904e+02] [-4.40917052e-01 8.97547856e-01 0.00000000e+00 -3.25574105e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.41216743e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.17, Y:-32.57, Z:-0.01 [[ 8.96752276e-01 4.42532886e-01 0.00000000e+00 1.76170124e+02] [-4.42532886e-01 8.96752276e-01 0.00000000e+00 -3.25685554e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.79693587e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.20, Y:-32.58, Z:-0.01 [[ 8.96452562e-01 4.43139712e-01 0.00000000e+00 1.76198047e+02] [-4.43139712e-01 8.96452562e-01 0.00000000e+00 -3.25796221e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.44757251e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.23, Y:-32.59, Z:-0.01 [[ 8.96585224e-01 4.42871241e-01 0.00000000e+00 1.76227098e+02] [-4.42871241e-01 8.96585224e-01 0.00000000e+00 -3.25900285e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.55064555e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:-32.60, Z:-0.01 [[ 8.97147111e-01 4.41731889e-01 0.00000000e+00 1.76257926e+02] [-4.41731889e-01 8.97147111e-01 0.00000000e+00 -3.26008170e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.33097451e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.29, Y:-32.61, Z:-0.01 [[ 8.99468070e-01 4.36986487e-01 0.00000000e+00 1.76287317e+02] [-4.36986487e-01 8.99468070e-01 0.00000000e+00 -3.26127857e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.50055082e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:-32.62, Z:-0.01 [[ 8.99390037e-01 4.37147070e-01 0.00000000e+00 1.76318495e+02] [-4.37147070e-01 8.99390037e-01 0.00000000e+00 -3.26249639e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.50055082e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.35, Y:-32.64, Z:-0.01 [[ 9.00781171e-01 4.34273280e-01 0.00000000e+00 1.76347531e+02] [-4.34273280e-01 9.00781171e-01 0.00000000e+00 -3.26384754e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.08157266e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.38, Y:-32.65, Z:-0.00 [[ 9.02102573e-01 4.31521665e-01 0.00000000e+00 1.76377342e+02] [-4.31521665e-01 9.02102573e-01 0.00000000e+00 -3.26523123e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.81707610e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.41, Y:-32.66, Z:-0.00 [[ 9.03196924e-01 4.29226417e-01 0.00000000e+00 1.76406889e+02] [-4.29226417e-01 9.03196924e-01 0.00000000e+00 -3.26649282e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.23737710e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.44, Y:-32.68, Z:-0.00 [[ 9.04844467e-01 4.25742282e-01 0.00000000e+00 1.76436225e+02] [-4.25742282e-01 9.04844467e-01 0.00000000e+00 -3.26770001e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.62734176e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.46, Y:-32.69, Z:-0.00 [[ 9.05322157e-01 4.24725549e-01 0.00000000e+00 1.76464883e+02] [-4.24725549e-01 9.05322157e-01 0.00000000e+00 -3.26891578e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.93937868e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.49, Y:-32.70, Z:-0.00 [[ 9.05705536e-01 4.23907397e-01 0.00000000e+00 1.76491397e+02] [-4.23907397e-01 9.05705536e-01 0.00000000e+00 -3.27009471e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.90566605e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.52, Y:-32.71, Z:-0.00 [[ 9.05786488e-01 4.23734396e-01 0.00000000e+00 1.76521728e+02] [-4.23734396e-01 9.05786488e-01 0.00000000e+00 -3.27146806e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.61791170e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.55, Y:-32.73, Z:-0.00 [[ 9.05709073e-01 4.23899841e-01 0.00000000e+00 1.76552041e+02] [-4.23899841e-01 9.05709073e-01 0.00000000e+00 -3.27287801e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.99949609e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.58, Y:-32.74, Z:-0.01 [[ 9.04898104e-01 4.25628266e-01 0.00000000e+00 1.76580811e+02] [-4.25628266e-01 9.04898104e-01 0.00000000e+00 -3.27418885e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.41192659e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.61, Y:-32.75, Z:-0.01 [[ 9.04044623e-01 4.27438089e-01 0.00000000e+00 1.76611683e+02] [-4.27438089e-01 9.04044623e-01 0.00000000e+00 -3.27534789e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.16472138e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.64, Y:-32.76, Z:-0.01 [[ 9.03096168e-01 4.29438368e-01 0.00000000e+00 1.76641569e+02] [-4.29438368e-01 9.03096168e-01 0.00000000e+00 -3.27637048e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.70045352e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.67, Y:-32.77, Z:-0.01 [[ 9.02173918e-01 4.31372486e-01 0.00000000e+00 1.76672354e+02] [-4.31372486e-01 9.02173918e-01 0.00000000e+00 -3.27736686e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.06960651e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.70, Y:-32.78, Z:-0.01 [[ 9.01362290e-01 4.33065840e-01 0.00000000e+00 1.76703155e+02] [-4.33065840e-01 9.01362290e-01 0.00000000e+00 -3.27821941e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.75788206e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.73, Y:-32.79, Z:-0.01 [[ 9.01449853e-01 4.32883544e-01 0.00000000e+00 1.76731759e+02] [-4.32883544e-01 9.01449853e-01 0.00000000e+00 -3.27924872e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.68637808e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.76, Y:-32.80, Z:-0.01 [[ 9.01915335e-01 4.31912872e-01 0.00000000e+00 1.76762630e+02] [-4.31912872e-01 9.01915335e-01 0.00000000e+00 -3.28036135e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.74968350e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.79, Y:-32.81, Z:-0.01 [[ 9.02679602e-01 4.30313299e-01 0.00000000e+00 1.76792337e+02] [-4.30313299e-01 9.02679602e-01 0.00000000e+00 -3.28145918e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.19376628e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.82, Y:-32.82, Z:-0.01 [[ 9.03660734e-01 4.28249084e-01 0.00000000e+00 1.76820427e+02] [-4.28249084e-01 9.03660734e-01 0.00000000e+00 -3.28248192e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10464216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.85, Y:-32.84, Z:-0.01 [[ 9.04768176e-01 4.25904387e-01 0.00000000e+00 1.76850554e+02] [-4.25904387e-01 9.04768176e-01 0.00000000e+00 -3.28361350e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20483764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76140051299998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:176.88, Y:-32.85, Z:-0.01 [[ 9.07186964e-01 4.20727717e-01 0.00000000e+00 1.76879692e+02] [-4.20727717e-01 9.07186964e-01 0.00000000e+00 -3.28486697e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12046065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.91, Y:-32.86, Z:-0.01 [[ 9.08140542e-01 4.18665447e-01 0.00000000e+00 1.76909350e+02] [-4.18665447e-01 9.08140542e-01 0.00000000e+00 -3.28623404e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.42580072e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.94, Y:-32.88, Z:-0.01 [[ 9.08968921e-01 4.16863887e-01 0.00000000e+00 1.76938933e+02] [-4.16863887e-01 9.08968921e-01 0.00000000e+00 -3.28759141e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.06551820e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.97, Y:-32.89, Z:-0.01 [[ 9.09824462e-01 4.14993311e-01 0.00000000e+00 1.76968379e+02] [-4.14993311e-01 9.09824462e-01 0.00000000e+00 -3.28905235e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.21041767e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.00, Y:-32.90, Z:-0.01 [[ 9.09624808e-01 4.15430750e-01 0.00000000e+00 1.76998164e+02] [-4.15430750e-01 9.09624808e-01 0.00000000e+00 -3.29033119e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.30892495e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.03, Y:-32.92, Z:-0.01 [[ 9.09053919e-01 4.16678500e-01 0.00000000e+00 1.77027925e+02] [-4.16678500e-01 9.09053919e-01 0.00000000e+00 -3.29160481e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.50188808e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.06, Y:-32.93, Z:-0.01 [[ 9.08347854e-01 4.18215467e-01 0.00000000e+00 1.77057304e+02] [-4.18215467e-01 9.08347854e-01 0.00000000e+00 -3.29287974e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.60220243e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.09, Y:-32.94, Z:-0.01 [[ 9.07545310e-01 4.19954176e-01 0.00000000e+00 1.77086182e+02] [-4.19954176e-01 9.07545310e-01 0.00000000e+00 -3.29415337e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01061393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.12, Y:-32.96, Z:-0.01 [[ 9.06642573e-01 4.21899567e-01 0.00000000e+00 1.77116645e+02] [-4.21899567e-01 9.06642573e-01 0.00000000e+00 -3.29551966e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.72895718e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.15, Y:-32.97, Z:-0.01 [[ 9.05052581e-01 4.25299690e-01 0.00000000e+00 1.77145302e+02] [-4.25299690e-01 9.05052581e-01 0.00000000e+00 -3.29683226e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.62718678e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.18, Y:-32.98, Z:-0.01 [[ 9.04232648e-01 4.27040184e-01 0.00000000e+00 1.77175560e+02] [-4.27040184e-01 9.04232648e-01 0.00000000e+00 -3.29809984e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.10671907e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.21, Y:-32.99, Z:-0.00 [[ 9.03597059e-01 4.28383421e-01 0.00000000e+00 1.77205868e+02] [-4.28383421e-01 9.03597059e-01 0.00000000e+00 -3.29937918e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.01392272e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.24, Y:-33.01, Z:-0.00 [[ 9.03283300e-01 4.29044614e-01 0.00000000e+00 1.77235821e+02] [-4.29044614e-01 9.03283300e-01 0.00000000e+00 -3.30068686e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.24846843e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.26, Y:-33.02, Z:-0.00 [[ 9.03669106e-01 4.28231418e-01 0.00000000e+00 1.77264119e+02] [-4.28231418e-01 9.03669106e-01 0.00000000e+00 -3.30212452e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.85270049e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.29, Y:-33.03, Z:-0.00 [[ 9.04185450e-01 4.27140108e-01 0.00000000e+00 1.77293754e+02] [-4.27140108e-01 9.04185450e-01 0.00000000e+00 -3.30344847e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.58490867e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.32, Y:-33.05, Z:-0.00 [[ 9.04826580e-01 4.25780296e-01 0.00000000e+00 1.77323647e+02] [-4.25780296e-01 9.04826580e-01 0.00000000e+00 -3.30482978e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.47020263e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.35, Y:-33.06, Z:-0.01 [[ 9.05447628e-01 4.24457999e-01 0.00000000e+00 1.77352569e+02] [-4.24457999e-01 9.05447628e-01 0.00000000e+00 -3.30620411e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.20155660e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.38, Y:-33.08, Z:-0.01 [[ 9.05857867e-01 4.23581781e-01 0.00000000e+00 1.77382140e+02] [-4.23581781e-01 9.05857867e-01 0.00000000e+00 -3.30756399e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.25911520e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.41, Y:-33.09, Z:-0.01 [[ 9.05774363e-01 4.23760313e-01 0.00000000e+00 1.77412430e+02] [-4.23760313e-01 9.05774363e-01 0.00000000e+00 -3.30893642e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.56157646e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.44, Y:-33.10, Z:-0.01 [[ 9.05411146e-01 4.24535812e-01 0.00000000e+00 1.77441637e+02] [-4.24535812e-01 9.05411146e-01 0.00000000e+00 -3.31018471e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.54744098e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.47, Y:-33.11, Z:-0.01 [[ 9.05012093e-01 4.25385839e-01 0.00000000e+00 1.77471819e+02] [-4.25385839e-01 9.05012093e-01 0.00000000e+00 -3.31149641e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.15163223e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.50, Y:-33.13, Z:-0.01 [[ 9.04762436e-01 4.25916581e-01 0.00000000e+00 1.77501159e+02] [-4.25916581e-01 9.04762436e-01 0.00000000e+00 -3.31280853e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.34219594e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.53, Y:-33.14, Z:-0.01 [[ 9.04713855e-01 4.26019766e-01 0.00000000e+00 1.77531073e+02] [-4.26019766e-01 9.04713855e-01 0.00000000e+00 -3.31433287e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.87712472e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.56, Y:-33.16, Z:-0.01 [[ 9.04759223e-01 4.25923407e-01 0.00000000e+00 1.77560833e+02] [-4.25923407e-01 9.04759223e-01 0.00000000e+00 -3.31575356e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.91245577e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.59, Y:-33.17, Z:-0.01 [[ 9.04867682e-01 4.25692938e-01 0.00000000e+00 1.77589548e+02] [-4.25692938e-01 9.04867682e-01 0.00000000e+00 -3.31724282e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.14850671e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.62, Y:-33.19, Z:-0.01 [[ 9.05006361e-01 4.25398033e-01 0.00000000e+00 1.77618451e+02] [-4.25398033e-01 9.05006361e-01 0.00000000e+00 -3.31881993e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.48255869e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.65, Y:-33.21, Z:-0.01 [[ 9.05409109e-01 4.24540157e-01 0.00000000e+00 1.77645236e+02] [-4.24540157e-01 9.05409109e-01 0.00000000e+00 -3.32077905e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.35471009e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.571400513 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:177.67, Y:-33.22, Z:-0.01 [[ 9.05578452e-01 4.24178816e-01 0.00000000e+00 1.77674831e+02] [-4.24178816e-01 9.05578452e-01 0.00000000e+00 -3.32232232e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04519287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.70, Y:-33.24, Z:-0.01 [[ 9.05367417e-01 4.24629063e-01 0.00000000e+00 1.77703633e+02] [-4.24629063e-01 9.05367417e-01 0.00000000e+00 -3.32386862e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.67145681e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.631400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:177.73, Y:-33.25, Z:-0.01 [[ 9.04935851e-01 4.25548006e-01 0.00000000e+00 1.77733086e+02] [-4.25548006e-01 9.04935851e-01 0.00000000e+00 -3.32545053e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.56790041e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.76, Y:-33.27, Z:-0.01 [[ 9.03914323e-01 4.27713569e-01 0.00000000e+00 1.77760828e+02] [-4.27713569e-01 9.03914323e-01 0.00000000e+00 -3.32708209e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.40573367e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.691400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:177.79, Y:-33.29, Z:-0.01 [[ 9.01344466e-01 4.33102936e-01 0.00000000e+00 1.77787673e+02] [-4.33102936e-01 9.01344466e-01 0.00000000e+00 -3.32904266e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.43514658e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.82, Y:-33.30, Z:-0.01 [[ 8.99729613e-01 4.36447733e-01 0.00000000e+00 1.77816127e+02] [-4.36447733e-01 8.99729613e-01 0.00000000e+00 -3.33047726e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.72350566e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.85, Y:-33.32, Z:-0.01 [[ 8.98326667e-01 4.39328122e-01 0.00000000e+00 1.77845440e+02] [-4.39328122e-01 8.98326667e-01 0.00000000e+00 -3.33183508e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02272288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.88, Y:-33.33, Z:-0.01 [[ 8.97055914e-01 4.41917059e-01 0.00000000e+00 1.77875961e+02] [-4.41917059e-01 8.97055914e-01 0.00000000e+00 -3.33317029e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.60237710e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.90, Y:-33.35, Z:-0.01 [[ 8.95065670e-01 4.45934352e-01 0.00000000e+00 1.77904893e+02] [-4.45934352e-01 8.95065670e-01 0.00000000e+00 -3.33454585e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.97822208e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.94, Y:-33.36, Z:-0.01 [[ 8.94407469e-01 4.47253037e-01 0.00000000e+00 1.77935533e+02] [-4.47253037e-01 8.94407469e-01 0.00000000e+00 -3.33586480e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.07102211e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.96, Y:-33.37, Z:-0.01 [[ 8.94049606e-01 4.47967969e-01 0.00000000e+00 1.77964884e+02] [-4.47967969e-01 8.94049606e-01 0.00000000e+00 -3.33705580e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.54179642e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.00, Y:-33.38, Z:-0.01 [[ 8.93925068e-01 4.48216434e-01 0.00000000e+00 1.77995248e+02] [-4.48216434e-01 8.93925068e-01 0.00000000e+00 -3.33818141e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.73725038e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.03, Y:-33.39, Z:-0.01 [[ 8.94025532e-01 4.48016013e-01 0.00000000e+00 1.78026210e+02] [-4.48016013e-01 8.94025532e-01 0.00000000e+00 -3.33919585e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.61375703e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.06, Y:-33.40, Z:-0.01 [[ 8.94323688e-01 4.47420542e-01 0.00000000e+00 1.78056950e+02] [-4.47420542e-01 8.94323688e-01 0.00000000e+00 -3.34018509e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.68516619e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.09, Y:-33.41, Z:-0.01 [[ 8.94902877e-01 4.46260956e-01 0.00000000e+00 1.78088502e+02] [-4.46260956e-01 8.94902877e-01 0.00000000e+00 -3.34108695e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.89990146e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.12, Y:-33.42, Z:-0.01 [[ 8.95577514e-01 4.44905515e-01 0.00000000e+00 1.78120520e+02] [-4.44905515e-01 8.95577514e-01 0.00000000e+00 -3.34201676e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.37359613e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.15, Y:-33.43, Z:-0.01 [[ 8.96345887e-01 4.43355445e-01 0.00000000e+00 1.78151230e+02] [-4.43355445e-01 8.96345887e-01 0.00000000e+00 -3.34299811e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09024724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.18, Y:-33.44, Z:-0.01 [[ 8.96271345e-01 4.43506117e-01 0.00000000e+00 1.78182271e+02] [-4.43506117e-01 8.96271345e-01 0.00000000e+00 -3.34424774e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09024724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.21, Y:-33.45, Z:-0.01 [[ 8.98440142e-01 4.39096015e-01 0.00000000e+00 1.78213784e+02] [-4.39096015e-01 8.98440142e-01 0.00000000e+00 -3.34512870e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22006256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.25, Y:-33.46, Z:-0.01 [[ 8.99838598e-01 4.36222990e-01 0.00000000e+00 1.78245643e+02] [-4.36222990e-01 8.99838598e-01 0.00000000e+00 -3.34600857e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24945959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.28, Y:-33.47, Z:-0.01 [[ 9.01190491e-01 4.33423233e-01 0.00000000e+00 1.78277844e+02] [-4.33423233e-01 9.01190491e-01 0.00000000e+00 -3.34686167e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20280285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.31, Y:-33.48, Z:-0.01 [[ 9.02868714e-01 4.29916370e-01 0.00000000e+00 1.78308719e+02] [-4.29916370e-01 9.02868714e-01 0.00000000e+00 -3.34769477e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13602173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.34, Y:-33.49, Z:-0.01 [[ 9.03219881e-01 4.29178106e-01 0.00000000e+00 1.78339652e+02] [-4.29178106e-01 9.03219881e-01 0.00000000e+00 -3.34885594e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08395456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.37, Y:-33.50, Z:-0.01 [[ 9.03410122e-01 4.28777509e-01 0.00000000e+00 1.78370676e+02] [-4.28777509e-01 9.03410122e-01 0.00000000e+00 -3.34985352e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15852417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.40, Y:-33.51, Z:-0.01 [[ 9.03596350e-01 4.28384917e-01 0.00000000e+00 1.78401567e+02] [-4.28384917e-01 9.03596350e-01 0.00000000e+00 -3.35069586e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21262733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.43, Y:-33.51, Z:-0.01 [[ 9.04011899e-01 4.27507293e-01 0.00000000e+00 1.78433583e+02] [-4.27507293e-01 9.04011899e-01 0.00000000e+00 -3.35143768e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.85420458e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.46, Y:-33.53, Z:-0.01 [[ 9.04043844e-01 4.27439736e-01 0.00000000e+00 1.78463282e+02] [-4.27439736e-01 9.04043844e-01 0.00000000e+00 -3.35261453e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01038365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.49, Y:-33.54, Z:-0.01 [[ 9.04059778e-01 4.27406034e-01 0.00000000e+00 1.78493529e+02] [-4.27406034e-01 9.04059778e-01 0.00000000e+00 -3.35376898e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10695146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.52, Y:-33.55, Z:-0.01 [[ 9.03979535e-01 4.27575724e-01 0.00000000e+00 1.78524558e+02] [-4.27575724e-01 9.03979535e-01 0.00000000e+00 -3.35484761e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14950215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.56, Y:-33.56, Z:-0.01 [[ 9.03722586e-01 4.28118544e-01 0.00000000e+00 1.78555554e+02] [-4.28118544e-01 9.03722586e-01 0.00000000e+00 -3.35592324e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15782234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.59, Y:-33.57, Z:-0.01 [[ 9.03363262e-01 4.28876226e-01 0.00000000e+00 1.78585314e+02] [-4.28876226e-01 9.03363262e-01 0.00000000e+00 -3.35713214e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07424268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.61, Y:-33.58, Z:-0.01 [[ 9.03419491e-01 4.28757768e-01 0.00000000e+00 1.78614285e+02] [-4.28757768e-01 9.03419491e-01 0.00000000e+00 -3.35841136e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.91620844e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.65, Y:-33.60, Z:-0.01 [[ 9.03602743e-01 4.28371431e-01 0.00000000e+00 1.78645233e+02] [-4.28371431e-01 9.03602743e-01 0.00000000e+00 -3.35967276e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.47612526e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.68, Y:-33.61, Z:-0.01 [[ 9.03595028e-01 4.28387704e-01 0.00000000e+00 1.78676031e+02] [-4.28387704e-01 9.03595028e-01 0.00000000e+00 -3.36074270e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.54644743e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.71, Y:-33.62, Z:-0.01 [[ 9.03310177e-01 4.28988023e-01 0.00000000e+00 1.78706178e+02] [-4.28988023e-01 9.03310177e-01 0.00000000e+00 -3.36168317e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01104419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.74, Y:-33.63, Z:-0.01 [[ 9.02056092e-01 4.31618822e-01 0.00000000e+00 1.78737734e+02] [-4.31618822e-01 9.02056092e-01 0.00000000e+00 -3.36259364e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11866634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.77, Y:-33.64, Z:-0.01 [[ 9.01235827e-01 4.33328957e-01 0.00000000e+00 1.78768586e+02] [-4.33328957e-01 9.01235827e-01 0.00000000e+00 -3.36373891e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.78457390e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.80, Y:-33.65, Z:-0.00 [[ 8.99915594e-01 4.36064127e-01 0.00000000e+00 1.78800063e+02] [-4.36064127e-01 8.99915594e-01 0.00000000e+00 -3.36465280e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.37542571e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.83, Y:-33.66, Z:-0.00 [[ 8.99312857e-01 4.37305826e-01 0.00000000e+00 1.78831464e+02] [-4.37305826e-01 8.99312857e-01 0.00000000e+00 -3.36554262e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.19856263e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.86, Y:-33.66, Z:-0.00 [[ 8.98722524e-01 4.38517759e-01 0.00000000e+00 1.78862271e+02] [-4.38517759e-01 8.98722524e-01 0.00000000e+00 -3.36643454e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.09459490e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.89, Y:-33.67, Z:-0.01 [[ 8.98059056e-01 4.39874905e-01 0.00000000e+00 1.78893465e+02] [-4.39874905e-01 8.98059056e-01 0.00000000e+00 -3.36746696e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.61202315e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.92, Y:-33.69, Z:-0.01 [[ 8.97463573e-01 4.41088579e-01 0.00000000e+00 1.78924710e+02] [-4.41088579e-01 8.97463573e-01 0.00000000e+00 -3.36858305e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.73511076e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.96, Y:-33.69, Z:-0.01 [[ 8.97390976e-01 4.41236258e-01 0.00000000e+00 1.78955331e+02] [-4.41236258e-01 8.97390976e-01 0.00000000e+00 -3.36938125e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07999918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.99, Y:-33.70, Z:-0.01 [[ 8.97893591e-01 4.40212561e-01 0.00000000e+00 1.78985827e+02] [-4.40212561e-01 8.97893591e-01 0.00000000e+00 -3.37033325e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09474015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.02, Y:-33.71, Z:-0.01 [[ 8.98680852e-01 4.38603154e-01 0.00000000e+00 1.79016938e+02] [-4.38603154e-01 8.98680852e-01 0.00000000e+00 -3.37139597e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.15097986e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.05, Y:-33.73, Z:-0.01 [[ 8.99702211e-01 4.36504217e-01 0.00000000e+00 1.79046176e+02] [-4.36504217e-01 8.99702211e-01 0.00000000e+00 -3.37258943e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.19618955e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.08, Y:-33.74, Z:-0.01 [[ 9.00991211e-01 4.33837340e-01 0.00000000e+00 1.79076170e+02] [-4.33837340e-01 9.00991211e-01 0.00000000e+00 -3.37389875e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.94978481e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.10, Y:-33.75, Z:-0.01 [[ 9.02468283e-01 4.30756310e-01 0.00000000e+00 1.79104953e+02] [-4.30756310e-01 9.02468283e-01 0.00000000e+00 -3.37518435e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.71524409e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.14, Y:-33.77, Z:-0.01 [[ 9.05470106e-01 4.24410046e-01 0.00000000e+00 1.79135613e+02] [-4.24410046e-01 9.05470106e-01 0.00000000e+00 -3.37650582e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.46070314e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.17, Y:-33.78, Z:-0.01 [[ 9.06385500e-01 4.22451565e-01 0.00000000e+00 1.79165214e+02] [-4.22451565e-01 9.06385500e-01 0.00000000e+00 -3.37776694e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06640594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.20, Y:-33.79, Z:-0.01 [[ 9.06647804e-01 4.21888326e-01 0.00000000e+00 1.79195450e+02] [-4.21888326e-01 9.06647804e-01 0.00000000e+00 -3.37912630e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10737661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.22, Y:-33.81, Z:-0.01 [[ 9.05316154e-01 4.24738343e-01 0.00000000e+00 1.79223257e+02] [-4.24738343e-01 9.05316154e-01 0.00000000e+00 -3.38058339e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.63803691e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.25, Y:-33.82, Z:-0.01 [[ 9.04465366e-01 4.26547068e-01 0.00000000e+00 1.79253890e+02] [-4.26547068e-01 9.04465366e-01 0.00000000e+00 -3.38188395e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.59241484e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.28, Y:-33.83, Z:-0.01 [[ 9.03359644e-01 4.28883846e-01 0.00000000e+00 1.79283988e+02] [-4.28883846e-01 9.03359644e-01 0.00000000e+00 -3.38316729e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.92097297e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.31, Y:-33.84, Z:-0.01 [[ 9.02415477e-01 4.30866926e-01 0.00000000e+00 1.79313576e+02] [-4.30866926e-01 9.02415477e-01 0.00000000e+00 -3.38440930e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.51232378e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.34, Y:-33.86, Z:-0.01 [[ 9.01188815e-01 4.33426717e-01 0.00000000e+00 1.79343640e+02] [-4.33426717e-01 9.01188815e-01 0.00000000e+00 -3.38588440e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.42433948e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.37, Y:-33.87, Z:-0.01 [[ 9.00925844e-01 4.33973068e-01 0.00000000e+00 1.79373236e+02] [-4.33973068e-01 9.00925844e-01 0.00000000e+00 -3.38724294e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.39497205e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.40, Y:-33.89, Z:-0.01 [[ 9.00602579e-01 4.34643526e-01 0.00000000e+00 1.79403575e+02] [-4.34643526e-01 9.00602579e-01 0.00000000e+00 -3.38860884e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.58072045e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.43, Y:-33.90, Z:-0.01 [[ 9.00253322e-01 4.35366462e-01 0.00000000e+00 1.79433641e+02] [-4.35366462e-01 9.00253322e-01 0.00000000e+00 -3.38991069e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.02395518e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.341400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.46, Y:-33.91, Z:-0.01 [[ 8.99848640e-01 4.36202275e-01 0.00000000e+00 1.79463259e+02] [-4.36202275e-01 8.99848640e-01 0.00000000e+00 -3.39123998e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.07883517e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.49, Y:-33.93, Z:-0.01 [[ 8.98706904e-01 4.38549771e-01 0.00000000e+00 1.79492707e+02] [-4.38549771e-01 8.98706904e-01 0.00000000e+00 -3.39273792e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.44384619e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.52, Y:-33.94, Z:-0.01 [[ 8.98050844e-01 4.39891670e-01 0.00000000e+00 1.79522585e+02] [-4.39891670e-01 8.98050844e-01 0.00000000e+00 -3.39405999e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.50464969e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.55, Y:-33.95, Z:-0.01 [[ 8.97402220e-01 4.41213389e-01 0.00000000e+00 1.79552159e+02] [-4.41213389e-01 8.97402220e-01 0.00000000e+00 -3.39530366e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.87919387e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.58, Y:-33.97, Z:-0.01 [[ 8.96902909e-01 4.42227512e-01 0.00000000e+00 1.79582597e+02] [-4.42227512e-01 8.96902909e-01 0.00000000e+00 -3.39655536e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00609267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.61, Y:-33.98, Z:-0.01 [[ 8.96506803e-01 4.43029968e-01 0.00000000e+00 1.79613005e+02] [-4.43029968e-01 8.96506803e-01 0.00000000e+00 -3.39774544e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26350705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.64, Y:-33.99, Z:-0.01 [[ 8.95862866e-01 4.44330648e-01 0.00000000e+00 1.79642846e+02] [-4.44330648e-01 8.95862866e-01 0.00000000e+00 -3.39899692e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33222632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.67, Y:-34.00, Z:-0.01 [[ 8.95602314e-01 4.44855589e-01 0.00000000e+00 1.79673013e+02] [-4.44855589e-01 8.95602314e-01 0.00000000e+00 -3.40038017e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07627884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:179.70, Y:-34.02, Z:-0.01 [[ 8.95494349e-01 4.45072882e-01 0.00000000e+00 1.79702259e+02] [-4.45072882e-01 8.95494349e-01 0.00000000e+00 -3.40186976e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03710355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.73, Y:-34.03, Z:-0.01 [[ 8.95292928e-01 4.45477915e-01 0.00000000e+00 1.79732617e+02] [-4.45477915e-01 8.95292928e-01 0.00000000e+00 -3.40323143e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04334033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.76, Y:-34.05, Z:-0.01 [[ 8.95125802e-01 4.45813637e-01 0.00000000e+00 1.79762610e+02] [-4.45813637e-01 8.95125802e-01 0.00000000e+00 -3.40454077e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.99814033e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.79, Y:-34.06, Z:-0.01 [[ 8.94981346e-01 4.46103565e-01 0.00000000e+00 1.79792450e+02] [-4.46103565e-01 8.94981346e-01 0.00000000e+00 -3.40581893e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.77101109e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.82, Y:-34.07, Z:-0.01 [[ 8.94752913e-01 4.46561557e-01 0.00000000e+00 1.79822339e+02] [-4.46561557e-01 8.94752913e-01 0.00000000e+00 -3.40720378e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.51567988e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.85, Y:-34.09, Z:-0.01 [[ 8.94316724e-01 4.47434462e-01 0.00000000e+00 1.79851238e+02] [-4.47434462e-01 8.94316724e-01 0.00000000e+00 -3.40856496e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.22354486e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.88, Y:-34.10, Z:-0.01 [[ 8.93609242e-01 4.48845767e-01 0.00000000e+00 1.79880771e+02] [-4.48845767e-01 8.93609242e-01 0.00000000e+00 -3.40998844e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.05869650e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.79140051299999 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:179.91, Y:-34.11, Z:-0.01 [[ 8.92843067e-01 4.50367913e-01 0.00000000e+00 1.79910153e+02] [-4.50367913e-01 8.92843067e-01 0.00000000e+00 -3.41140065e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.51805980e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.94, Y:-34.13, Z:-0.01 [[ 8.91293562e-01 4.53426716e-01 0.00000000e+00 1.79939868e+02] [-4.53426716e-01 8.91293562e-01 0.00000000e+00 -3.41284052e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.37114606e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.97, Y:-34.14, Z:-0.01 [[ 8.90513060e-01 4.54957680e-01 0.00000000e+00 1.79969456e+02] [-4.54957680e-01 8.90513060e-01 0.00000000e+00 -3.41403141e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.40781532e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.00, Y:-34.15, Z:-0.00 [[ 8.89764875e-01 4.56419180e-01 0.00000000e+00 1.80000182e+02] [-4.56419180e-01 8.89764875e-01 0.00000000e+00 -3.41532411e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.15658996e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.03, Y:-34.17, Z:-0.00 [[ 8.89322662e-01 4.57280223e-01 0.00000000e+00 1.80030273e+02] [-4.57280223e-01 8.89322662e-01 0.00000000e+00 -3.41659178e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18295840e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.06, Y:-34.18, Z:-0.00 [[ 8.89793812e-01 4.56362764e-01 0.00000000e+00 1.80060265e+02] [-4.56362764e-01 8.89793812e-01 0.00000000e+00 -3.41761284e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.63283014e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.09, Y:-34.19, Z:-0.01 [[ 8.90598226e-01 4.54790941e-01 0.00000000e+00 1.80091236e+02] [-4.54790941e-01 8.90598226e-01 0.00000000e+00 -3.41880430e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.55498801e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.12, Y:-34.20, Z:-0.01 [[ 8.90518510e-01 4.54947012e-01 0.00000000e+00 1.80122148e+02] [-4.54947012e-01 8.90518510e-01 0.00000000e+00 -3.42008633e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.55498801e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.15, Y:-34.21, Z:-0.01 [[ 8.91429777e-01 4.53158859e-01 0.00000000e+00 1.80152556e+02] [-4.53158859e-01 8.91429777e-01 0.00000000e+00 -3.42141150e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01772168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.18, Y:-34.23, Z:-0.01 [[ 8.92305722e-01 4.51431610e-01 0.00000000e+00 1.80181082e+02] [-4.51431610e-01 8.92305722e-01 0.00000000e+00 -3.42279660e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17386675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.21, Y:-34.24, Z:-0.01 [[ 8.92966980e-01 4.50122175e-01 0.00000000e+00 1.80210315e+02] [-4.50122175e-01 8.92966980e-01 0.00000000e+00 -3.42422585e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16884696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.24, Y:-34.25, Z:-0.01 [[ 8.93523507e-01 4.49016417e-01 0.00000000e+00 1.80241085e+02] [-4.49016417e-01 8.93523507e-01 0.00000000e+00 -3.42546901e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10194343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.27, Y:-34.27, Z:-0.01 [[ 8.93205969e-01 4.49647748e-01 0.00000000e+00 1.80271403e+02] [-4.49647748e-01 8.93205969e-01 0.00000000e+00 -3.42659012e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18786767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.30, Y:-34.28, Z:-0.01 [[ 8.92698138e-01 4.50655116e-01 0.00000000e+00 1.80301178e+02] [-4.50655116e-01 8.92698138e-01 0.00000000e+00 -3.42774355e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37227135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.33, Y:-34.29, Z:-0.01 [[ 8.91634387e-01 4.52756137e-01 0.00000000e+00 1.80330863e+02] [-4.52756137e-01 8.91634387e-01 0.00000000e+00 -3.42902491e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43848376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24140051299997 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:180.36, Y:-34.30, Z:-0.01 [[ 8.91407706e-01 4.53202275e-01 0.00000000e+00 1.80361461e+02] [-4.53202275e-01 8.91407706e-01 0.00000000e+00 -3.43029555e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31124975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.39, Y:-34.32, Z:-0.01 [[ 8.91341492e-01 4.53332489e-01 0.00000000e+00 1.80391952e+02] [-4.53332489e-01 8.91341492e-01 0.00000000e+00 -3.43161294e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06570650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.42, Y:-34.33, Z:-0.01 [[ 8.91533047e-01 4.52955656e-01 0.00000000e+00 1.80421330e+02] [-4.52955656e-01 8.91533047e-01 0.00000000e+00 -3.43286230e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.35420058e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.45, Y:-34.34, Z:-0.01 [[ 8.92338765e-01 4.51366291e-01 0.00000000e+00 1.80451997e+02] [-4.51366291e-01 8.92338765e-01 0.00000000e+00 -3.43415196e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.45001275e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.48, Y:-34.35, Z:-0.01 [[ 8.92849131e-01 4.50355892e-01 0.00000000e+00 1.80482007e+02] [-4.50355892e-01 8.92849131e-01 0.00000000e+00 -3.43537186e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14648095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.51, Y:-34.37, Z:-0.01 [[ 8.93286546e-01 4.49487649e-01 0.00000000e+00 1.80512272e+02] [-4.49487649e-01 8.93286546e-01 0.00000000e+00 -3.43663821e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41745699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.54, Y:-34.38, Z:-0.02 [[ 8.93624643e-01 4.48815103e-01 0.00000000e+00 1.80541014e+02] [-4.48815103e-01 8.93624643e-01 0.00000000e+00 -3.43793957e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63265962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.45140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:180.57, Y:-34.40, Z:-0.01 [[ 8.94317924e-01 4.47432063e-01 0.00000000e+00 1.80570369e+02] [-4.47432063e-01 8.94317924e-01 0.00000000e+00 -3.43953701e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44126154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.60, Y:-34.41, Z:-0.01 [[ 8.94523566e-01 4.47020794e-01 0.00000000e+00 1.80599945e+02] [-4.47020794e-01 8.94523566e-01 0.00000000e+00 -3.44090169e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16919415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.63, Y:-34.42, Z:-0.01 [[ 8.94489287e-01 4.47089381e-01 0.00000000e+00 1.80630133e+02] [-4.47089381e-01 8.94489287e-01 0.00000000e+00 -3.44217272e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.49062685e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.66, Y:-34.43, Z:-0.01 [[ 8.94374189e-01 4.47319585e-01 0.00000000e+00 1.80660407e+02] [-4.47319585e-01 8.94374189e-01 0.00000000e+00 -3.44334650e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.14257632e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.69, Y:-34.44, Z:-0.01 [[ 8.94113448e-01 4.47840533e-01 0.00000000e+00 1.80690699e+02] [-4.47840533e-01 8.94113448e-01 0.00000000e+00 -3.44443048e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.63920678e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.72, Y:-34.46, Z:-0.01 [[ 8.93949438e-01 4.48167829e-01 0.00000000e+00 1.80720621e+02] [-4.48167829e-01 8.93949438e-01 0.00000000e+00 -3.44565665e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.18091583e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.75, Y:-34.47, Z:-0.01 [[ 8.93841835e-01 4.48382397e-01 0.00000000e+00 1.80750809e+02] [-4.48382397e-01 8.93841835e-01 0.00000000e+00 -3.44691392e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.53382772e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.661400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:180.78, Y:-34.48, Z:-0.01 [[ 8.93831157e-01 4.48403683e-01 0.00000000e+00 1.80781486e+02] [-4.48403683e-01 8.93831157e-01 0.00000000e+00 -3.44814785e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.44504526e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.81, Y:-34.49, Z:-0.01 [[ 8.93865462e-01 4.48335293e-01 0.00000000e+00 1.80812102e+02] [-4.48335293e-01 8.93865462e-01 0.00000000e+00 -3.44929650e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.08620464e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.84, Y:-34.50, Z:-0.01 [[ 8.93109428e-01 4.49839471e-01 0.00000000e+00 1.80843771e+02] [-4.49839471e-01 8.93109428e-01 0.00000000e+00 -3.45027187e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.81175485e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.87, Y:-34.51, Z:-0.01 [[ 8.92280755e-01 4.51480957e-01 0.00000000e+00 1.80874897e+02] [-4.51480957e-01 8.92280755e-01 0.00000000e+00 -3.45133104e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.74875491e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.91, Y:-34.52, Z:-0.00 [[ 8.91328531e-01 4.53357972e-01 0.00000000e+00 1.80905226e+02] [-4.53357972e-01 8.91328531e-01 0.00000000e+00 -3.45239537e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.96699461e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.94, Y:-34.54, Z:-0.00 [[ 8.90313827e-01 4.55347438e-01 0.00000000e+00 1.80936440e+02] [-4.55347438e-01 8.90313827e-01 0.00000000e+00 -3.45358961e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.60673006e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.97, Y:-34.55, Z:-0.00 [[ 8.88869275e-01 4.58160902e-01 0.00000000e+00 1.80967418e+02] [-4.58160902e-01 8.88869275e-01 0.00000000e+00 -3.45470637e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12218995e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.00, Y:-34.56, Z:-0.00 [[ 8.88684148e-01 4.58519886e-01 0.00000000e+00 1.80997710e+02] [-4.58519886e-01 8.88684148e-01 0.00000000e+00 -3.45578416e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.80239293e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.03, Y:-34.57, Z:-0.01 [[ 8.88895438e-01 4.58110139e-01 0.00000000e+00 1.81029454e+02] [-4.58110139e-01 8.88895438e-01 0.00000000e+00 -3.45685815e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.17525825e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.06, Y:-34.58, Z:-0.01 [[ 8.90057779e-01 4.55847727e-01 0.00000000e+00 1.81060495e+02] [-4.55847727e-01 8.90057779e-01 0.00000000e+00 -3.45761353e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.70986491e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.09, Y:-34.59, Z:-0.01 [[ 8.90748972e-01 4.54495621e-01 0.00000000e+00 1.81090935e+02] [-4.54495621e-01 8.90748972e-01 0.00000000e+00 -3.45861969e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.56358324e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.12, Y:-34.60, Z:-0.01 [[ 8.91650704e-01 4.52724001e-01 0.00000000e+00 1.81122819e+02] [-4.52724001e-01 8.91650704e-01 0.00000000e+00 -3.45962562e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.91594271e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.15, Y:-34.61, Z:-0.01 [[ 8.92727766e-01 4.50596423e-01 0.00000000e+00 1.81153661e+02] [-4.50596423e-01 8.92727766e-01 0.00000000e+00 -3.46059977e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.83902443e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.19, Y:-34.62, Z:-0.01 [[ 8.95358598e-01 4.45345912e-01 0.00000000e+00 1.81185375e+02] [-4.45345912e-01 8.95358598e-01 0.00000000e+00 -3.46158975e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04549780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08140051299998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:181.22, Y:-34.63, Z:-0.01 [[ 8.96756698e-01 4.42523926e-01 0.00000000e+00 1.81215827e+02] [-4.42523926e-01 8.96756698e-01 0.00000000e+00 -3.46285734e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22744083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.11140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:181.25, Y:-34.64, Z:-0.01 [[ 8.97939549e-01 4.40118809e-01 0.00000000e+00 1.81245767e+02] [-4.40118809e-01 8.97939549e-01 0.00000000e+00 -3.46408981e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44690405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:181.28, Y:-34.65, Z:-0.01 [[ 8.98825360e-01 4.38306939e-01 0.00000000e+00 1.81276103e+02] [-4.38306939e-01 8.98825360e-01 0.00000000e+00 -3.46530699e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47776625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.31, Y:-34.67, Z:-0.01 [[ 8.99283097e-01 4.37367021e-01 0.00000000e+00 1.81305657e+02] [-4.37367021e-01 8.99283097e-01 0.00000000e+00 -3.46662465e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32077216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.34, Y:-34.68, Z:-0.01 [[ 8.98879317e-01 4.38196272e-01 0.00000000e+00 1.81335135e+02] [-4.38196272e-01 8.98879317e-01 0.00000000e+00 -3.46805059e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20560656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.23140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:181.36, Y:-34.69, Z:-0.01 [[ 8.98177061e-01 4.39633901e-01 0.00000000e+00 1.81364288e+02] [-4.39633901e-01 8.98177061e-01 0.00000000e+00 -3.46944341e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21706535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.39, Y:-34.71, Z:-0.01 [[ 8.97251454e-01 4.41519908e-01 0.00000000e+00 1.81393620e+02] [-4.41519908e-01 8.97251454e-01 0.00000000e+00 -3.47071547e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16759219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.29140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:181.42, Y:-34.72, Z:-0.01 [[ 8.96216404e-01 4.43617129e-01 0.00000000e+00 1.81421291e+02] [-4.43617129e-01 8.96216404e-01 0.00000000e+00 -3.47172797e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15786471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.45, Y:-34.73, Z:-0.01 [[ 8.93826507e-01 4.48412952e-01 0.00000000e+00 1.81449994e+02] [-4.48412952e-01 8.93826507e-01 0.00000000e+00 -3.47268545e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07151297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.48, Y:-34.74, Z:-0.01 [[ 8.92955907e-01 4.50144141e-01 0.00000000e+00 1.81477480e+02] [-4.50144141e-01 8.92955907e-01 0.00000000e+00 -3.47387123e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11127965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.381400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:181.51, Y:-34.75, Z:-0.01 [[ 8.92479849e-01 4.51087263e-01 0.00000000e+00 1.81506857e+02] [-4.51087263e-01 8.92479849e-01 0.00000000e+00 -3.47526311e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11066774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.411400513 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:181.53, Y:-34.77, Z:-0.01 [[ 8.92253739e-01 4.51534346e-01 0.00000000e+00 1.81534591e+02] [-4.51534346e-01 8.92253739e-01 0.00000000e+00 -3.47661007e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13047185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.56, Y:-34.78, Z:-0.01 [[ 8.92677772e-01 4.50695457e-01 0.00000000e+00 1.81564615e+02] [-4.50695457e-01 8.92677772e-01 0.00000000e+00 -3.47812047e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.52722542e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.59, Y:-34.79, Z:-0.01 [[ 8.92840928e-01 4.50372154e-01 0.00000000e+00 1.81594563e+02] [-4.50372154e-01 8.92840928e-01 0.00000000e+00 -3.47947335e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.26185801e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.62, Y:-34.81, Z:-0.01 [[ 8.92926030e-01 4.50203405e-01 0.00000000e+00 1.81624335e+02] [-4.50203405e-01 8.92926030e-01 0.00000000e+00 -3.48074699e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.66588597e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.65, Y:-34.82, Z:-0.01 [[ 8.92552641e-01 4.50943214e-01 0.00000000e+00 1.81654957e+02] [-4.50943214e-01 8.92552641e-01 0.00000000e+00 -3.48192512e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22531287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.68, Y:-34.83, Z:-0.01 [[ 8.92280550e-01 4.51481363e-01 0.00000000e+00 1.81684700e+02] [-4.51481363e-01 8.92280550e-01 0.00000000e+00 -3.48309925e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28327033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.72, Y:-34.84, Z:-0.01 [[ 8.91895153e-01 4.52242231e-01 0.00000000e+00 1.81715314e+02] [-4.52242231e-01 8.91895153e-01 0.00000000e+00 -3.48435760e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15504560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.74, Y:-34.86, Z:-0.01 [[ 8.91355467e-01 4.53305009e-01 0.00000000e+00 1.81744850e+02] [-4.53305009e-01 8.91355467e-01 0.00000000e+00 -3.48562166e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.23350289e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.78, Y:-34.87, Z:-0.01 [[ 8.91198432e-01 4.53613662e-01 0.00000000e+00 1.81775399e+02] [-4.53613662e-01 8.91198432e-01 0.00000000e+00 -3.48692544e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08090975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.80, Y:-34.88, Z:-0.01 [[ 8.91438435e-01 4.53141829e-01 0.00000000e+00 1.81804805e+02] [-4.53141829e-01 8.91438435e-01 0.00000000e+00 -3.48817851e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43144245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.83, Y:-34.89, Z:-0.02 [[ 8.92072279e-01 4.51892741e-01 0.00000000e+00 1.81833919e+02] [-4.51892741e-01 8.92072279e-01 0.00000000e+00 -3.48945622e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84606169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.86, Y:-34.91, Z:-0.02 [[ 8.93027975e-01 4.50001151e-01 0.00000000e+00 1.81864242e+02] [-4.50001151e-01 8.93027975e-01 0.00000000e+00 -3.49075984e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79857356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.89, Y:-34.92, Z:-0.01 [[ 8.95376793e-01 4.45309329e-01 0.00000000e+00 1.81893488e+02] [-4.45309329e-01 8.95376793e-01 0.00000000e+00 -3.49220493e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34759019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.92, Y:-34.94, Z:-0.01 [[ 8.96080856e-01 4.43890864e-01 0.00000000e+00 1.81923175e+02] [-4.43890864e-01 8.96080856e-01 0.00000000e+00 -3.49367369e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10587749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.95, Y:-34.95, Z:-0.01 [[ 8.95769199e-01 4.44519451e-01 0.00000000e+00 1.81952154e+02] [-4.44519451e-01 8.95769199e-01 0.00000000e+00 -3.49520993e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.22474532e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.98, Y:-34.97, Z:-0.01 [[ 8.94831952e-01 4.46403156e-01 0.00000000e+00 1.81982774e+02] [-4.46403156e-01 8.94831952e-01 0.00000000e+00 -3.49650602e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.87308903e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.01, Y:-34.98, Z:-0.01 [[ 8.94750333e-01 4.46566726e-01 0.00000000e+00 1.82013557e+02] [-4.46566726e-01 8.94750333e-01 0.00000000e+00 -3.49781906e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.87308903e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.04, Y:-34.99, Z:-0.01 [[ 8.93458508e-01 4.49145738e-01 0.00000000e+00 1.82042813e+02] [-4.49145738e-01 8.93458508e-01 0.00000000e+00 -3.49907366e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01628632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.07, Y:-35.00, Z:-0.01 [[ 8.92118517e-01 4.51801451e-01 0.00000000e+00 1.82071752e+02] [-4.51801451e-01 8.92118517e-01 0.00000000e+00 -3.50037484e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24273932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.10, Y:-35.02, Z:-0.01 [[ 8.90113566e-01 4.55738784e-01 0.00000000e+00 1.82100516e+02] [-4.55738784e-01 8.90113566e-01 0.00000000e+00 -3.50193532e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44522612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.13, Y:-35.03, Z:-0.01 [[ 8.89282115e-01 4.57359071e-01 0.00000000e+00 1.82130157e+02] [-4.57359071e-01 8.89282115e-01 0.00000000e+00 -3.50326210e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37287469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.16, Y:-35.05, Z:-0.01 [[ 8.88608442e-01 4.58666585e-01 0.00000000e+00 1.82160347e+02] [-4.58666585e-01 8.88608442e-01 0.00000000e+00 -3.50450440e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19815605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.19, Y:-35.06, Z:-0.01 [[ 8.87787948e-01 4.60252713e-01 0.00000000e+00 1.82189454e+02] [-4.60252713e-01 8.87787948e-01 0.00000000e+00 -3.50574997e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08139457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.22, Y:-35.07, Z:-0.01 [[ 8.86210606e-01 4.63282594e-01 0.00000000e+00 1.82219896e+02] [-4.63282594e-01 8.86210606e-01 0.00000000e+00 -3.50706588e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09959431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.25, Y:-35.08, Z:-0.01 [[ 8.85560129e-01 4.64524765e-01 0.00000000e+00 1.82250828e+02] [-4.64524765e-01 8.85560129e-01 0.00000000e+00 -3.50823960e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22574533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.28, Y:-35.09, Z:-0.01 [[ 8.84980958e-01 4.65627215e-01 0.00000000e+00 1.82281971e+02] [-4.65627215e-01 8.84980958e-01 0.00000000e+00 -3.50937841e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30631806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.31, Y:-35.11, Z:-0.01 [[ 8.84388047e-01 4.66752378e-01 0.00000000e+00 1.82311624e+02] [-4.66752378e-01 8.84388047e-01 0.00000000e+00 -3.51054392e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30365962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.34, Y:-35.12, Z:-0.01 [[ 8.83728536e-01 4.67999866e-01 0.00000000e+00 1.82339516e+02] [-4.67999866e-01 8.83728536e-01 0.00000000e+00 -3.51172641e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11988707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.37, Y:-35.13, Z:-0.01 [[ 8.83553072e-01 4.68331046e-01 0.00000000e+00 1.82370186e+02] [-4.68331046e-01 8.83553072e-01 0.00000000e+00 -3.51284949e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10907764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.40, Y:-35.14, Z:-0.01 [[ 8.83318090e-01 4.68774095e-01 0.00000000e+00 1.82400328e+02] [-4.68774095e-01 8.83318090e-01 0.00000000e+00 -3.51383586e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27263180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.43, Y:-35.15, Z:-0.01 [[ 8.83238346e-01 4.68924326e-01 0.00000000e+00 1.82431476e+02] [-4.68924326e-01 8.83238346e-01 0.00000000e+00 -3.51486915e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45150525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.46, Y:-35.16, Z:-0.02 [[ 8.83836381e-01 4.67796165e-01 0.00000000e+00 1.82462197e+02] [-4.67796165e-01 8.83836381e-01 0.00000000e+00 -3.51590134e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55999740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.49, Y:-35.17, Z:-0.01 [[ 8.84314723e-01 4.66891283e-01 0.00000000e+00 1.82492923e+02] [-4.66891283e-01 8.84314723e-01 0.00000000e+00 -3.51706372e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20853533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.52, Y:-35.18, Z:-0.01 [[ 8.84831738e-01 4.65910717e-01 0.00000000e+00 1.82521836e+02] [-4.65910717e-01 8.84831738e-01 0.00000000e+00 -3.51804797e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.21348022e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.55, Y:-35.19, Z:-0.01 [[ 8.85427498e-01 4.64777523e-01 0.00000000e+00 1.82551255e+02] [-4.64777523e-01 8.85427498e-01 0.00000000e+00 -3.51899962e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.26346744e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.58, Y:-35.20, Z:-0.01 [[ 8.86048882e-01 4.63591823e-01 0.00000000e+00 1.82578307e+02] [-4.63591823e-01 8.86048882e-01 0.00000000e+00 -3.51987290e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.70354482e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.61, Y:-35.21, Z:-0.01 [[ 8.87344731e-01 4.61106635e-01 0.00000000e+00 1.82606967e+02] [-4.61106635e-01 8.87344731e-01 0.00000000e+00 -3.52078278e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04138595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.64, Y:-35.22, Z:-0.01 [[ 8.87652578e-01 4.60513735e-01 0.00000000e+00 1.82637935e+02] [-4.60513735e-01 8.87652578e-01 0.00000000e+00 -3.52196430e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.84379978e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.67, Y:-35.23, Z:-0.01 [[ 8.87562707e-01 4.60686923e-01 0.00000000e+00 1.82667807e+02] [-4.60686923e-01 8.87562707e-01 0.00000000e+00 -3.52298046e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.14785968e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.70, Y:-35.23, Z:-0.01 [[ 8.86602929e-01 4.62531346e-01 0.00000000e+00 1.82695905e+02] [-4.62531346e-01 8.86602929e-01 0.00000000e+00 -3.52323356e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.09179629e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.61140051299998 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:182.72, Y:-35.24, Z:-0.01 [[ 8.85831516e-01 4.64007032e-01 0.00000000e+00 1.82724433e+02] [-4.64007032e-01 8.85831516e-01 0.00000000e+00 -3.52394867e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.85594179e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.75, Y:-35.25, Z:-0.01 [[ 8.84886606e-01 4.65806500e-01 0.00000000e+00 1.82752438e+02] [-4.65806500e-01 8.84886606e-01 0.00000000e+00 -3.52473045e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.81373291e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.78, Y:-35.25, Z:-0.01 [[ 8.84111411e-01 4.67276164e-01 0.00000000e+00 1.82779111e+02] [-4.67276164e-01 8.84111411e-01 0.00000000e+00 -3.52544577e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05293106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70140051299998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:182.81, Y:-35.26, Z:-0.01 [[ 8.83328607e-01 4.68754276e-01 0.00000000e+00 1.82807593e+02] [-4.68754276e-01 8.83328607e-01 0.00000000e+00 -3.52586349e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20864230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.83, Y:-35.27, Z:-0.01 [[ 8.83398634e-01 4.68622293e-01 0.00000000e+00 1.82834175e+02] [-4.68622293e-01 8.83398634e-01 0.00000000e+00 -3.52654046e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43435806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.86, Y:-35.27, Z:-0.02 [[ 8.84133899e-01 4.67233612e-01 0.00000000e+00 1.82861906e+02] [-4.67233612e-01 8.84133899e-01 0.00000000e+00 -3.52725845e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53621448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.89, Y:-35.28, Z:-0.01 [[ 8.87379377e-01 4.61039956e-01 0.00000000e+00 1.82888999e+02] [-4.61039956e-01 8.87379377e-01 0.00000000e+00 -3.52791475e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44712484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.91, Y:-35.29, Z:-0.01 [[ 8.89441398e-01 4.57049231e-01 0.00000000e+00 1.82914158e+02] [-4.57049231e-01 8.89441398e-01 0.00000000e+00 -3.52877765e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45275625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.94, Y:-35.30, Z:-0.02 [[ 8.91431280e-01 4.53155903e-01 0.00000000e+00 1.82941000e+02] [-4.53155903e-01 8.91431280e-01 0.00000000e+00 -3.52971444e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52374868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.97, Y:-35.31, Z:-0.02 [[ 8.93270752e-01 4.49519037e-01 0.00000000e+00 1.82966976e+02] [-4.49519037e-01 8.93270752e-01 0.00000000e+00 -3.53068930e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62972100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.99, Y:-35.32, Z:-0.02 [[ 8.95523154e-01 4.45014922e-01 0.00000000e+00 1.82992539e+02] [-4.45014922e-01 8.95523154e-01 0.00000000e+00 -3.53192877e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51095737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.02, Y:-35.33, Z:-0.01 [[ 8.96023755e-01 4.44006114e-01 0.00000000e+00 1.83017421e+02] [-4.44006114e-01 8.96023755e-01 0.00000000e+00 -3.53311979e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42948184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.04, Y:-35.34, Z:-0.01 [[ 8.96058803e-01 4.43935379e-01 0.00000000e+00 1.83043014e+02] [-4.43935379e-01 8.96058803e-01 0.00000000e+00 -3.53434583e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39503632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.07, Y:-35.36, Z:-0.01 [[ 8.95803349e-01 4.44450627e-01 0.00000000e+00 1.83068049e+02] [-4.44450627e-01 8.95803349e-01 0.00000000e+00 -3.53551025e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48963074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.09, Y:-35.37, Z:-0.02 [[ 8.95415080e-01 4.45232337e-01 0.00000000e+00 1.83093961e+02] [-4.45232337e-01 8.95415080e-01 0.00000000e+00 -3.53691203e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71956902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.12, Y:-35.38, Z:-0.02 [[ 8.95512260e-01 4.45036844e-01 0.00000000e+00 1.83120073e+02] [-4.45036844e-01 8.95512260e-01 0.00000000e+00 -3.53822584e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72358992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.15, Y:-35.39, Z:-0.02 [[ 8.96030509e-01 4.43992485e-01 0.00000000e+00 1.83145107e+02] [-4.43992485e-01 8.96030509e-01 0.00000000e+00 -3.53945258e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71056120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.17, Y:-35.41, Z:-0.02 [[ 8.97063619e-01 4.41901418e-01 0.00000000e+00 1.83171394e+02] [-4.41901418e-01 8.97063619e-01 0.00000000e+00 -3.54066304e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60275227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.20, Y:-35.42, Z:-0.02 [[ 8.99914811e-01 4.36065745e-01 0.00000000e+00 1.83196231e+02] [-4.36065745e-01 8.99914811e-01 0.00000000e+00 -3.54210875e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75376007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.181400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:183.22, Y:-35.43, Z:-0.02 [[ 9.01259236e-01 4.33280266e-01 0.00000000e+00 1.83219873e+02] [-4.33280266e-01 9.01259236e-01 0.00000000e+00 -3.54342424e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99333466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21140051299997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:183.25, Y:-35.45, Z:-0.02 [[ 9.02815882e-01 4.30027305e-01 0.00000000e+00 1.83245794e+02] [-4.30027305e-01 9.02815882e-01 0.00000000e+00 -3.54483745e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97923620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.27, Y:-35.46, Z:-0.02 [[ 9.04225689e-01 4.27054917e-01 0.00000000e+00 1.83271563e+02] [-4.27054917e-01 9.04225689e-01 0.00000000e+00 -3.54623202e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83331122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.30, Y:-35.48, Z:-0.02 [[ 9.06886040e-01 4.21375972e-01 0.00000000e+00 1.83299249e+02] [-4.21375972e-01 9.06886040e-01 0.00000000e+00 -3.54785331e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54300245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.33, Y:-35.49, Z:-0.02 [[ 9.08014724e-01 4.18938255e-01 0.00000000e+00 1.83327681e+02] [-4.18938255e-01 9.08014724e-01 0.00000000e+00 -3.54939393e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53596435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.33140051299998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:183.36, Y:-35.51, Z:-0.02 [[ 9.09067453e-01 4.16648973e-01 0.00000000e+00 1.83356864e+02] [-4.16648973e-01 9.09067453e-01 0.00000000e+00 -3.55106847e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58278965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.38, Y:-35.53, Z:-0.02 [[ 9.09873219e-01 4.14886400e-01 0.00000000e+00 1.83384704e+02] [-4.14886400e-01 9.09873219e-01 0.00000000e+00 -3.55271640e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57180409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.41, Y:-35.54, Z:-0.01 [[ 9.10505115e-01 4.13497805e-01 0.00000000e+00 1.83413407e+02] [-4.13497805e-01 9.10505115e-01 0.00000000e+00 -3.55424883e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47182103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.44, Y:-35.56, Z:-0.01 [[ 9.11109953e-01 4.12163383e-01 0.00000000e+00 1.83442911e+02] [-4.12163383e-01 9.11109953e-01 0.00000000e+00 -3.55575508e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28881133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.45140051299998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:183.47, Y:-35.57, Z:-0.02 [[ 9.10875349e-01 4.12681595e-01 0.00000000e+00 1.83472750e+02] [-4.12681595e-01 9.10875349e-01 0.00000000e+00 -3.55717026e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51924891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.50, Y:-35.59, Z:-0.02 [[ 9.10148821e-01 4.14281455e-01 0.00000000e+00 1.83501814e+02] [-4.14281455e-01 9.10148821e-01 0.00000000e+00 -3.55872116e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75020379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.53, Y:-35.60, Z:-0.02 [[ 9.08059911e-01 4.18840300e-01 0.00000000e+00 1.83530666e+02] [-4.18840300e-01 9.08059911e-01 0.00000000e+00 -3.56040180e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92152767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:183.56, Y:-35.62, Z:-0.02 [[ 9.06824117e-01 4.21509218e-01 0.00000000e+00 1.83559793e+02] [-4.21509218e-01 9.06824117e-01 0.00000000e+00 -3.56170530e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90575109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.59, Y:-35.63, Z:-0.02 [[ 9.05824954e-01 4.23652161e-01 0.00000000e+00 1.83589925e+02] [-4.23652161e-01 9.05824954e-01 0.00000000e+00 -3.56307470e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83635893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.62, Y:-35.64, Z:-0.02 [[ 9.04936374e-01 4.25546893e-01 0.00000000e+00 1.83618639e+02] [-4.25546893e-01 9.04936374e-01 0.00000000e+00 -3.56447044e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.98708402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.65, Y:-35.66, Z:-0.02 [[ 9.02804105e-01 4.30052030e-01 0.00000000e+00 1.83646032e+02] [-4.30052030e-01 9.02804105e-01 0.00000000e+00 -3.56606463e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11004115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.68, Y:-35.68, Z:-0.02 [[ 9.01667327e-01 4.32430377e-01 0.00000000e+00 1.83675141e+02] [-4.32430377e-01 9.01667327e-01 0.00000000e+00 -3.56751351e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95517058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.70, Y:-35.69, Z:-0.02 [[ 9.00427013e-01 4.35007120e-01 0.00000000e+00 1.83704806e+02] [-4.35007120e-01 9.00427013e-01 0.00000000e+00 -3.56904734e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76845697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.721400513 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:183.73, Y:-35.71, Z:-0.02 [[ 8.99115502e-01 4.37711450e-01 0.00000000e+00 1.83734190e+02] [-4.37711450e-01 8.99115502e-01 0.00000000e+00 -3.57064377e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58927055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.76, Y:-35.72, Z:-0.02 [[ 8.97427835e-01 4.41161287e-01 0.00000000e+00 1.83761884e+02] [-4.41161287e-01 8.97427835e-01 0.00000000e+00 -3.57218481e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78025159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.79, Y:-35.74, Z:-0.02 [[ 8.96378041e-01 4.43290433e-01 0.00000000e+00 1.83792071e+02] [-4.43290433e-01 8.96378041e-01 0.00000000e+00 -3.57357782e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81508718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.82, Y:-35.75, Z:-0.02 [[ 8.96297680e-01 4.43452894e-01 0.00000000e+00 1.83822787e+02] [-4.43452894e-01 8.96297680e-01 0.00000000e+00 -3.57490628e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81508718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.85, Y:-35.76, Z:-0.02 [[ 8.94208619e-01 4.47650473e-01 0.00000000e+00 1.83850753e+02] [-4.47650473e-01 8.94208619e-01 0.00000000e+00 -3.57637904e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56217451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.88, Y:-35.78, Z:-0.01 [[ 8.93422597e-01 4.49217167e-01 0.00000000e+00 1.83880113e+02] [-4.49217167e-01 8.93422597e-01 0.00000000e+00 -3.57780629e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37803499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.91, Y:-35.79, Z:-0.01 [[ 8.92595375e-01 4.50858622e-01 0.00000000e+00 1.83909101e+02] [-4.50858622e-01 8.92595375e-01 0.00000000e+00 -3.57914810e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35513313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.94, Y:-35.80, Z:-0.01 [[ 8.91904230e-01 4.52224330e-01 0.00000000e+00 1.83937033e+02] [-4.52224330e-01 8.91904230e-01 0.00000000e+00 -3.58034028e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45439340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.96, Y:-35.81, Z:-0.02 [[ 8.91534692e-01 4.52952418e-01 0.00000000e+00 1.83964078e+02] [-4.52952418e-01 8.91534692e-01 0.00000000e+00 -3.58148430e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60972670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.99, Y:-35.83, Z:-0.02 [[ 8.91678744e-01 4.52668771e-01 0.00000000e+00 1.83993768e+02] [-4.52668771e-01 8.91678744e-01 0.00000000e+00 -3.58301484e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87568047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.02, Y:-35.84, Z:-0.02 [[ 8.91924906e-01 4.52183549e-01 0.00000000e+00 1.84023107e+02] [-4.52183549e-01 8.91924906e-01 0.00000000e+00 -3.58445019e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84318304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.05, Y:-35.86, Z:-0.02 [[ 8.91903842e-01 4.52225095e-01 0.00000000e+00 1.84052802e+02] [-4.52225095e-01 8.91903842e-01 0.00000000e+00 -3.58580926e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72285645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08140051299998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:184.08, Y:-35.87, Z:-0.02 [[ 8.91649224e-01 4.52726917e-01 0.00000000e+00 1.84083110e+02] [-4.52726917e-01 8.91649224e-01 0.00000000e+00 -3.58700790e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63075806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.11, Y:-35.88, Z:-0.02 [[ 8.90585020e-01 4.54816801e-01 0.00000000e+00 1.84113775e+02] [-4.54816801e-01 8.90585020e-01 0.00000000e+00 -3.58796063e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65783632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.14, Y:-35.89, Z:-0.02 [[ 8.89929526e-01 4.56098059e-01 0.00000000e+00 1.84144113e+02] [-4.56098059e-01 8.89929526e-01 0.00000000e+00 -3.58913859e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73638182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.17, Y:-35.90, Z:-0.02 [[ 8.89411975e-01 4.57106485e-01 0.00000000e+00 1.84174443e+02] [-4.57106485e-01 8.89411975e-01 0.00000000e+00 -3.59032072e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67450770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.20, Y:-35.91, Z:-0.02 [[ 8.89119606e-01 4.57674914e-01 0.00000000e+00 1.84204313e+02] [-4.57674914e-01 8.89119606e-01 0.00000000e+00 -3.59146895e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58709751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.23, Y:-35.93, Z:-0.02 [[ 8.89176324e-01 4.57564711e-01 0.00000000e+00 1.84234983e+02] [-4.57564711e-01 8.89176324e-01 0.00000000e+00 -3.59267328e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55525284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.27, Y:-35.94, Z:-0.02 [[ 8.89631443e-01 4.56679204e-01 0.00000000e+00 1.84265599e+02] [-4.56679204e-01 8.89631443e-01 0.00000000e+00 -3.59397010e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62870465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.29, Y:-35.95, Z:-0.02 [[ 8.89928087e-01 4.56100865e-01 0.00000000e+00 1.84294584e+02] [-4.56100865e-01 8.89928087e-01 0.00000000e+00 -3.59525388e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67900806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.32, Y:-35.96, Z:-0.02 [[ 8.90455913e-01 4.55069519e-01 0.00000000e+00 1.84323634e+02] [-4.55069519e-01 8.90455913e-01 0.00000000e+00 -3.59648638e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69565375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.35, Y:-35.98, Z:-0.02 [[ 8.91116568e-01 4.53774462e-01 0.00000000e+00 1.84354480e+02] [-4.53774462e-01 8.91116568e-01 0.00000000e+00 -3.59768531e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66875281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.39, Y:-35.99, Z:-0.02 [[ 8.91634416e-01 4.52756079e-01 0.00000000e+00 1.84385187e+02] [-4.52756079e-01 8.91634416e-01 0.00000000e+00 -3.59854583e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81844359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.41, Y:-36.00, Z:-0.02 [[ 8.91383142e-01 4.53250586e-01 0.00000000e+00 1.84414115e+02] [-4.53250586e-01 8.91383142e-01 0.00000000e+00 -3.59969704e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.82941416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.44, Y:-36.01, Z:-0.02 [[ 8.90795551e-01 4.54404320e-01 0.00000000e+00 1.84444138e+02] [-4.54404320e-01 8.90795551e-01 0.00000000e+00 -3.60104663e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75390697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.47, Y:-36.02, Z:-0.02 [[ 8.90322713e-01 4.55330063e-01 0.00000000e+00 1.84473696e+02] [-4.55330063e-01 8.90322713e-01 0.00000000e+00 -3.60228508e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72162289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.50, Y:-36.04, Z:-0.02 [[ 8.89894400e-01 4.56166588e-01 0.00000000e+00 1.84504875e+02] [-4.56166588e-01 8.89894400e-01 0.00000000e+00 -3.60350267e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71445772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.54, Y:-36.05, Z:-0.02 [[ 8.89421531e-01 4.57087892e-01 0.00000000e+00 1.84535443e+02] [-4.57087892e-01 8.89421531e-01 0.00000000e+00 -3.60478903e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77132761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.56, Y:-36.06, Z:-0.02 [[ 8.88257974e-01 4.59344938e-01 0.00000000e+00 1.84562554e+02] [-4.59344938e-01 8.88257974e-01 0.00000000e+00 -3.60628831e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13647508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.59, Y:-36.07, Z:-0.02 [[ 8.87877895e-01 4.60079171e-01 0.00000000e+00 1.84589073e+02] [-4.60079171e-01 8.87877895e-01 0.00000000e+00 -3.60748363e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41002845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.62, Y:-36.09, Z:-0.03 [[ 8.87564717e-01 4.60683050e-01 0.00000000e+00 1.84617346e+02] [-4.60683050e-01 8.87564717e-01 0.00000000e+00 -3.60855950e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.57835249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.64, Y:-36.10, Z:-0.03 [[ 8.87343301e-01 4.61109387e-01 0.00000000e+00 1.84644203e+02] [-4.61109387e-01 8.87343301e-01 0.00000000e+00 -3.60955268e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61161127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.67, Y:-36.11, Z:-0.02 [[ 8.87709853e-01 4.60403319e-01 0.00000000e+00 1.84671619e+02] [-4.60403319e-01 8.87709853e-01 0.00000000e+00 -3.61065979e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04164110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.70, Y:-36.12, Z:-0.02 [[ 8.88220457e-01 4.59417478e-01 0.00000000e+00 1.84697682e+02] [-4.59417478e-01 8.88220457e-01 0.00000000e+00 -3.61175556e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84794318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.72, Y:-36.13, Z:-0.02 [[ 8.89004049e-01 4.57899335e-01 0.00000000e+00 1.84724864e+02] [-4.57899335e-01 8.89004049e-01 0.00000000e+00 -3.61279185e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.82184206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.76, Y:-36.14, Z:-0.02 [[ 8.90811052e-01 4.54373931e-01 0.00000000e+00 1.84755723e+02] [-4.54373931e-01 8.90811052e-01 0.00000000e+00 -3.61406026e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96418181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.78, Y:-36.15, Z:-0.02 [[ 8.91858944e-01 4.52313635e-01 0.00000000e+00 1.84784185e+02] [-4.52313635e-01 8.91858944e-01 0.00000000e+00 -3.61546441e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92359752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.81, Y:-36.17, Z:-0.02 [[ 8.92892532e-01 4.50269837e-01 0.00000000e+00 1.84813916e+02] [-4.50269837e-01 8.92892532e-01 0.00000000e+00 -3.61694436e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83796512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:184.84, Y:-36.18, Z:-0.02 [[ 8.93794650e-01 4.48476447e-01 0.00000000e+00 1.84843621e+02] [-4.48476447e-01 8.93794650e-01 0.00000000e+00 -3.61832332e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75180726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.87, Y:-36.20, Z:-0.02 [[ 8.94904665e-01 4.46257370e-01 0.00000000e+00 1.84871671e+02] [-4.46257370e-01 8.94904665e-01 0.00000000e+00 -3.61978916e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52012607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.90, Y:-36.21, Z:-0.02 [[ 8.94990035e-01 4.46086133e-01 0.00000000e+00 1.84900533e+02] [-4.46086133e-01 8.94990035e-01 0.00000000e+00 -3.62124194e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54193403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.93, Y:-36.23, Z:-0.02 [[ 8.94713792e-01 4.46639934e-01 0.00000000e+00 1.84929870e+02] [-4.46639934e-01 8.94713792e-01 0.00000000e+00 -3.62273637e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62265503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.96, Y:-36.24, Z:-0.02 [[ 8.94333509e-01 4.47400911e-01 0.00000000e+00 1.84958830e+02] [-4.47400911e-01 8.94333509e-01 0.00000000e+00 -3.62416505e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71434061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.99, Y:-36.26, Z:-0.02 [[ 8.93449533e-01 4.49163592e-01 0.00000000e+00 1.84987910e+02] [-4.49163592e-01 8.93449533e-01 0.00000000e+00 -3.62567744e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63221210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.02, Y:-36.27, Z:-0.02 [[ 8.93113523e-01 4.49831340e-01 0.00000000e+00 1.85016315e+02] [-4.49831340e-01 8.93113523e-01 0.00000000e+00 -3.62712692e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57059262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.05, Y:-36.29, Z:-0.02 [[ 8.92856697e-01 4.50340891e-01 0.00000000e+00 1.85045440e+02] [-4.50340891e-01 8.92856697e-01 0.00000000e+00 -3.62868373e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51220683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.07, Y:-36.30, Z:-0.01 [[ 8.92581812e-01 4.50885471e-01 0.00000000e+00 1.85073730e+02] [-4.50885471e-01 8.92581812e-01 0.00000000e+00 -3.63018761e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41734419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.10, Y:-36.32, Z:-0.01 [[ 8.91804849e-01 4.52420281e-01 0.00000000e+00 1.85102839e+02] [-4.52420281e-01 8.91804849e-01 0.00000000e+00 -3.63185329e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39750433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.161400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:185.13, Y:-36.33, Z:-0.01 [[ 8.91702529e-01 4.52621917e-01 0.00000000e+00 1.85131579e+02] [-4.52621917e-01 8.91702529e-01 0.00000000e+00 -3.63325909e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46547128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.16, Y:-36.35, Z:-0.02 [[ 8.91820875e-01 4.52388689e-01 0.00000000e+00 1.85160852e+02] [-4.52388689e-01 8.91820875e-01 0.00000000e+00 -3.63481853e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54412554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.19, Y:-36.36, Z:-0.02 [[ 8.92053813e-01 4.51929191e-01 0.00000000e+00 1.85190188e+02] [-4.51929191e-01 8.92053813e-01 0.00000000e+00 -3.63641286e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72107326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.22, Y:-36.38, Z:-0.02 [[ 8.92778982e-01 4.50494937e-01 0.00000000e+00 1.85217422e+02] [-4.50494937e-01 8.92778982e-01 0.00000000e+00 -3.63827518e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11490560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.25, Y:-36.40, Z:-0.02 [[ 8.92958717e-01 4.50138567e-01 0.00000000e+00 1.85245975e+02] [-4.50138567e-01 8.92958717e-01 0.00000000e+00 -3.63977836e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27301954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.27, Y:-36.41, Z:-0.02 [[ 8.92662763e-01 4.50725184e-01 0.00000000e+00 1.85274417e+02] [-4.50725184e-01 8.92662763e-01 0.00000000e+00 -3.64125960e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35962265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.30, Y:-36.43, Z:-0.02 [[ 8.91977851e-01 4.52079101e-01 0.00000000e+00 1.85302936e+02] [-4.52079101e-01 8.91977851e-01 0.00000000e+00 -3.64272891e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.39909211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.33, Y:-36.44, Z:-0.02 [[ 8.91143755e-01 4.53721068e-01 0.00000000e+00 1.85332108e+02] [-4.53721068e-01 8.91143755e-01 0.00000000e+00 -3.64423791e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35457912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.36, Y:-36.46, Z:-0.02 [[ 8.89513578e-01 4.56908737e-01 0.00000000e+00 1.85361620e+02] [-4.56908737e-01 8.89513578e-01 0.00000000e+00 -3.64576031e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12378264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.39, Y:-36.47, Z:-0.02 [[ 8.88744937e-01 4.58402048e-01 0.00000000e+00 1.85391179e+02] [-4.58402048e-01 8.88744937e-01 0.00000000e+00 -3.64705339e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05649171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.42, Y:-36.48, Z:-0.02 [[ 8.87278341e-01 4.61234373e-01 0.00000000e+00 1.85421054e+02] [-4.61234373e-01 8.87278341e-01 0.00000000e+00 -3.64838019e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81297332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.45, Y:-36.50, Z:-0.02 [[ 8.86977077e-01 4.61813453e-01 0.00000000e+00 1.85449425e+02] [-4.61813453e-01 8.86977077e-01 0.00000000e+00 -3.64978787e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73313049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.48, Y:-36.51, Z:-0.02 [[ 8.87171557e-01 4.61439734e-01 0.00000000e+00 1.85478360e+02] [-4.61439734e-01 8.87171557e-01 0.00000000e+00 -3.65131843e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65443340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.51, Y:-36.53, Z:-0.02 [[ 8.87700919e-01 4.60420545e-01 0.00000000e+00 1.85507859e+02] [-4.60420545e-01 8.87700919e-01 0.00000000e+00 -3.65279389e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68407257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.54, Y:-36.54, Z:-0.02 [[ 8.89149285e-01 4.57617251e-01 0.00000000e+00 1.85536741e+02] [-4.57617251e-01 8.89149285e-01 0.00000000e+00 -3.65421697e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95678081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.57, Y:-36.56, Z:-0.02 [[ 8.89797087e-01 4.56356379e-01 0.00000000e+00 1.85565636e+02] [-4.56356379e-01 8.89797087e-01 0.00000000e+00 -3.65573798e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91576620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.59, Y:-36.57, Z:-0.02 [[ 8.90365428e-01 4.55246532e-01 0.00000000e+00 1.85593801e+02] [-4.55246532e-01 8.90365428e-01 0.00000000e+00 -3.65737343e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88592307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.62, Y:-36.59, Z:-0.02 [[ 8.90787514e-01 4.54420076e-01 0.00000000e+00 1.85622308e+02] [-4.54420076e-01 8.90787514e-01 0.00000000e+00 -3.65906999e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88003866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.65, Y:-36.60, Z:-0.02 [[ 8.90706961e-01 4.54577946e-01 0.00000000e+00 1.85652895e+02] [-4.54577946e-01 8.90706961e-01 0.00000000e+00 -3.66042596e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88003866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.68, Y:-36.62, Z:-0.02 [[ 8.90960537e-01 4.54080743e-01 0.00000000e+00 1.85679257e+02] [-4.54080743e-01 8.90960537e-01 0.00000000e+00 -3.66217311e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28934118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.71, Y:-36.64, Z:-0.02 [[ 8.90564889e-01 4.54856217e-01 0.00000000e+00 1.85707927e+02] [-4.54856217e-01 8.90564889e-01 0.00000000e+00 -3.66368186e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.40798217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.74, Y:-36.65, Z:-0.02 [[ 8.90005276e-01 4.55950226e-01 0.00000000e+00 1.85737074e+02] [-4.55950226e-01 8.90005276e-01 0.00000000e+00 -3.66527788e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.15828177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.77, Y:-36.67, Z:-0.02 [[ 8.89108799e-01 4.57695908e-01 0.00000000e+00 1.85765529e+02] [-4.57695908e-01 8.89108799e-01 0.00000000e+00 -3.66687614e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93925941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.79, Y:-36.68, Z:-0.02 [[ 8.86323024e-01 4.63067486e-01 0.00000000e+00 1.85793858e+02] [-4.63067486e-01 8.86323024e-01 0.00000000e+00 -3.66845311e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71243982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.82, Y:-36.70, Z:-0.02 [[ 8.84703957e-01 4.66153311e-01 0.00000000e+00 1.85823193e+02] [-4.66153311e-01 8.84703957e-01 0.00000000e+00 -3.66972249e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71260388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.85, Y:-36.71, Z:-0.02 [[ 8.83199540e-01 4.68997413e-01 0.00000000e+00 1.85853500e+02] [-4.68997413e-01 8.83199540e-01 0.00000000e+00 -3.67095399e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79470902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.88, Y:-36.72, Z:-0.02 [[ 8.80621227e-01 4.73820909e-01 0.00000000e+00 1.85882731e+02] [-4.73820909e-01 8.80621227e-01 0.00000000e+00 -3.67213703e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73289253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.91, Y:-36.73, Z:-0.02 [[ 8.79669237e-01 4.75585990e-01 0.00000000e+00 1.85913017e+02] [-4.75585990e-01 8.79669237e-01 0.00000000e+00 -3.67344937e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58242384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.94, Y:-36.75, Z:-0.01 [[ 8.78975249e-01 4.76867393e-01 0.00000000e+00 1.85943165e+02] [-4.76867393e-01 8.78975249e-01 0.00000000e+00 -3.67469512e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48486432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.97, Y:-36.76, Z:-0.02 [[ 8.78472394e-01 4.77793107e-01 0.00000000e+00 1.85974010e+02] [-4.77793107e-01 8.78472394e-01 0.00000000e+00 -3.67589323e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53907077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.00, Y:-36.77, Z:-0.02 [[ 8.78278238e-01 4.78149910e-01 0.00000000e+00 1.86004129e+02] [-4.78149910e-01 8.78278238e-01 0.00000000e+00 -3.67696203e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76344939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.04, Y:-36.78, Z:-0.02 [[ 8.78603436e-01 4.77552094e-01 0.00000000e+00 1.86036685e+02] [-4.77552094e-01 8.78603436e-01 0.00000000e+00 -3.67779097e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91171000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.07, Y:-36.79, Z:-0.02 [[ 8.79092976e-01 4.76650333e-01 0.00000000e+00 1.86066239e+02] [-4.76650333e-01 8.79092976e-01 0.00000000e+00 -3.67894750e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72294366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.10, Y:-36.80, Z:-0.02 [[ 8.80023500e-01 4.74930142e-01 0.00000000e+00 1.86097031e+02] [-4.74930142e-01 8.80023500e-01 0.00000000e+00 -3.68013999e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52332237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.13, Y:-36.81, Z:-0.01 [[ 8.81138331e-01 4.72858585e-01 0.00000000e+00 1.86128205e+02] [-4.72858585e-01 8.81138331e-01 0.00000000e+00 -3.68132941e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44305916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.16, Y:-36.82, Z:-0.02 [[ 8.84201477e-01 4.67105714e-01 0.00000000e+00 1.86160076e+02] [-4.67105714e-01 8.84201477e-01 0.00000000e+00 -3.68208977e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72974824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.19, Y:-36.83, Z:-0.02 [[ 8.85634160e-01 4.64383608e-01 0.00000000e+00 1.86190900e+02] [-4.64383608e-01 8.85634160e-01 0.00000000e+00 -3.68325137e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78245646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.22, Y:-36.84, Z:-0.02 [[ 8.86887619e-01 4.61985229e-01 0.00000000e+00 1.86221917e+02] [-4.61985229e-01 8.86887619e-01 0.00000000e+00 -3.68449671e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80257302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.25, Y:-36.85, Z:-0.02 [[ 8.88462454e-01 4.58949308e-01 0.00000000e+00 1.86252488e+02] [-4.58949308e-01 8.88462454e-01 0.00000000e+00 -3.68539111e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.82562123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.28, Y:-36.86, Z:-0.02 [[ 8.88940551e-01 4.58022594e-01 0.00000000e+00 1.86284197e+02] [-4.58022594e-01 8.88940551e-01 0.00000000e+00 -3.68643428e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78582333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.31, Y:-36.88, Z:-0.02 [[ 8.89289431e-01 4.57344847e-01 0.00000000e+00 1.86314562e+02] [-4.57344847e-01 8.89289431e-01 0.00000000e+00 -3.68753029e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68289222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.34, Y:-36.89, Z:-0.02 [[ 8.89553155e-01 4.56831680e-01 0.00000000e+00 1.86344213e+02] [-4.56831680e-01 8.89553155e-01 0.00000000e+00 -3.68875602e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56739627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.37, Y:-36.90, Z:-0.02 [[ 8.90119946e-01 4.55726322e-01 0.00000000e+00 1.86373832e+02] [-4.55726322e-01 8.90119946e-01 0.00000000e+00 -3.69004954e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60267879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.40, Y:-36.91, Z:-0.02 [[ 8.90433957e-01 4.55112479e-01 0.00000000e+00 1.86403492e+02] [-4.55112479e-01 8.90433957e-01 0.00000000e+00 -3.69135467e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69834777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.43, Y:-36.93, Z:-0.02 [[ 8.90760527e-01 4.54472974e-01 0.00000000e+00 1.86433746e+02] [-4.54472974e-01 8.90760527e-01 0.00000000e+00 -3.69271107e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77059647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.46, Y:-36.94, Z:-0.02 [[ 8.90961396e-01 4.54079057e-01 0.00000000e+00 1.86462633e+02] [-4.54079057e-01 8.90961396e-01 0.00000000e+00 -3.69406378e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77654481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.49, Y:-36.95, Z:-0.02 [[ 8.90757944e-01 4.54478036e-01 0.00000000e+00 1.86492433e+02] [-4.54478036e-01 8.90757944e-01 0.00000000e+00 -3.69549360e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63782335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.52, Y:-36.97, Z:-0.02 [[ 8.90190701e-01 4.55588098e-01 0.00000000e+00 1.86522035e+02] [-4.55588098e-01 8.90190701e-01 0.00000000e+00 -3.69681259e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58545089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.55, Y:-36.98, Z:-0.02 [[ 8.89184049e-01 4.57549700e-01 0.00000000e+00 1.86550955e+02] [-4.57549700e-01 8.89184049e-01 0.00000000e+00 -3.69807971e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50053127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.58, Y:-36.99, Z:-0.02 [[ 8.86524411e-01 4.62681823e-01 0.00000000e+00 1.86581508e+02] [-4.62681823e-01 8.86524411e-01 0.00000000e+00 -3.69928934e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76933494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.61, Y:-37.01, Z:-0.02 [[ 8.85253128e-01 4.65109556e-01 0.00000000e+00 1.86611077e+02] [-4.65109556e-01 8.85253128e-01 0.00000000e+00 -3.70056327e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04520671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.64, Y:-37.02, Z:-0.02 [[ 8.84208954e-01 4.67091561e-01 0.00000000e+00 1.86640613e+02] [-4.67091561e-01 8.84208954e-01 0.00000000e+00 -3.70190360e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.18736149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.67, Y:-37.03, Z:-0.02 [[ 8.83461895e-01 4.68503021e-01 0.00000000e+00 1.86670941e+02] [-4.68503021e-01 8.83461895e-01 0.00000000e+00 -3.70330480e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09638916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.70, Y:-37.05, Z:-0.02 [[ 8.83129906e-01 4.69128522e-01 0.00000000e+00 1.86701144e+02] [-4.69128522e-01 8.83129906e-01 0.00000000e+00 -3.70473101e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77582185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.73, Y:-37.06, Z:-0.02 [[ 8.83369190e-01 4.68677794e-01 0.00000000e+00 1.86731148e+02] [-4.68677794e-01 8.83369190e-01 0.00000000e+00 -3.70606714e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72883227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.76, Y:-37.07, Z:-0.02 [[ 8.83760241e-01 4.67939992e-01 0.00000000e+00 1.86760057e+02] [-4.67939992e-01 8.83760241e-01 0.00000000e+00 -3.70739037e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.82188657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.79, Y:-37.09, Z:-0.02 [[ 8.84143045e-01 4.67216305e-01 0.00000000e+00 1.86789436e+02] [-4.67216305e-01 8.84143045e-01 0.00000000e+00 -3.70884398e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83087485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.82, Y:-37.11, Z:-0.02 [[ 8.84339829e-01 4.66843729e-01 0.00000000e+00 1.86816938e+02] [-4.66843729e-01 8.84339829e-01 0.00000000e+00 -3.71050531e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67381356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.85, Y:-37.12, Z:-0.02 [[ 8.84056583e-01 4.67379886e-01 0.00000000e+00 1.86846195e+02] [-4.67379886e-01 8.84056583e-01 0.00000000e+00 -3.71200291e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62700948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.88, Y:-37.13, Z:-0.02 [[ 8.83504135e-01 4.68423359e-01 0.00000000e+00 1.86875375e+02] [-4.68423359e-01 8.83504135e-01 0.00000000e+00 -3.71342635e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67838808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.91, Y:-37.15, Z:-0.02 [[ 8.82133293e-01 4.70999844e-01 0.00000000e+00 1.86905048e+02] [-4.70999844e-01 8.82133293e-01 0.00000000e+00 -3.71487632e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70373434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.94, Y:-37.16, Z:-0.02 [[ 8.81498041e-01 4.72187679e-01 0.00000000e+00 1.86935692e+02] [-4.72187679e-01 8.81498041e-01 0.00000000e+00 -3.71616039e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60213553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.97, Y:-37.17, Z:-0.01 [[ 8.80845669e-01 4.73403535e-01 0.00000000e+00 1.86965037e+02] [-4.73403535e-01 8.80845669e-01 0.00000000e+00 -3.71735698e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48304862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.05140051299998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:186.99, Y:-37.19, Z:-0.01 [[ 8.80160028e-01 4.74677075e-01 0.00000000e+00 1.86994842e+02] [-4.74677075e-01 8.80160028e-01 0.00000000e+00 -3.71854557e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38231452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.02, Y:-37.20, Z:-0.02 [[ 8.79088618e-01 4.76658370e-01 0.00000000e+00 1.87024998e+02] [-4.76658370e-01 8.79088618e-01 0.00000000e+00 -3.71978671e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52675257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.06, Y:-37.21, Z:-0.02 [[ 8.78905371e-01 4.76996172e-01 0.00000000e+00 1.87055135e+02] [-4.76996172e-01 8.78905371e-01 0.00000000e+00 -3.72100533e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76564115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.09, Y:-37.22, Z:-0.02 [[ 8.79009468e-01 4.76804315e-01 0.00000000e+00 1.87086079e+02] [-4.76804315e-01 8.79009468e-01 0.00000000e+00 -3.72216300e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96702632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.12, Y:-37.23, Z:-0.02 [[ 8.80471495e-01 4.74099090e-01 0.00000000e+00 1.87117834e+02] [-4.74099090e-01 8.80471495e-01 0.00000000e+00 -3.72315214e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.94481954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.15, Y:-37.24, Z:-0.02 [[ 8.81389385e-01 4.72390465e-01 0.00000000e+00 1.87147878e+02] [-4.72390465e-01 8.81389385e-01 0.00000000e+00 -3.72437404e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91072846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.18, Y:-37.26, Z:-0.02 [[ 8.82256542e-01 4.70768939e-01 0.00000000e+00 1.87178138e+02] [-4.70768939e-01 8.82256542e-01 0.00000000e+00 -3.72557546e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70989930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.21, Y:-37.27, Z:-0.02 [[ 8.82891863e-01 4.69576361e-01 0.00000000e+00 1.87208379e+02] [-4.69576361e-01 8.82891863e-01 0.00000000e+00 -3.72669956e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64563519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.24, Y:-37.28, Z:-0.02 [[ 8.84251083e-01 4.67011801e-01 0.00000000e+00 1.87239606e+02] [-4.67011801e-01 8.84251083e-01 0.00000000e+00 -3.72761539e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79149398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.27, Y:-37.29, Z:-0.02 [[ 8.85229347e-01 4.65154817e-01 0.00000000e+00 1.87270639e+02] [-4.65154817e-01 8.85229347e-01 0.00000000e+00 -3.72886219e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89307280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.30, Y:-37.30, Z:-0.02 [[ 8.86501527e-01 4.62725667e-01 0.00000000e+00 1.87300902e+02] [-4.62725667e-01 8.86501527e-01 0.00000000e+00 -3.73001809e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90480474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.33, Y:-37.31, Z:-0.02 [[ 8.89615468e-01 4.56710324e-01 0.00000000e+00 1.87333561e+02] [-4.56710324e-01 8.89615468e-01 0.00000000e+00 -3.73089776e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84692194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.36, Y:-37.32, Z:-0.02 [[ 8.91256216e-01 4.53500118e-01 0.00000000e+00 1.87363633e+02] [-4.53500118e-01 8.91256216e-01 0.00000000e+00 -3.73211324e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79656611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.39, Y:-37.33, Z:-0.02 [[ 8.92873060e-01 4.50308448e-01 0.00000000e+00 1.87394028e+02] [-4.50308448e-01 8.92873060e-01 0.00000000e+00 -3.73349812e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65084951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.42, Y:-37.35, Z:-0.02 [[ 8.94413404e-01 4.47241169e-01 0.00000000e+00 1.87422641e+02] [-4.47241169e-01 8.94413404e-01 0.00000000e+00 -3.73483812e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63838972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.501400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:187.45, Y:-37.36, Z:-0.02 [[ 8.97149634e-01 4.41726765e-01 0.00000000e+00 1.87451077e+02] [-4.41726765e-01 8.97149634e-01 0.00000000e+00 -3.73606445e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72092728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.48, Y:-37.37, Z:-0.02 [[ 8.98126291e-01 4.39737610e-01 0.00000000e+00 1.87482170e+02] [-4.39737610e-01 8.98126291e-01 0.00000000e+00 -3.73749573e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67408291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.51, Y:-37.39, Z:-0.02 [[ 8.98629085e-01 4.38709207e-01 0.00000000e+00 1.87512577e+02] [-4.38709207e-01 8.98629085e-01 0.00000000e+00 -3.73885821e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60955875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.54, Y:-37.40, Z:-0.02 [[ 8.98798739e-01 4.38361525e-01 0.00000000e+00 1.87542769e+02] [-4.38361525e-01 8.98798739e-01 0.00000000e+00 -3.74022678e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56239596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.57, Y:-37.42, Z:-0.02 [[ 8.98717755e-01 4.38527533e-01 0.00000000e+00 1.87573216e+02] [-4.38527533e-01 8.98717755e-01 0.00000000e+00 -3.74161553e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56239596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.60, Y:-37.43, Z:-0.02 [[ 8.98902723e-01 4.38148257e-01 0.00000000e+00 1.87602807e+02] [-4.38148257e-01 8.98902723e-01 0.00000000e+00 -3.74273022e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61962863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.63, Y:-37.44, Z:-0.02 [[ 8.98881543e-01 4.38191706e-01 0.00000000e+00 1.87633491e+02] [-4.38191706e-01 8.98881543e-01 0.00000000e+00 -3.74403595e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67014714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.66, Y:-37.45, Z:-0.02 [[ 8.98891925e-01 4.38170410e-01 0.00000000e+00 1.87663426e+02] [-4.38170410e-01 8.98891925e-01 0.00000000e+00 -3.74538029e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66961885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.69, Y:-37.47, Z:-0.02 [[ 8.98979636e-01 4.37990427e-01 0.00000000e+00 1.87692053e+02] [-4.37990427e-01 8.98979636e-01 0.00000000e+00 -3.74669782e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61701898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.72, Y:-37.48, Z:-0.02 [[ 8.99253627e-01 4.37427611e-01 0.00000000e+00 1.87721849e+02] [-4.37427611e-01 8.99253627e-01 0.00000000e+00 -3.74799493e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57459341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.75, Y:-37.49, Z:-0.02 [[ 8.99043118e-01 4.37860105e-01 0.00000000e+00 1.87752665e+02] [-4.37860105e-01 8.99043118e-01 0.00000000e+00 -3.74919380e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60804202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.78, Y:-37.50, Z:-0.02 [[ 8.98534978e-01 4.38901917e-01 0.00000000e+00 1.87782374e+02] [-4.38901917e-01 8.98534978e-01 0.00000000e+00 -3.75030206e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59013246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.81, Y:-37.51, Z:-0.01 [[ 8.98120803e-01 4.39748818e-01 0.00000000e+00 1.87813503e+02] [-4.39748818e-01 8.98120803e-01 0.00000000e+00 -3.75145957e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41029661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.89140051299998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:187.85, Y:-37.52, Z:-0.01 [[ 8.97789146e-01 4.40425533e-01 0.00000000e+00 1.87845458e+02] [-4.40425533e-01 8.97789146e-01 0.00000000e+00 -3.75234468e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35136990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92140051299998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:187.88, Y:-37.53, Z:-0.01 [[ 8.97853454e-01 4.40294418e-01 0.00000000e+00 1.87875641e+02] [-4.40294418e-01 8.97853454e-01 0.00000000e+00 -3.75347301e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37856544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.91, Y:-37.55, Z:-0.01 [[ 8.98170559e-01 4.39647185e-01 0.00000000e+00 1.87906797e+02] [-4.39647185e-01 8.98170559e-01 0.00000000e+00 -3.75462719e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32215710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98140051299998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:187.94, Y:-37.56, Z:-0.01 [[ 8.98883069e-01 4.38188576e-01 0.00000000e+00 1.87936970e+02] [-4.38188576e-01 8.98883069e-01 0.00000000e+00 -3.75565168e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29818028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.97, Y:-37.56, Z:-0.01 [[ 9.00826642e-01 4.34178951e-01 0.00000000e+00 1.87969762e+02] [-4.34178951e-01 9.00826642e-01 0.00000000e+00 -3.75629666e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01114091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.00, Y:-37.57, Z:-0.01 [[ 9.02070554e-01 4.31588595e-01 0.00000000e+00 1.88000516e+02] [-4.31588595e-01 9.02070554e-01 0.00000000e+00 -3.75716978e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09956663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.071400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:188.03, Y:-37.58, Z:-0.01 [[ 9.03442163e-01 4.28709994e-01 0.00000000e+00 1.88029183e+02] [-4.28709994e-01 9.03442163e-01 0.00000000e+00 -3.75798332e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24156528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.06, Y:-37.59, Z:-0.01 [[ 9.06192361e-01 4.22865705e-01 0.00000000e+00 1.88058411e+02] [-4.22865705e-01 9.06192361e-01 0.00000000e+00 -3.75868413e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26746415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.131400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:188.09, Y:-37.60, Z:-0.01 [[ 9.07546208e-01 4.19952236e-01 0.00000000e+00 1.88085732e+02] [-4.19952236e-01 9.07546208e-01 0.00000000e+00 -3.75955562e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32765153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.161400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:188.11, Y:-37.60, Z:-0.01 [[ 9.09454238e-01 4.15804027e-01 0.00000000e+00 1.88114284e+02] [-4.15804027e-01 9.09454238e-01 0.00000000e+00 -3.76038455e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36729376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.14, Y:-37.61, Z:-0.01 [[ 9.10955038e-01 4.12505659e-01 0.00000000e+00 1.88142687e+02] [-4.12505659e-01 9.10955038e-01 0.00000000e+00 -3.76137214e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42165292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.221400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:188.17, Y:-37.62, Z:-0.02 [[ 9.13853292e-01 4.06044530e-01 0.00000000e+00 1.88169838e+02] [-4.06044530e-01 9.13853292e-01 0.00000000e+00 -3.76221953e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57176678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.251400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:188.20, Y:-37.63, Z:-0.02 [[ 9.15157848e-01 4.03095662e-01 0.00000000e+00 1.88197480e+02] [-4.03095662e-01 9.15157848e-01 0.00000000e+00 -3.76333862e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61991257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.281400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:188.22, Y:-37.64, Z:-0.02 [[ 9.16174954e-01 4.00778559e-01 0.00000000e+00 1.88224067e+02] [-4.00778559e-01 9.16174954e-01 0.00000000e+00 -3.76435918e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72710347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.311400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:188.25, Y:-37.65, Z:-0.02 [[ 9.16466426e-01 4.00111598e-01 0.00000000e+00 1.88249571e+02] [-4.00111598e-01 9.16466426e-01 0.00000000e+00 -3.76540929e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89764805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.341400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:188.28, Y:-37.66, Z:-0.02 [[ 9.17376693e-01 3.98020105e-01 0.00000000e+00 1.88276988e+02] [-3.98020105e-01 9.17376693e-01 0.00000000e+00 -3.76635498e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85949270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.30, Y:-37.68, Z:-0.02 [[ 9.17416267e-01 3.97928878e-01 0.00000000e+00 1.88303591e+02] [-3.97928878e-01 9.17416267e-01 0.00000000e+00 -3.76754618e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76526026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.401400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:188.33, Y:-37.69, Z:-0.02 [[ 9.17497518e-01 3.97741506e-01 0.00000000e+00 1.88329399e+02] [-3.97741506e-01 9.17497518e-01 0.00000000e+00 -3.76853598e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73231113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.36, Y:-37.70, Z:-0.02 [[ 9.17022336e-01 3.98835850e-01 0.00000000e+00 1.88356363e+02] [-3.98835850e-01 9.17022336e-01 0.00000000e+00 -3.76968876e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60670787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46140051299997 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:188.38, Y:-37.71, Z:-0.02 [[ 9.15960584e-01 4.01268251e-01 0.00000000e+00 1.88382745e+02] [-4.01268251e-01 9.15960584e-01 0.00000000e+00 -3.77059464e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78044526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.41, Y:-37.72, Z:-0.02 [[ 9.15425524e-01 4.02487404e-01 0.00000000e+00 1.88409862e+02] [-4.02487404e-01 9.15425524e-01 0.00000000e+00 -3.77162344e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83892862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.44, Y:-37.72, Z:-0.02 [[ 9.15275188e-01 4.02829157e-01 0.00000000e+00 1.88436954e+02] [-4.02829157e-01 9.15275188e-01 0.00000000e+00 -3.77245025e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84020524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.47, Y:-37.73, Z:-0.01 [[ 9.14921435e-01 4.03631972e-01 0.00000000e+00 1.88466112e+02] [-4.03631972e-01 9.14921435e-01 0.00000000e+00 -3.77273499e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42505146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.49, Y:-37.74, Z:-0.01 [[ 9.14600160e-01 4.04359428e-01 0.00000000e+00 1.88494084e+02] [-4.04359428e-01 9.14600160e-01 0.00000000e+00 -3.77351673e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30773425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.61140051299998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:188.52, Y:-37.74, Z:-0.01 [[ 9.14527224e-01 4.04524359e-01 0.00000000e+00 1.88521501e+02] [-4.04524359e-01 9.14527224e-01 0.00000000e+00 -3.77419326e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37571542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:188.55, Y:-37.75, Z:-0.02 [[ 9.14870332e-01 4.03747786e-01 0.00000000e+00 1.88551156e+02] [-4.03747786e-01 9.14870332e-01 0.00000000e+00 -3.77455740e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72196094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.67140051299998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:188.58, Y:-37.75, Z:-0.02 [[ 9.15674164e-01 4.01921416e-01 0.00000000e+00 1.88577278e+02] [-4.01921416e-01 9.15674164e-01 0.00000000e+00 -3.77529029e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76162135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:188.60, Y:-37.76, Z:-0.02 [[ 9.16843107e-01 3.99247688e-01 0.00000000e+00 1.88604353e+02] [-3.99247688e-01 9.16843107e-01 0.00000000e+00 -3.77615978e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69913860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.73140051299998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:188.63, Y:-37.77, Z:-0.02 [[ 9.17977273e-01 3.96632986e-01 0.00000000e+00 1.88629965e+02] [-3.96632986e-01 9.17977273e-01 0.00000000e+00 -3.77709861e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71636404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76140051299998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:188.66, Y:-37.78, Z:-0.02 [[ 9.21216733e-01 3.89049779e-01 0.00000000e+00 1.88657544e+02] [-3.89049779e-01 9.21216733e-01 0.00000000e+00 -3.77792306e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06699929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.79140051299999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:188.68, Y:-37.79, Z:-0.02 [[ 9.22657786e-01 3.85619773e-01 0.00000000e+00 1.88683732e+02] [-3.85619773e-01 9.22657786e-01 0.00000000e+00 -3.77896512e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.31623675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.821400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:188.71, Y:-37.80, Z:-0.02 [[ 9.23776129e-01 3.82932975e-01 0.00000000e+00 1.88710418e+02] [-3.82932975e-01 9.23776129e-01 0.00000000e+00 -3.78000920e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41421031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.74, Y:-37.81, Z:-0.03 [[ 9.24641773e-01 3.80838013e-01 0.00000000e+00 1.88736329e+02] [-3.80838013e-01 9.24641773e-01 0.00000000e+00 -3.78103184e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.50732087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.881400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:188.76, Y:-37.82, Z:-0.02 [[ 9.26176570e-01 3.77090122e-01 0.00000000e+00 1.88762691e+02] [-3.77090122e-01 9.26176570e-01 0.00000000e+00 -3.78215324e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03709928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.911400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:188.79, Y:-37.83, Z:-0.02 [[ 9.26599817e-01 3.76048905e-01 0.00000000e+00 1.88788622e+02] [-3.76048905e-01 9.26599817e-01 0.00000000e+00 -3.78348020e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86512293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.941400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:188.81, Y:-37.85, Z:-0.02 [[ 9.26738716e-01 3.75706471e-01 0.00000000e+00 1.88812983e+02] [-3.75706471e-01 9.26738716e-01 0.00000000e+00 -3.78479457e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78654701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.971400513 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:188.84, Y:-37.86, Z:-0.02 [[ 9.26724761e-01 3.75740890e-01 0.00000000e+00 1.88837441e+02] [-3.75740890e-01 9.26724761e-01 0.00000000e+00 -3.78600325e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85929163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.001400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:188.86, Y:-37.87, Z:-0.02 [[ 9.26482717e-01 3.76337316e-01 0.00000000e+00 1.88864607e+02] [-3.76337316e-01 9.26482717e-01 0.00000000e+00 -3.78706770e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09220309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.031400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:188.89, Y:-37.88, Z:-0.02 [[ 9.26526195e-01 3.76230261e-01 0.00000000e+00 1.88890788e+02] [-3.76230261e-01 9.26526195e-01 0.00000000e+00 -3.78806856e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.36060944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.061400513 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:188.92, Y:-37.89, Z:-0.02 [[ 9.26576070e-01 3.76107414e-01 0.00000000e+00 1.88917285e+02] [-3.76107414e-01 9.26576070e-01 0.00000000e+00 -3.78916250e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38840717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.091400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:188.94, Y:-37.90, Z:-0.02 [[ 9.26366505e-01 3.76623284e-01 0.00000000e+00 1.88942841e+02] [-3.76623284e-01 9.26366505e-01 0.00000000e+00 -3.79037777e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30930270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.121400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:188.97, Y:-37.92, Z:-0.02 [[ 9.26044917e-01 3.77413316e-01 0.00000000e+00 1.88968878e+02] [-3.77413316e-01 9.26044917e-01 0.00000000e+00 -3.79164505e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04267766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.151400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:188.99, Y:-37.93, Z:-0.02 [[ 9.25654151e-01 3.78370707e-01 0.00000000e+00 1.88994745e+02] [-3.78370707e-01 9.25654151e-01 0.00000000e+00 -3.79282615e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88741087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.181400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:189.02, Y:-37.94, Z:-0.02 [[ 9.25266927e-01 3.79316641e-01 0.00000000e+00 1.89020409e+02] [-3.79316641e-01 9.25266927e-01 0.00000000e+00 -3.79390262e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83393206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21140051299997 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:189.05, Y:-37.95, Z:-0.02 [[ 9.24822158e-01 3.80399759e-01 0.00000000e+00 1.89046204e+02] [-3.80399759e-01 9.24822158e-01 0.00000000e+00 -3.79485172e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91959641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24140051299997 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:189.07, Y:-37.96, Z:-0.02 [[ 9.24930578e-01 3.80136062e-01 0.00000000e+00 1.89072020e+02] [-3.80136062e-01 9.24930578e-01 0.00000000e+00 -3.79605005e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89274611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.27140051299997 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:189.10, Y:-37.97, Z:-0.02 [[ 9.25207783e-01 3.79460877e-01 0.00000000e+00 1.89096371e+02] [-3.79460877e-01 9.25207783e-01 0.00000000e+00 -3.79721724e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92646271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30140051299998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:189.12, Y:-37.98, Z:-0.02 [[ 9.26088416e-01 3.77306567e-01 0.00000000e+00 1.89122122e+02] [-3.77306567e-01 9.26088416e-01 0.00000000e+00 -3.79829759e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81715567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.33140051299998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:189.15, Y:-37.99, Z:-0.02 [[ 9.26526107e-01 3.76230478e-01 0.00000000e+00 1.89147934e+02] [-3.76230478e-01 9.26526107e-01 0.00000000e+00 -3.79934992e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70278860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36140051299998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:189.17, Y:-38.00, Z:-0.02 [[ 9.26733218e-01 3.75720033e-01 0.00000000e+00 1.89173856e+02] [-3.75720033e-01 9.26733218e-01 0.00000000e+00 -3.80036095e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58508635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.39140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:189.20, Y:-38.01, Z:-0.02 [[ 9.26756695e-01 3.75662121e-01 0.00000000e+00 1.89200630e+02] [-3.75662121e-01 9.26756695e-01 0.00000000e+00 -3.80137180e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52963540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42140051299998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:189.23, Y:-38.02, Z:-0.01 [[ 9.26514301e-01 3.76259552e-01 0.00000000e+00 1.89229411e+02] [-3.76259552e-01 9.26514301e-01 0.00000000e+00 -3.80208324e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49773672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.45140051299998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:189.26, Y:-38.03, Z:-0.01 [[ 9.26272475e-01 3.76854484e-01 0.00000000e+00 1.89255103e+02] [-3.76854484e-01 9.26272475e-01 0.00000000e+00 -3.80284857e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48286047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:189.28, Y:-38.04, Z:-0.01 [[ 9.25848156e-01 3.77895743e-01 0.00000000e+00 1.89282375e+02] [-3.77895743e-01 9.25848156e-01 0.00000000e+00 -3.80372577e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44127232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.51140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:189.31, Y:-38.05, Z:-0.01 [[ 9.25875380e-01 3.77829037e-01 0.00000000e+00 1.89308413e+02] [-3.77829037e-01 9.25875380e-01 0.00000000e+00 -3.80488564e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44127232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:189.34, Y:-38.06, Z:-0.01 [[ 9.25327782e-01 3.79168163e-01 0.00000000e+00 1.89335114e+02] [-3.79168163e-01 9.25327782e-01 0.00000000e+00 -3.80575557e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37462171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.571400513 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:189.36, Y:-38.06, Z:-0.01 [[ 9.24155582e-01 3.82016309e-01 0.00000000e+00 1.89364094e+02] [-3.82016309e-01 9.24155582e-01 0.00000000e+00 -3.80617636e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38904938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.601400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:189.39, Y:-38.07, Z:-0.02 [[ 9.23749802e-01 3.82996481e-01 0.00000000e+00 1.89391116e+02] [-3.82996481e-01 9.23749802e-01 0.00000000e+00 -3.80677077e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58263069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.631400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:189.42, Y:-38.07, Z:-0.02 [[ 9.23667139e-01 3.83195795e-01 0.00000000e+00 1.89420245e+02] [-3.83195795e-01 9.23667139e-01 0.00000000e+00 -3.80740603e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69671305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.661400513 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:189.45, Y:-38.08, Z:-0.02 [[ 9.24008856e-01 3.82371068e-01 0.00000000e+00 1.89449785e+02] [-3.82371068e-01 9.24008856e-01 0.00000000e+00 -3.80769393e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70973491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.691400513 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:189.48, Y:-38.09, Z:-0.02 [[ 9.24321305e-01 3.81615153e-01 0.00000000e+00 1.89476226e+02] [-3.81615153e-01 9.24321305e-01 0.00000000e+00 -3.80851761e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69375614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.721400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:189.50, Y:-38.09, Z:-0.02 [[ 9.25015867e-01 3.79928475e-01 0.00000000e+00 1.89503061e+02] [-3.79928475e-01 9.25015867e-01 0.00000000e+00 -3.80921080e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01761451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.751400513 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:189.53, Y:-38.10, Z:-0.02 [[ 9.25947012e-01 3.77653454e-01 0.00000000e+00 1.89531209e+02] [-3.77653454e-01 9.25947012e-01 0.00000000e+00 -3.80995126e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.18222209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.781400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:189.56, Y:-38.10, Z:-0.03 [[ 9.28080859e-01 3.72378730e-01 0.00000000e+00 1.89560286e+02] [-3.72378730e-01 9.28080859e-01 0.00000000e+00 -3.81029791e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.68680175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.811400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:189.59, Y:-38.11, Z:-0.02 [[ 9.29010657e-01 3.70052968e-01 0.00000000e+00 1.89587879e+02] [-3.70052968e-01 9.29010657e-01 0.00000000e+00 -3.81116294e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.37459034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.62, Y:-38.12, Z:-0.02 [[ 9.29598592e-01 3.68573545e-01 0.00000000e+00 1.89615303e+02] [-3.68573545e-01 9.29598592e-01 0.00000000e+00 -3.81205569e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.15104769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.871400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:189.64, Y:-38.12, Z:-0.02 [[ 9.29951883e-01 3.67681241e-01 0.00000000e+00 1.89642949e+02] [-3.67681241e-01 9.29951883e-01 0.00000000e+00 -3.81246509e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.15340565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.901400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:189.67, Y:-38.13, Z:-0.02 [[ 9.29709086e-01 3.68294740e-01 0.00000000e+00 1.89669852e+02] [-3.68294740e-01 9.29709086e-01 0.00000000e+00 -3.81319391e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11802609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.931400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:189.70, Y:-38.14, Z:-0.02 [[ 9.29406570e-01 3.69057486e-01 0.00000000e+00 1.89696824e+02] [-3.69057486e-01 9.29406570e-01 0.00000000e+00 -3.81392609e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04373065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96140051299997 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:189.73, Y:-38.14, Z:-0.02 [[ 9.29177502e-01 3.69633833e-01 0.00000000e+00 1.89726069e+02] [-3.69633833e-01 9.29177502e-01 0.00000000e+00 -3.81411154e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95847945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.99140051299997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:189.75, Y:-38.15, Z:-0.02 [[ 9.29239012e-01 3.69479173e-01 0.00000000e+00 1.89753486e+02] [-3.69479173e-01 9.29239012e-01 0.00000000e+00 -3.81472525e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83555496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.78, Y:-38.15, Z:-0.02 [[ 9.29308150e-01 3.69305243e-01 0.00000000e+00 1.89781822e+02] [-3.69305243e-01 9.29308150e-01 0.00000000e+00 -3.81542915e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71680924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.05140051299998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:189.81, Y:-38.16, Z:-0.02 [[ 9.29422905e-01 3.69016346e-01 0.00000000e+00 1.89809474e+02] [-3.69016346e-01 9.29422905e-01 0.00000000e+00 -3.81611593e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72713808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.84, Y:-38.17, Z:-0.02 [[ 9.30312603e-01 3.66767584e-01 0.00000000e+00 1.89839154e+02] [-3.66767584e-01 9.30312603e-01 0.00000000e+00 -3.81655638e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73090605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.11140051299998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:189.87, Y:-38.17, Z:-0.02 [[ 9.31283925e-01 3.64294182e-01 0.00000000e+00 1.89866703e+02] [-3.64294182e-01 9.31283925e-01 0.00000000e+00 -3.81741265e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99903443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.89, Y:-38.18, Z:-0.02 [[ 9.32387737e-01 3.61459692e-01 0.00000000e+00 1.89893147e+02] [-3.61459692e-01 9.32387737e-01 0.00000000e+00 -3.81828360e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.31879813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.17140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:189.92, Y:-38.19, Z:-0.03 [[ 9.33737687e-01 3.57958003e-01 0.00000000e+00 1.89919138e+02] [-3.57958003e-01 9.33737687e-01 0.00000000e+00 -3.81917467e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.56174207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:189.95, Y:-38.20, Z:-0.02 [[ 9.35829371e-01 3.52453384e-01 0.00000000e+00 1.89947172e+02] [-3.52453384e-01 9.35829371e-01 0.00000000e+00 -3.81984644e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.25712222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.23140051299998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:189.97, Y:-38.21, Z:-0.02 [[ 9.36536190e-01 3.50570912e-01 0.00000000e+00 1.89973802e+02] [-3.50570912e-01 9.36536190e-01 0.00000000e+00 -3.82072166e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06770567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26140051299998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:190.00, Y:-38.21, Z:-0.02 [[ 9.37166205e-01 3.48883225e-01 0.00000000e+00 1.90001348e+02] [-3.48883225e-01 9.37166205e-01 0.00000000e+00 -3.82132961e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87781384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.29140051299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:190.03, Y:-38.22, Z:-0.02 [[ 9.37154314e-01 3.48915164e-01 0.00000000e+00 1.90027610e+02] [-3.48915164e-01 9.37154314e-01 0.00000000e+00 -3.82218609e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04981795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.321400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:190.05, Y:-38.23, Z:-0.02 [[ 9.37137034e-01 3.48961572e-01 0.00000000e+00 1.90053949e+02] [-3.48961572e-01 9.37137034e-01 0.00000000e+00 -3.82309766e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04602719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.351400513 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:190.08, Y:-38.24, Z:-0.02 [[ 9.37212024e-01 3.48760121e-01 0.00000000e+00 1.90078980e+02] [-3.48760121e-01 9.37212024e-01 0.00000000e+00 -3.82403974e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13409765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.381400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:190.11, Y:-38.25, Z:-0.02 [[ 9.37431505e-01 3.48169748e-01 0.00000000e+00 1.90105230e+02] [-3.48169748e-01 9.37431505e-01 0.00000000e+00 -3.82492996e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09533614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.411400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:190.13, Y:-38.26, Z:-0.02 [[ 9.37357581e-01 3.48368719e-01 0.00000000e+00 1.90130616e+02] [-3.48368719e-01 9.37357581e-01 0.00000000e+00 -3.82596027e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12334046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.441400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:190.16, Y:-38.27, Z:-0.02 [[ 9.37215430e-01 3.48750967e-01 0.00000000e+00 1.90156741e+02] [-3.48750967e-01 9.37215430e-01 0.00000000e+00 -3.82705433e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91142496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.18, Y:-38.28, Z:-0.02 [[ 9.36907213e-01 3.49578137e-01 0.00000000e+00 1.90183465e+02] [-3.49578137e-01 9.36907213e-01 0.00000000e+00 -3.82815786e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58707266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.21, Y:-38.29, Z:-0.01 [[ 9.36044834e-01 3.51880759e-01 0.00000000e+00 1.90210540e+02] [-3.51880759e-01 9.36044834e-01 0.00000000e+00 -3.82891870e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41576447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.24, Y:-38.30, Z:-0.02 [[ 9.35416809e-01 3.53546877e-01 0.00000000e+00 1.90236594e+02] [-3.53546877e-01 9.35416809e-01 0.00000000e+00 -3.82976521e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58903778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.26, Y:-38.31, Z:-0.02 [[ 9.34768376e-01 3.55257770e-01 0.00000000e+00 1.90263356e+02] [-3.55257770e-01 9.34768376e-01 0.00000000e+00 -3.83057310e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64970669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.591400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:190.29, Y:-38.31, Z:-0.02 [[ 9.34024337e-01 3.57209377e-01 0.00000000e+00 1.90290353e+02] [-3.57209377e-01 9.34024337e-01 0.00000000e+00 -3.83135409e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70957694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.621400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:190.32, Y:-38.32, Z:-0.01 [[ 9.32644938e-01 3.60795537e-01 0.00000000e+00 1.90319436e+02] [-3.60795537e-01 9.32644938e-01 0.00000000e+00 -3.83173529e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48887923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.651400513 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:190.35, Y:-38.32, Z:-0.01 [[ 9.32415002e-01 3.61389351e-01 0.00000000e+00 1.90347420e+02] [-3.61389351e-01 9.32415002e-01 0.00000000e+00 -3.83241132e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31943557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.37, Y:-38.33, Z:-0.01 [[ 9.32464886e-01 3.61260622e-01 0.00000000e+00 1.90374079e+02] [-3.61260622e-01 9.32464886e-01 0.00000000e+00 -3.83303275e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27500211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71140051299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:190.40, Y:-38.33, Z:-0.02 [[ 9.33753690e-01 3.57916257e-01 0.00000000e+00 1.90404457e+02] [-3.57916257e-01 9.33753690e-01 0.00000000e+00 -3.83335872e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53062240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74140051299997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:190.43, Y:-38.34, Z:-0.02 [[ 9.34837738e-01 3.55075209e-01 0.00000000e+00 1.90431988e+02] [-3.55075209e-01 9.34837738e-01 0.00000000e+00 -3.83412169e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57760111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.46, Y:-38.35, Z:-0.02 [[ 9.36194431e-01 3.51482557e-01 0.00000000e+00 1.90459527e+02] [-3.51482557e-01 9.36194431e-01 0.00000000e+00 -3.83480135e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61401501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.49, Y:-38.35, Z:-0.02 [[ 9.37607538e-01 3.47695419e-01 0.00000000e+00 1.90486756e+02] [-3.47695419e-01 9.37607538e-01 0.00000000e+00 -3.83536693e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76166579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.83140051299998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:190.52, Y:-38.35, Z:-0.02 [[ 9.39798526e-01 3.41729032e-01 0.00000000e+00 1.90517891e+02] [-3.41729032e-01 9.39798526e-01 0.00000000e+00 -3.83541793e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06003061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:190.54, Y:-38.36, Z:-0.02 [[ 9.40447429e-01 3.39939161e-01 0.00000000e+00 1.90543897e+02] [-3.39939161e-01 9.40447429e-01 0.00000000e+00 -3.83612341e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12816767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.89140051299998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:190.57, Y:-38.37, Z:-0.02 [[ 9.41033491e-01 3.38313417e-01 0.00000000e+00 1.90570888e+02] [-3.38313417e-01 9.41033491e-01 0.00000000e+00 -3.83700351e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00203938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:190.60, Y:-38.38, Z:-0.02 [[ 9.42560466e-01 3.34035580e-01 0.00000000e+00 1.90599403e+02] [-3.34035580e-01 9.42560466e-01 0.00000000e+00 -3.83761236e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64162021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.95140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:190.63, Y:-38.38, Z:-0.01 [[ 9.43318513e-01 3.31888812e-01 0.00000000e+00 1.90626701e+02] [-3.31888812e-01 9.43318513e-01 0.00000000e+00 -3.83841862e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49342455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:190.65, Y:-38.39, Z:-0.01 [[ 9.43727214e-01 3.30724880e-01 0.00000000e+00 1.90653372e+02] [-3.30724880e-01 9.43727214e-01 0.00000000e+00 -3.83923814e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47948842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.68, Y:-38.40, Z:-0.01 [[ 9.43722910e-01 3.30737160e-01 0.00000000e+00 1.90678463e+02] [-3.30737160e-01 9.43722910e-01 0.00000000e+00 -3.84011498e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48719371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:190.71, Y:-38.41, Z:-0.02 [[ 9.42570275e-01 3.34007899e-01 0.00000000e+00 1.90705013e+02] [-3.34007899e-01 9.42570275e-01 0.00000000e+00 -3.84102001e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60758271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.071400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:190.73, Y:-38.42, Z:-0.02 [[ 9.41518972e-01 3.36959976e-01 0.00000000e+00 1.90731481e+02] [-3.36959976e-01 9.41518972e-01 0.00000000e+00 -3.84202528e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50146183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.76, Y:-38.43, Z:-0.02 [[ 9.40243052e-01 3.40504043e-01 0.00000000e+00 1.90757058e+02] [-3.40504043e-01 9.40243052e-01 0.00000000e+00 -3.84297045e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61799676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.78, Y:-38.44, Z:-0.02 [[ 9.39064102e-01 3.43742072e-01 0.00000000e+00 1.90783570e+02] [-3.43742072e-01 9.39064102e-01 0.00000000e+00 -3.84393158e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56318630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.161400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:190.81, Y:-38.45, Z:-0.02 [[ 9.36901454e-01 3.49593571e-01 0.00000000e+00 1.90810889e+02] [-3.49593571e-01 9.36901454e-01 0.00000000e+00 -3.84485368e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53913776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.84, Y:-38.46, Z:-0.01 [[ 9.36087796e-01 3.51766453e-01 0.00000000e+00 1.90837733e+02] [-3.51766453e-01 9.36087796e-01 0.00000000e+00 -3.84596800e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34194880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.86, Y:-38.47, Z:-0.01 [[ 9.35504216e-01 3.53315528e-01 0.00000000e+00 1.90864887e+02] [-3.53315528e-01 9.35504216e-01 0.00000000e+00 -3.84706922e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16500723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.89, Y:-38.48, Z:-0.01 [[ 9.34549716e-01 3.55832586e-01 0.00000000e+00 1.90889746e+02] [-3.55832586e-01 9.34549716e-01 0.00000000e+00 -3.84801622e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19995803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.92, Y:-38.49, Z:-0.01 [[ 9.34126881e-01 3.56941131e-01 0.00000000e+00 1.90916131e+02] [-3.56941131e-01 9.34126881e-01 0.00000000e+00 -3.84911997e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38500589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.94, Y:-38.50, Z:-0.02 [[ 9.33765992e-01 3.57884161e-01 0.00000000e+00 1.90943143e+02] [-3.57884161e-01 9.33765992e-01 0.00000000e+00 -3.85021478e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52826676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.97, Y:-38.51, Z:-0.02 [[ 9.33353076e-01 3.58959656e-01 0.00000000e+00 1.90968644e+02] [-3.58959656e-01 9.33353076e-01 0.00000000e+00 -3.85120977e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64527107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.371400513 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:191.00, Y:-38.52, Z:-0.01 [[ 9.32685047e-01 3.60691840e-01 0.00000000e+00 1.90996350e+02] [-3.60691840e-01 9.32685047e-01 0.00000000e+00 -3.85215260e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34050779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.401400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:191.02, Y:-38.53, Z:-0.01 [[ 9.32628848e-01 3.60837127e-01 0.00000000e+00 1.91022666e+02] [-3.60837127e-01 9.32628848e-01 0.00000000e+00 -3.85313019e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19994024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.431400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:191.05, Y:-38.54, Z:-0.01 [[ 9.32695113e-01 3.60665810e-01 0.00000000e+00 1.91048776e+02] [-3.60665810e-01 9.32695113e-01 0.00000000e+00 -3.85426384e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19994024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46140051299997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:191.08, Y:-38.55, Z:-0.01 [[ 9.32949949e-01 3.60006100e-01 0.00000000e+00 1.91075042e+02] [-3.60006100e-01 9.32949949e-01 0.00000000e+00 -3.85516094e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04745890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49140051299997 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:191.10, Y:-38.56, Z:-0.01 [[ 9.33704256e-01 3.58045197e-01 0.00000000e+00 1.91102645e+02] [-3.58045197e-01 9.33704256e-01 0.00000000e+00 -3.85588342e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.67984241e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.13, Y:-38.57, Z:-0.01 [[ 9.34469041e-01 3.56044395e-01 0.00000000e+00 1.91129182e+02] [-3.56044395e-01 9.34469041e-01 0.00000000e+00 -3.85685537e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.76357014e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.55140051299998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:191.15, Y:-38.58, Z:-0.01 [[ 9.35360337e-01 3.53696255e-01 0.00000000e+00 1.91154750e+02] [-3.53696255e-01 9.35360337e-01 0.00000000e+00 -3.85785278e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.36188414e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:191.18, Y:-38.59, Z:-0.01 [[ 9.37899019e-01 3.46908388e-01 0.00000000e+00 1.91181921e+02] [-3.46908388e-01 9.37899019e-01 0.00000000e+00 -3.85863810e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.60504070e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.21, Y:-38.60, Z:-0.01 [[ 9.39078684e-01 3.43702235e-01 0.00000000e+00 1.91207709e+02] [-3.43702235e-01 9.39078684e-01 0.00000000e+00 -3.85953742e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.99166051e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.23, Y:-38.60, Z:-0.01 [[ 9.40048592e-01 3.41040532e-01 0.00000000e+00 1.91234054e+02] [-3.41040532e-01 9.40048592e-01 0.00000000e+00 -3.86049328e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.76962458e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.67140051299998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:191.26, Y:-38.61, Z:-0.01 [[ 9.40608541e-01 3.39493112e-01 0.00000000e+00 1.91258748e+02] [-3.39493112e-01 9.40608541e-01 0.00000000e+00 -3.86147108e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.43512388e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.29, Y:-38.62, Z:-0.00 [[ 9.40988698e-01 3.38437985e-01 0.00000000e+00 1.91285748e+02] [-3.38437985e-01 9.40988698e-01 0.00000000e+00 -3.86223273e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.66755724e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.73140051299998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:191.31, Y:-38.63, Z:-0.01 [[ 9.40616440e-01 3.39471225e-01 0.00000000e+00 1.91311865e+02] [-3.39471225e-01 9.40616440e-01 0.00000000e+00 -3.86301804e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.69449921e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:191.34, Y:-38.64, Z:-0.01 [[ 9.40213747e-01 3.40584953e-01 0.00000000e+00 1.91339203e+02] [-3.40584953e-01 9.40213747e-01 0.00000000e+00 -3.86381255e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.37382229e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.79140051299999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:191.37, Y:-38.65, Z:-0.01 [[ 9.39740894e-01 3.41887485e-01 0.00000000e+00 1.91365927e+02] [-3.41887485e-01 9.39740894e-01 0.00000000e+00 -3.86464386e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.40470961e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.39, Y:-38.65, Z:-0.01 [[ 9.39177722e-01 3.43431516e-01 0.00000000e+00 1.91394880e+02] [-3.43431516e-01 9.39177722e-01 0.00000000e+00 -3.86533846e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.93223420e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.42, Y:-38.66, Z:-0.01 [[ 9.39162480e-01 3.43473194e-01 0.00000000e+00 1.91421489e+02] [-3.43473194e-01 9.39162480e-01 0.00000000e+00 -3.86615760e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.98948670e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.881400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:191.45, Y:-38.67, Z:-0.01 [[ 9.39337420e-01 3.42994478e-01 0.00000000e+00 1.91449337e+02] [-3.42994478e-01 9.39337420e-01 0.00000000e+00 -3.86699374e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12986799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.48, Y:-38.68, Z:-0.01 [[ 9.39743956e-01 3.41879068e-01 0.00000000e+00 1.91478236e+02] [-3.41879068e-01 9.39743956e-01 0.00000000e+00 -3.86764774e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41693129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.941400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:191.50, Y:-38.69, Z:-0.02 [[ 9.39726898e-01 3.41925952e-01 0.00000000e+00 1.91504235e+02] [-3.41925952e-01 9.39726898e-01 0.00000000e+00 -3.86862777e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92849387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.971400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:191.53, Y:-38.70, Z:-0.02 [[ 9.39704929e-01 3.41986326e-01 0.00000000e+00 1.91530470e+02] [-3.41986326e-01 9.39704929e-01 0.00000000e+00 -3.86957690e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60244260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.56, Y:-38.71, Z:-0.02 [[ 9.39384687e-01 3.42865004e-01 0.00000000e+00 1.91556645e+02] [-3.42865004e-01 9.39384687e-01 0.00000000e+00 -3.87058062e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55459820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.031400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:191.58, Y:-38.71, Z:-0.01 [[ 9.38112991e-01 3.46329347e-01 0.00000000e+00 1.91583863e+02] [-3.46329347e-01 9.38112991e-01 0.00000000e+00 -3.87149278e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17896464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.61, Y:-38.73, Z:-0.01 [[ 9.37276774e-01 3.48586071e-01 0.00000000e+00 1.91611053e+02] [-3.48586071e-01 9.37276774e-01 0.00000000e+00 -3.87254334e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00960711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.091400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:191.64, Y:-38.74, Z:-0.01 [[ 9.36078752e-01 3.51790520e-01 0.00000000e+00 1.91637279e+02] [-3.51790520e-01 9.36078752e-01 0.00000000e+00 -3.87355121e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02323598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.66, Y:-38.75, Z:-0.01 [[ 9.34739486e-01 3.55333778e-01 0.00000000e+00 1.91662745e+02] [-3.55333778e-01 9.34739486e-01 0.00000000e+00 -3.87450872e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.98664443e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.69, Y:-38.75, Z:-0.01 [[ 9.31632598e-01 3.63401573e-01 0.00000000e+00 1.91690329e+02] [-3.63401573e-01 9.31632598e-01 0.00000000e+00 -3.87531529e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.14450411e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.72, Y:-38.76, Z:-0.00 [[ 9.29925053e-01 3.67749092e-01 0.00000000e+00 1.91717270e+02] [-3.67749092e-01 9.29925053e-01 0.00000000e+00 -3.87620422e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.38662003e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.75, Y:-38.77, Z:-0.00 [[ 9.26888340e-01 3.75337188e-01 0.00000000e+00 1.91746147e+02] [-3.75337188e-01 9.26888340e-01 0.00000000e+00 -3.87664684e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.57975575e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.77, Y:-38.77, Z:-0.00 [[ 9.25758980e-01 3.78114150e-01 0.00000000e+00 1.91772565e+02] [-3.78114150e-01 9.25758980e-01 0.00000000e+00 -3.87742051e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.73274830e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.80, Y:-38.78, Z:-0.00 [[ 9.25188599e-01 3.79507649e-01 0.00000000e+00 1.91799146e+02] [-3.79507649e-01 9.25188599e-01 0.00000000e+00 -3.87830639e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00306907e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.83, Y:-38.79, Z:-0.00 [[ 9.24995218e-01 3.79978746e-01 0.00000000e+00 1.91825716e+02] [-3.79978746e-01 9.24995218e-01 0.00000000e+00 -3.87926816e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.00804309e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.33140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:191.85, Y:-38.80, Z:0.00 [[ 9.25384160e-01 3.79030547e-01 0.00000000e+00 1.91851893e+02] [-3.79030547e-01 9.25384160e-01 0.00000000e+00 -3.87996177e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.90861574e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.88, Y:-38.81, Z:-0.00 [[ 9.25691900e-01 3.78278345e-01 0.00000000e+00 1.91877185e+02] [-3.78278345e-01 9.25691900e-01 0.00000000e+00 -3.88085041e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19354614e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.39140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:191.90, Y:-38.82, Z:-0.00 [[ 9.25810468e-01 3.77988065e-01 0.00000000e+00 1.91902937e+02] [-3.77988065e-01 9.25810468e-01 0.00000000e+00 -3.88183846e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.04277734e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.93, Y:-38.83, Z:-0.01 [[ 9.25493623e-01 3.78763189e-01 0.00000000e+00 1.91927812e+02] [-3.78763189e-01 9.25493623e-01 0.00000000e+00 -3.88278394e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.13582171e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.45140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:191.95, Y:-38.84, Z:-0.00 [[ 9.23246970e-01 3.84207018e-01 0.00000000e+00 1.91954896e+02] [-3.84207018e-01 9.23246970e-01 0.00000000e+00 -3.88359891e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.55186594e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.98, Y:-38.85, Z:-0.00 [[ 9.21581508e-01 3.88184911e-01 0.00000000e+00 1.91981260e+02] [-3.88184911e-01 9.21581508e-01 0.00000000e+00 -3.88454913e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06010881e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.01, Y:-38.85, Z:-0.00 [[ 9.19922326e-01 3.92100642e-01 0.00000000e+00 1.92006384e+02] [-3.92100642e-01 9.19922326e-01 0.00000000e+00 -3.88546256e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.15239979e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.03, Y:-38.86, Z:-0.00 [[ 9.17049139e-01 3.98774217e-01 0.00000000e+00 1.92033196e+02] [-3.98774217e-01 9.17049139e-01 0.00000000e+00 -3.88629208e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80173514e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.06, Y:-38.87, Z:-0.00 [[ 9.16016314e-01 4.01141013e-01 0.00000000e+00 1.92059372e+02] [-4.01141013e-01 9.16016314e-01 0.00000000e+00 -3.88727590e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.52821647e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.08, Y:-38.88, Z:-0.00 [[ 9.15114633e-01 4.03193761e-01 0.00000000e+00 1.92084962e+02] [-4.03193761e-01 9.15114633e-01 0.00000000e+00 -3.88832310e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.87863696e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.631400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:192.11, Y:-38.89, Z:-0.01 [[ 9.13662155e-01 4.06474436e-01 0.00000000e+00 1.92109715e+02] [-4.06474436e-01 9.13662155e-01 0.00000000e+00 -3.88939907e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.67771328e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.14, Y:-38.91, Z:-0.00 [[ 9.13064567e-01 4.07815028e-01 0.00000000e+00 1.92135373e+02] [-4.07815028e-01 9.13064567e-01 0.00000000e+00 -3.89053589e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.50746320e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.16, Y:-38.92, Z:-0.00 [[ 9.12429434e-01 4.09234075e-01 0.00000000e+00 1.92159882e+02] [-4.09234075e-01 9.12429434e-01 0.00000000e+00 -3.89165300e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.26926954e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.18, Y:-38.93, Z:-0.00 [[ 9.11512244e-01 4.11272938e-01 0.00000000e+00 1.92183592e+02] [-4.11272938e-01 9.11512244e-01 0.00000000e+00 -3.89291500e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.41495956e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.21, Y:-38.94, Z:-0.01 [[ 9.11015127e-01 4.12372935e-01 0.00000000e+00 1.92209278e+02] [-4.12372935e-01 9.11015127e-01 0.00000000e+00 -3.89407504e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.12952964e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.23, Y:-38.95, Z:-0.01 [[ 9.10285097e-01 4.13981935e-01 0.00000000e+00 1.92234676e+02] [-4.13981935e-01 9.10285097e-01 0.00000000e+00 -3.89521187e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.12172171e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.26, Y:-38.97, Z:-0.01 [[ 9.08964948e-01 4.16872550e-01 0.00000000e+00 1.92259738e+02] [-4.16872550e-01 9.08964948e-01 0.00000000e+00 -3.89657967e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.66980080e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.841400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:192.28, Y:-38.98, Z:-0.01 [[ 9.08539681e-01 4.17798574e-01 0.00000000e+00 1.92284589e+02] [-4.17798574e-01 9.08539681e-01 0.00000000e+00 -3.89779144e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.14529994e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.31, Y:-38.99, Z:-0.01 [[ 9.07952136e-01 4.19073881e-01 0.00000000e+00 1.92309506e+02] [-4.19073881e-01 9.07952136e-01 0.00000000e+00 -3.89889305e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.20570317e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.33, Y:-39.00, Z:-0.01 [[ 9.06886445e-01 4.21375102e-01 0.00000000e+00 1.92334922e+02] [-4.21375102e-01 9.06886445e-01 0.00000000e+00 -3.89988923e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.68113047e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.36, Y:-39.01, Z:-0.01 [[ 9.06561533e-01 4.22073675e-01 0.00000000e+00 1.92360493e+02] [-4.22073675e-01 9.06561533e-01 0.00000000e+00 -3.90107933e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.81991038e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96140051299997 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:192.38, Y:-39.02, Z:-0.01 [[ 9.06396316e-01 4.22428358e-01 0.00000000e+00 1.92384881e+02] [-4.22428358e-01 9.06396316e-01 0.00000000e+00 -3.90233012e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.65694740e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.41, Y:-39.04, Z:-0.01 [[ 9.06269640e-01 4.22700059e-01 0.00000000e+00 1.92410080e+02] [-4.22700059e-01 9.06269640e-01 0.00000000e+00 -3.90360929e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.81863369e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.43, Y:-39.05, Z:-0.01 [[ 9.06454898e-01 4.22302639e-01 0.00000000e+00 1.92434514e+02] [-4.22302639e-01 9.06454898e-01 0.00000000e+00 -3.90494059e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.42774464e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.46, Y:-39.06, Z:-0.01 [[ 9.06353242e-01 4.22520769e-01 0.00000000e+00 1.92459348e+02] [-4.22520769e-01 9.06353242e-01 0.00000000e+00 -3.90610380e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.42221800e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.48, Y:-39.07, Z:-0.01 [[ 9.06094403e-01 4.23075565e-01 0.00000000e+00 1.92484542e+02] [-4.23075565e-01 9.06094403e-01 0.00000000e+00 -3.90722904e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.84643204e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.51, Y:-39.08, Z:-0.00 [[ 9.06115540e-01 4.23030291e-01 0.00000000e+00 1.92509537e+02] [-4.23030291e-01 9.06115540e-01 0.00000000e+00 -3.90843861e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.91834121e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.53, Y:-39.10, Z:-0.01 [[ 9.06200969e-01 4.22847258e-01 0.00000000e+00 1.92533564e+02] [-4.22847258e-01 9.06200969e-01 0.00000000e+00 -3.90966568e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.01458203e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.56, Y:-39.11, Z:-0.01 [[ 9.06308672e-01 4.22616364e-01 0.00000000e+00 1.92558375e+02] [-4.22616364e-01 9.06308672e-01 0.00000000e+00 -3.91094859e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.64758286e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.58, Y:-39.12, Z:-0.01 [[ 9.06011399e-01 4.23253288e-01 0.00000000e+00 1.92582687e+02] [-4.23253288e-01 9.06011399e-01 0.00000000e+00 -3.91219054e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.34602451e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.61, Y:-39.14, Z:-0.01 [[ 9.05259312e-01 4.24859481e-01 0.00000000e+00 1.92606727e+02] [-4.24859481e-01 9.05259312e-01 0.00000000e+00 -3.91369011e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.77610276e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.63, Y:-39.15, Z:-0.01 [[ 9.04772609e-01 4.25894971e-01 0.00000000e+00 1.92631536e+02] [-4.25894971e-01 9.04772609e-01 0.00000000e+00 -3.91496416e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.61578050e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.66, Y:-39.16, Z:-0.01 [[ 9.04090542e-01 4.27340954e-01 0.00000000e+00 1.92655811e+02] [-4.27340954e-01 9.04090542e-01 0.00000000e+00 -3.91616022e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.14216119e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.68, Y:-39.17, Z:-0.01 [[ 9.04172650e-01 4.27167202e-01 0.00000000e+00 1.92682017e+02] [-4.27167202e-01 9.04172650e-01 0.00000000e+00 -3.91726834e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.14216119e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.71, Y:-39.18, Z:-0.01 [[ 9.02091539e-01 4.31544732e-01 0.00000000e+00 1.92707254e+02] [-4.31544732e-01 9.02091539e-01 0.00000000e+00 -3.91838428e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.71429665e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.73, Y:-39.19, Z:-0.01 [[ 9.00812881e-01 4.34207500e-01 0.00000000e+00 1.92732596e+02] [-4.34207500e-01 9.00812881e-01 0.00000000e+00 -3.91946326e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.40698708e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.76, Y:-39.21, Z:-0.01 [[ 8.99309438e-01 4.37312857e-01 0.00000000e+00 1.92757914e+02] [-4.37312857e-01 8.99309438e-01 0.00000000e+00 -3.92057508e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.27202923e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.78, Y:-39.22, Z:-0.01 [[ 8.97299285e-01 4.41422692e-01 0.00000000e+00 1.92782051e+02] [-4.41422692e-01 8.97299285e-01 0.00000000e+00 -3.92176094e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.49689041e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.81, Y:-39.23, Z:-0.01 [[ 8.96952561e-01 4.42126796e-01 0.00000000e+00 1.92807045e+02] [-4.42126796e-01 8.96952561e-01 0.00000000e+00 -3.92289944e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.72509997e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.83, Y:-39.24, Z:-0.01 [[ 8.96655293e-01 4.42729359e-01 0.00000000e+00 1.92831793e+02] [-4.42729359e-01 8.96655293e-01 0.00000000e+00 -3.92408794e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.11550872e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.86, Y:-39.26, Z:-0.01 [[ 8.96538909e-01 4.42964992e-01 0.00000000e+00 1.92855344e+02] [-4.42964992e-01 8.96538909e-01 0.00000000e+00 -3.92572118e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.72219432e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.88, Y:-39.27, Z:-0.01 [[ 8.96788893e-01 4.42458678e-01 0.00000000e+00 1.92879548e+02] [-4.42458678e-01 8.96788893e-01 0.00000000e+00 -3.92713298e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.09678550e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.90, Y:-39.28, Z:-0.01 [[ 8.97037692e-01 4.41954046e-01 0.00000000e+00 1.92903955e+02] [-4.41954046e-01 8.97037692e-01 0.00000000e+00 -3.92847121e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.56443661e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.93, Y:-39.30, Z:-0.01 [[ 8.97267417e-01 4.41487465e-01 0.00000000e+00 1.92926413e+02] [-4.41487465e-01 8.97267417e-01 0.00000000e+00 -3.92997482e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.76177275e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.95, Y:-39.31, Z:-0.01 [[ 8.97700677e-01 4.40605826e-01 0.00000000e+00 1.92950259e+02] [-4.40605826e-01 8.97700677e-01 0.00000000e+00 -3.93138733e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.33538213e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.97, Y:-39.33, Z:-0.01 [[ 8.97968093e-01 4.40060568e-01 0.00000000e+00 1.92974419e+02] [-4.40060568e-01 8.97968093e-01 0.00000000e+00 -3.93286231e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.02171980e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.00, Y:-39.34, Z:-0.01 [[ 8.98491181e-01 4.38991569e-01 0.00000000e+00 1.92998752e+02] [-4.38991569e-01 8.98491181e-01 0.00000000e+00 -3.93424904e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00342648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.02, Y:-39.36, Z:-0.01 [[ 8.99443758e-01 4.37036527e-01 0.00000000e+00 1.93022640e+02] [-4.37036527e-01 8.99443758e-01 0.00000000e+00 -3.93576471e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03490708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.77140051299997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:193.05, Y:-39.37, Z:-0.01 [[ 8.99812071e-01 4.36277707e-01 0.00000000e+00 1.93047271e+02] [-4.36277707e-01 8.99812071e-01 0.00000000e+00 -3.93708221e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.88192790e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.07, Y:-39.39, Z:-0.00 [[ 8.99706765e-01 4.36494831e-01 0.00000000e+00 1.93070991e+02] [-4.36494831e-01 8.99706765e-01 0.00000000e+00 -3.93884024e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.60491408e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.10, Y:-39.40, Z:-0.00 [[ 8.99649300e-01 4.36613258e-01 0.00000000e+00 1.93095750e+02] [-4.36613258e-01 8.99649300e-01 0.00000000e+00 -3.94024926e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53149704e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.12, Y:-39.42, Z:-0.00 [[ 8.99773381e-01 4.36357494e-01 0.00000000e+00 1.93120661e+02] [-4.36357494e-01 8.99773381e-01 0.00000000e+00 -3.94160965e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86708679e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.14, Y:-39.43, Z:-0.00 [[ 8.99860637e-01 4.36177526e-01 0.00000000e+00 1.93144855e+02] [-4.36177526e-01 8.99860637e-01 0.00000000e+00 -3.94293455e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.44199185e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.17, Y:-39.45, Z:-0.01 [[ 8.99473834e-01 4.36974623e-01 0.00000000e+00 1.93167940e+02] [-4.36974623e-01 8.99473834e-01 0.00000000e+00 -3.94452134e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.76649543e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.19, Y:-39.46, Z:-0.00 [[ 8.99219815e-01 4.37497114e-01 0.00000000e+00 1.93193015e+02] [-4.37497114e-01 8.99219815e-01 0.00000000e+00 -3.94584198e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.31936330e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.22, Y:-39.47, Z:-0.00 [[ 8.98953172e-01 4.38044739e-01 0.00000000e+00 1.93218254e+02] [-4.38044739e-01 8.98953172e-01 0.00000000e+00 -3.94703844e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.18053102e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.24, Y:-39.48, Z:-0.00 [[ 8.98425862e-01 4.39125233e-01 0.00000000e+00 1.93243151e+02] [-4.39125233e-01 8.98425862e-01 0.00000000e+00 -3.94819954e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.04407512e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.27, Y:-39.50, Z:-0.00 [[ 8.97084108e-01 4.41859823e-01 0.00000000e+00 1.93267489e+02] [-4.41859823e-01 8.97084108e-01 0.00000000e+00 -3.94966087e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.72633292e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.29, Y:-39.51, Z:-0.00 [[ 8.96467514e-01 4.43109462e-01 0.00000000e+00 1.93291762e+02] [-4.43109462e-01 8.96467514e-01 0.00000000e+00 -3.95095204e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.57853921e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.32, Y:-39.52, Z:-0.01 [[ 8.95927917e-01 4.44199469e-01 0.00000000e+00 1.93315725e+02] [-4.44199469e-01 8.95927917e-01 0.00000000e+00 -3.95211494e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.66568776e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.34, Y:-39.53, Z:-0.01 [[ 8.94973176e-01 4.46119955e-01 0.00000000e+00 1.93341202e+02] [-4.46119955e-01 8.94973176e-01 0.00000000e+00 -3.95320484e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.19925633e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.37, Y:-39.54, Z:-0.01 [[ 8.94499974e-01 4.47068000e-01 0.00000000e+00 1.93365645e+02] [-4.47068000e-01 8.94499974e-01 0.00000000e+00 -3.95430188e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.95212477e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.39, Y:-39.56, Z:-0.00 [[ 8.93974024e-01 4.48118784e-01 0.00000000e+00 1.93390748e+02] [-4.48118784e-01 8.93974024e-01 0.00000000e+00 -3.95550953e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.92040597e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.42, Y:-39.57, Z:-0.00 [[ 8.93427481e-01 4.49207454e-01 0.00000000e+00 1.93415108e+02] [-4.49207454e-01 8.93427481e-01 0.00000000e+00 -3.95664099e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.65454165e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.44, Y:-39.58, Z:-0.01 [[ 8.92404065e-01 4.51237171e-01 0.00000000e+00 1.93440363e+02] [-4.51237171e-01 8.92404065e-01 0.00000000e+00 -3.95771772e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.25315615e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.47, Y:-39.59, Z:-0.01 [[ 8.91894482e-01 4.52243555e-01 0.00000000e+00 1.93466054e+02] [-4.52243555e-01 8.91894482e-01 0.00000000e+00 -3.95884477e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.05851439e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.311400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:193.49, Y:-39.60, Z:-0.01 [[ 8.91702713e-01 4.52621554e-01 0.00000000e+00 1.93491655e+02] [-4.52621554e-01 8.91702713e-01 0.00000000e+00 -3.96005294e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.92128696e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.52, Y:-39.62, Z:-0.01 [[ 8.91877963e-01 4.52276131e-01 0.00000000e+00 1.93515226e+02] [-4.52276131e-01 8.91877963e-01 0.00000000e+00 -3.96155273e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15299877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.54, Y:-39.63, Z:-0.01 [[ 8.92384893e-01 4.51275086e-01 0.00000000e+00 1.93540501e+02] [-4.51275086e-01 8.92384893e-01 0.00000000e+00 -3.96284002e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29094295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.57, Y:-39.64, Z:-0.01 [[ 8.92925747e-01 4.50203964e-01 0.00000000e+00 1.93566415e+02] [-4.50203964e-01 8.92925747e-01 0.00000000e+00 -3.96411761e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25059332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.59, Y:-39.66, Z:-0.01 [[ 8.93822807e-01 4.48420327e-01 0.00000000e+00 1.93591209e+02] [-4.48420327e-01 8.93822807e-01 0.00000000e+00 -3.96558300e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.06720496e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.62, Y:-39.67, Z:-0.01 [[ 8.94421473e-01 4.47225031e-01 0.00000000e+00 1.93616669e+02] [-4.47225031e-01 8.94421473e-01 0.00000000e+00 -3.96686204e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.80360703e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.64, Y:-39.68, Z:-0.01 [[ 8.95966683e-01 4.44121271e-01 0.00000000e+00 1.93640359e+02] [-4.44121271e-01 8.95966683e-01 0.00000000e+00 -3.96829728e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.74011479e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.67, Y:-39.70, Z:-0.01 [[ 8.96892190e-01 4.42249251e-01 0.00000000e+00 1.93665166e+02] [-4.42249251e-01 8.96892190e-01 0.00000000e+00 -3.96974154e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.81393673e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.69, Y:-39.71, Z:-0.01 [[ 8.97758294e-01 4.40488417e-01 0.00000000e+00 1.93688537e+02] [-4.40488417e-01 8.97758294e-01 0.00000000e+00 -3.97128550e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.77483576e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.71, Y:-39.73, Z:-0.01 [[ 8.98474255e-01 4.39026209e-01 0.00000000e+00 1.93711485e+02] [-4.39026209e-01 8.98474255e-01 0.00000000e+00 -3.97285568e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.45605114e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.61140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:193.73, Y:-39.75, Z:-0.00 [[ 8.99095225e-01 4.37753101e-01 0.00000000e+00 1.93734056e+02] [-4.37753101e-01 8.99095225e-01 0.00000000e+00 -3.97473724e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.65652051e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.76, Y:-39.76, Z:-0.00 [[ 8.98964606e-01 4.38021276e-01 0.00000000e+00 1.93757375e+02] [-4.38021276e-01 8.98964606e-01 0.00000000e+00 -3.97615821e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.60515571e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.78, Y:-39.78, Z:-0.00 [[ 8.98910947e-01 4.38131384e-01 0.00000000e+00 1.93781408e+02] [-4.38131384e-01 8.98910947e-01 0.00000000e+00 -3.97768249e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.04513075e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.80, Y:-39.80, Z:-0.01 [[ 8.98541990e-01 4.38887563e-01 0.00000000e+00 1.93803216e+02] [-4.38887563e-01 8.98541990e-01 0.00000000e+00 -3.97972229e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.65655583e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.83, Y:-39.81, Z:-0.01 [[ 8.98269233e-01 4.39445543e-01 0.00000000e+00 1.93827773e+02] [-4.39445543e-01 8.98269233e-01 0.00000000e+00 -3.98115908e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.18210419e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.85, Y:-39.82, Z:-0.01 [[ 8.97735619e-01 4.40534629e-01 0.00000000e+00 1.93852502e+02] [-4.40534629e-01 8.97735619e-01 0.00000000e+00 -3.98244946e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.46199561e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.88, Y:-39.84, Z:-0.01 [[ 8.96966739e-01 4.42098031e-01 0.00000000e+00 1.93877486e+02] [-4.42098031e-01 8.96966739e-01 0.00000000e+00 -3.98367387e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.57821508e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.90, Y:-39.85, Z:-0.01 [[ 8.95050316e-01 4.45965169e-01 0.00000000e+00 1.93900814e+02] [-4.45965169e-01 8.95050316e-01 0.00000000e+00 -3.98523416e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05058303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.92, Y:-39.87, Z:-0.01 [[ 8.94161805e-01 4.47743975e-01 0.00000000e+00 1.93924661e+02] [-4.47743975e-01 8.94161805e-01 0.00000000e+00 -3.98654675e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12689930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.95, Y:-39.88, Z:-0.01 [[ 8.93650012e-01 4.48764588e-01 0.00000000e+00 1.93949840e+02] [-4.48764588e-01 8.93650012e-01 0.00000000e+00 -3.98777147e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01357781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.911400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:193.98, Y:-39.89, Z:-0.01 [[ 8.93430864e-01 4.49200725e-01 0.00000000e+00 1.93975422e+02] [-4.49200725e-01 8.93430864e-01 0.00000000e+00 -3.98888525e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.34528250e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.00, Y:-39.90, Z:-0.01 [[ 8.93381069e-01 4.49299750e-01 0.00000000e+00 1.94000080e+02] [-4.49299750e-01 8.93381069e-01 0.00000000e+00 -3.99027469e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.10021010e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.02, Y:-39.92, Z:-0.01 [[ 8.93519015e-01 4.49025355e-01 0.00000000e+00 1.94023587e+02] [-4.49025355e-01 8.93519015e-01 0.00000000e+00 -3.99160270e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.03909871e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.05, Y:-39.93, Z:-0.01 [[ 8.93773092e-01 4.48519408e-01 0.00000000e+00 1.94047568e+02] [-4.48519408e-01 8.93773092e-01 0.00000000e+00 -3.99290624e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.54673495e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.07, Y:-39.94, Z:-0.01 [[ 8.94100874e-01 4.47865635e-01 0.00000000e+00 1.94072144e+02] [-4.47865635e-01 8.94100874e-01 0.00000000e+00 -3.99428048e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17311314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.10, Y:-39.96, Z:-0.01 [[ 8.94304292e-01 4.47459309e-01 0.00000000e+00 1.94096814e+02] [-4.47459309e-01 8.94304292e-01 0.00000000e+00 -3.99550983e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06760401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.12, Y:-39.97, Z:-0.01 [[ 8.94610927e-01 4.46845935e-01 0.00000000e+00 1.94121852e+02] [-4.46845935e-01 8.94610927e-01 0.00000000e+00 -3.99685357e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.28644544e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.15, Y:-39.98, Z:-0.01 [[ 8.95107359e-01 4.45850666e-01 0.00000000e+00 1.94145764e+02] [-4.45850666e-01 8.95107359e-01 0.00000000e+00 -3.99812802e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.57063547e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.17, Y:-39.99, Z:-0.01 [[ 8.95740573e-01 4.44577131e-01 0.00000000e+00 1.94170234e+02] [-4.44577131e-01 8.95740573e-01 0.00000000e+00 -3.99948556e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.01938914e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.20, Y:-40.01, Z:-0.01 [[ 8.95917004e-01 4.44221479e-01 0.00000000e+00 1.94195958e+02] [-4.44221479e-01 8.95917004e-01 0.00000000e+00 -4.00071022e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.87681496e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.22, Y:-40.02, Z:-0.01 [[ 8.95965988e-01 4.44122672e-01 0.00000000e+00 1.94220554e+02] [-4.44122672e-01 8.95965988e-01 0.00000000e+00 -4.00191512e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.98838604e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.25, Y:-40.03, Z:-0.01 [[ 8.96046927e-01 4.43959351e-01 0.00000000e+00 1.94246891e+02] [-4.43959351e-01 8.96046927e-01 0.00000000e+00 -4.00300119e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.98838604e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.27140051299997 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:194.27, Y:-40.05, Z:-0.01 [[ 8.96080818e-01 4.43890941e-01 0.00000000e+00 1.94271106e+02] [-4.43890941e-01 8.96080818e-01 0.00000000e+00 -4.00451009e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.07688721e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.30, Y:-40.06, Z:-0.01 [[ 8.96201827e-01 4.43646578e-01 0.00000000e+00 1.94295281e+02] [-4.43646578e-01 8.96201827e-01 0.00000000e+00 -4.00579194e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.46239096e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.32, Y:-40.07, Z:-0.01 [[ 8.96269841e-01 4.43509157e-01 0.00000000e+00 1.94320315e+02] [-4.43509157e-01 8.96269841e-01 0.00000000e+00 -4.00708416e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.17763653e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.35, Y:-40.08, Z:-0.01 [[ 8.96266449e-01 4.43516011e-01 0.00000000e+00 1.94345439e+02] [-4.43516011e-01 8.96266449e-01 0.00000000e+00 -4.00836650e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.22858415e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.37, Y:-40.10, Z:-0.01 [[ 8.95969629e-01 4.44115328e-01 0.00000000e+00 1.94370366e+02] [-4.44115328e-01 8.95969629e-01 0.00000000e+00 -4.00972541e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.04616742e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.40, Y:-40.11, Z:-0.01 [[ 8.95677904e-01 4.44703377e-01 0.00000000e+00 1.94395323e+02] [-4.44703377e-01 8.95677904e-01 0.00000000e+00 -4.01095452e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.50201043e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.42, Y:-40.12, Z:-0.01 [[ 8.95228545e-01 4.45607285e-01 0.00000000e+00 1.94420259e+02] [-4.45607285e-01 8.95228545e-01 0.00000000e+00 -4.01222370e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.53417597e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.45, Y:-40.13, Z:-0.01 [[ 8.94819489e-01 4.46428138e-01 0.00000000e+00 1.94445498e+02] [-4.46428138e-01 8.94819489e-01 0.00000000e+00 -4.01346890e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.18020651e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.47, Y:-40.15, Z:-0.01 [[ 8.93629729e-01 4.48804978e-01 0.00000000e+00 1.94470460e+02] [-4.48804978e-01 8.93629729e-01 0.00000000e+00 -4.01481072e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.36237175e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.50, Y:-40.16, Z:-0.01 [[ 8.93201720e-01 4.49656189e-01 0.00000000e+00 1.94496363e+02] [-4.49656189e-01 8.93201720e-01 0.00000000e+00 -4.01595400e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.39370809e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.571400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:194.52, Y:-40.17, Z:-0.01 [[ 8.92417832e-01 4.51209943e-01 0.00000000e+00 1.94521424e+02] [-4.51209943e-01 8.92417832e-01 0.00000000e+00 -4.01718280e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.14862124e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.55, Y:-40.18, Z:-0.01 [[ 8.92160144e-01 4.51719247e-01 0.00000000e+00 1.94545638e+02] [-4.51719247e-01 8.92160144e-01 0.00000000e+00 -4.01827538e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.10133540e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.57, Y:-40.19, Z:-0.00 [[ 8.91973248e-01 4.52088184e-01 0.00000000e+00 1.94569850e+02] [-4.52088184e-01 8.91973248e-01 0.00000000e+00 -4.01938252e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.48684645e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.60, Y:-40.21, Z:-0.00 [[ 8.91861807e-01 4.52307989e-01 0.00000000e+00 1.94595843e+02] [-4.52307989e-01 8.91861807e-01 0.00000000e+00 -4.02054551e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.81119642e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.62, Y:-40.22, Z:-0.00 [[ 8.91693598e-01 4.52639512e-01 0.00000000e+00 1.94620496e+02] [-4.52639512e-01 8.91693598e-01 0.00000000e+00 -4.02170101e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.48975697e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.65, Y:-40.23, Z:-0.00 [[ 8.91582146e-01 4.52859002e-01 0.00000000e+00 1.94646503e+02] [-4.52859002e-01 8.91582146e-01 0.00000000e+00 -4.02280668e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88549230e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.67, Y:-40.24, Z:-0.00 [[ 8.91387768e-01 4.53241489e-01 0.00000000e+00 1.94672505e+02] [-4.53241489e-01 8.91387768e-01 0.00000000e+00 -4.02388718e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28560956e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.70, Y:-40.25, Z:-0.00 [[ 8.91192890e-01 4.53624550e-01 0.00000000e+00 1.94697951e+02] [-4.53624550e-01 8.91192890e-01 0.00000000e+00 -4.02496378e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34106543e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.72, Y:-40.26, Z:-0.00 [[ 8.90609612e-01 4.54768643e-01 0.00000000e+00 1.94723514e+02] [-4.54768643e-01 8.90609612e-01 0.00000000e+00 -4.02595007e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.77327975e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.75, Y:-40.27, Z:-0.00 [[ 8.90401056e-01 4.55176845e-01 0.00000000e+00 1.94749464e+02] [-4.55176845e-01 8.90401056e-01 0.00000000e+00 -4.02696052e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.95261944e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.78, Y:-40.28, Z:-0.01 [[ 8.90326573e-01 4.55322515e-01 0.00000000e+00 1.94775740e+02] [-4.55322515e-01 8.90326573e-01 0.00000000e+00 -4.02800324e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.54942325e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.80, Y:-40.29, Z:-0.01 [[ 8.90209086e-01 4.55552174e-01 0.00000000e+00 1.94801577e+02] [-4.55552174e-01 8.90209086e-01 0.00000000e+00 -4.02909203e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.14723190e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.83, Y:-40.30, Z:-0.01 [[ 8.89597326e-01 4.56745660e-01 0.00000000e+00 1.94827934e+02] [-4.56745660e-01 8.89597326e-01 0.00000000e+00 -4.03008006e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05245805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.85, Y:-40.31, Z:-0.01 [[ 8.89242048e-01 4.57436969e-01 0.00000000e+00 1.94854573e+02] [-4.57436969e-01 8.89242048e-01 0.00000000e+00 -4.03096966e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10906776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.88, Y:-40.32, Z:-0.01 [[ 8.88989380e-01 4.57927814e-01 0.00000000e+00 1.94880078e+02] [-4.57927814e-01 8.88989380e-01 0.00000000e+00 -4.03186594e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10056299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.91, Y:-40.33, Z:-0.01 [[ 8.89605043e-01 4.56730629e-01 0.00000000e+00 1.94907516e+02] [-4.56730629e-01 8.89605043e-01 0.00000000e+00 -4.03284264e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.87464774e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.93, Y:-40.34, Z:-0.00 [[ 8.90562097e-01 4.54861684e-01 0.00000000e+00 1.94933826e+02] [-4.54861684e-01 8.90562097e-01 0.00000000e+00 -4.03382842e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.29155779e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.96, Y:-40.35, Z:-0.00 [[ 8.91630020e-01 4.52764737e-01 0.00000000e+00 1.94960014e+02] [-4.52764737e-01 8.91630020e-01 0.00000000e+00 -4.03478066e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.66347649e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.99, Y:-40.36, Z:-0.01 [[ 8.92583961e-01 4.50881217e-01 0.00000000e+00 1.94985485e+02] [-4.50881217e-01 8.92583961e-01 0.00000000e+00 -4.03573017e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.29376612e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.01, Y:-40.37, Z:-0.01 [[ 8.94325745e-01 4.47416431e-01 0.00000000e+00 1.95010917e+02] [-4.47416431e-01 8.94325745e-01 0.00000000e+00 -4.03699101e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.49837764e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.03, Y:-40.38, Z:-0.01 [[ 8.95129131e-01 4.45806952e-01 0.00000000e+00 1.95034685e+02] [-4.45806952e-01 8.95129131e-01 0.00000000e+00 -4.03822217e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.77952626e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.06, Y:-40.40, Z:-0.00 [[ 8.95864511e-01 4.44327332e-01 0.00000000e+00 1.95059614e+02] [-4.44327332e-01 8.95864511e-01 0.00000000e+00 -4.03957421e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.57945126e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.08, Y:-40.41, Z:-0.00 [[ 8.96627920e-01 4.42784792e-01 0.00000000e+00 1.95083264e+02] [-4.42784792e-01 8.96627920e-01 0.00000000e+00 -4.04088494e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.66085873e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.11, Y:-40.43, Z:-0.00 [[ 8.98177663e-01 4.39632671e-01 0.00000000e+00 1.95105744e+02] [-4.39632671e-01 8.98177663e-01 0.00000000e+00 -4.04265180e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96896905e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.13, Y:-40.44, Z:-0.00 [[ 8.98803519e-01 4.38351723e-01 0.00000000e+00 1.95128983e+02] [-4.38351723e-01 8.98803519e-01 0.00000000e+00 -4.04408944e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56629440e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.15, Y:-40.46, Z:0.00 [[ 8.99651681e-01 4.36608352e-01 0.00000000e+00 1.95151622e+02] [-4.36608352e-01 8.99651681e-01 0.00000000e+00 -4.04596529e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.40742998e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.18, Y:-40.47, Z:0.00 [[ 8.99647141e-01 4.36617707e-01 0.00000000e+00 1.95175169e+02] [-4.36617707e-01 8.99647141e-01 0.00000000e+00 -4.04738923e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30664195e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.20, Y:-40.49, Z:0.00 [[ 8.99352740e-01 4.37223797e-01 0.00000000e+00 1.95199311e+02] [-4.37223797e-01 8.99352740e-01 0.00000000e+00 -4.04880992e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28054194e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.22, Y:-40.50, Z:-0.00 [[ 8.98701294e-01 4.38561265e-01 0.00000000e+00 1.95222215e+02] [-4.38561265e-01 8.98701294e-01 0.00000000e+00 -4.05023315e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86218660e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.24, Y:-40.52, Z:-0.00 [[ 8.97140302e-01 4.41745717e-01 0.00000000e+00 1.95244145e+02] [-4.41745717e-01 8.97140302e-01 0.00000000e+00 -4.05216614e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.25291514e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.27, Y:-40.54, Z:-0.01 [[ 8.96697127e-01 4.42644622e-01 0.00000000e+00 1.95267028e+02] [-4.42644622e-01 8.96697127e-01 0.00000000e+00 -4.05362983e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.04784517e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.29, Y:-40.55, Z:-0.01 [[ 8.96553295e-01 4.42935874e-01 0.00000000e+00 1.95290762e+02] [-4.42935874e-01 8.96553295e-01 0.00000000e+00 -4.05515528e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.43197703e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.31, Y:-40.57, Z:-0.01 [[ 8.96627811e-01 4.42785013e-01 0.00000000e+00 1.95314937e+02] [-4.42785013e-01 8.96627811e-01 0.00000000e+00 -4.05673130e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.80976433e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.34, Y:-40.59, Z:-0.00 [[ 8.96605250e-01 4.42830696e-01 0.00000000e+00 1.95336402e+02] [-4.42830696e-01 8.96605250e-01 0.00000000e+00 -4.05885163e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.46409048e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.36, Y:-40.60, Z:-0.00 [[ 8.96287319e-01 4.43473834e-01 0.00000000e+00 1.95359013e+02] [-4.43473834e-01 8.96287319e-01 0.00000000e+00 -4.06033622e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74757908e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.38, Y:-40.62, Z:-0.00 [[ 8.95774712e-01 4.44508341e-01 0.00000000e+00 1.95383947e+02] [-4.44508341e-01 8.95774712e-01 0.00000000e+00 -4.06176281e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.26675432e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.41, Y:-40.63, Z:-0.01 [[ 8.93599979e-01 4.48864208e-01 0.00000000e+00 1.95407675e+02] [-4.48864208e-01 8.93599979e-01 0.00000000e+00 -4.06333791e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.98985982e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.43, Y:-40.65, Z:-0.01 [[ 8.92441448e-01 4.51163233e-01 0.00000000e+00 1.95432356e+02] [-4.51163233e-01 8.92441448e-01 0.00000000e+00 -4.06461392e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.71479048e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.46, Y:-40.66, Z:-0.01 [[ 8.91291797e-01 4.53430184e-01 0.00000000e+00 1.95457543e+02] [-4.53430184e-01 8.91291797e-01 0.00000000e+00 -4.06591636e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.64616771e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.48, Y:-40.67, Z:-0.01 [[ 8.90252396e-01 4.55467530e-01 0.00000000e+00 1.95481877e+02] [-4.55467530e-01 8.90252396e-01 0.00000000e+00 -4.06712169e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.16774437e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.51, Y:-40.68, Z:-0.01 [[ 8.88965345e-01 4.57974471e-01 0.00000000e+00 1.95507925e+02] [-4.57974471e-01 8.88965345e-01 0.00000000e+00 -4.06835860e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.20803056e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.53, Y:-40.69, Z:-0.01 [[ 8.88990615e-01 4.57925416e-01 0.00000000e+00 1.95533351e+02] [-4.57925416e-01 8.88990615e-01 0.00000000e+00 -4.06945486e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06913464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.56, Y:-40.71, Z:-0.01 [[ 8.89569701e-01 4.56799460e-01 0.00000000e+00 1.95559209e+02] [-4.56799460e-01 8.89569701e-01 0.00000000e+00 -4.07065645e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04882530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.58, Y:-40.72, Z:-0.01 [[ 8.91429919e-01 4.53158581e-01 0.00000000e+00 1.95582335e+02] [-4.53158581e-01 8.91429919e-01 0.00000000e+00 -4.07220807e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12581310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.61, Y:-40.74, Z:-0.01 [[ 8.92629295e-01 4.50791462e-01 0.00000000e+00 1.95607682e+02] [-4.50791462e-01 8.92629295e-01 0.00000000e+00 -4.07351835e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.71410110e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.63, Y:-40.75, Z:-0.01 [[ 8.93772876e-01 4.48519840e-01 0.00000000e+00 1.95633225e+02] [-4.48519840e-01 8.93772876e-01 0.00000000e+00 -4.07478490e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.42451261e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.66, Y:-40.76, Z:-0.01 [[ 8.94708207e-01 4.46651122e-01 0.00000000e+00 1.95657820e+02] [-4.46651122e-01 8.94708207e-01 0.00000000e+00 -4.07605767e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.33767322e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.68, Y:-40.78, Z:-0.01 [[ 8.95985672e-01 4.44082959e-01 0.00000000e+00 1.95680787e+02] [-4.44082959e-01 8.95985672e-01 0.00000000e+00 -4.07771950e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.90995333e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.71, Y:-40.79, Z:-0.01 [[ 8.96265507e-01 4.43517915e-01 0.00000000e+00 1.95705799e+02] [-4.43517915e-01 8.96265507e-01 0.00000000e+00 -4.07900379e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.91657383e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.73, Y:-40.80, Z:-0.01 [[ 8.96136611e-01 4.43778294e-01 0.00000000e+00 1.95731823e+02] [-4.43778294e-01 8.96136611e-01 0.00000000e+00 -4.08012031e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.57427557e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.76, Y:-40.81, Z:-0.01 [[ 8.95847520e-01 4.44361587e-01 0.00000000e+00 1.95758062e+02] [-4.44361587e-01 8.95847520e-01 0.00000000e+00 -4.08112730e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.02527834e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.78, Y:-40.82, Z:-0.01 [[ 8.95433246e-01 4.45195802e-01 0.00000000e+00 1.95783362e+02] [-4.45195802e-01 8.95433246e-01 0.00000000e+00 -4.08222678e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.02430257e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.81, Y:-40.83, Z:-0.01 [[ 8.95512868e-01 4.45035620e-01 0.00000000e+00 1.95809821e+02] [-4.45035620e-01 8.95512868e-01 0.00000000e+00 -4.08328994e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.02430257e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.83, Y:-40.84, Z:-0.01 [[ 8.95584404e-01 4.44891644e-01 0.00000000e+00 1.95834529e+02] [-4.44891644e-01 8.95584404e-01 0.00000000e+00 -4.08437937e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.63848927e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.86, Y:-40.85, Z:-0.01 [[ 8.95859888e-01 4.44336654e-01 0.00000000e+00 1.95860521e+02] [-4.44336654e-01 8.95859888e-01 0.00000000e+00 -4.08547923e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.84103015e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.89, Y:-40.87, Z:-0.01 [[ 8.96696581e-01 4.42645730e-01 0.00000000e+00 1.95885900e+02] [-4.42645730e-01 8.96696581e-01 0.00000000e+00 -4.08678754e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.68292997e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.91, Y:-40.88, Z:-0.01 [[ 8.97424807e-01 4.41167446e-01 0.00000000e+00 1.95910491e+02] [-4.41167446e-01 8.97424807e-01 0.00000000e+00 -4.08805773e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.90176714e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.94, Y:-40.89, Z:-0.01 [[ 8.98129243e-01 4.39731580e-01 0.00000000e+00 1.95935140e+02] [-4.39731580e-01 8.98129243e-01 0.00000000e+00 -4.08936493e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.76601401e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.96, Y:-40.91, Z:-0.01 [[ 8.98801852e-01 4.38355142e-01 0.00000000e+00 1.95961319e+02] [-4.38355142e-01 8.98801852e-01 0.00000000e+00 -4.09069954e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.57945728e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.98, Y:-40.92, Z:-0.01 [[ 8.98972470e-01 4.38005135e-01 0.00000000e+00 1.95984869e+02] [-4.38005135e-01 8.98972470e-01 0.00000000e+00 -4.09217035e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.42165478e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.01, Y:-40.93, Z:-0.00 [[ 8.98465363e-01 4.39044407e-01 0.00000000e+00 1.96009846e+02] [-4.39044407e-01 8.98465363e-01 0.00000000e+00 -4.09344959e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.34847152e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.03, Y:-40.95, Z:-0.00 [[ 8.97651954e-01 4.40705083e-01 0.00000000e+00 1.96033839e+02] [-4.40705083e-01 8.97651954e-01 0.00000000e+00 -4.09464954e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.82146097e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.06, Y:-40.96, Z:-0.01 [[ 8.94854708e-01 4.46357537e-01 0.00000000e+00 1.96059597e+02] [-4.46357537e-01 8.94854708e-01 0.00000000e+00 -4.09601370e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.40216377e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.08, Y:-40.97, Z:-0.01 [[ 8.93152028e-01 4.49754882e-01 0.00000000e+00 1.96084384e+02] [-4.49754882e-01 8.93152028e-01 0.00000000e+00 -4.09719483e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.47325657e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.11, Y:-40.98, Z:-0.01 [[ 8.91492572e-01 4.53035313e-01 0.00000000e+00 1.96110158e+02] [-4.53035313e-01 8.91492572e-01 0.00000000e+00 -4.09842413e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.33592891e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.13, Y:-41.00, Z:-0.01 [[ 8.90138118e-01 4.55690828e-01 0.00000000e+00 1.96134186e+02] [-4.55690828e-01 8.90138118e-01 0.00000000e+00 -4.09956353e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.15288216e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.16, Y:-41.01, Z:-0.01 [[ 8.87967474e-01 4.59906256e-01 0.00000000e+00 1.96159246e+02] [-4.59906256e-01 8.87967474e-01 0.00000000e+00 -4.10081892e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.60358103e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.19, Y:-41.02, Z:-0.01 [[ 8.87156695e-01 4.61468307e-01 0.00000000e+00 1.96185905e+02] [-4.61468307e-01 8.87156695e-01 0.00000000e+00 -4.10200112e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.37879329e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.21, Y:-41.03, Z:-0.01 [[ 8.86645415e-01 4.62449899e-01 0.00000000e+00 1.96211228e+02] [-4.62449899e-01 8.86645415e-01 0.00000000e+00 -4.10315010e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.48970452e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.24, Y:-41.04, Z:-0.01 [[ 8.86049069e-01 4.63591466e-01 0.00000000e+00 1.96237449e+02] [-4.63591466e-01 8.86049069e-01 0.00000000e+00 -4.10433865e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.69269939e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.26, Y:-41.05, Z:-0.01 [[ 8.86099083e-01 4.63495864e-01 0.00000000e+00 1.96262904e+02] [-4.63495864e-01 8.86099083e-01 0.00000000e+00 -4.10527013e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.47062287e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.29, Y:-41.06, Z:-0.01 [[ 8.86472349e-01 4.62781562e-01 0.00000000e+00 1.96290043e+02] [-4.62781562e-01 8.86472349e-01 0.00000000e+00 -4.10621456e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.13236130e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.32, Y:-41.07, Z:-0.01 [[ 8.87076654e-01 4.61622150e-01 0.00000000e+00 1.96316117e+02] [-4.61622150e-01 8.87076654e-01 0.00000000e+00 -4.10713737e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.88684925e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.34, Y:-41.08, Z:-0.01 [[ 8.88574953e-01 4.58731461e-01 0.00000000e+00 1.96343056e+02] [-4.58731461e-01 8.88574953e-01 0.00000000e+00 -4.10806990e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.14663562e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.37, Y:-41.09, Z:-0.01 [[ 8.89199379e-01 4.57519907e-01 0.00000000e+00 1.96368853e+02] [-4.57519907e-01 8.89199379e-01 0.00000000e+00 -4.10897798e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.15461906e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.40, Y:-41.10, Z:-0.01 [[ 8.89995202e-01 4.55969889e-01 0.00000000e+00 1.96395074e+02] [-4.55969889e-01 8.89995202e-01 0.00000000e+00 -4.10993896e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.72963075e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.42, Y:-41.11, Z:-0.01 [[ 8.90894353e-01 4.54210581e-01 0.00000000e+00 1.96421663e+02] [-4.54210581e-01 8.90894353e-01 0.00000000e+00 -4.11095850e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.37593671e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.45, Y:-41.12, Z:-0.01 [[ 8.92500157e-01 4.51047082e-01 0.00000000e+00 1.96448193e+02] [-4.51047082e-01 8.92500157e-01 0.00000000e+00 -4.11177234e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.90843932e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.48, Y:-41.13, Z:-0.01 [[ 8.93406512e-01 4.49249157e-01 0.00000000e+00 1.96475563e+02] [-4.49249157e-01 8.93406512e-01 0.00000000e+00 -4.11265946e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.75198864e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.941400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:196.50, Y:-41.14, Z:-0.01 [[ 8.94471647e-01 4.47124673e-01 0.00000000e+00 1.96502299e+02] [-4.47124673e-01 8.94471647e-01 0.00000000e+00 -4.11350435e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.48266769e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.53, Y:-41.14, Z:-0.01 [[ 8.95612729e-01 4.44834621e-01 0.00000000e+00 1.96527722e+02] [-4.44834621e-01 8.95612729e-01 0.00000000e+00 -4.11438498e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.38153918e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.55, Y:-41.15, Z:-0.01 [[ 8.97225998e-01 4.41571635e-01 0.00000000e+00 1.96554253e+02] [-4.41571635e-01 8.97225998e-01 0.00000000e+00 -4.11539202e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.55433118e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.58, Y:-41.16, Z:-0.01 [[ 8.99113015e-01 4.37716559e-01 0.00000000e+00 1.96579129e+02] [-4.37716559e-01 8.99113015e-01 0.00000000e+00 -4.11638778e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.60344934e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.61, Y:-41.18, Z:-0.00 [[ 9.03124745e-01 4.29378266e-01 0.00000000e+00 1.96605583e+02] [-4.29378266e-01 9.03124745e-01 0.00000000e+00 -4.11757400e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.62192982e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.63, Y:-41.19, Z:-0.00 [[ 9.04990149e-01 4.25432522e-01 0.00000000e+00 1.96630434e+02] [-4.25432522e-01 9.04990149e-01 0.00000000e+00 -4.11874450e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38115294e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.66, Y:-41.20, Z:-0.00 [[ 9.06605653e-01 4.21978897e-01 0.00000000e+00 1.96655184e+02] [-4.21978897e-01 9.06605653e-01 0.00000000e+00 -4.12002835e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47568514e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.68, Y:-41.22, Z:-0.00 [[ 9.08641309e-01 4.17577504e-01 0.00000000e+00 1.96679749e+02] [-4.17577504e-01 9.08641309e-01 0.00000000e+00 -4.12160796e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31619158e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.71, Y:-41.23, Z:-0.00 [[ 9.09173488e-01 4.16417542e-01 0.00000000e+00 1.96705341e+02] [-4.16417542e-01 9.09173488e-01 0.00000000e+00 -4.12289720e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69947518e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.73, Y:-41.24, Z:-0.00 [[ 9.09563857e-01 4.15564182e-01 0.00000000e+00 1.96730454e+02] [-4.15564182e-01 9.09563857e-01 0.00000000e+00 -4.12412915e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44636216e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.76, Y:-41.25, Z:-0.00 [[ 9.09640492e-01 4.15396407e-01 0.00000000e+00 1.96755219e+02] [-4.15396407e-01 9.09640492e-01 0.00000000e+00 -4.12536978e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.29275906e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.78, Y:-41.27, Z:0.00 [[ 9.09667844e-01 4.15336506e-01 0.00000000e+00 1.96779159e+02] [-4.15336506e-01 9.09667844e-01 0.00000000e+00 -4.12657635e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21602633e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.80, Y:-41.28, Z:0.00 [[ 9.09661183e-01 4.15351095e-01 0.00000000e+00 1.96804062e+02] [-4.15351095e-01 9.09661183e-01 0.00000000e+00 -4.12797189e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82048827e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.83, Y:-41.29, Z:-0.00 [[ 9.09786467e-01 4.15076602e-01 0.00000000e+00 1.96830274e+02] [-4.15076602e-01 9.09786467e-01 0.00000000e+00 -4.12917934e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20667918e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.86, Y:-41.30, Z:-0.00 [[ 9.10127217e-01 4.14328914e-01 0.00000000e+00 1.96855792e+02] [-4.14328914e-01 9.10127217e-01 0.00000000e+00 -4.13037906e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37168549e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.88, Y:-41.32, Z:0.00 [[ 9.10672709e-01 4.13128571e-01 0.00000000e+00 1.96880928e+02] [-4.13128571e-01 9.10672709e-01 0.00000000e+00 -4.13162244e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96181799e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.91, Y:-41.33, Z:0.00 [[ 9.11964848e-01 4.10268346e-01 0.00000000e+00 1.96906300e+02] [-4.10268346e-01 9.11964848e-01 0.00000000e+00 -4.13303539e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50502443e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.93, Y:-41.34, Z:-0.00 [[ 9.12698000e-01 4.08634753e-01 0.00000000e+00 1.96932618e+02] [-4.08634753e-01 9.12698000e-01 0.00000000e+00 -4.13419242e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.73536465e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.96, Y:-41.35, Z:-0.00 [[ 9.13343733e-01 4.07189422e-01 0.00000000e+00 1.96960056e+02] [-4.07189422e-01 9.13343733e-01 0.00000000e+00 -4.13535456e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81412705e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.99, Y:-41.37, Z:-0.00 [[ 9.13847139e-01 4.06058379e-01 0.00000000e+00 1.96986696e+02] [-4.06058379e-01 9.13847139e-01 0.00000000e+00 -4.13652167e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09982094e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.01, Y:-41.38, Z:-0.00 [[ 9.14437558e-01 4.04727009e-01 0.00000000e+00 1.97013347e+02] [-4.04727009e-01 9.14437558e-01 0.00000000e+00 -4.13771809e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.18997699e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.04, Y:-41.39, Z:-0.00 [[ 9.14627483e-01 4.04297623e-01 0.00000000e+00 1.97040803e+02] [-4.04297623e-01 9.14627483e-01 0.00000000e+00 -4.13871137e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03939971e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.07, Y:-41.40, Z:-0.00 [[ 9.14670102e-01 4.04201194e-01 0.00000000e+00 1.97067630e+02] [-4.04201194e-01 9.14670102e-01 0.00000000e+00 -4.13957102e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.67522481e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.10, Y:-41.41, Z:-0.01 [[ 9.14549279e-01 4.04474494e-01 0.00000000e+00 1.97096801e+02] [-4.04474494e-01 9.14549279e-01 0.00000000e+00 -4.14051130e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.68773327e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.12, Y:-41.41, Z:-0.01 [[ 9.14523411e-01 4.04532978e-01 0.00000000e+00 1.97124131e+02] [-4.04532978e-01 9.14523411e-01 0.00000000e+00 -4.14148883e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.63371854e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.15, Y:-41.43, Z:-0.00 [[ 9.15079733e-01 4.03272962e-01 0.00000000e+00 1.97149899e+02] [-4.03272962e-01 9.15079733e-01 0.00000000e+00 -4.14257668e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.06833380e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.18, Y:-41.44, Z:-0.00 [[ 9.15631000e-01 4.02019740e-01 0.00000000e+00 1.97175150e+02] [-4.02019740e-01 9.15631000e-01 0.00000000e+00 -4.14362822e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.68669598e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.20, Y:-41.45, Z:-0.01 [[ 9.16051755e-01 4.01060073e-01 0.00000000e+00 1.97201395e+02] [-4.01060073e-01 9.16051755e-01 0.00000000e+00 -4.14471261e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.15250814e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.23, Y:-41.46, Z:-0.01 [[ 9.16236315e-01 4.00638261e-01 0.00000000e+00 1.97227293e+02] [-4.00638261e-01 9.16236315e-01 0.00000000e+00 -4.14585971e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.36602463e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.25, Y:-41.47, Z:-0.01 [[ 9.15601403e-01 4.02087142e-01 0.00000000e+00 1.97254566e+02] [-4.02087142e-01 9.15601403e-01 0.00000000e+00 -4.14712432e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.10600390e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.28, Y:-41.48, Z:-0.00 [[ 9.14519623e-01 4.04541541e-01 0.00000000e+00 1.97282599e+02] [-4.04541541e-01 9.14519623e-01 0.00000000e+00 -4.14811586e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.10601959e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.31, Y:-41.49, Z:-0.00 [[ 9.12836913e-01 4.08324344e-01 0.00000000e+00 1.97309130e+02] [-4.08324344e-01 9.12836913e-01 0.00000000e+00 -4.14890421e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.40028024e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.34, Y:-41.50, Z:-0.00 [[ 9.10703780e-01 4.13060075e-01 0.00000000e+00 1.97336259e+02] [-4.13060075e-01 9.10703780e-01 0.00000000e+00 -4.14967613e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11152909e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.36, Y:-41.50, Z:-0.00 [[ 9.08262740e-01 4.18400281e-01 0.00000000e+00 1.97362641e+02] [-4.18400281e-01 9.08262740e-01 0.00000000e+00 -4.15045465e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38953516e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.39, Y:-41.51, Z:0.00 [[ 9.03796840e-01 4.27961764e-01 0.00000000e+00 1.97390171e+02] [-4.27961764e-01 9.03796840e-01 0.00000000e+00 -4.15116434e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.58004228e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.42, Y:-41.52, Z:-0.00 [[ 9.02177333e-01 4.31365344e-01 0.00000000e+00 1.97416644e+02] [-4.31365344e-01 9.02177333e-01 0.00000000e+00 -4.15199545e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.27175616e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.44, Y:-41.53, Z:-0.00 [[ 9.01124556e-01 4.33560301e-01 0.00000000e+00 1.97442943e+02] [-4.33560301e-01 9.01124556e-01 0.00000000e+00 -4.15271278e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.94332944e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.47, Y:-41.54, Z:-0.00 [[ 9.01153382e-01 4.33500382e-01 0.00000000e+00 1.97469431e+02] [-4.33500382e-01 9.01153382e-01 0.00000000e+00 -4.15376702e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.94332944e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.50, Y:-41.54, Z:-0.00 [[ 9.00642615e-01 4.34560560e-01 0.00000000e+00 1.97497479e+02] [-4.34560560e-01 9.00642615e-01 0.00000000e+00 -4.15422050e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81784137e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.11140051299998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:197.52, Y:-41.55, Z:-0.00 [[ 9.01054351e-01 4.33706187e-01 0.00000000e+00 1.97524980e+02] [-4.33706187e-01 9.01054351e-01 0.00000000e+00 -4.15514887e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.83963947e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.55, Y:-41.56, Z:-0.00 [[ 9.01941351e-01 4.31858542e-01 0.00000000e+00 1.97550243e+02] [-4.31858542e-01 9.01941351e-01 0.00000000e+00 -4.15605208e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.62569110e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.58, Y:-41.57, Z:-0.00 [[ 9.03024213e-01 4.29589655e-01 0.00000000e+00 1.97576549e+02] [-4.29589655e-01 9.03024213e-01 0.00000000e+00 -4.15696277e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.63962275e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:197.60, Y:-41.58, Z:-0.00 [[ 9.03954712e-01 4.27628202e-01 0.00000000e+00 1.97603538e+02] [-4.27628202e-01 9.03954712e-01 0.00000000e+00 -4.15789111e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.82618152e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.23140051299998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:197.63, Y:-41.59, Z:-0.00 [[ 9.04699668e-01 4.26049892e-01 0.00000000e+00 1.97630544e+02] [-4.26049892e-01 9.04699668e-01 0.00000000e+00 -4.15884914e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.45820533e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.66, Y:-41.60, Z:-0.00 [[ 9.05229074e-01 4.24923903e-01 0.00000000e+00 1.97655590e+02] [-4.24923903e-01 9.05229074e-01 0.00000000e+00 -4.15998414e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.57117803e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.68, Y:-41.61, Z:-0.00 [[ 9.05282160e-01 4.24810794e-01 0.00000000e+00 1.97680311e+02] [-4.24810794e-01 9.05282160e-01 0.00000000e+00 -4.16105389e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.52012528e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.71, Y:-41.62, Z:-0.00 [[ 9.05376590e-01 4.24609503e-01 0.00000000e+00 1.97707297e+02] [-4.24609503e-01 9.05376590e-01 0.00000000e+00 -4.16211565e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.24751556e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.73, Y:-41.63, Z:-0.01 [[ 9.05558050e-01 4.24222368e-01 0.00000000e+00 1.97732101e+02] [-4.24222368e-01 9.05558050e-01 0.00000000e+00 -4.16306639e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.29765886e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.76, Y:-41.64, Z:-0.00 [[ 9.05741779e-01 4.23829954e-01 0.00000000e+00 1.97758360e+02] [-4.23829954e-01 9.05741779e-01 0.00000000e+00 -4.16408032e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.23454538e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.78, Y:-41.65, Z:-0.00 [[ 9.06127137e-01 4.23005451e-01 0.00000000e+00 1.97784735e+02] [-4.23005451e-01 9.06127137e-01 0.00000000e+00 -4.16516833e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.17039658e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.441400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:197.81, Y:-41.66, Z:-0.01 [[ 9.06376408e-01 4.22471073e-01 0.00000000e+00 1.97810096e+02] [-4.22471073e-01 9.06376408e-01 0.00000000e+00 -4.16622499e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.33165952e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.84, Y:-41.67, Z:-0.01 [[ 9.06727253e-01 4.21717546e-01 0.00000000e+00 1.97835780e+02] [-4.21717546e-01 9.06727253e-01 0.00000000e+00 -4.16734469e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.59621606e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.86, Y:-41.69, Z:-0.01 [[ 9.07126480e-01 4.20858110e-01 0.00000000e+00 1.97862342e+02] [-4.20858110e-01 9.07126480e-01 0.00000000e+00 -4.16856181e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.67989006e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.89, Y:-41.70, Z:-0.01 [[ 9.07781483e-01 4.19443417e-01 0.00000000e+00 1.97886373e+02] [-4.19443417e-01 9.07781483e-01 0.00000000e+00 -4.16991442e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.87944693e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.91, Y:-41.71, Z:-0.00 [[ 9.07875992e-01 4.19238813e-01 0.00000000e+00 1.97912857e+02] [-4.19238813e-01 9.07875992e-01 0.00000000e+00 -4.17116140e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.85965562e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.94, Y:-41.72, Z:-0.00 [[ 9.07731885e-01 4.19550742e-01 0.00000000e+00 1.97938738e+02] [-4.19550742e-01 9.07731885e-01 0.00000000e+00 -4.17240383e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.26289281e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.96, Y:-41.74, Z:-0.00 [[ 9.07333404e-01 4.20411815e-01 0.00000000e+00 1.97963785e+02] [-4.20411815e-01 9.07333404e-01 0.00000000e+00 -4.17365467e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75130282e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.99, Y:-41.75, Z:-0.00 [[ 9.06626869e-01 4.21933314e-01 0.00000000e+00 1.97989766e+02] [-4.21933314e-01 9.06626869e-01 0.00000000e+00 -4.17493797e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.18595463e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.01, Y:-41.76, Z:-0.00 [[ 9.04547387e-01 4.26373104e-01 0.00000000e+00 1.98014192e+02] [-4.26373104e-01 9.04547387e-01 0.00000000e+00 -4.17634053e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99076680e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71140051299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:198.04, Y:-41.78, Z:-0.00 [[ 9.03413282e-01 4.28770849e-01 0.00000000e+00 1.98039463e+02] [-4.28770849e-01 9.03413282e-01 0.00000000e+00 -4.17750577e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.33936857e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.06, Y:-41.79, Z:-0.01 [[ 9.02369161e-01 4.30963916e-01 0.00000000e+00 1.98064610e+02] [-4.30963916e-01 9.02369161e-01 0.00000000e+00 -4.17860936e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.11660086e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.09, Y:-41.80, Z:-0.00 [[ 9.01476691e-01 4.32827651e-01 0.00000000e+00 1.98090150e+02] [-4.32827651e-01 9.01476691e-01 0.00000000e+00 -4.17967466e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.65641897e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.12, Y:-41.81, Z:-0.00 [[ 8.99730787e-01 4.36445312e-01 0.00000000e+00 1.98116016e+02] [-4.36445312e-01 8.99730787e-01 0.00000000e+00 -4.18084383e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.02407041e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.14, Y:-41.82, Z:-0.00 [[ 8.99282028e-01 4.37369220e-01 0.00000000e+00 1.98141715e+02] [-4.37369220e-01 8.99282028e-01 0.00000000e+00 -4.18188943e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.72348516e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.17, Y:-41.83, Z:-0.00 [[ 8.99192429e-01 4.37553398e-01 0.00000000e+00 1.98168486e+02] [-4.37553398e-01 8.99192429e-01 0.00000000e+00 -4.18298097e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13591951e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.19, Y:-41.84, Z:-0.00 [[ 8.99527349e-01 4.36864450e-01 0.00000000e+00 1.98193828e+02] [-4.36864450e-01 8.99527349e-01 0.00000000e+00 -4.18404534e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.98672470e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.22, Y:-41.85, Z:-0.00 [[ 9.00598231e-01 4.34652536e-01 0.00000000e+00 1.98218474e+02] [-4.34652536e-01 9.00598231e-01 0.00000000e+00 -4.18517626e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.09407696e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.25, Y:-41.86, Z:-0.00 [[ 9.01160991e-01 4.33484566e-01 0.00000000e+00 1.98245726e+02] [-4.33484566e-01 9.01160991e-01 0.00000000e+00 -4.18626016e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.20983738e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.27, Y:-41.87, Z:-0.00 [[ 9.01629623e-01 4.32508986e-01 0.00000000e+00 1.98272180e+02] [-4.32508986e-01 9.01629623e-01 0.00000000e+00 -4.18719619e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46643292e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.30, Y:-41.88, Z:-0.00 [[ 9.02021689e-01 4.31690713e-01 0.00000000e+00 1.98299080e+02] [-4.31690713e-01 9.02021689e-01 0.00000000e+00 -4.18807349e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42464122e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.33, Y:-41.89, Z:-0.00 [[ 9.02297839e-01 4.31113221e-01 0.00000000e+00 1.98326103e+02] [-4.31113221e-01 9.02297839e-01 0.00000000e+00 -4.18897452e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22516866e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.35, Y:-41.90, Z:-0.00 [[ 9.02571233e-01 4.30540555e-01 0.00000000e+00 1.98353266e+02] [-4.30540555e-01 9.02571233e-01 0.00000000e+00 -4.18994439e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.90805471e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.38, Y:-41.91, Z:-0.00 [[ 9.02873031e-01 4.29907303e-01 0.00000000e+00 1.98379366e+02] [-4.29907303e-01 9.02873031e-01 0.00000000e+00 -4.19093706e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.00997925e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.41, Y:-41.92, Z:-0.00 [[ 9.03483776e-01 4.28622288e-01 0.00000000e+00 1.98406284e+02] [-4.28622288e-01 9.03483776e-01 0.00000000e+00 -4.19196173e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45467577e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.43, Y:-41.93, Z:-0.00 [[ 9.05156088e-01 4.25079353e-01 0.00000000e+00 1.98431842e+02] [-4.25079353e-01 9.05156088e-01 0.00000000e+00 -4.19296231e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.49670682e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.46, Y:-41.94, Z:-0.00 [[ 9.06123668e-01 4.23012882e-01 0.00000000e+00 1.98458392e+02] [-4.23012882e-01 9.06123668e-01 0.00000000e+00 -4.19411749e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.44254860e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.48, Y:-41.95, Z:-0.00 [[ 9.07088830e-01 4.20939253e-01 0.00000000e+00 1.98483676e+02] [-4.20939253e-01 9.07088830e-01 0.00000000e+00 -4.19521933e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13581813e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.51, Y:-41.96, Z:-0.00 [[ 9.07784554e-01 4.19436770e-01 0.00000000e+00 1.98510355e+02] [-4.19436770e-01 9.07784554e-01 0.00000000e+00 -4.19633438e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.79300336e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.54, Y:-41.97, Z:0.00 [[ 9.07735480e-01 4.19542964e-01 0.00000000e+00 1.98536374e+02] [-4.19542964e-01 9.07735480e-01 0.00000000e+00 -4.19735147e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34853323e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.56, Y:-41.98, Z:0.00 [[ 9.07021492e-01 4.21084329e-01 0.00000000e+00 1.98563400e+02] [-4.21084329e-01 9.07021492e-01 0.00000000e+00 -4.19842258e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23246969e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.59, Y:-41.99, Z:0.00 [[ 9.05900296e-01 4.23491032e-01 0.00000000e+00 1.98588912e+02] [-4.23491032e-01 9.05900296e-01 0.00000000e+00 -4.19948968e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08235389e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.61, Y:-42.01, Z:0.00 [[ 9.04759597e-01 4.25922612e-01 0.00000000e+00 1.98614358e+02] [-4.25922612e-01 9.04759597e-01 0.00000000e+00 -4.20052341e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59042800e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.64, Y:-42.01, Z:0.00 [[ 9.03701280e-01 4.28163516e-01 0.00000000e+00 1.98641838e+02] [-4.28163516e-01 9.03701280e-01 0.00000000e+00 -4.20149306e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13355120e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.67, Y:-42.02, Z:-0.00 [[ 9.01303756e-01 4.33187650e-01 0.00000000e+00 1.98669186e+02] [-4.33187650e-01 9.01303756e-01 0.00000000e+00 -4.20222917e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.46011758e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.69, Y:-42.03, Z:-0.01 [[ 9.00139438e-01 4.35601874e-01 0.00000000e+00 1.98694941e+02] [-4.35601874e-01 9.00139438e-01 0.00000000e+00 -4.20316309e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.54297693e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.72, Y:-42.04, Z:-0.01 [[ 8.99393589e-01 4.37139763e-01 0.00000000e+00 1.98721429e+02] [-4.37139763e-01 8.99393589e-01 0.00000000e+00 -4.20417011e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.30090057e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52140051299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:198.75, Y:-42.05, Z:-0.00 [[ 8.99074597e-01 4.37795466e-01 0.00000000e+00 1.98747791e+02] [-4.37795466e-01 8.99074597e-01 0.00000000e+00 -4.20507710e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.62718496e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.78, Y:-42.06, Z:0.00 [[ 8.99703942e-01 4.36500649e-01 0.00000000e+00 1.98775275e+02] [-4.36500649e-01 8.99703942e-01 0.00000000e+00 -4.20572132e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.43836703e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.80, Y:-42.07, Z:-0.00 [[ 9.00499663e-01 4.34856709e-01 0.00000000e+00 1.98801413e+02] [-4.34856709e-01 9.00499663e-01 0.00000000e+00 -4.20668080e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51160198e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.83, Y:-42.08, Z:-0.00 [[ 9.01425223e-01 4.32934830e-01 0.00000000e+00 1.98827762e+02] [-4.32934830e-01 9.01425223e-01 0.00000000e+00 -4.20782324e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.99974711e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.85, Y:-42.09, Z:-0.00 [[ 9.02547665e-01 4.30589959e-01 0.00000000e+00 1.98853506e+02] [-4.30589959e-01 9.02547665e-01 0.00000000e+00 -4.20899861e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47461503e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.88, Y:-42.10, Z:-0.00 [[ 9.03685311e-01 4.28197220e-01 0.00000000e+00 1.98878575e+02] [-4.28197220e-01 9.03685311e-01 0.00000000e+00 -4.21012459e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.07705622e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.90, Y:-42.11, Z:-0.00 [[ 9.04813765e-01 4.25807528e-01 0.00000000e+00 1.98904376e+02] [-4.25807528e-01 9.04813765e-01 0.00000000e+00 -4.21125767e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.27824418e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.93, Y:-42.12, Z:-0.01 [[ 9.05759891e-01 4.23791247e-01 0.00000000e+00 1.98930356e+02] [-4.23791247e-01 9.05759891e-01 0.00000000e+00 -4.21245432e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.20439940e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.96, Y:-42.13, Z:-0.01 [[ 9.05525723e-01 4.24291368e-01 0.00000000e+00 1.98956262e+02] [-4.24291368e-01 9.05525723e-01 0.00000000e+00 -4.21349068e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.19995986e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.98, Y:-42.15, Z:-0.01 [[ 9.04928414e-01 4.25563820e-01 0.00000000e+00 1.98982928e+02] [-4.25563820e-01 9.04928414e-01 0.00000000e+00 -4.21454681e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.86067384e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.01, Y:-42.16, Z:-0.01 [[ 9.04043341e-01 4.27440799e-01 0.00000000e+00 1.99008682e+02] [-4.27440799e-01 9.04043341e-01 0.00000000e+00 -4.21563722e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.99138262e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.03, Y:-42.17, Z:-0.00 [[ 9.02185294e-01 4.31348693e-01 0.00000000e+00 1.99034048e+02] [-4.31348693e-01 9.02185294e-01 0.00000000e+00 -4.21699167e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.09939459e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.06, Y:-42.18, Z:0.00 [[ 9.01290187e-01 4.33215879e-01 0.00000000e+00 1.99060118e+02] [-4.33215879e-01 9.01290187e-01 0.00000000e+00 -4.21819619e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04526717e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.09, Y:-42.19, Z:0.00 [[ 9.00596163e-01 4.34656820e-01 0.00000000e+00 1.99086516e+02] [-4.34656820e-01 9.00596163e-01 0.00000000e+00 -4.21932549e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29700896e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.11, Y:-42.20, Z:0.00 [[ 9.00616329e-01 4.34615034e-01 0.00000000e+00 1.99113799e+02] [-4.34615034e-01 9.00616329e-01 0.00000000e+00 -4.22040467e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29700896e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.14, Y:-42.21, Z:0.00 [[ 8.99981796e-01 4.35927479e-01 0.00000000e+00 1.99139403e+02] [-4.35927479e-01 8.99981796e-01 0.00000000e+00 -4.22140421e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06555420e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.17, Y:-42.22, Z:-0.00 [[ 8.99349673e-01 4.37230107e-01 0.00000000e+00 1.99165521e+02] [-4.37230107e-01 8.99349673e-01 0.00000000e+00 -4.22237957e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.78494394e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.19, Y:-42.23, Z:0.00 [[ 8.97649554e-01 4.40709970e-01 0.00000000e+00 1.99193395e+02] [-4.40709970e-01 8.97649554e-01 0.00000000e+00 -4.22310240e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78462085e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.22, Y:-42.24, Z:0.00 [[ 8.96735302e-01 4.42567282e-01 0.00000000e+00 1.99220714e+02] [-4.42567282e-01 8.96735302e-01 0.00000000e+00 -4.22387656e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08800490e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.25, Y:-42.25, Z:0.00 [[ 8.95738672e-01 4.44580962e-01 0.00000000e+00 1.99248231e+02] [-4.44580962e-01 8.95738672e-01 0.00000000e+00 -4.22462940e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50180797e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.28, Y:-42.25, Z:0.00 [[ 8.95073929e-01 4.45917774e-01 0.00000000e+00 1.99276547e+02] [-4.45917774e-01 8.95073929e-01 0.00000000e+00 -4.22544102e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67910450e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.30, Y:-42.26, Z:0.00 [[ 8.94805590e-01 4.46455996e-01 0.00000000e+00 1.99304184e+02] [-4.46455996e-01 8.94805590e-01 0.00000000e+00 -4.22600320e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.75864473e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.33, Y:-42.27, Z:0.00 [[ 8.95301548e-01 4.45460591e-01 0.00000000e+00 1.99330261e+02] [-4.45460591e-01 8.95301548e-01 0.00000000e+00 -4.22675885e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89372722e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.36, Y:-42.28, Z:0.00 [[ 8.95898110e-01 4.44259583e-01 0.00000000e+00 1.99357430e+02] [-4.44259583e-01 8.95898110e-01 0.00000000e+00 -4.22752065e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07270788e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.38, Y:-42.28, Z:0.00 [[ 8.96532013e-01 4.42978949e-01 0.00000000e+00 1.99383977e+02] [-4.42978949e-01 8.96532013e-01 0.00000000e+00 -4.22829721e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50101676e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.41, Y:-42.29, Z:0.00 [[ 8.97296990e-01 4.41427358e-01 0.00000000e+00 1.99409585e+02] [-4.41427358e-01 8.97296990e-01 0.00000000e+00 -4.22909898e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43464896e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.44, Y:-42.30, Z:0.00 [[ 8.98956239e-01 4.38038447e-01 0.00000000e+00 1.99436978e+02] [-4.38038447e-01 8.98956239e-01 0.00000000e+00 -4.22998371e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.50235138e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.46, Y:-42.31, Z:0.01 [[ 8.99751713e-01 4.36402171e-01 0.00000000e+00 1.99463507e+02] [-4.36402171e-01 8.99751713e-01 0.00000000e+00 -4.23090684e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.58654805e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.49, Y:-42.32, Z:0.01 [[ 9.00327111e-01 4.35213849e-01 0.00000000e+00 1.99488695e+02] [-4.35213849e-01 9.00327111e-01 0.00000000e+00 -4.23179347e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.04220014e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.51, Y:-42.33, Z:0.01 [[ 9.00894424e-01 4.34038290e-01 0.00000000e+00 1.99514087e+02] [-4.34038290e-01 9.00894424e-01 0.00000000e+00 -4.23274457e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.32271412e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.54, Y:-42.34, Z:0.00 [[ 9.01375447e-01 4.33038456e-01 0.00000000e+00 1.99540217e+02] [-4.33038456e-01 9.01375447e-01 0.00000000e+00 -4.23385331e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44344381e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.56, Y:-42.35, Z:-0.00 [[ 9.02045468e-01 4.31641025e-01 0.00000000e+00 1.99564332e+02] [-4.31641025e-01 9.02045468e-01 0.00000000e+00 -4.23519937e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44996878e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.59, Y:-42.36, Z:-0.00 [[ 9.02322070e-01 4.31062504e-01 0.00000000e+00 1.99589829e+02] [-4.31062504e-01 9.02322070e-01 0.00000000e+00 -4.23635903e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.88066294e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.62, Y:-42.37, Z:-0.01 [[ 9.02626909e-01 4.30423818e-01 0.00000000e+00 1.99615567e+02] [-4.30423818e-01 9.02626909e-01 0.00000000e+00 -4.23746979e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.61848110e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.64, Y:-42.39, Z:-0.00 [[ 9.02424429e-01 4.30848176e-01 0.00000000e+00 1.99641147e+02] [-4.30848176e-01 9.02424429e-01 0.00000000e+00 -4.23870429e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.78617576e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.67, Y:-42.40, Z:-0.00 [[ 9.01929387e-01 4.31883526e-01 0.00000000e+00 1.99667115e+02] [-4.31883526e-01 9.01929387e-01 0.00000000e+00 -4.23986058e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.16199423e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.69, Y:-42.41, Z:-0.00 [[ 9.01288886e-01 4.33218587e-01 0.00000000e+00 1.99693674e+02] [-4.33218587e-01 9.01288886e-01 0.00000000e+00 -4.24098784e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35968572e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.72, Y:-42.42, Z:-0.00 [[ 9.00621662e-01 4.34603982e-01 0.00000000e+00 1.99719536e+02] [-4.34603982e-01 9.00621662e-01 0.00000000e+00 -4.24203909e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.07204027e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.74, Y:-42.43, Z:-0.00 [[ 9.00059501e-01 4.35767019e-01 0.00000000e+00 1.99744353e+02] [-4.35767019e-01 9.00059501e-01 0.00000000e+00 -4.24309844e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.64167145e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.77, Y:-42.44, Z:-0.01 [[ 9.00046507e-01 4.35793857e-01 0.00000000e+00 1.99770012e+02] [-4.35793857e-01 9.00046507e-01 0.00000000e+00 -4.24433901e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.65203698e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.80, Y:-42.46, Z:-0.00 [[ 9.00662039e-01 4.34520301e-01 0.00000000e+00 1.99795905e+02] [-4.34520301e-01 9.00662039e-01 0.00000000e+00 -4.24556595e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.76416708e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.82, Y:-42.47, Z:-0.00 [[ 9.01719855e-01 4.32320834e-01 0.00000000e+00 1.99821688e+02] [-4.32320834e-01 9.01719855e-01 0.00000000e+00 -4.24685840e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.76662385e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.85, Y:-42.48, Z:-0.00 [[ 9.02930265e-01 4.29787083e-01 0.00000000e+00 1.99847449e+02] [-4.29787083e-01 9.02930265e-01 0.00000000e+00 -4.24825475e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.60116420e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.811400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:199.87, Y:-42.50, Z:0.00 [[ 9.05536897e-01 4.24267519e-01 0.00000000e+00 1.99871580e+02] [-4.24267519e-01 9.05536897e-01 0.00000000e+00 -4.24995795e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29294487e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.90, Y:-42.51, Z:-0.00 [[ 9.06447946e-01 4.22317559e-01 0.00000000e+00 1.99895743e+02] [-4.22317559e-01 9.06447946e-01 0.00000000e+00 -4.25130967e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03087426e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.92, Y:-42.53, Z:-0.00 [[ 9.07089863e-01 4.20937027e-01 0.00000000e+00 1.99921470e+02] [-4.20937027e-01 9.07089863e-01 0.00000000e+00 -4.25269986e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.43402964e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.95, Y:-42.54, Z:-0.00 [[ 9.07362353e-01 4.20349330e-01 0.00000000e+00 1.99946756e+02] [-4.20349330e-01 9.07362353e-01 0.00000000e+00 -4.25408128e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.47339179e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.97, Y:-42.56, Z:-0.00 [[ 9.07668907e-01 4.19686973e-01 0.00000000e+00 1.99973717e+02] [-4.19686973e-01 9.07668907e-01 0.00000000e+00 -4.25576763e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.20394963e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.00, Y:-42.57, Z:-0.00 [[ 9.07889232e-01 4.19210140e-01 0.00000000e+00 2.00001606e+02] [-4.19210140e-01 9.07889232e-01 0.00000000e+00 -4.25706130e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.23746108e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.03, Y:-42.58, Z:0.00 [[ 9.08185356e-01 4.18568224e-01 0.00000000e+00 2.00031645e+02] [-4.18568224e-01 9.08185356e-01 0.00000000e+00 -4.25836269e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.88914243e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.06, Y:-42.60, Z:0.00 [[ 9.08449245e-01 4.17995177e-01 0.00000000e+00 2.00060617e+02] [-4.17995177e-01 9.08449245e-01 0.00000000e+00 -4.25967919e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74174397e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.09, Y:-42.61, Z:0.01 [[ 9.08963471e-01 4.16875771e-01 0.00000000e+00 2.00090663e+02] [-4.16875771e-01 9.08963471e-01 0.00000000e+00 -4.26114341e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.59812873e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.12, Y:-42.62, Z:0.00 [[ 9.09559997e-01 4.15572631e-01 0.00000000e+00 2.00120786e+02] [-4.15572631e-01 9.09559997e-01 0.00000000e+00 -4.26229816e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.97515584e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.15, Y:-42.63, Z:0.00 [[ 9.10355515e-01 4.13827062e-01 0.00000000e+00 2.00151495e+02] [-4.13827062e-01 9.10355515e-01 0.00000000e+00 -4.26337099e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51929576e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.18, Y:-42.64, Z:0.00 [[ 9.12419674e-01 4.09255834e-01 0.00000000e+00 2.00182462e+02] [-4.09255834e-01 9.12419674e-01 0.00000000e+00 -4.26432008e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.30907890e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.21, Y:-42.65, Z:0.00 [[ 9.13722635e-01 4.06338462e-01 0.00000000e+00 2.00212924e+02] [-4.06338462e-01 9.13722635e-01 0.00000000e+00 -4.26546797e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.94064718e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.24, Y:-42.67, Z:0.00 [[ 9.15240339e-01 4.02908330e-01 0.00000000e+00 2.00244038e+02] [-4.02908330e-01 9.15240339e-01 0.00000000e+00 -4.26663343e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29212843e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.27, Y:-42.68, Z:0.00 [[ 9.16963081e-01 3.98972065e-01 0.00000000e+00 2.00274438e+02] [-3.98972065e-01 9.16963081e-01 0.00000000e+00 -4.26774060e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41571571e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.30, Y:-42.69, Z:0.00 [[ 9.18859709e-01 3.94584383e-01 0.00000000e+00 2.00302967e+02] [-3.94584383e-01 9.18859709e-01 0.00000000e+00 -4.26881464e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28695161e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.33, Y:-42.70, Z:-0.00 [[ 9.22657934e-01 3.85619420e-01 0.00000000e+00 2.00331626e+02] [-3.85619420e-01 9.22657934e-01 0.00000000e+00 -4.27005238e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.25564494e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.321400513 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:200.36, Y:-42.71, Z:-0.00 [[ 9.24669648e-01 3.80770328e-01 0.00000000e+00 2.00361127e+02] [-3.80770328e-01 9.24669648e-01 0.00000000e+00 -4.27124528e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.74733287e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.351400513 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:200.39, Y:-42.72, Z:-0.00 [[ 9.26372908e-01 3.76607536e-01 0.00000000e+00 2.00391744e+02] [-3.76607536e-01 9.26372908e-01 0.00000000e+00 -4.27245434e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.66699993e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.381400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:200.42, Y:-42.74, Z:-0.00 [[ 9.27536444e-01 3.73732720e-01 0.00000000e+00 2.00421203e+02] [-3.73732720e-01 9.27536444e-01 0.00000000e+00 -4.27359797e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.12170584e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.45, Y:-42.75, Z:-0.00 [[ 9.28119455e-01 3.72282525e-01 0.00000000e+00 2.00452306e+02] [-3.72282525e-01 9.28119455e-01 0.00000000e+00 -4.27482275e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.71670802e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.441400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:200.48, Y:-42.76, Z:-0.00 [[ 9.28580462e-01 3.71131143e-01 0.00000000e+00 2.00482555e+02] [-3.71131143e-01 9.28580462e-01 0.00000000e+00 -4.27600552e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97487038e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.51, Y:-42.77, Z:0.00 [[ 9.27944163e-01 3.72719237e-01 0.00000000e+00 2.00513689e+02] [-3.72719237e-01 9.27944163e-01 0.00000000e+00 -4.27716454e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.44973951e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.501400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:200.54, Y:-42.78, Z:0.00 [[ 9.27064247e-01 3.74902497e-01 0.00000000e+00 2.00544153e+02] [-3.74902497e-01 9.27064247e-01 0.00000000e+00 -4.27816805e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59731184e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.57, Y:-42.79, Z:0.00 [[ 9.25803913e-01 3.78004119e-01 0.00000000e+00 2.00572512e+02] [-3.78004119e-01 9.25803913e-01 0.00000000e+00 -4.27911254e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53530324e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.60, Y:-42.80, Z:0.00 [[ 9.24584446e-01 3.80977168e-01 0.00000000e+00 2.00600106e+02] [-3.80977168e-01 9.24584446e-01 0.00000000e+00 -4.28007651e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33774903e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.63, Y:-42.81, Z:0.00 [[ 9.22428995e-01 3.86166738e-01 0.00000000e+00 2.00629407e+02] [-3.86166738e-01 9.22428995e-01 0.00000000e+00 -4.28095322e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43729525e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.66, Y:-42.82, Z:0.00 [[ 9.21358191e-01 3.88714656e-01 0.00000000e+00 2.00658441e+02] [-3.88714656e-01 9.21358191e-01 0.00000000e+00 -4.28179641e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06993972e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.69, Y:-42.83, Z:0.00 [[ 9.20174724e-01 3.91507953e-01 0.00000000e+00 2.00686575e+02] [-3.91507953e-01 9.20174724e-01 0.00000000e+00 -4.28254674e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.26640459e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68140051299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:200.71, Y:-42.83, Z:0.00 [[ 9.18981889e-01 3.94299743e-01 0.00000000e+00 2.00714950e+02] [-3.94299743e-01 9.18981889e-01 0.00000000e+00 -4.28334512e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.55917442e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.74, Y:-42.84, Z:0.00 [[ 9.16506334e-01 4.00020174e-01 0.00000000e+00 2.00743273e+02] [-4.00020174e-01 9.16506334e-01 0.00000000e+00 -4.28394465e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61698311e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.77, Y:-42.85, Z:-0.00 [[ 9.15479358e-01 4.02364940e-01 0.00000000e+00 2.00770596e+02] [-4.02364940e-01 9.15479358e-01 0.00000000e+00 -4.28460970e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27613799e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.80, Y:-42.85, Z:-0.00 [[ 9.14530068e-01 4.04517930e-01 0.00000000e+00 2.00798529e+02] [-4.04517930e-01 9.14530068e-01 0.00000000e+00 -4.28520192e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68829104e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.83, Y:-42.86, Z:-0.00 [[ 9.13789768e-01 4.06187470e-01 0.00000000e+00 2.00826562e+02] [-4.06187470e-01 9.13789768e-01 0.00000000e+00 -4.28585613e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19553619e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.86, Y:-42.86, Z:-0.00 [[ 9.12862667e-01 4.08266765e-01 0.00000000e+00 2.00855012e+02] [-4.08266765e-01 9.12862667e-01 0.00000000e+00 -4.28643459e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25329964e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.88, Y:-42.87, Z:-0.00 [[ 9.12891343e-01 4.08202641e-01 0.00000000e+00 2.00881532e+02] [-4.08202641e-01 9.12891343e-01 0.00000000e+00 -4.28748071e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25329964e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.91, Y:-42.88, Z:-0.00 [[ 9.12702409e-01 4.08624905e-01 0.00000000e+00 2.00907806e+02] [-4.08624905e-01 9.12702409e-01 0.00000000e+00 -4.28827155e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.25061637e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.93, Y:-42.89, Z:-0.00 [[ 9.12662066e-01 4.08715002e-01 0.00000000e+00 2.00933805e+02] [-4.08715002e-01 9.12662066e-01 0.00000000e+00 -4.28897777e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.52974392e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.96, Y:-42.90, Z:-0.00 [[ 9.12753217e-01 4.08511401e-01 0.00000000e+00 2.00961246e+02] [-4.08511401e-01 9.12753217e-01 0.00000000e+00 -4.28968656e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.15872321e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.99, Y:-42.90, Z:-0.00 [[ 9.12967260e-01 4.08032820e-01 0.00000000e+00 2.00987756e+02] [-4.08032820e-01 9.12967260e-01 0.00000000e+00 -4.29039706e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.06659857e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.02, Y:-42.91, Z:-0.00 [[ 9.13511214e-01 4.06813546e-01 0.00000000e+00 2.01015186e+02] [-4.06813546e-01 9.13511214e-01 0.00000000e+00 -4.29105308e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19216675e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04140051299999 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:201.04, Y:-42.92, Z:-0.00 [[ 9.13903390e-01 4.05931759e-01 0.00000000e+00 2.01041683e+02] [-4.05931759e-01 9.13903390e-01 0.00000000e+00 -4.29199632e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.66271297e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.07, Y:-42.93, Z:-0.00 [[ 9.14319454e-01 4.04993748e-01 0.00000000e+00 2.01067998e+02] [-4.04993748e-01 9.14319454e-01 0.00000000e+00 -4.29296712e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52956980e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.09, Y:-42.94, Z:-0.00 [[ 9.14541818e-01 4.04491364e-01 0.00000000e+00 2.01094699e+02] [-4.04491364e-01 9.14541818e-01 0.00000000e+00 -4.29395790e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50746462e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.12, Y:-42.95, Z:-0.00 [[ 9.13841108e-01 4.06071950e-01 0.00000000e+00 2.01120466e+02] [-4.06071950e-01 9.13841108e-01 0.00000000e+00 -4.29506811e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.82614378e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.15, Y:-42.96, Z:-0.00 [[ 9.13273540e-01 4.07346831e-01 0.00000000e+00 2.01147160e+02] [-4.07346831e-01 9.13273540e-01 0.00000000e+00 -4.29626393e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.17653821e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.17, Y:-42.97, Z:-0.00 [[ 9.12915830e-01 4.08147875e-01 0.00000000e+00 2.01172768e+02] [-4.08147875e-01 9.12915830e-01 0.00000000e+00 -4.29742454e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.98571816e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.20, Y:-42.99, Z:0.00 [[ 9.12694391e-01 4.08642813e-01 0.00000000e+00 2.01198668e+02] [-4.08642813e-01 9.12694391e-01 0.00000000e+00 -4.29858794e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72071048e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.251400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:201.23, Y:-43.00, Z:0.00 [[ 9.12448536e-01 4.09191483e-01 0.00000000e+00 2.01225022e+02] [-4.09191483e-01 9.12448536e-01 0.00000000e+00 -4.29983037e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.32701021e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.25, Y:-43.01, Z:0.00 [[ 9.12259926e-01 4.09611802e-01 0.00000000e+00 2.01249663e+02] [-4.09611802e-01 9.12259926e-01 0.00000000e+00 -4.30108704e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79272705e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.27, Y:-43.02, Z:0.00 [[ 9.11785032e-01 4.10667817e-01 0.00000000e+00 2.01274428e+02] [-4.10667817e-01 9.11785032e-01 0.00000000e+00 -4.30248392e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09457749e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.341400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:201.30, Y:-43.04, Z:0.00 [[ 9.11339511e-01 4.11655555e-01 0.00000000e+00 2.01300594e+02] [-4.11655555e-01 9.11339511e-01 0.00000000e+00 -4.30382202e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20953062e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.33, Y:-43.05, Z:0.00 [[ 9.10042890e-01 4.14514099e-01 0.00000000e+00 2.01325163e+02] [-4.14514099e-01 9.10042890e-01 0.00000000e+00 -4.30509724e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.02119052e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.35, Y:-43.06, Z:0.00 [[ 9.09146453e-01 4.16476563e-01 0.00000000e+00 2.01349885e+02] [-4.16476563e-01 9.09146453e-01 0.00000000e+00 -4.30619129e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.96591105e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.38, Y:-43.07, Z:-0.00 [[ 9.07973820e-01 4.19026899e-01 0.00000000e+00 2.01375721e+02] [-4.19026899e-01 9.07973820e-01 0.00000000e+00 -4.30738164e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57730319e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.40, Y:-43.09, Z:-0.00 [[ 9.06714666e-01 4.21744609e-01 0.00000000e+00 2.01401397e+02] [-4.21744609e-01 9.06714666e-01 0.00000000e+00 -4.30857021e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.79895405e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49140051299997 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:201.43, Y:-43.10, Z:-0.00 [[ 9.05677192e-01 4.23967952e-01 0.00000000e+00 2.01428582e+02] [-4.23967952e-01 9.05677192e-01 0.00000000e+00 -4.30964671e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42204217e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.46, Y:-43.11, Z:-0.00 [[ 9.04126061e-01 4.27265802e-01 0.00000000e+00 2.01455639e+02] [-4.27265802e-01 9.04126061e-01 0.00000000e+00 -4.31054674e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74667209e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.48, Y:-43.12, Z:-0.00 [[ 9.03901974e-01 4.27739665e-01 0.00000000e+00 2.01482021e+02] [-4.27739665e-01 9.03901974e-01 0.00000000e+00 -4.31159722e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.26800989e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.51, Y:-43.13, Z:0.00 [[ 9.03910293e-01 4.27722084e-01 0.00000000e+00 2.01507978e+02] [-4.27722084e-01 9.03910293e-01 0.00000000e+00 -4.31277786e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.71063933e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.53, Y:-43.14, Z:0.00 [[ 9.04178567e-01 4.27154678e-01 0.00000000e+00 2.01532493e+02] [-4.27154678e-01 9.04178567e-01 0.00000000e+00 -4.31398091e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09038793e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.56, Y:-43.15, Z:0.00 [[ 9.04149878e-01 4.27215401e-01 0.00000000e+00 2.01558681e+02] [-4.27215401e-01 9.04149878e-01 0.00000000e+00 -4.31499117e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.75995357e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.59, Y:-43.16, Z:-0.00 [[ 9.04028254e-01 4.27472708e-01 0.00000000e+00 2.01585323e+02] [-4.27472708e-01 9.04028254e-01 0.00000000e+00 -4.31600680e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.42658588e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.61, Y:-43.17, Z:-0.00 [[ 9.03628238e-01 4.28317647e-01 0.00000000e+00 2.01610900e+02] [-4.28317647e-01 9.03628238e-01 0.00000000e+00 -4.31701388e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85270171e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.64, Y:-43.18, Z:-0.00 [[ 9.02457503e-01 4.30778893e-01 0.00000000e+00 2.01636929e+02] [-4.30778893e-01 9.02457503e-01 0.00000000e+00 -4.31793013e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.03889614e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.66, Y:-43.19, Z:0.00 [[ 9.01671879e-01 4.32420887e-01 0.00000000e+00 2.01663435e+02] [-4.32420887e-01 9.01671879e-01 0.00000000e+00 -4.31875386e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22291229e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.69, Y:-43.20, Z:-0.00 [[ 9.00876177e-01 4.34076161e-01 0.00000000e+00 2.01690483e+02] [-4.34076161e-01 9.00876177e-01 0.00000000e+00 -4.31961550e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.62835452e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.72, Y:-43.21, Z:-0.00 [[ 9.00271383e-01 4.35329113e-01 0.00000000e+00 2.01717813e+02] [-4.35329113e-01 9.00271383e-01 0.00000000e+00 -4.32061419e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92259226e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.74, Y:-43.22, Z:-0.00 [[ 8.99979184e-01 4.35932871e-01 0.00000000e+00 2.01742747e+02] [-4.35932871e-01 8.99979184e-01 0.00000000e+00 -4.32160444e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42365009e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.77, Y:-43.23, Z:0.00 [[ 8.99662662e-01 4.36585725e-01 0.00000000e+00 2.01769103e+02] [-4.36585725e-01 8.99662662e-01 0.00000000e+00 -4.32251951e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04565898e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.80, Y:-43.23, Z:0.00 [[ 8.99605045e-01 4.36704434e-01 0.00000000e+00 2.01796056e+02] [-4.36704434e-01 8.99605045e-01 0.00000000e+00 -4.32334860e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05834984e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.82, Y:-43.24, Z:0.00 [[ 8.99613248e-01 4.36687536e-01 0.00000000e+00 2.01822145e+02] [-4.36687536e-01 8.99613248e-01 0.00000000e+00 -4.32408855e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82010676e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.85, Y:-43.25, Z:0.00 [[ 8.99754761e-01 4.36395888e-01 0.00000000e+00 2.01848502e+02] [-4.36395888e-01 8.99754761e-01 0.00000000e+00 -4.32484640e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75309040e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.88, Y:-43.26, Z:-0.00 [[ 9.00450890e-01 4.34957693e-01 0.00000000e+00 2.01877197e+02] [-4.34957693e-01 9.00450890e-01 0.00000000e+00 -4.32553348e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.57302700e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.90, Y:-43.26, Z:-0.00 [[ 9.00807889e-01 4.34217857e-01 0.00000000e+00 2.01902603e+02] [-4.34217857e-01 9.00807889e-01 0.00000000e+00 -4.32639598e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76424222e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.93, Y:-43.27, Z:-0.00 [[ 9.01160340e-01 4.33485919e-01 0.00000000e+00 2.01927871e+02] [-4.33485919e-01 9.01160340e-01 0.00000000e+00 -4.32731150e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46150939e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.95, Y:-43.28, Z:0.00 [[ 9.01508541e-01 4.32761309e-01 0.00000000e+00 2.01954208e+02] [-4.32761309e-01 9.01508541e-01 0.00000000e+00 -4.32833200e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.66128266e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.98, Y:-43.29, Z:0.00 [[ 9.02587088e-01 4.30507315e-01 0.00000000e+00 2.01980352e+02] [-4.30507315e-01 9.02587088e-01 0.00000000e+00 -4.32920162e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52154614e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.01, Y:-43.30, Z:-0.00 [[ 9.03200934e-01 4.29217978e-01 0.00000000e+00 2.02005930e+02] [-4.29217978e-01 9.03200934e-01 0.00000000e+00 -4.33003120e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21171607e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.03, Y:-43.31, Z:-0.00 [[ 9.03626070e-01 4.28322221e-01 0.00000000e+00 2.02031405e+02] [-4.28322221e-01 9.03626070e-01 0.00000000e+00 -4.33090463e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.79865723e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.06, Y:-43.32, Z:-0.00 [[ 9.03886074e-01 4.27773264e-01 0.00000000e+00 2.02057898e+02] [-4.27773264e-01 9.03886074e-01 0.00000000e+00 -4.33186795e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.90807076e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.08, Y:-43.33, Z:-0.00 [[ 9.03811709e-01 4.27930362e-01 0.00000000e+00 2.02083452e+02] [-4.27930362e-01 9.03811709e-01 0.00000000e+00 -4.33281209e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.82685996e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.11, Y:-43.34, Z:-0.00 [[ 9.03020578e-01 4.29597294e-01 0.00000000e+00 2.02109090e+02] [-4.29597294e-01 9.03020578e-01 0.00000000e+00 -4.33366021e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53123434e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.13, Y:-43.35, Z:-0.00 [[ 9.02681537e-01 4.30309241e-01 0.00000000e+00 2.02134319e+02] [-4.30309241e-01 9.02681537e-01 0.00000000e+00 -4.33465161e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.20884715e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.16, Y:-43.36, Z:-0.00 [[ 9.02566063e-01 4.30551394e-01 0.00000000e+00 2.02160442e+02] [-4.30551394e-01 9.02566063e-01 0.00000000e+00 -4.33576100e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.23987117e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.19, Y:-43.37, Z:-0.00 [[ 9.02493052e-01 4.30704412e-01 0.00000000e+00 2.02185227e+02] [-4.30704412e-01 9.02493052e-01 0.00000000e+00 -4.33684670e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.17344721e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.21, Y:-43.38, Z:-0.00 [[ 9.02273643e-01 4.31163860e-01 0.00000000e+00 2.02211447e+02] [-4.31163860e-01 9.02273643e-01 0.00000000e+00 -4.33780202e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.29737331e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42140051299998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:202.24, Y:-43.39, Z:-0.00 [[ 9.02280534e-01 4.31149439e-01 0.00000000e+00 2.02238361e+02] [-4.31149439e-01 9.02280534e-01 0.00000000e+00 -4.33869484e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.54079012e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.26, Y:-43.40, Z:-0.01 [[ 9.02113919e-01 4.31497946e-01 0.00000000e+00 2.02264321e+02] [-4.31497946e-01 9.02113919e-01 0.00000000e+00 -4.33956895e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.12465202e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.29, Y:-43.41, Z:-0.00 [[ 9.01658100e-01 4.32449617e-01 0.00000000e+00 2.02290445e+02] [-4.32449617e-01 9.01658100e-01 0.00000000e+00 -4.34055144e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.61481513e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.32, Y:-43.42, Z:-0.01 [[ 9.01423916e-01 4.32937552e-01 0.00000000e+00 2.02316169e+02] [-4.32937552e-01 9.01423916e-01 0.00000000e+00 -4.34152259e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.56267045e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.34, Y:-43.42, Z:-0.01 [[ 9.01188543e-01 4.33427283e-01 0.00000000e+00 2.02342977e+02] [-4.33427283e-01 9.01188543e-01 0.00000000e+00 -4.34239978e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.74723657e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.37, Y:-43.43, Z:-0.01 [[ 9.01087919e-01 4.33636441e-01 0.00000000e+00 2.02368903e+02] [-4.33636441e-01 9.01087919e-01 0.00000000e+00 -4.34313500e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.44994636e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.39, Y:-43.44, Z:-0.01 [[ 9.01123873e-01 4.33561720e-01 0.00000000e+00 2.02394934e+02] [-4.33561720e-01 9.01123873e-01 0.00000000e+00 -4.34389889e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.78782899e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.42, Y:-43.45, Z:-0.01 [[ 9.01860292e-01 4.32027792e-01 0.00000000e+00 2.02421717e+02] [-4.32027792e-01 9.01860292e-01 0.00000000e+00 -4.34483829e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.92593904e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.45, Y:-43.46, Z:-0.01 [[ 9.02545611e-01 4.30594264e-01 0.00000000e+00 2.02448826e+02] [-4.30594264e-01 9.02545611e-01 0.00000000e+00 -4.34588200e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.01842942e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.47, Y:-43.47, Z:-0.00 [[ 9.03408930e-01 4.28780019e-01 0.00000000e+00 2.02473767e+02] [-4.28780019e-01 9.03408930e-01 0.00000000e+00 -4.34678759e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.37904478e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.50, Y:-43.48, Z:-0.00 [[ 9.04297537e-01 4.26902757e-01 0.00000000e+00 2.02499873e+02] [-4.26902757e-01 9.04297537e-01 0.00000000e+00 -4.34771590e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.19286243e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.53, Y:-43.49, Z:-0.00 [[ 9.04327012e-01 4.26840317e-01 0.00000000e+00 2.02526440e+02] [-4.26840317e-01 9.04327012e-01 0.00000000e+00 -4.34874948e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.19286243e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.55, Y:-43.50, Z:-0.01 [[ 9.05172609e-01 4.25044171e-01 0.00000000e+00 2.02551392e+02] [-4.25044171e-01 9.05172609e-01 0.00000000e+00 -4.34969296e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.01925523e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.58, Y:-43.51, Z:-0.00 [[ 9.06532226e-01 4.22136616e-01 0.00000000e+00 2.02576546e+02] [-4.22136616e-01 9.06532226e-01 0.00000000e+00 -4.35097537e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.85419831e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.60, Y:-43.52, Z:-0.00 [[ 9.07056521e-01 4.21008870e-01 0.00000000e+00 2.02602108e+02] [-4.21008870e-01 9.07056521e-01 0.00000000e+00 -4.35214442e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.92312595e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.63, Y:-43.53, Z:-0.00 [[ 9.07387016e-01 4.20296091e-01 0.00000000e+00 2.02628048e+02] [-4.20296091e-01 9.07387016e-01 0.00000000e+00 -4.35318086e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.83345396e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.65, Y:-43.54, Z:-0.00 [[ 9.07111611e-01 4.20890159e-01 0.00000000e+00 2.02653728e+02] [-4.20890159e-01 9.07111611e-01 0.00000000e+00 -4.35396124e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.11342958e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.68, Y:-43.55, Z:-0.00 [[ 9.06439722e-01 4.22335210e-01 0.00000000e+00 2.02679622e+02] [-4.22335210e-01 9.06439722e-01 0.00000000e+00 -4.35495938e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.24685727e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.70, Y:-43.56, Z:-0.00 [[ 9.05633491e-01 4.24061293e-01 0.00000000e+00 2.02704613e+02] [-4.24061293e-01 9.05633491e-01 0.00000000e+00 -4.35594021e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.60454153e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.73, Y:-43.57, Z:-0.00 [[ 9.04900828e-01 4.25622476e-01 0.00000000e+00 2.02730690e+02] [-4.25622476e-01 9.04900828e-01 0.00000000e+00 -4.35702492e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.83872616e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.76, Y:-43.58, Z:-0.00 [[ 9.03585705e-01 4.28407370e-01 0.00000000e+00 2.02756656e+02] [-4.28407370e-01 9.03585705e-01 0.00000000e+00 -4.35806325e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.39702535e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.78, Y:-43.59, Z:-0.00 [[ 9.03315651e-01 4.28976496e-01 0.00000000e+00 2.02782539e+02] [-4.28976496e-01 9.03315651e-01 0.00000000e+00 -4.35916099e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.92572557e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.81, Y:-43.60, Z:-0.00 [[ 9.03275155e-01 4.29061761e-01 0.00000000e+00 2.02808245e+02] [-4.29061761e-01 9.03275155e-01 0.00000000e+00 -4.36029773e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76199489e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.83, Y:-43.62, Z:-0.00 [[ 9.03756093e-01 4.28047805e-01 0.00000000e+00 2.02833140e+02] [-4.28047805e-01 9.03756093e-01 0.00000000e+00 -4.36151689e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63096571e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.86, Y:-43.63, Z:-0.00 [[ 9.03916475e-01 4.27709021e-01 0.00000000e+00 2.02857797e+02] [-4.27709021e-01 9.03916475e-01 0.00000000e+00 -4.36256183e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01317760e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.88, Y:-43.64, Z:-0.00 [[ 9.03803554e-01 4.27947586e-01 0.00000000e+00 2.02882700e+02] [-4.27947586e-01 9.03803554e-01 0.00000000e+00 -4.36363374e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.51377283e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.91, Y:-43.65, Z:-0.00 [[ 9.03514082e-01 4.28558402e-01 0.00000000e+00 2.02908121e+02] [-4.28558402e-01 9.03514082e-01 0.00000000e+00 -4.36476627e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.15000182e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.93, Y:-43.66, Z:-0.00 [[ 9.02262096e-01 4.31188022e-01 0.00000000e+00 2.02933785e+02] [-4.31188022e-01 9.02262096e-01 0.00000000e+00 -4.36600299e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53102386e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.96, Y:-43.67, Z:-0.01 [[ 9.01579855e-01 4.32612720e-01 0.00000000e+00 2.02959787e+02] [-4.32612720e-01 9.01579855e-01 0.00000000e+00 -4.36700554e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.18955690e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.99, Y:-43.68, Z:-0.01 [[ 9.00799912e-01 4.34234405e-01 0.00000000e+00 2.02986036e+02] [-4.34234405e-01 9.00799912e-01 0.00000000e+00 -4.36802764e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.34885619e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.01, Y:-43.69, Z:-0.01 [[ 9.00174349e-01 4.35529724e-01 0.00000000e+00 2.03012515e+02] [-4.35529724e-01 9.00174349e-01 0.00000000e+00 -4.36908881e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00394486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.04, Y:-43.70, Z:-0.01 [[ 8.99514068e-01 4.36891795e-01 0.00000000e+00 2.03038409e+02] [-4.36891795e-01 8.99514068e-01 0.00000000e+00 -4.37014995e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.07885773e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.07, Y:-43.71, Z:-0.00 [[ 8.98251964e-01 4.39480840e-01 0.00000000e+00 2.03065679e+02] [-4.39480840e-01 8.98251964e-01 0.00000000e+00 -4.37119343e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.90943391e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.09, Y:-43.72, Z:-0.00 [[ 8.97600087e-01 4.40810711e-01 0.00000000e+00 2.03091895e+02] [-4.40810711e-01 8.97600087e-01 0.00000000e+00 -4.37215102e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.48583989e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.12, Y:-43.73, Z:-0.00 [[ 8.97044295e-01 4.41940644e-01 0.00000000e+00 2.03117601e+02] [-4.41940644e-01 8.97044295e-01 0.00000000e+00 -4.37314803e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09261806e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.14, Y:-43.74, Z:-0.00 [[ 8.96424258e-01 4.43196965e-01 0.00000000e+00 2.03142972e+02] [-4.43196965e-01 8.96424258e-01 0.00000000e+00 -4.37415157e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.26912967e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.17, Y:-43.75, Z:-0.00 [[ 8.95162075e-01 4.45740798e-01 0.00000000e+00 2.03168924e+02] [-4.45740798e-01 8.95162075e-01 0.00000000e+00 -4.37486295e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.67794469e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.20, Y:-43.76, Z:-0.00 [[ 8.94735876e-01 4.46595693e-01 0.00000000e+00 2.03195986e+02] [-4.46595693e-01 8.94735876e-01 0.00000000e+00 -4.37554588e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.45697036e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.22, Y:-43.76, Z:-0.00 [[ 8.94279250e-01 4.47509356e-01 0.00000000e+00 2.03223348e+02] [-4.47509356e-01 8.94279250e-01 0.00000000e+00 -4.37625727e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.22732361e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.25, Y:-43.77, Z:-0.00 [[ 8.93786166e-01 4.48493355e-01 0.00000000e+00 2.03250303e+02] [-4.48493355e-01 8.93786166e-01 0.00000000e+00 -4.37707951e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.94871039e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.28, Y:-43.78, Z:-0.01 [[ 8.93437825e-01 4.49186880e-01 0.00000000e+00 2.03277797e+02] [-4.49186880e-01 8.93437825e-01 0.00000000e+00 -4.37771976e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.50725399e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.31, Y:-43.78, Z:-0.01 [[ 8.93594654e-01 4.48874809e-01 0.00000000e+00 2.03305165e+02] [-4.48874809e-01 8.93594654e-01 0.00000000e+00 -4.37843737e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.59040206e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.33, Y:-43.79, Z:-0.00 [[ 8.93643059e-01 4.48778434e-01 0.00000000e+00 2.03332161e+02] [-4.48778434e-01 8.93643059e-01 0.00000000e+00 -4.37918949e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.78423090e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71140051299997 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:203.36, Y:-43.80, Z:-0.00 [[ 8.93726545e-01 4.48612152e-01 0.00000000e+00 2.03359245e+02] [-4.48612152e-01 8.93726545e-01 0.00000000e+00 -4.38000578e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.94587944e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.39, Y:-43.81, Z:-0.00 [[ 8.93054191e-01 4.49949121e-01 0.00000000e+00 2.03386729e+02] [-4.49949121e-01 8.93054191e-01 0.00000000e+00 -4.38055981e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.24748299e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.41, Y:-43.81, Z:-0.00 [[ 8.92817396e-01 4.50418803e-01 0.00000000e+00 2.03414117e+02] [-4.50418803e-01 8.92817396e-01 0.00000000e+00 -4.38115449e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.93687723e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.44, Y:-43.82, Z:-0.00 [[ 8.92638148e-01 4.50773932e-01 0.00000000e+00 2.03440434e+02] [-4.50773932e-01 8.92638148e-01 0.00000000e+00 -4.38176740e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.53878227e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.47, Y:-43.82, Z:-0.01 [[ 8.93205635e-01 4.49648411e-01 0.00000000e+00 2.03468792e+02] [-4.49648411e-01 8.93205635e-01 0.00000000e+00 -4.38248763e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.11734318e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.49, Y:-43.83, Z:-0.01 [[ 8.94105237e-01 4.47856924e-01 0.00000000e+00 2.03493836e+02] [-4.47856924e-01 8.94105237e-01 0.00000000e+00 -4.38338009e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.77045963e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.52, Y:-43.84, Z:-0.01 [[ 8.95180322e-01 4.45704153e-01 0.00000000e+00 2.03520628e+02] [-4.45704153e-01 8.95180322e-01 0.00000000e+00 -4.38429869e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.00727486e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.55, Y:-43.85, Z:-0.01 [[ 8.96241440e-01 4.43566548e-01 0.00000000e+00 2.03546894e+02] [-4.43566548e-01 8.96241440e-01 0.00000000e+00 -4.38518298e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.56827881e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.57, Y:-43.86, Z:-0.01 [[ 8.97203546e-01 4.41617253e-01 0.00000000e+00 2.03572667e+02] [-4.41617253e-01 8.97203546e-01 0.00000000e+00 -4.38612664e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.44690828e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.60, Y:-43.87, Z:-0.01 [[ 8.98722408e-01 4.38517996e-01 0.00000000e+00 2.03598683e+02] [-4.38517996e-01 8.98722408e-01 0.00000000e+00 -4.38704724e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01263188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.63, Y:-43.88, Z:-0.01 [[ 8.99140650e-01 4.37659790e-01 0.00000000e+00 2.03625299e+02] [-4.37659790e-01 8.99140650e-01 0.00000000e+00 -4.38786096e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.94092768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.65, Y:-43.89, Z:-0.01 [[ 8.99226537e-01 4.37483298e-01 0.00000000e+00 2.03652100e+02] [-4.37483298e-01 8.99226537e-01 0.00000000e+00 -4.38868587e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.69797928e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.68, Y:-43.90, Z:-0.00 [[ 8.99050686e-01 4.37844566e-01 0.00000000e+00 2.03678364e+02] [-4.37844566e-01 8.99050686e-01 0.00000000e+00 -4.38958364e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.90948596e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.70, Y:-43.91, Z:-0.00 [[ 8.98725359e-01 4.38511949e-01 0.00000000e+00 2.03703200e+02] [-4.38511949e-01 8.98725359e-01 0.00000000e+00 -4.39073065e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.72668116e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.73, Y:-43.92, Z:-0.00 [[ 8.99096996e-01 4.37749462e-01 0.00000000e+00 2.03729224e+02] [-4.37749462e-01 8.99096996e-01 0.00000000e+00 -4.39182856e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.51230863e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.76, Y:-43.93, Z:-0.00 [[ 8.99486544e-01 4.36948460e-01 0.00000000e+00 2.03755423e+02] [-4.36948460e-01 8.99486544e-01 0.00000000e+00 -4.39279354e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.49346563e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.78, Y:-43.94, Z:-0.00 [[ 8.99670569e-01 4.36569431e-01 0.00000000e+00 2.03782029e+02] [-4.36569431e-01 8.99670569e-01 0.00000000e+00 -4.39372549e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.60346832e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.81, Y:-43.95, Z:-0.00 [[ 8.99425504e-01 4.37074092e-01 0.00000000e+00 2.03807469e+02] [-4.37074092e-01 8.99425504e-01 0.00000000e+00 -4.39490587e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.79232131e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.83, Y:-43.96, Z:-0.00 [[ 8.99132314e-01 4.37676914e-01 0.00000000e+00 2.03831615e+02] [-4.37676914e-01 8.99132314e-01 0.00000000e+00 -4.39601172e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.20455379e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.86, Y:-43.97, Z:-0.00 [[ 8.98836342e-01 4.38284417e-01 0.00000000e+00 2.03857449e+02] [-4.38284417e-01 8.98836342e-01 0.00000000e+00 -4.39710975e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.44933515e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.88, Y:-43.98, Z:-0.00 [[ 8.98442458e-01 4.39091277e-01 0.00000000e+00 2.03883454e+02] [-4.39091277e-01 8.98442458e-01 0.00000000e+00 -4.39812647e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04011890e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.91, Y:-43.99, Z:-0.00 [[ 8.97446805e-01 4.41122696e-01 0.00000000e+00 2.03908585e+02] [-4.41122696e-01 8.97446805e-01 0.00000000e+00 -4.39934722e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.87805992e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.93, Y:-44.01, Z:-0.00 [[ 8.96985959e-01 4.42059033e-01 0.00000000e+00 2.03933862e+02] [-4.42059033e-01 8.96985959e-01 0.00000000e+00 -4.40063948e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13409404e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.96, Y:-44.02, Z:-0.00 [[ 8.96513307e-01 4.43016807e-01 0.00000000e+00 2.03958069e+02] [-4.43016807e-01 8.96513307e-01 0.00000000e+00 -4.40189442e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30749427e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.98, Y:-44.03, Z:-0.00 [[ 8.96213206e-01 4.43623589e-01 0.00000000e+00 2.03982920e+02] [-4.43623589e-01 8.96213206e-01 0.00000000e+00 -4.40312369e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.36072112e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.01, Y:-44.04, Z:-0.01 [[ 8.96203258e-01 4.43643687e-01 0.00000000e+00 2.04007634e+02] [-4.43643687e-01 8.96203258e-01 0.00000000e+00 -4.40411094e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.54709920e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.03, Y:-44.05, Z:-0.01 [[ 8.96127892e-01 4.43795901e-01 0.00000000e+00 2.04032644e+02] [-4.43795901e-01 8.96127892e-01 0.00000000e+00 -4.40516620e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.19868558e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.06, Y:-44.06, Z:-0.01 [[ 8.96067129e-01 4.43918573e-01 0.00000000e+00 2.04058499e+02] [-4.43918573e-01 8.96067129e-01 0.00000000e+00 -4.40633736e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.21287566e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.08, Y:-44.08, Z:-0.01 [[ 8.95396132e-01 4.45270442e-01 0.00000000e+00 2.04083395e+02] [-4.45270442e-01 8.95396132e-01 0.00000000e+00 -4.40752346e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.07337858e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.11, Y:-44.08, Z:-0.01 [[ 8.95103031e-01 4.45859355e-01 0.00000000e+00 2.04109999e+02] [-4.45859355e-01 8.95103031e-01 0.00000000e+00 -4.40848678e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.78247758e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.14, Y:-44.09, Z:-0.01 [[ 8.94811370e-01 4.46444411e-01 0.00000000e+00 2.04136438e+02] [-4.46444411e-01 8.94811370e-01 0.00000000e+00 -4.40943985e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.62811131e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.16, Y:-44.10, Z:-0.01 [[ 8.94804967e-01 4.46457244e-01 0.00000000e+00 2.04163360e+02] [-4.46457244e-01 8.94804967e-01 0.00000000e+00 -4.41036042e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.88153262e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.19, Y:-44.11, Z:-0.01 [[ 8.94883636e-01 4.46299538e-01 0.00000000e+00 2.04190022e+02] [-4.46299538e-01 8.94883636e-01 0.00000000e+00 -4.41137036e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.88153262e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.22, Y:-44.12, Z:-0.01 [[ 8.95261742e-01 4.45540585e-01 0.00000000e+00 2.04217620e+02] [-4.45540585e-01 8.95261742e-01 0.00000000e+00 -4.41230012e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.47311841e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.24, Y:-44.13, Z:-0.01 [[ 8.95744468e-01 4.44569283e-01 0.00000000e+00 2.04243993e+02] [-4.44569283e-01 8.95744468e-01 0.00000000e+00 -4.41319644e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.02670987e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.27, Y:-44.14, Z:-0.01 [[ 8.96530298e-01 4.42982420e-01 0.00000000e+00 2.04270419e+02] [-4.42982420e-01 8.96530298e-01 0.00000000e+00 -4.41407204e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.01256179e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.30, Y:-44.15, Z:-0.01 [[ 8.97986506e-01 4.40022994e-01 0.00000000e+00 2.04297584e+02] [-4.40022994e-01 8.97986506e-01 0.00000000e+00 -4.41492218e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.21090355e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.32, Y:-44.16, Z:-0.01 [[ 8.98642003e-01 4.38682744e-01 0.00000000e+00 2.04324266e+02] [-4.38682744e-01 8.98642003e-01 0.00000000e+00 -4.41578444e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.91112791e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.35, Y:-44.17, Z:-0.01 [[ 8.99108637e-01 4.37725552e-01 0.00000000e+00 2.04350553e+02] [-4.37725552e-01 8.99108637e-01 0.00000000e+00 -4.41662710e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.89898316e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.38, Y:-44.17, Z:-0.01 [[ 8.99166092e-01 4.37607516e-01 0.00000000e+00 2.04376485e+02] [-4.37607516e-01 8.99166092e-01 0.00000000e+00 -4.41735772e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.57532213e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.40, Y:-44.18, Z:-0.01 [[ 8.99091305e-01 4.37761151e-01 0.00000000e+00 2.04402938e+02] [-4.37761151e-01 8.99091305e-01 0.00000000e+00 -4.41824068e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.64236651e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.43, Y:-44.19, Z:-0.01 [[ 8.98838017e-01 4.38280983e-01 0.00000000e+00 2.04429418e+02] [-4.38280983e-01 8.98838017e-01 0.00000000e+00 -4.41905593e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.16377425e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.46, Y:-44.20, Z:-0.00 [[ 8.98611192e-01 4.38745855e-01 0.00000000e+00 2.04456428e+02] [-4.38745855e-01 8.98611192e-01 0.00000000e+00 -4.41982222e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.65347762e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.48, Y:-44.20, Z:-0.01 [[ 8.98323542e-01 4.39334513e-01 0.00000000e+00 2.04484500e+02] [-4.39334513e-01 8.98323542e-01 0.00000000e+00 -4.42025826e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.01369491e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.51, Y:-44.21, Z:-0.01 [[ 8.98417340e-01 4.39142668e-01 0.00000000e+00 2.04511389e+02] [-4.39142668e-01 8.98417340e-01 0.00000000e+00 -4.42099714e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.13377989e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.54, Y:-44.22, Z:-0.01 [[ 8.98560510e-01 4.38849644e-01 0.00000000e+00 2.04537081e+02] [-4.38849644e-01 8.98560510e-01 0.00000000e+00 -4.42176099e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.37625202e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.56, Y:-44.23, Z:-0.01 [[ 8.99053642e-01 4.37838495e-01 0.00000000e+00 2.04563810e+02] [-4.37838495e-01 8.99053642e-01 0.00000000e+00 -4.42258841e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.07122776e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.59, Y:-44.23, Z:-0.01 [[ 9.00470287e-01 4.34917535e-01 0.00000000e+00 2.04590717e+02] [-4.34917535e-01 9.00470287e-01 0.00000000e+00 -4.42329205e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.10821887e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.62, Y:-44.24, Z:-0.01 [[ 9.01452554e-01 4.32877919e-01 0.00000000e+00 2.04618025e+02] [-4.32877919e-01 9.01452554e-01 0.00000000e+00 -4.42411509e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.73535637e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.64, Y:-44.25, Z:-0.01 [[ 9.02301437e-01 4.31105690e-01 0.00000000e+00 2.04643979e+02] [-4.31105690e-01 9.02301437e-01 0.00000000e+00 -4.42489585e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.14795162e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.67, Y:-44.26, Z:-0.01 [[ 9.03161604e-01 4.29300730e-01 0.00000000e+00 2.04670870e+02] [-4.29300730e-01 9.03161604e-01 0.00000000e+00 -4.42569545e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.60140177e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.70, Y:-44.26, Z:-0.01 [[ 9.04733335e-01 4.25978394e-01 0.00000000e+00 2.04696388e+02] [-4.25978394e-01 9.04733335e-01 0.00000000e+00 -4.42648878e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.97221354e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.72, Y:-44.27, Z:-0.01 [[ 9.05728007e-01 4.23859385e-01 0.00000000e+00 2.04722366e+02] [-4.23859385e-01 9.05728007e-01 0.00000000e+00 -4.42747602e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.80597449e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.75, Y:-44.28, Z:-0.01 [[ 9.06650682e-01 4.21882142e-01 0.00000000e+00 2.04747813e+02] [-4.21882142e-01 9.06650682e-01 0.00000000e+00 -4.42843236e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05020085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.77, Y:-44.29, Z:-0.01 [[ 9.07395486e-01 4.20277802e-01 0.00000000e+00 2.04772609e+02] [-4.20277802e-01 9.07395486e-01 0.00000000e+00 -4.42942253e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19058212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.80, Y:-44.31, Z:-0.01 [[ 9.08122870e-01 4.18703777e-01 0.00000000e+00 2.04797569e+02] [-4.18703777e-01 9.08122870e-01 0.00000000e+00 -4.43085446e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11631219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.82, Y:-44.32, Z:-0.01 [[ 9.08216846e-01 4.18499894e-01 0.00000000e+00 2.04822118e+02] [-4.18499894e-01 9.08216846e-01 0.00000000e+00 -4.43208971e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03160519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.85, Y:-44.33, Z:-0.01 [[ 9.08345509e-01 4.18220560e-01 0.00000000e+00 2.04847371e+02] [-4.18220560e-01 9.08345509e-01 0.00000000e+00 -4.43332508e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.58049303e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.87, Y:-44.35, Z:-0.01 [[ 9.08466796e-01 4.17957032e-01 0.00000000e+00 2.04872756e+02] [-4.17957032e-01 9.08466796e-01 0.00000000e+00 -4.43458243e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.52837728e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.89, Y:-44.36, Z:-0.01 [[ 9.08407729e-01 4.18085396e-01 0.00000000e+00 2.04894707e+02] [-4.18085396e-01 9.08407729e-01 0.00000000e+00 -4.43627392e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.18141890e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.92, Y:-44.38, Z:-0.01 [[ 9.08368704e-01 4.18170177e-01 0.00000000e+00 2.04918533e+02] [-4.18170177e-01 9.08368704e-01 0.00000000e+00 -4.43763818e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.12714319e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.94, Y:-44.39, Z:-0.01 [[ 9.08339135e-01 4.18234404e-01 0.00000000e+00 2.04943324e+02] [-4.18234404e-01 9.08339135e-01 0.00000000e+00 -4.43902875e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.88520142e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.97, Y:-44.40, Z:-0.00 [[ 9.08376602e-01 4.18153021e-01 0.00000000e+00 2.04968296e+02] [-4.18153021e-01 9.08376602e-01 0.00000000e+00 -4.44042379e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.78547273e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.99, Y:-44.42, Z:0.00 [[ 9.08278414e-01 4.18366254e-01 0.00000000e+00 2.04992563e+02] [-4.18366254e-01 9.08278414e-01 0.00000000e+00 -4.44220691e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75204598e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.02, Y:-44.43, Z:0.00 [[ 9.08247127e-01 4.18434172e-01 0.00000000e+00 2.05016778e+02] [-4.18434172e-01 9.08247127e-01 0.00000000e+00 -4.44349830e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.58402971e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.04, Y:-44.45, Z:-0.00 [[ 9.08199176e-01 4.18538237e-01 0.00000000e+00 2.05040532e+02] [-4.18538237e-01 9.08199176e-01 0.00000000e+00 -4.44473573e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.98742447e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.07, Y:-44.46, Z:-0.00 [[ 9.08155942e-01 4.18632039e-01 0.00000000e+00 2.05065939e+02] [-4.18632039e-01 9.08155942e-01 0.00000000e+00 -4.44603385e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.78044486e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.09, Y:-44.48, Z:-0.01 [[ 9.07872782e-01 4.19245765e-01 0.00000000e+00 2.05090101e+02] [-4.19245765e-01 9.07872782e-01 0.00000000e+00 -4.44753780e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.68114047e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.12, Y:-44.49, Z:-0.01 [[ 9.07881928e-01 4.19225959e-01 0.00000000e+00 2.05115680e+02] [-4.19225959e-01 9.07881928e-01 0.00000000e+00 -4.44869020e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.00031213e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.14, Y:-44.50, Z:-0.00 [[ 9.08140469e-01 4.18665605e-01 0.00000000e+00 2.05141216e+02] [-4.18665605e-01 9.08140469e-01 0.00000000e+00 -4.44981151e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.85298448e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.17, Y:-44.51, Z:-0.00 [[ 9.09617589e-01 4.15446556e-01 0.00000000e+00 2.05166292e+02] [-4.15446556e-01 9.09617589e-01 0.00000000e+00 -4.45110105e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.53722497e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.841400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:205.19, Y:-44.52, Z:-0.01 [[ 9.10774996e-01 4.12903023e-01 0.00000000e+00 2.05191084e+02] [-4.12903023e-01 9.10774996e-01 0.00000000e+00 -4.45219322e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.59364641e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.22, Y:-44.53, Z:-0.01 [[ 9.12031837e-01 4.10119407e-01 0.00000000e+00 2.05216373e+02] [-4.10119407e-01 9.12031837e-01 0.00000000e+00 -4.45327344e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.59491777e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.24, Y:-44.54, Z:-0.00 [[ 9.14740569e-01 4.04041695e-01 0.00000000e+00 2.05242965e+02] [-4.04041695e-01 9.14740569e-01 0.00000000e+00 -4.45436655e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22437561e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.27, Y:-44.55, Z:-0.00 [[ 9.15919776e-01 4.01361388e-01 0.00000000e+00 2.05268640e+02] [-4.01361388e-01 9.15919776e-01 0.00000000e+00 -4.45542045e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.38432755e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.29, Y:-44.57, Z:-0.00 [[ 9.17120173e-01 3.98610823e-01 0.00000000e+00 2.05293689e+02] [-3.98610823e-01 9.17120173e-01 0.00000000e+00 -4.45650174e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40900900e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.32, Y:-44.58, Z:-0.00 [[ 9.18339513e-01 3.95793555e-01 0.00000000e+00 2.05319798e+02] [-3.95793555e-01 9.18339513e-01 0.00000000e+00 -4.45766390e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.80635095e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.35, Y:-44.59, Z:-0.01 [[ 9.21078152e-01 3.89377758e-01 0.00000000e+00 2.05345420e+02] [-3.89377758e-01 9.21078152e-01 0.00000000e+00 -4.45886673e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05240854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.05140051299998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:205.37, Y:-44.60, Z:-0.01 [[ 9.22392898e-01 3.86252950e-01 0.00000000e+00 2.05371787e+02] [-3.86252950e-01 9.22392898e-01 0.00000000e+00 -4.45999882e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.37296939e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.40, Y:-44.61, Z:-0.01 [[ 9.23432298e-01 3.83761373e-01 0.00000000e+00 2.05397039e+02] [-3.83761373e-01 9.23432298e-01 0.00000000e+00 -4.46115970e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.96360183e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.42, Y:-44.62, Z:-0.00 [[ 9.24380615e-01 3.81471466e-01 0.00000000e+00 2.05423049e+02] [-3.81471466e-01 9.24380615e-01 0.00000000e+00 -4.46228922e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.10447543e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.45, Y:-44.63, Z:-0.00 [[ 9.25604866e-01 3.78491259e-01 0.00000000e+00 2.05449389e+02] [-3.78491259e-01 9.25604866e-01 0.00000000e+00 -4.46339914e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.55136977e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.17140051299998 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:205.48, Y:-44.64, Z:-0.00 [[ 9.25932121e-01 3.77689961e-01 0.00000000e+00 2.05478074e+02] [-3.77689961e-01 9.25932121e-01 0.00000000e+00 -4.46448060e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21798230e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.51, Y:-44.66, Z:-0.00 [[ 9.26208040e-01 3.77012820e-01 0.00000000e+00 2.05505695e+02] [-3.77012820e-01 9.26208040e-01 0.00000000e+00 -4.46557939e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.14454262e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.53, Y:-44.67, Z:-0.01 [[ 9.27138089e-01 3.74719848e-01 0.00000000e+00 2.05531667e+02] [-3.74719848e-01 9.27138089e-01 0.00000000e+00 -4.46684917e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.51569666e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.56, Y:-44.68, Z:-0.01 [[ 9.27791310e-01 3.73099565e-01 0.00000000e+00 2.05558288e+02] [-3.73099565e-01 9.27791310e-01 0.00000000e+00 -4.46803173e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.96380682e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.58, Y:-44.69, Z:-0.00 [[ 9.28484967e-01 3.71369987e-01 0.00000000e+00 2.05584025e+02] [-3.71369987e-01 9.28484967e-01 0.00000000e+00 -4.46917886e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.96929638e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.61, Y:-44.70, Z:-0.00 [[ 9.29205631e-01 3.69563113e-01 0.00000000e+00 2.05611331e+02] [-3.69563113e-01 9.29205631e-01 0.00000000e+00 -4.47041216e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.96096047e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.64, Y:-44.72, Z:-0.00 [[ 9.30338011e-01 3.66703130e-01 0.00000000e+00 2.05638216e+02] [-3.66703130e-01 9.30338011e-01 0.00000000e+00 -4.47190666e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.75334726e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.66, Y:-44.73, Z:-0.01 [[ 9.30648164e-01 3.65915284e-01 0.00000000e+00 2.05664833e+02] [-3.65915284e-01 9.30648164e-01 0.00000000e+00 -4.47310447e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.64925981e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.69, Y:-44.74, Z:-0.01 [[ 9.30835694e-01 3.65437970e-01 0.00000000e+00 2.05693765e+02] [-3.65437970e-01 9.30835694e-01 0.00000000e+00 -4.47437013e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.10586486e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.72, Y:-44.76, Z:-0.01 [[ 9.30957984e-01 3.65126324e-01 0.00000000e+00 2.05722818e+02] [-3.65126324e-01 9.30957984e-01 0.00000000e+00 -4.47560230e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.75868131e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.75, Y:-44.77, Z:-0.01 [[ 9.31397654e-01 3.64003310e-01 0.00000000e+00 2.05750391e+02] [-3.64003310e-01 9.31397654e-01 0.00000000e+00 -4.47689411e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.59959507e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.78, Y:-44.78, Z:-0.01 [[ 9.31651282e-01 3.63353670e-01 0.00000000e+00 2.05779692e+02] [-3.63353670e-01 9.31651282e-01 0.00000000e+00 -4.47817815e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.16961242e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.81, Y:-44.80, Z:-0.00 [[ 9.32438518e-01 3.61328673e-01 0.00000000e+00 2.05807923e+02] [-3.61328673e-01 9.32438518e-01 0.00000000e+00 -4.47976694e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.91675862e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.84, Y:-44.81, Z:-0.00 [[ 9.32429984e-01 3.61350694e-01 0.00000000e+00 2.05837677e+02] [-3.61350694e-01 9.32429984e-01 0.00000000e+00 -4.48089766e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.91675862e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.591400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:205.87, Y:-44.82, Z:-0.01 [[ 9.32853218e-01 3.60256678e-01 0.00000000e+00 2.05866959e+02] [-3.60256678e-01 9.32853218e-01 0.00000000e+00 -4.48238397e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.17947519e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.90, Y:-44.84, Z:-0.01 [[ 9.33421205e-01 3.58782459e-01 0.00000000e+00 2.05897213e+02] [-3.58782459e-01 9.33421205e-01 0.00000000e+00 -4.48380516e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.05204584e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.651400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:205.93, Y:-44.85, Z:-0.01 [[ 9.33943367e-01 3.57421023e-01 0.00000000e+00 2.05927421e+02] [-3.57421023e-01 9.33943367e-01 0.00000000e+00 -4.48519396e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.82054699e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.96, Y:-44.87, Z:-0.01 [[ 9.34269178e-01 3.56568512e-01 0.00000000e+00 2.05957610e+02] [-3.56568512e-01 9.34269178e-01 0.00000000e+00 -4.48652241e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.02543480e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.99, Y:-44.88, Z:-0.00 [[ 9.34633166e-01 3.55613336e-01 0.00000000e+00 2.05986806e+02] [-3.55613336e-01 9.34633166e-01 0.00000000e+00 -4.48810551e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.17733113e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.02, Y:-44.89, Z:-0.00 [[ 9.34440055e-01 3.56120461e-01 0.00000000e+00 2.06017068e+02] [-3.56120461e-01 9.34440055e-01 0.00000000e+00 -4.48948996e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.48754003e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.05, Y:-44.91, Z:-0.00 [[ 9.33845326e-01 3.57677098e-01 0.00000000e+00 2.06047321e+02] [-3.57677098e-01 9.33845326e-01 0.00000000e+00 -4.49071183e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15325772e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.08, Y:-44.92, Z:-0.00 [[ 9.32552065e-01 3.61035518e-01 0.00000000e+00 2.06077680e+02] [-3.61035518e-01 9.32552065e-01 0.00000000e+00 -4.49173110e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.60111979e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.11, Y:-44.93, Z:-0.00 [[ 9.32311161e-01 3.61657158e-01 0.00000000e+00 2.06107072e+02] [-3.61657158e-01 9.32311161e-01 0.00000000e+00 -4.49287726e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.14847496e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.14, Y:-44.94, Z:-0.00 [[ 9.32405031e-01 3.61415078e-01 0.00000000e+00 2.06138028e+02] [-3.61415078e-01 9.32405031e-01 0.00000000e+00 -4.49411144e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.65363562e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.17, Y:-44.95, Z:-0.00 [[ 9.33401151e-01 3.58834631e-01 0.00000000e+00 2.06168611e+02] [-3.58834631e-01 9.33401151e-01 0.00000000e+00 -4.49514195e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.32884723e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.20, Y:-44.96, Z:-0.00 [[ 9.34111818e-01 3.56980549e-01 0.00000000e+00 2.06198691e+02] [-3.56980549e-01 9.34111818e-01 0.00000000e+00 -4.49611465e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.73417531e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.95140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:206.23, Y:-44.97, Z:-0.00 [[ 9.34948278e-01 3.54784043e-01 0.00000000e+00 2.06230000e+02] [-3.54784043e-01 9.34948278e-01 0.00000000e+00 -4.49712850e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.09977622e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.26, Y:-44.98, Z:-0.00 [[ 9.35927154e-01 3.52193644e-01 0.00000000e+00 2.06259949e+02] [-3.52193644e-01 9.35927154e-01 0.00000000e+00 -4.49811667e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.33880196e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.29, Y:-44.99, Z:-0.00 [[ 9.37954788e-01 3.46757575e-01 0.00000000e+00 2.06290592e+02] [-3.46757575e-01 9.37954788e-01 0.00000000e+00 -4.49900159e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.04112920e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.32, Y:-45.00, Z:-0.00 [[ 9.38860224e-01 3.44298534e-01 0.00000000e+00 2.06321650e+02] [-3.44298534e-01 9.38860224e-01 0.00000000e+00 -4.49991768e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.27239742e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.071400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:206.35, Y:-45.01, Z:-0.01 [[ 9.39610958e-01 3.42244425e-01 0.00000000e+00 2.06352527e+02] [-3.42244425e-01 9.39610958e-01 0.00000000e+00 -4.50083168e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.46902279e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.38, Y:-45.01, Z:-0.01 [[ 9.41150531e-01 3.37987690e-01 0.00000000e+00 2.06384683e+02] [-3.37987690e-01 9.41150531e-01 0.00000000e+00 -4.50139985e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.33496740e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.42, Y:-45.02, Z:-0.00 [[ 9.41764663e-01 3.36272686e-01 0.00000000e+00 2.06416036e+02] [-3.36272686e-01 9.41764663e-01 0.00000000e+00 -4.50230950e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.45658447e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.45, Y:-45.03, Z:-0.00 [[ 9.42330628e-01 3.34683413e-01 0.00000000e+00 2.06446768e+02] [-3.34683413e-01 9.42330628e-01 0.00000000e+00 -4.50324030e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.28313633e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.48, Y:-45.04, Z:-0.00 [[ 9.42880022e-01 3.33132502e-01 0.00000000e+00 2.06478639e+02] [-3.33132502e-01 9.42880022e-01 0.00000000e+00 -4.50427648e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68130793e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.221400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:206.51, Y:-45.05, Z:-0.00 [[ 9.43991981e-01 3.29968393e-01 0.00000000e+00 2.06509447e+02] [-3.29968393e-01 9.43991981e-01 0.00000000e+00 -4.50507079e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.67027211e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.54, Y:-45.06, Z:-0.00 [[ 9.44406413e-01 3.28780363e-01 0.00000000e+00 2.06540042e+02] [-3.28780363e-01 9.44406413e-01 0.00000000e+00 -4.50604668e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74169194e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.57, Y:-45.07, Z:-0.00 [[ 9.44740651e-01 3.27818705e-01 0.00000000e+00 2.06569877e+02] [-3.27818705e-01 9.44740651e-01 0.00000000e+00 -4.50700023e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.62012522e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.60, Y:-45.08, Z:-0.00 [[ 9.44918871e-01 3.27304639e-01 0.00000000e+00 2.06600272e+02] [-3.27304639e-01 9.44918871e-01 0.00000000e+00 -4.50799523e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19406276e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.341400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:206.63, Y:-45.09, Z:-0.00 [[ 9.44658167e-01 3.28056318e-01 0.00000000e+00 2.06629581e+02] [-3.28056318e-01 9.44658167e-01 0.00000000e+00 -4.50875327e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42249896e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.66, Y:-45.10, Z:-0.00 [[ 9.44358864e-01 3.28916914e-01 0.00000000e+00 2.06659150e+02] [-3.28916914e-01 9.44358864e-01 0.00000000e+00 -4.50974201e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73817697e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.69, Y:-45.11, Z:-0.00 [[ 9.44075315e-01 3.29729890e-01 0.00000000e+00 2.06687788e+02] [-3.29729890e-01 9.44075315e-01 0.00000000e+00 -4.51066198e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28758682e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.72, Y:-45.11, Z:0.00 [[ 9.43435550e-01 3.31555973e-01 0.00000000e+00 2.06716645e+02] [-3.31555973e-01 9.43435550e-01 0.00000000e+00 -4.51129554e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32102145e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46140051299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:206.74, Y:-45.12, Z:0.00 [[ 9.43279822e-01 3.31998762e-01 0.00000000e+00 2.06744939e+02] [-3.31998762e-01 9.43279822e-01 0.00000000e+00 -4.51213836e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06449042e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.77, Y:-45.13, Z:0.00 [[ 9.43131961e-01 3.32418568e-01 0.00000000e+00 2.06772307e+02] [-3.32418568e-01 9.43131961e-01 0.00000000e+00 -4.51293873e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50160103e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.80, Y:-45.14, Z:0.00 [[ 9.43157739e-01 3.32345422e-01 0.00000000e+00 2.06800885e+02] [-3.32345422e-01 9.43157739e-01 0.00000000e+00 -4.51376361e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.58121811e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.83, Y:-45.14, Z:-0.00 [[ 9.43119818e-01 3.32453016e-01 0.00000000e+00 2.06829210e+02] [-3.32453016e-01 9.43119818e-01 0.00000000e+00 -4.51421840e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.75966858e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:206.86, Y:-45.15, Z:-0.01 [[ 9.43049068e-01 3.32653657e-01 0.00000000e+00 2.06857830e+02] [-3.32653657e-01 9.43049068e-01 0.00000000e+00 -4.51490543e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.74430531e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.89, Y:-45.16, Z:-0.00 [[ 9.42895881e-01 3.33087612e-01 0.00000000e+00 2.06886175e+02] [-3.33087612e-01 9.42895881e-01 0.00000000e+00 -4.51550361e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.88992730e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.92, Y:-45.16, Z:-0.00 [[ 9.42525457e-01 3.34134349e-01 0.00000000e+00 2.06916120e+02] [-3.34134349e-01 9.42525457e-01 0.00000000e+00 -4.51569587e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95189529e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.67140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:206.94, Y:-45.16, Z:-0.00 [[ 9.42603939e-01 3.33912884e-01 0.00000000e+00 2.06943562e+02] [-3.33912884e-01 9.42603939e-01 0.00000000e+00 -4.51632038e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.81003098e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.97, Y:-45.17, Z:-0.00 [[ 9.42830168e-01 3.33273573e-01 0.00000000e+00 2.06970081e+02] [-3.33273573e-01 9.42830168e-01 0.00000000e+00 -4.51687133e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.26893975e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.00, Y:-45.17, Z:-0.00 [[ 9.43291673e-01 3.31965088e-01 0.00000000e+00 2.06998751e+02] [-3.31965088e-01 9.43291673e-01 0.00000000e+00 -4.51748810e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.93370290e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.03, Y:-45.18, Z:-0.00 [[ 9.44380808e-01 3.28853903e-01 0.00000000e+00 2.07027736e+02] [-3.28853903e-01 9.44380808e-01 0.00000000e+00 -4.51772500e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59697154e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.05, Y:-45.18, Z:-0.00 [[ 9.45062144e-01 3.26890721e-01 0.00000000e+00 2.07054743e+02] [-3.26890721e-01 9.45062144e-01 0.00000000e+00 -4.51845811e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00331415e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.08, Y:-45.19, Z:-0.00 [[ 9.45832100e-01 3.24656185e-01 0.00000000e+00 2.07080845e+02] [-3.24656185e-01 9.45832100e-01 0.00000000e+00 -4.51916693e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37502907e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.851400513 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:207.11, Y:-45.19, Z:-0.00 [[ 9.47470126e-01 3.19844276e-01 0.00000000e+00 2.07109989e+02] [-3.19844276e-01 9.47470126e-01 0.00000000e+00 -4.51934971e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56014979e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.881400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:207.14, Y:-45.20, Z:-0.00 [[ 9.47912470e-01 3.18530924e-01 0.00000000e+00 2.07138154e+02] [-3.18530924e-01 9.47912470e-01 0.00000000e+00 -4.51982453e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06320925e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.17, Y:-45.20, Z:-0.00 [[ 9.48015066e-01 3.18225447e-01 0.00000000e+00 2.07165860e+02] [-3.18225447e-01 9.48015066e-01 0.00000000e+00 -4.52042101e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01395254e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.941400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.19, Y:-45.21, Z:0.00 [[ 9.48139051e-01 3.17855849e-01 0.00000000e+00 2.07193227e+02] [-3.17855849e-01 9.48139051e-01 0.00000000e+00 -4.52113493e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28338040e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.22, Y:-45.22, Z:0.00 [[ 9.48613586e-01 3.16436824e-01 0.00000000e+00 2.07220235e+02] [-3.16436824e-01 9.48613586e-01 0.00000000e+00 -4.52150174e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24071899e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.25, Y:-45.22, Z:0.00 [[ 9.49170674e-01 3.14761866e-01 0.00000000e+00 2.07248043e+02] [-3.14761866e-01 9.49170674e-01 0.00000000e+00 -4.52199383e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.89902387e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.031400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:207.28, Y:-45.22, Z:0.00 [[ 9.49841912e-01 3.12730464e-01 0.00000000e+00 2.07275945e+02] [-3.12730464e-01 9.49841912e-01 0.00000000e+00 -4.52248088e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38181885e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.30, Y:-45.23, Z:0.00 [[ 9.50464602e-01 3.10832816e-01 0.00000000e+00 2.07303489e+02] [-3.10832816e-01 9.50464602e-01 0.00000000e+00 -4.52309243e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04483186e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.091400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:207.33, Y:-45.23, Z:0.00 [[ 9.51633597e-01 3.07235248e-01 0.00000000e+00 2.07331397e+02] [-3.07235248e-01 9.51633597e-01 0.00000000e+00 -4.52338839e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.92526310e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.121400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:207.36, Y:-45.24, Z:-0.00 [[ 9.52117058e-01 3.05733721e-01 0.00000000e+00 2.07359934e+02] [-3.05733721e-01 9.52117058e-01 0.00000000e+00 -4.52406802e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61996930e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.151400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:207.39, Y:-45.25, Z:-0.00 [[ 9.52681270e-01 3.03971048e-01 0.00000000e+00 2.07389641e+02] [-3.03971048e-01 9.52681270e-01 0.00000000e+00 -4.52450462e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88136644e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.42, Y:-45.25, Z:-0.00 [[ 9.52765287e-01 3.03707604e-01 0.00000000e+00 2.07417285e+02] [-3.03707604e-01 9.52765287e-01 0.00000000e+00 -4.52533962e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16408668e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.44, Y:-45.26, Z:-0.00 [[ 9.52756058e-01 3.03736554e-01 0.00000000e+00 2.07444595e+02] [-3.03736554e-01 9.52756058e-01 0.00000000e+00 -4.52610938e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.25033185e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.47, Y:-45.27, Z:-0.00 [[ 9.52783984e-01 3.03648942e-01 0.00000000e+00 2.07472731e+02] [-3.03648942e-01 9.52783984e-01 0.00000000e+00 -4.52681203e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.13222777e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.50, Y:-45.27, Z:0.00 [[ 9.53008586e-01 3.02943287e-01 0.00000000e+00 2.07501902e+02] [-3.02943287e-01 9.53008586e-01 0.00000000e+00 -4.52719050e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.65520570e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.53, Y:-45.28, Z:0.00 [[ 9.52994283e-01 3.02988279e-01 0.00000000e+00 2.07527755e+02] [-3.02988279e-01 9.52994283e-01 0.00000000e+00 -4.52793661e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.21293609e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.55, Y:-45.29, Z:0.00 [[ 9.52935139e-01 3.03174242e-01 0.00000000e+00 2.07554463e+02] [-3.03174242e-01 9.52935139e-01 0.00000000e+00 -4.52877880e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.65889912e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.58, Y:-45.30, Z:-0.00 [[ 9.52941447e-01 3.03154412e-01 0.00000000e+00 2.07582071e+02] [-3.03154412e-01 9.52941447e-01 0.00000000e+00 -4.52963227e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19018921e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.61, Y:-45.30, Z:-0.00 [[ 9.53286311e-01 3.02068220e-01 0.00000000e+00 2.07609112e+02] [-3.02068220e-01 9.53286311e-01 0.00000000e+00 -4.53004078e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21720204e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:207.64, Y:-45.31, Z:-0.00 [[ 9.53714871e-01 3.00712397e-01 0.00000000e+00 2.07636414e+02] [-3.00712397e-01 9.53714871e-01 0.00000000e+00 -4.53069859e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.76666922e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.66, Y:-45.31, Z:-0.00 [[ 9.54136368e-01 2.99372328e-01 0.00000000e+00 2.07663931e+02] [-2.99372328e-01 9.54136368e-01 0.00000000e+00 -4.53144563e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26347582e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.69, Y:-45.32, Z:-0.00 [[ 9.54158068e-01 2.99303159e-01 0.00000000e+00 2.07690603e+02] [-2.99303159e-01 9.54158068e-01 0.00000000e+00 -4.53244922e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26347582e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.72, Y:-45.33, Z:-0.00 [[ 9.54828308e-01 2.97158042e-01 0.00000000e+00 2.07718187e+02] [-2.97158042e-01 9.54828308e-01 0.00000000e+00 -4.53303628e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.58765077e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.75, Y:-45.34, Z:-0.00 [[ 9.55123165e-01 2.96208946e-01 0.00000000e+00 2.07745359e+02] [-2.96208946e-01 9.55123165e-01 0.00000000e+00 -4.53378193e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28485594e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.77, Y:-45.34, Z:-0.00 [[ 9.55087351e-01 2.96324402e-01 0.00000000e+00 2.07771815e+02] [-2.96324402e-01 9.55087351e-01 0.00000000e+00 -4.53446086e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.75903492e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.601400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.80, Y:-45.35, Z:-0.00 [[ 9.54874945e-01 2.97008146e-01 0.00000000e+00 2.07798944e+02] [-2.97008146e-01 9.54874945e-01 0.00000000e+00 -4.53509312e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02760517e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.83, Y:-45.36, Z:-0.00 [[ 9.53851355e-01 3.00279190e-01 0.00000000e+00 2.07827461e+02] [-3.00279190e-01 9.53851355e-01 0.00000000e+00 -4.53551279e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.57043366e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.85, Y:-45.36, Z:-0.00 [[ 9.53398394e-01 3.01714273e-01 0.00000000e+00 2.07854390e+02] [-3.01714273e-01 9.53398394e-01 0.00000000e+00 -4.53615696e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.45752807e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.88, Y:-45.37, Z:-0.00 [[ 9.53142057e-01 3.02523088e-01 0.00000000e+00 2.07881578e+02] [-3.02523088e-01 9.53142057e-01 0.00000000e+00 -4.53678202e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.57075201e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.721400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:207.91, Y:-45.37, Z:-0.00 [[ 9.53140989e-01 3.02526454e-01 0.00000000e+00 2.07909162e+02] [-3.02526454e-01 9.53140989e-01 0.00000000e+00 -4.53739793e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.33629030e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.751400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:207.94, Y:-45.38, Z:0.00 [[ 9.53619857e-01 3.01013569e-01 0.00000000e+00 2.07938861e+02] [-3.01013569e-01 9.53619857e-01 0.00000000e+00 -4.53782269e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.71935084e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.97, Y:-45.38, Z:0.00 [[ 9.53816535e-01 3.00389776e-01 0.00000000e+00 2.07965806e+02] [-3.00389776e-01 9.53816535e-01 0.00000000e+00 -4.53847454e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.39338910e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.811400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:207.99, Y:-45.39, Z:0.00 [[ 9.54118157e-01 2.99430363e-01 0.00000000e+00 2.07993773e+02] [-2.99430363e-01 9.54118157e-01 0.00000000e+00 -4.53907581e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18321569e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.841400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:208.02, Y:-45.40, Z:0.00 [[ 9.54368141e-01 2.98632636e-01 0.00000000e+00 2.08021703e+02] [-2.98632636e-01 9.54368141e-01 0.00000000e+00 -4.53969934e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33559976e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.871400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:208.05, Y:-45.40, Z:0.00 [[ 9.54656131e-01 2.97710718e-01 0.00000000e+00 2.08049691e+02] [-2.97710718e-01 9.54656131e-01 0.00000000e+00 -4.53994538e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.85004242e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.08, Y:-45.41, Z:0.00 [[ 9.54629619e-01 2.97795719e-01 0.00000000e+00 2.08077771e+02] [-2.97795719e-01 9.54629619e-01 0.00000000e+00 -4.54059240e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23011692e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.93140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.11, Y:-45.41, Z:0.01 [[ 9.54327180e-01 2.98763507e-01 0.00000000e+00 2.08106550e+02] [-2.98763507e-01 9.54327180e-01 0.00000000e+00 -4.54071291e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.75997826e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.13, Y:-45.41, Z:0.00 [[ 9.54308161e-01 2.98824251e-01 0.00000000e+00 2.08134933e+02] [-2.98824251e-01 9.54308161e-01 0.00000000e+00 -4.54124987e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.73766122e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.16, Y:-45.42, Z:0.00 [[ 9.54447278e-01 2.98379612e-01 0.00000000e+00 2.08161574e+02] [-2.98379612e-01 9.54447278e-01 0.00000000e+00 -4.54170558e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42076989e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.19, Y:-45.42, Z:0.00 [[ 9.54705854e-01 2.97551225e-01 0.00000000e+00 2.08189957e+02] [-2.97551225e-01 9.54705854e-01 0.00000000e+00 -4.54222109e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02298768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.22, Y:-45.42, Z:0.00 [[ 9.55519643e-01 2.94927467e-01 0.00000000e+00 2.08219495e+02] [-2.94927467e-01 9.55519643e-01 0.00000000e+00 -4.54225204e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30136725e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.25, Y:-45.43, Z:0.00 [[ 9.56033892e-01 2.93256198e-01 0.00000000e+00 2.08246555e+02] [-2.93256198e-01 9.56033892e-01 0.00000000e+00 -4.54275488e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80692678e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.27, Y:-45.43, Z:0.00 [[ 9.56808147e-01 2.90720087e-01 0.00000000e+00 2.08274653e+02] [-2.90720087e-01 9.56808147e-01 0.00000000e+00 -4.54324655e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33083623e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.30, Y:-45.44, Z:-0.00 [[ 9.57665966e-01 2.87881743e-01 0.00000000e+00 2.08302746e+02] [-2.87881743e-01 9.57665966e-01 0.00000000e+00 -4.54376166e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10438436e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.33, Y:-45.44, Z:-0.01 [[ 9.59552887e-01 2.81528430e-01 0.00000000e+00 2.08332306e+02] [-2.81528430e-01 9.59552887e-01 0.00000000e+00 -4.54415474e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.47389782e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.36, Y:-45.45, Z:-0.01 [[ 9.60378491e-01 2.78699038e-01 0.00000000e+00 2.08359838e+02] [-2.78699038e-01 9.60378491e-01 0.00000000e+00 -4.54504833e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.92751068e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:-45.46, Z:-0.01 [[ 9.60857936e-01 2.77041560e-01 0.00000000e+00 2.08385995e+02] [-2.77041560e-01 9.60857936e-01 0.00000000e+00 -4.54593523e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.08358031e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.41, Y:-45.47, Z:-0.01 [[ 9.60880096e-01 2.76964693e-01 0.00000000e+00 2.08412704e+02] [-2.76964693e-01 9.60880096e-01 0.00000000e+00 -4.54665990e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.96018037e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.44, Y:-45.47, Z:-0.01 [[ 9.60526371e-01 2.78188946e-01 0.00000000e+00 2.08439526e+02] [-2.78188946e-01 9.60526371e-01 0.00000000e+00 -4.54749124e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.61342551e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.47, Y:-45.48, Z:-0.00 [[ 9.59882646e-01 2.80402043e-01 0.00000000e+00 2.08466343e+02] [-2.80402043e-01 9.59882646e-01 0.00000000e+00 -4.54836614e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.19254777e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.49, Y:-45.49, Z:-0.01 [[ 9.57971801e-01 2.86862385e-01 0.00000000e+00 2.08492616e+02] [-2.86862385e-01 9.57971801e-01 0.00000000e+00 -4.54914843e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.38861291e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.381400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:208.52, Y:-45.50, Z:-0.01 [[ 9.56893785e-01 2.90438089e-01 0.00000000e+00 2.08519451e+02] [-2.90438089e-01 9.56893785e-01 0.00000000e+00 -4.55004841e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.75175784e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.55, Y:-45.51, Z:-0.00 [[ 9.55725829e-01 2.94258627e-01 0.00000000e+00 2.08546779e+02] [-2.94258627e-01 9.55725829e-01 0.00000000e+00 -4.55097610e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.58544029e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.441400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:208.57, Y:-45.52, Z:0.00 [[ 9.53792810e-01 3.00465098e-01 0.00000000e+00 2.08574814e+02] [-3.00465098e-01 9.53792810e-01 0.00000000e+00 -4.55164543e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.16411368e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.60, Y:-45.52, Z:0.00 [[ 9.53013909e-01 3.02926541e-01 0.00000000e+00 2.08601177e+02] [-3.02926541e-01 9.53013909e-01 0.00000000e+00 -4.55245247e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.78301479e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.63, Y:-45.53, Z:0.00 [[ 9.52388053e-01 3.04888497e-01 0.00000000e+00 2.08628144e+02] [-3.04888497e-01 9.52388053e-01 0.00000000e+00 -4.55320535e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.91024541e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.66, Y:-45.54, Z:0.00 [[ 9.51530739e-01 3.07553659e-01 0.00000000e+00 2.08656711e+02] [-3.07553659e-01 9.51530739e-01 0.00000000e+00 -4.55351602e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.18320537e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.68, Y:-45.54, Z:0.00 [[ 9.51263761e-01 3.08378432e-01 0.00000000e+00 2.08684511e+02] [-3.08378432e-01 9.51263761e-01 0.00000000e+00 -4.55410584e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92298330e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.71, Y:-45.55, Z:0.00 [[ 9.51076892e-01 3.08954276e-01 0.00000000e+00 2.08711933e+02] [-3.08954276e-01 9.51076892e-01 0.00000000e+00 -4.55468317e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.57543975e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.74, Y:-45.55, Z:0.01 [[ 9.51275018e-01 3.08343705e-01 0.00000000e+00 2.08741479e+02] [-3.08343705e-01 9.51275018e-01 0.00000000e+00 -4.55468070e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.30708075e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.77, Y:-45.55, Z:0.01 [[ 9.51707761e-01 3.07005437e-01 0.00000000e+00 2.08769215e+02] [-3.07005437e-01 9.51707761e-01 0.00000000e+00 -4.55491848e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.92933128e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.80, Y:-45.55, Z:0.01 [[ 9.52289345e-01 3.05196662e-01 0.00000000e+00 2.08797105e+02] [-3.05196662e-01 9.52289345e-01 0.00000000e+00 -4.55518740e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.94009230e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.83, Y:-45.56, Z:0.01 [[ 9.53134258e-01 3.02547661e-01 0.00000000e+00 2.08825048e+02] [-3.02547661e-01 9.53134258e-01 0.00000000e+00 -4.55559458e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05409152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.85, Y:-45.56, Z:0.01 [[ 9.55452099e-01 2.95146211e-01 0.00000000e+00 2.08854000e+02] [-2.95146211e-01 9.55452099e-01 0.00000000e+00 -4.55557328e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.71052150e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.88, Y:-45.56, Z:0.01 [[ 9.56933634e-01 2.90306770e-01 0.00000000e+00 2.08882042e+02] [-2.90306770e-01 9.56933634e-01 0.00000000e+00 -4.55601098e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.87683658e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:208.91, Y:-45.56, Z:0.00 [[ 9.58529360e-01 2.84993800e-01 0.00000000e+00 2.08910557e+02] [-2.84993800e-01 9.58529360e-01 0.00000000e+00 -4.55648892e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79979345e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.94, Y:-45.57, Z:0.00 [[ 9.60068304e-01 2.79765707e-01 0.00000000e+00 2.08938405e+02] [-2.79765707e-01 9.60068304e-01 0.00000000e+00 -4.55709418e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59470066e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.97, Y:-45.58, Z:0.00 [[ 9.62459259e-01 2.71426187e-01 0.00000000e+00 2.08966164e+02] [-2.71426187e-01 9.62459259e-01 0.00000000e+00 -4.55773374e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.66150644e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.99, Y:-45.59, Z:0.00 [[ 9.63258605e-01 2.68575613e-01 0.00000000e+00 2.08992945e+02] [-2.68575613e-01 9.63258605e-01 0.00000000e+00 -4.55851525e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31571214e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.02, Y:-45.59, Z:0.00 [[ 9.63809970e-01 2.66590212e-01 0.00000000e+00 2.09020162e+02] [-2.66590212e-01 9.63809970e-01 0.00000000e+00 -4.55893096e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65020421e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.05, Y:-45.60, Z:0.00 [[ 9.63785442e-01 2.66678873e-01 0.00000000e+00 2.09046404e+02] [-2.66678873e-01 9.63785442e-01 0.00000000e+00 -4.55969656e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72277141e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.07, Y:-45.61, Z:0.00 [[ 9.63754518e-01 2.66790608e-01 0.00000000e+00 2.09072716e+02] [-2.66790608e-01 9.63754518e-01 0.00000000e+00 -4.56061328e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20221974e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.10, Y:-45.62, Z:0.00 [[ 9.63683545e-01 2.67046860e-01 0.00000000e+00 2.09098447e+02] [-2.67046860e-01 9.63683545e-01 0.00000000e+00 -4.56156201e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09149225e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.13, Y:-45.62, Z:0.00 [[ 9.63453913e-01 2.67874144e-01 0.00000000e+00 2.09125308e+02] [-2.67874144e-01 9.63453913e-01 0.00000000e+00 -4.56248530e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.45968816e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.15, Y:-45.63, Z:0.00 [[ 9.63308963e-01 2.68394937e-01 0.00000000e+00 2.09151806e+02] [-2.68394937e-01 9.63308963e-01 0.00000000e+00 -4.56345005e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01089297e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.18, Y:-45.64, Z:-0.00 [[ 9.63118734e-01 2.69076761e-01 0.00000000e+00 2.09177321e+02] [-2.69076761e-01 9.63118734e-01 0.00000000e+00 -4.56448827e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.00950615e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.20, Y:-45.66, Z:-0.00 [[ 9.62932792e-01 2.69741430e-01 0.00000000e+00 2.09202727e+02] [-2.69741430e-01 9.62932792e-01 0.00000000e+00 -4.56554943e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.15961852e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.23, Y:-45.67, Z:-0.00 [[ 9.62564393e-01 2.71053112e-01 0.00000000e+00 2.09228153e+02] [-2.71053112e-01 9.62564393e-01 0.00000000e+00 -4.56665669e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.76055048e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.25, Y:-45.68, Z:-0.00 [[ 9.62342839e-01 2.71838665e-01 0.00000000e+00 2.09253258e+02] [-2.71838665e-01 9.62342839e-01 0.00000000e+00 -4.56769050e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.82022607e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.28, Y:-45.69, Z:-0.00 [[ 9.62060948e-01 2.72834623e-01 0.00000000e+00 2.09279693e+02] [-2.72834623e-01 9.62060948e-01 0.00000000e+00 -4.56882898e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81834558e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.31, Y:-45.70, Z:0.00 [[ 9.61035233e-01 2.76425904e-01 0.00000000e+00 2.09305285e+02] [-2.76425904e-01 9.61035233e-01 0.00000000e+00 -4.56999773e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41949802e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.33, Y:-45.71, Z:0.00 [[ 9.60449486e-01 2.78454278e-01 0.00000000e+00 2.09331843e+02] [-2.78454278e-01 9.60449486e-01 0.00000000e+00 -4.57095209e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34735799e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.311400513 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:209.36, Y:-45.72, Z:0.00 [[ 9.59958282e-01 2.80142993e-01 0.00000000e+00 2.09358767e+02] [-2.80142993e-01 9.59958282e-01 0.00000000e+00 -4.57185505e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46054772e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.38, Y:-45.73, Z:0.00 [[ 9.58995760e-01 2.83420415e-01 0.00000000e+00 2.09384645e+02] [-2.83420415e-01 9.58995760e-01 0.00000000e+00 -4.57277553e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15737579e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.41, Y:-45.74, Z:0.00 [[ 9.59048413e-01 2.83242195e-01 0.00000000e+00 2.09411363e+02] [-2.83242195e-01 9.59048413e-01 0.00000000e+00 -4.57375368e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15737579e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.401400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.44, Y:-45.75, Z:-0.00 [[ 9.58756901e-01 2.84227382e-01 0.00000000e+00 2.09436391e+02] [-2.84227382e-01 9.58756901e-01 0.00000000e+00 -4.57474482e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10627141e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.43140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.46, Y:-45.76, Z:-0.00 [[ 9.58746823e-01 2.84261376e-01 0.00000000e+00 2.09461850e+02] [-2.84261376e-01 9.58746823e-01 0.00000000e+00 -4.57583414e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.41076988e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.49, Y:-45.77, Z:0.00 [[ 9.59410958e-01 2.82011725e-01 0.00000000e+00 2.09486894e+02] [-2.82011725e-01 9.59410958e-01 0.00000000e+00 -4.57719786e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.85130432e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.51, Y:-45.78, Z:0.00 [[ 9.59990355e-01 2.80033066e-01 0.00000000e+00 2.09511776e+02] [-2.80033066e-01 9.59990355e-01 0.00000000e+00 -4.57842080e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96725740e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52140051299997 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:209.54, Y:-45.80, Z:0.00 [[ 9.60683868e-01 2.77644567e-01 0.00000000e+00 2.09537291e+02] [-2.77644567e-01 9.60683868e-01 0.00000000e+00 -4.57959242e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74826671e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.56, Y:-45.81, Z:0.00 [[ 9.61408151e-01 2.75126094e-01 0.00000000e+00 2.09562038e+02] [-2.75126094e-01 9.61408151e-01 0.00000000e+00 -4.58065809e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.87192097e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.59, Y:-45.82, Z:0.00 [[ 9.61346704e-01 2.75340725e-01 0.00000000e+00 2.09587513e+02] [-2.75340725e-01 9.61346704e-01 0.00000000e+00 -4.58153249e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22350676e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.61, Y:-45.82, Z:0.01 [[ 9.60955471e-01 2.76703061e-01 0.00000000e+00 2.09614034e+02] [-2.76703061e-01 9.60955471e-01 0.00000000e+00 -4.58239565e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.56297361e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.64, Y:-45.83, Z:0.01 [[ 9.60316292e-01 2.78913284e-01 0.00000000e+00 2.09641094e+02] [-2.78913284e-01 9.60316292e-01 0.00000000e+00 -4.58319160e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.15905047e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.67, Y:-45.84, Z:0.01 [[ 9.58718736e-01 2.84356089e-01 0.00000000e+00 2.09669316e+02] [-2.84356089e-01 9.58718736e-01 0.00000000e+00 -4.58354388e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00576086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:-45.84, Z:0.01 [[ 9.58012972e-01 2.86724859e-01 0.00000000e+00 2.09696215e+02] [-2.86724859e-01 9.58012972e-01 0.00000000e+00 -4.58411445e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.32984765e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:-45.85, Z:0.01 [[ 9.57582039e-01 2.88160787e-01 0.00000000e+00 2.09723819e+02] [-2.88160787e-01 9.57582039e-01 0.00000000e+00 -4.58468169e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.75846118e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:209.75, Y:-45.85, Z:0.00 [[ 9.57515002e-01 2.88383463e-01 0.00000000e+00 2.09753115e+02] [-2.88383463e-01 9.57515002e-01 0.00000000e+00 -4.58482923e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.81081905e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:-45.85, Z:0.01 [[ 9.57874936e-01 2.87185665e-01 0.00000000e+00 2.09781157e+02] [-2.87185665e-01 9.57874936e-01 0.00000000e+00 -4.58534765e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.29062836e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.821400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.81, Y:-45.86, Z:0.00 [[ 9.58481891e-01 2.85153406e-01 0.00000000e+00 2.09807753e+02] [-2.85153406e-01 9.58481891e-01 0.00000000e+00 -4.58580301e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72693167e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:-45.86, Z:0.00 [[ 9.60409557e-01 2.78591965e-01 0.00000000e+00 2.09837197e+02] [-2.78591965e-01 9.60409557e-01 0.00000000e+00 -4.58596216e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48898252e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.86, Y:-45.87, Z:0.00 [[ 9.61571811e-01 2.74553551e-01 0.00000000e+00 2.09864028e+02] [-2.74553551e-01 9.61571811e-01 0.00000000e+00 -4.58652385e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13430601e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.89, Y:-45.87, Z:0.00 [[ 9.62815818e-01 2.70158657e-01 0.00000000e+00 2.09891391e+02] [-2.70158657e-01 9.62815818e-01 0.00000000e+00 -4.58711496e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98511936e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.92, Y:-45.88, Z:-0.00 [[ 9.63944996e-01 2.66101568e-01 0.00000000e+00 2.09919113e+02] [-2.66101568e-01 9.63944996e-01 0.00000000e+00 -4.58772926e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07268446e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.95, Y:-45.88, Z:-0.00 [[ 9.64853651e-01 2.62787806e-01 0.00000000e+00 2.09947834e+02] [-2.62787806e-01 9.64853651e-01 0.00000000e+00 -4.58840334e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.76018143e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:-45.89, Z:-0.01 [[ 9.66075806e-01 2.58258665e-01 0.00000000e+00 2.09975114e+02] [-2.58258665e-01 9.66075806e-01 0.00000000e+00 -4.58899819e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.44992922e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:-45.90, Z:-0.00 [[ 9.66522485e-01 2.56581928e-01 0.00000000e+00 2.10001000e+02] [-2.56581928e-01 9.66522485e-01 0.00000000e+00 -4.58990431e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.92311083e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.03, Y:-45.91, Z:-0.00 [[ 9.66764898e-01 2.55667033e-01 0.00000000e+00 2.10028052e+02] [-2.55667033e-01 9.66764898e-01 0.00000000e+00 -4.59084528e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50555131e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.091400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:210.06, Y:-45.91, Z:-0.00 [[ 9.66578028e-01 2.56372612e-01 0.00000000e+00 2.10055677e+02] [-2.56372612e-01 9.66578028e-01 0.00000000e+00 -4.59141204e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.35457754e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.08, Y:-45.92, Z:-0.00 [[ 9.66226514e-01 2.57694245e-01 0.00000000e+00 2.10083116e+02] [-2.57694245e-01 9.66226514e-01 0.00000000e+00 -4.59215559e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.68848471e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.11, Y:-45.93, Z:-0.00 [[ 9.65823962e-01 2.59198907e-01 0.00000000e+00 2.10110391e+02] [-2.59198907e-01 9.65823962e-01 0.00000000e+00 -4.59290474e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84464471e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.14, Y:-45.94, Z:-0.00 [[ 9.65047843e-01 2.62073769e-01 0.00000000e+00 2.10137473e+02] [-2.62073769e-01 9.65047843e-01 0.00000000e+00 -4.59351699e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.36558144e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.16, Y:-45.94, Z:0.00 [[ 9.64836325e-01 2.62851414e-01 0.00000000e+00 2.10163930e+02] [-2.62851414e-01 9.64836325e-01 0.00000000e+00 -4.59439824e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27221976e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.19, Y:-45.95, Z:0.00 [[ 9.64890794e-01 2.62651395e-01 0.00000000e+00 2.10190440e+02] [-2.62651395e-01 9.64890794e-01 0.00000000e+00 -4.59531573e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43706872e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.22, Y:-45.96, Z:0.00 [[ 9.65329479e-01 2.61034474e-01 0.00000000e+00 2.10215511e+02] [-2.61034474e-01 9.65329479e-01 0.00000000e+00 -4.59618969e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06711753e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.24, Y:-45.97, Z:0.00 [[ 9.65667370e-01 2.59781699e-01 0.00000000e+00 2.10242488e+02] [-2.59781699e-01 9.65667370e-01 0.00000000e+00 -4.59706219e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23192862e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.27, Y:-45.98, Z:0.00 [[ 9.65801342e-01 2.59283180e-01 0.00000000e+00 2.10268954e+02] [-2.59283180e-01 9.65801342e-01 0.00000000e+00 -4.59787902e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86522625e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.30, Y:-45.98, Z:0.00 [[ 9.65523353e-01 2.60316451e-01 0.00000000e+00 2.10295308e+02] [-2.60316451e-01 9.65523353e-01 0.00000000e+00 -4.59846873e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52653639e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.32, Y:-45.99, Z:0.00 [[ 9.65261960e-01 2.61284036e-01 0.00000000e+00 2.10321213e+02] [-2.61284036e-01 9.65261960e-01 0.00000000e+00 -4.59923973e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.88631537e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.35, Y:-46.00, Z:-0.00 [[ 9.65046903e-01 2.62077233e-01 0.00000000e+00 2.10348274e+02] [-2.62077233e-01 9.65046903e-01 0.00000000e+00 -4.60010350e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.37793385e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.38, Y:-46.01, Z:-0.00 [[ 9.64638261e-01 2.63577362e-01 0.00000000e+00 2.10375751e+02] [-2.63577362e-01 9.64638261e-01 0.00000000e+00 -4.60103987e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23999209e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.40, Y:-46.02, Z:-0.00 [[ 9.64629539e-01 2.63609278e-01 0.00000000e+00 2.10401546e+02] [-2.63609278e-01 9.64629539e-01 0.00000000e+00 -4.60194568e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.67126273e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.43, Y:-46.03, Z:-0.00 [[ 9.64808870e-01 2.62952173e-01 0.00000000e+00 2.10427896e+02] [-2.62952173e-01 9.64808870e-01 0.00000000e+00 -4.60282761e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43243738e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.45, Y:-46.04, Z:-0.00 [[ 9.64824255e-01 2.62895714e-01 0.00000000e+00 2.10453351e+02] [-2.62895714e-01 9.64824255e-01 0.00000000e+00 -4.60364431e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.49481219e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.48, Y:-46.05, Z:-0.00 [[ 9.64674357e-01 2.63445222e-01 0.00000000e+00 2.10480082e+02] [-2.63445222e-01 9.64674357e-01 0.00000000e+00 -4.60461215e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.64524381e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.51, Y:-46.05, Z:-0.01 [[ 9.64490852e-01 2.64116255e-01 0.00000000e+00 2.10505243e+02] [-2.64116255e-01 9.64490852e-01 0.00000000e+00 -4.60548755e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.78739579e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.53, Y:-46.06, Z:-0.01 [[ 9.64248042e-01 2.65001348e-01 0.00000000e+00 2.10530872e+02] [-2.65001348e-01 9.64248042e-01 0.00000000e+00 -4.60631243e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.56393231e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.56, Y:-46.07, Z:-0.00 [[ 9.63544167e-01 2.67549319e-01 0.00000000e+00 2.10558002e+02] [-2.67549319e-01 9.63544167e-01 0.00000000e+00 -4.60714593e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.26319451e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.58, Y:-46.08, Z:-0.00 [[ 9.63026916e-01 2.69405196e-01 0.00000000e+00 2.10584191e+02] [-2.69405196e-01 9.63026916e-01 0.00000000e+00 -4.60809238e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.83771957e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.61, Y:-46.09, Z:-0.00 [[ 9.62448959e-01 2.71462706e-01 0.00000000e+00 2.10610525e+02] [-2.71462706e-01 9.62448959e-01 0.00000000e+00 -4.60892733e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.39158218e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.64, Y:-46.10, Z:-0.00 [[ 9.61863126e-01 2.73531218e-01 0.00000000e+00 2.10637896e+02] [-2.73531218e-01 9.61863126e-01 0.00000000e+00 -4.60968319e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.03932004e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.66, Y:-46.10, Z:0.00 [[ 9.60990278e-01 2.76582149e-01 0.00000000e+00 2.10664555e+02] [-2.76582149e-01 9.60990278e-01 0.00000000e+00 -4.61034732e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.77199357e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.69, Y:-46.11, Z:0.00 [[ 9.61005361e-01 2.76529739e-01 0.00000000e+00 2.10691012e+02] [-2.76529739e-01 9.61005361e-01 0.00000000e+00 -4.61129060e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71911370e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.72, Y:-46.12, Z:-0.00 [[ 9.61232246e-01 2.75740040e-01 0.00000000e+00 2.10716533e+02] [-2.75740040e-01 9.61232246e-01 0.00000000e+00 -4.61217808e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50549605e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.74, Y:-46.13, Z:-0.00 [[ 9.61610477e-01 2.74418094e-01 0.00000000e+00 2.10742792e+02] [-2.74418094e-01 9.61610477e-01 0.00000000e+00 -4.61298352e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.72938505e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.77, Y:-46.14, Z:-0.01 [[ 9.61941819e-01 2.73254345e-01 0.00000000e+00 2.10769370e+02] [-2.73254345e-01 9.61941819e-01 0.00000000e+00 -4.61374922e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.31080800e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.93140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.80, Y:-46.15, Z:-0.00 [[ 9.62546034e-01 2.71118300e-01 0.00000000e+00 2.10796105e+02] [-2.71118300e-01 9.62546034e-01 0.00000000e+00 -4.61468732e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.83973473e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.82, Y:-46.16, Z:-0.00 [[ 9.62935068e-01 2.69733302e-01 0.00000000e+00 2.10822470e+02] [-2.69733302e-01 9.62935068e-01 0.00000000e+00 -4.61566851e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.28530826e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.85, Y:-46.17, Z:-0.00 [[ 9.63360610e-01 2.68209497e-01 0.00000000e+00 2.10849741e+02] [-2.68209497e-01 9.63360610e-01 0.00000000e+00 -4.61655627e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.64845738e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.88, Y:-46.17, Z:0.00 [[ 9.63835145e-01 2.66499180e-01 0.00000000e+00 2.10876874e+02] [-2.66499180e-01 9.63835145e-01 0.00000000e+00 -4.61733643e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16457514e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.05140051299998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:210.90, Y:-46.18, Z:0.00 [[ 9.64942773e-01 2.62460370e-01 0.00000000e+00 2.10901868e+02] [-2.62460370e-01 9.64942773e-01 0.00000000e+00 -4.61835852e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.36438102e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.93, Y:-46.19, Z:0.00 [[ 9.65651534e-01 2.59840556e-01 0.00000000e+00 2.10926918e+02] [-2.59840556e-01 9.65651534e-01 0.00000000e+00 -4.61948662e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09173893e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.95, Y:-46.21, Z:0.00 [[ 9.66366994e-01 2.57166938e-01 0.00000000e+00 2.10952776e+02] [-2.57166938e-01 9.66366994e-01 0.00000000e+00 -4.62062666e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12313806e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.98, Y:-46.22, Z:0.00 [[ 9.66982386e-01 2.54843216e-01 0.00000000e+00 2.10978309e+02] [-2.54843216e-01 9.66982386e-01 0.00000000e+00 -4.62177906e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65550536e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.00, Y:-46.23, Z:0.00 [[ 9.67394116e-01 2.53275786e-01 0.00000000e+00 2.11002809e+02] [-2.53275786e-01 9.67394116e-01 0.00000000e+00 -4.62303126e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19894230e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.03, Y:-46.25, Z:-0.00 [[ 9.67468815e-01 2.52990301e-01 0.00000000e+00 2.11027266e+02] [-2.52990301e-01 9.67468815e-01 0.00000000e+00 -4.62488443e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.82316120e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.23140051299998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:211.05, Y:-46.26, Z:-0.00 [[ 9.67217114e-01 2.53950890e-01 0.00000000e+00 2.11052035e+02] [-2.53950890e-01 9.67217114e-01 0.00000000e+00 -4.62615599e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.35985247e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.08, Y:-46.27, Z:-0.00 [[ 9.66648022e-01 2.56108572e-01 0.00000000e+00 2.11077419e+02] [-2.56108572e-01 9.66648022e-01 0.00000000e+00 -4.62736867e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93331548e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.10, Y:-46.28, Z:-0.00 [[ 9.66694512e-01 2.55933038e-01 0.00000000e+00 2.11104208e+02] [-2.55933038e-01 9.66694512e-01 0.00000000e+00 -4.62832411e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93331548e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.13, Y:-46.30, Z:0.00 [[ 9.64970325e-01 2.62359052e-01 0.00000000e+00 2.11128196e+02] [-2.62359052e-01 9.64970325e-01 0.00000000e+00 -4.62982485e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45295646e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.15, Y:-46.31, Z:0.00 [[ 9.64178961e-01 2.65252579e-01 0.00000000e+00 2.11152966e+02] [-2.65252579e-01 9.64178961e-01 0.00000000e+00 -4.63108579e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79396949e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.18, Y:-46.32, Z:0.00 [[ 9.63602922e-01 2.67337631e-01 0.00000000e+00 2.11178540e+02] [-2.67337631e-01 9.63602922e-01 0.00000000e+00 -4.63236876e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99413242e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:-46.34, Z:0.00 [[ 9.63130686e-01 2.69033979e-01 0.00000000e+00 2.11202842e+02] [-2.69033979e-01 9.63130686e-01 0.00000000e+00 -4.63350139e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49615770e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.23, Y:-46.35, Z:0.00 [[ 9.62769004e-01 2.70325441e-01 0.00000000e+00 2.11227653e+02] [-2.70325441e-01 9.62769004e-01 0.00000000e+00 -4.63452580e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66487616e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.25, Y:-46.36, Z:0.00 [[ 9.62407150e-01 2.71610893e-01 0.00000000e+00 2.11252764e+02] [-2.71610893e-01 9.62407150e-01 0.00000000e+00 -4.63570483e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.51113001e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:-46.37, Z:-0.00 [[ 9.62435451e-01 2.71510595e-01 0.00000000e+00 2.11278033e+02] [-2.71510595e-01 9.62435451e-01 0.00000000e+00 -4.63680795e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19999938e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.30, Y:-46.38, Z:-0.00 [[ 9.62623238e-01 2.70844055e-01 0.00000000e+00 2.11303970e+02] [-2.70844055e-01 9.62623238e-01 0.00000000e+00 -4.63795811e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.77980543e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.33, Y:-46.39, Z:-0.00 [[ 9.62959405e-01 2.69646405e-01 0.00000000e+00 2.11329077e+02] [-2.69646405e-01 9.62959405e-01 0.00000000e+00 -4.63906849e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.78034350e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.35, Y:-46.40, Z:-0.00 [[ 9.63479002e-01 2.67783892e-01 0.00000000e+00 2.11354902e+02] [-2.67783892e-01 9.63479002e-01 0.00000000e+00 -4.64019929e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.53538682e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.38, Y:-46.42, Z:-0.00 [[ 9.64808964e-01 2.62951828e-01 0.00000000e+00 2.11380738e+02] [-2.62951828e-01 9.64808964e-01 0.00000000e+00 -4.64158594e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75129410e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.41, Y:-46.43, Z:-0.00 [[ 9.65382857e-01 2.60836999e-01 0.00000000e+00 2.11405667e+02] [-2.60836999e-01 9.65382857e-01 0.00000000e+00 -4.64271343e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58200665e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.43, Y:-46.44, Z:-0.00 [[ 9.65823915e-01 2.59199083e-01 0.00000000e+00 2.11430940e+02] [-2.59199083e-01 9.65823915e-01 0.00000000e+00 -4.64384621e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13450933e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.46, Y:-46.45, Z:-0.00 [[ 9.66029169e-01 2.58433056e-01 0.00000000e+00 2.11455548e+02] [-2.58433056e-01 9.66029169e-01 0.00000000e+00 -4.64494386e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46132283e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.48, Y:-46.46, Z:-0.00 [[ 9.65942704e-01 2.58756048e-01 0.00000000e+00 2.11480813e+02] [-2.58756048e-01 9.65942704e-01 0.00000000e+00 -4.64611029e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.88273772e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.51, Y:-46.47, Z:-0.00 [[ 9.65784805e-01 2.59344772e-01 0.00000000e+00 2.11506612e+02] [-2.59344772e-01 9.65784805e-01 0.00000000e+00 -4.64698731e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03258316e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.53, Y:-46.48, Z:-0.00 [[ 9.65513757e-01 2.60352039e-01 0.00000000e+00 2.11532588e+02] [-2.60352039e-01 9.65513757e-01 0.00000000e+00 -4.64781365e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50557612e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.56, Y:-46.49, Z:-0.00 [[ 9.64917307e-01 2.62553977e-01 0.00000000e+00 2.11559562e+02] [-2.62553977e-01 9.64917307e-01 0.00000000e+00 -4.64852032e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.70609820e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86140051299998 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:211.59, Y:-46.49, Z:-0.00 [[ 9.64771103e-01 2.63090706e-01 0.00000000e+00 2.11586377e+02] [-2.63090706e-01 9.64771103e-01 0.00000000e+00 -4.64930266e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16672010e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.61, Y:-46.50, Z:0.00 [[ 9.64708322e-01 2.63320820e-01 0.00000000e+00 2.11613470e+02] [-2.63320820e-01 9.64708322e-01 0.00000000e+00 -4.65004651e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46719614e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.64, Y:-46.51, Z:0.00 [[ 9.64770047e-01 2.63094579e-01 0.00000000e+00 2.11639775e+02] [-2.63094579e-01 9.64770047e-01 0.00000000e+00 -4.65065452e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44904239e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.67, Y:-46.51, Z:0.00 [[ 9.65169371e-01 2.61625850e-01 0.00000000e+00 2.11667126e+02] [-2.61625850e-01 9.65169371e-01 0.00000000e+00 -4.65116391e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04535434e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.69, Y:-46.52, Z:-0.00 [[ 9.65506165e-01 2.60380196e-01 0.00000000e+00 2.11693074e+02] [-2.60380196e-01 9.65506165e-01 0.00000000e+00 -4.65204227e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.47817887e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.72, Y:-46.53, Z:-0.00 [[ 9.65882739e-01 2.58979797e-01 0.00000000e+00 2.11719567e+02] [-2.58979797e-01 9.65882739e-01 0.00000000e+00 -4.65292051e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.08465248e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.75, Y:-46.54, Z:-0.00 [[ 9.66241814e-01 2.57636869e-01 0.00000000e+00 2.11745966e+02] [-2.57636869e-01 9.66241814e-01 0.00000000e+00 -4.65363644e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08264711e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.77, Y:-46.54, Z:-0.00 [[ 9.66534899e-01 2.56535163e-01 0.00000000e+00 2.11773590e+02] [-2.56535163e-01 9.66534899e-01 0.00000000e+00 -4.65436100e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.58042753e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.80, Y:-46.55, Z:-0.00 [[ 9.67175155e-01 2.54110644e-01 0.00000000e+00 2.11800742e+02] [-2.54110644e-01 9.67175155e-01 0.00000000e+00 -4.65514184e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.61354119e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.83, Y:-46.56, Z:-0.00 [[ 9.67637212e-01 2.52345450e-01 0.00000000e+00 2.11826040e+02] [-2.52345450e-01 9.67637212e-01 0.00000000e+00 -4.65612022e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.52461160e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.85, Y:-46.57, Z:-0.00 [[ 9.68098012e-01 2.50571822e-01 0.00000000e+00 2.11852554e+02] [-2.50571822e-01 9.68098012e-01 0.00000000e+00 -4.65709033e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.93697140e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.191400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:211.88, Y:-46.58, Z:-0.00 [[ 9.68556825e-01 2.48792438e-01 0.00000000e+00 2.11879567e+02] [-2.48792438e-01 9.68556825e-01 0.00000000e+00 -4.65797531e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.21803603e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.221400513 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:211.91, Y:-46.59, Z:-0.01 [[ 9.69223676e-01 2.46181773e-01 0.00000000e+00 2.11905717e+02] [-2.46181773e-01 9.69223676e-01 0.00000000e+00 -4.65893281e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.59965770e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.93, Y:-46.60, Z:-0.01 [[ 9.69309689e-01 2.45842892e-01 0.00000000e+00 2.11930911e+02] [-2.45842892e-01 9.69309689e-01 0.00000000e+00 -4.66005268e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.00932644e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.96, Y:-46.61, Z:-0.01 [[ 9.69176924e-01 2.46365763e-01 0.00000000e+00 2.11957634e+02] [-2.46365763e-01 9.69176924e-01 0.00000000e+00 -4.66125477e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.16078965e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.98, Y:-46.62, Z:-0.01 [[ 9.68792164e-01 2.47874449e-01 0.00000000e+00 2.11982065e+02] [-2.47874449e-01 9.68792164e-01 0.00000000e+00 -4.66230330e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.41357030e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.01, Y:-46.63, Z:-0.01 [[ 9.67365558e-01 2.53384840e-01 0.00000000e+00 2.12007644e+02] [-2.53384840e-01 9.67365558e-01 0.00000000e+00 -4.66338949e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.05007673e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.03, Y:-46.64, Z:-0.00 [[ 9.66547849e-01 2.56486364e-01 0.00000000e+00 2.12033546e+02] [-2.56486364e-01 9.66547849e-01 0.00000000e+00 -4.66436827e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.35407516e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.06, Y:-46.65, Z:-0.00 [[ 9.65709933e-01 2.59623430e-01 0.00000000e+00 2.12059476e+02] [-2.59623430e-01 9.65709933e-01 0.00000000e+00 -4.66543006e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.04628905e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.09, Y:-46.67, Z:0.00 [[ 9.64508615e-01 2.64051382e-01 0.00000000e+00 2.12085604e+02] [-2.64051382e-01 9.64508615e-01 0.00000000e+00 -4.66679338e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.69128398e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.11, Y:-46.68, Z:0.00 [[ 9.64162293e-01 2.65313160e-01 0.00000000e+00 2.12111295e+02] [-2.65313160e-01 9.64162293e-01 0.00000000e+00 -4.66790540e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.79971442e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.14, Y:-46.69, Z:0.00 [[ 9.63994483e-01 2.65922240e-01 0.00000000e+00 2.12136506e+02] [-2.65922240e-01 9.63994483e-01 0.00000000e+00 -4.66891969e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.16045760e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.16, Y:-46.70, Z:-0.00 [[ 9.63968371e-01 2.66016878e-01 0.00000000e+00 2.12162468e+02] [-2.66016878e-01 9.63968371e-01 0.00000000e+00 -4.66992863e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.57002747e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.19, Y:-46.71, Z:-0.00 [[ 9.64246227e-01 2.65007952e-01 0.00000000e+00 2.12188595e+02] [-2.65007952e-01 9.64246227e-01 0.00000000e+00 -4.67124336e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.40888727e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.21, Y:-46.72, Z:-0.00 [[ 9.64563013e-01 2.63852599e-01 0.00000000e+00 2.12214698e+02] [-2.63852599e-01 9.64563013e-01 0.00000000e+00 -4.67238949e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.28918895e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.24, Y:-46.73, Z:-0.00 [[ 9.64870538e-01 2.62725798e-01 0.00000000e+00 2.12240052e+02] [-2.62725798e-01 9.64870538e-01 0.00000000e+00 -4.67346032e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.77917792e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.27, Y:-46.75, Z:-0.00 [[ 9.65047505e-01 2.62075015e-01 0.00000000e+00 2.12266342e+02] [-2.62075015e-01 9.65047505e-01 0.00000000e+00 -4.67451310e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46706733e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.29, Y:-46.76, Z:-0.00 [[ 9.65148449e-01 2.61703022e-01 0.00000000e+00 2.12291897e+02] [-2.61703022e-01 9.65148449e-01 0.00000000e+00 -4.67550802e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05250386e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.32, Y:-46.76, Z:-0.00 [[ 9.65099728e-01 2.61882637e-01 0.00000000e+00 2.12318693e+02] [-2.61882637e-01 9.65099728e-01 0.00000000e+00 -4.67640159e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.79010363e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.35, Y:-46.77, Z:0.00 [[ 9.64868901e-01 2.62731810e-01 0.00000000e+00 2.12345396e+02] [-2.62731810e-01 9.64868901e-01 0.00000000e+00 -4.67724421e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.61203438e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.37, Y:-46.78, Z:0.00 [[ 9.64630094e-01 2.63607251e-01 0.00000000e+00 2.12370875e+02] [-2.63607251e-01 9.64630094e-01 0.00000000e+00 -4.67804796e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96434241e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.79140051299999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:212.40, Y:-46.79, Z:0.00 [[ 9.64503947e-01 2.64068430e-01 0.00000000e+00 2.12397210e+02] [-2.64068430e-01 9.64503947e-01 0.00000000e+00 -4.67890356e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72345438e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.42, Y:-46.80, Z:-0.00 [[ 9.64309122e-01 2.64778995e-01 0.00000000e+00 2.12424140e+02] [-2.64778995e-01 9.64309122e-01 0.00000000e+00 -4.67980297e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07323518e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.45, Y:-46.81, Z:-0.00 [[ 9.64373269e-01 2.64545265e-01 0.00000000e+00 2.12450974e+02] [-2.64545265e-01 9.64373269e-01 0.00000000e+00 -4.68064758e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.34258021e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.48, Y:-46.81, Z:-0.00 [[ 9.64447563e-01 2.64274287e-01 0.00000000e+00 2.12476754e+02] [-2.64274287e-01 9.64447563e-01 0.00000000e+00 -4.68141752e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30269186e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.50, Y:-46.82, Z:-0.00 [[ 9.64501047e-01 2.64079024e-01 0.00000000e+00 2.12503444e+02] [-2.64079024e-01 9.64501047e-01 0.00000000e+00 -4.68224115e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06125770e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.53, Y:-46.83, Z:-0.00 [[ 9.64428204e-01 2.64344924e-01 0.00000000e+00 2.12528844e+02] [-2.64344924e-01 9.64428204e-01 0.00000000e+00 -4.68300993e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.15770993e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.56, Y:-46.84, Z:-0.00 [[ 9.64413113e-01 2.64399978e-01 0.00000000e+00 2.12556025e+02] [-2.64399978e-01 9.64413113e-01 0.00000000e+00 -4.68384145e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.55199430e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.58, Y:-46.85, Z:-0.00 [[ 9.64411849e-01 2.64404588e-01 0.00000000e+00 2.12582033e+02] [-2.64404588e-01 9.64411849e-01 0.00000000e+00 -4.68455365e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87725033e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.61, Y:-46.85, Z:-0.00 [[ 9.64442854e-01 2.64291469e-01 0.00000000e+00 2.12609222e+02] [-2.64291469e-01 9.64442854e-01 0.00000000e+00 -4.68533287e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76029917e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.64, Y:-46.86, Z:-0.00 [[ 9.64463869e-01 2.64214772e-01 0.00000000e+00 2.12635915e+02] [-2.64214772e-01 9.64463869e-01 0.00000000e+00 -4.68619372e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.33780072e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.66, Y:-46.87, Z:-0.00 [[ 9.64612189e-01 2.63672761e-01 0.00000000e+00 2.12661792e+02] [-2.63672761e-01 9.64612189e-01 0.00000000e+00 -4.68707864e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.94645221e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.121400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:212.69, Y:-46.88, Z:-0.00 [[ 9.64913438e-01 2.62568194e-01 0.00000000e+00 2.12688403e+02] [-2.62568194e-01 9.64913438e-01 0.00000000e+00 -4.68788599e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97593481e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.72, Y:-46.89, Z:-0.00 [[ 9.65542791e-01 2.60244344e-01 0.00000000e+00 2.12715430e+02] [-2.60244344e-01 9.65542791e-01 0.00000000e+00 -4.68850627e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26677055e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.74, Y:-46.89, Z:-0.00 [[ 9.65589891e-01 2.60069533e-01 0.00000000e+00 2.12742309e+02] [-2.60069533e-01 9.65589891e-01 0.00000000e+00 -4.68943794e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26677055e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.77, Y:-46.90, Z:-0.00 [[ 9.65764305e-01 2.59421100e-01 0.00000000e+00 2.12768331e+02] [-2.59421100e-01 9.65764305e-01 0.00000000e+00 -4.69030879e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41858254e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24140051299997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:212.79, Y:-46.91, Z:-0.00 [[ 9.65973431e-01 2.58641317e-01 0.00000000e+00 2.12794323e+02] [-2.58641317e-01 9.65973431e-01 0.00000000e+00 -4.69121125e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21226232e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.82, Y:-46.92, Z:-0.00 [[ 9.66075631e-01 2.58259318e-01 0.00000000e+00 2.12819559e+02] [-2.58259318e-01 9.66075631e-01 0.00000000e+00 -4.69210742e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42437744e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.85, Y:-46.93, Z:0.00 [[ 9.66193815e-01 2.57816818e-01 0.00000000e+00 2.12846438e+02] [-2.57816818e-01 9.66193815e-01 0.00000000e+00 -4.69302188e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24858637e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.87, Y:-46.94, Z:0.00 [[ 9.66428090e-01 2.56937243e-01 0.00000000e+00 2.12872305e+02] [-2.56937243e-01 9.66428090e-01 0.00000000e+00 -4.69393646e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08114702e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.90, Y:-46.95, Z:-0.00 [[ 9.66573040e-01 2.56391418e-01 0.00000000e+00 2.12898812e+02] [-2.56391418e-01 9.66573040e-01 0.00000000e+00 -4.69494213e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.18835933e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.92, Y:-46.96, Z:-0.00 [[ 9.66712120e-01 2.55866522e-01 0.00000000e+00 2.12924392e+02] [-2.55866522e-01 9.66712120e-01 0.00000000e+00 -4.69592065e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34425346e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.95, Y:-46.97, Z:-0.00 [[ 9.66787042e-01 2.55583284e-01 0.00000000e+00 2.12950557e+02] [-2.55583284e-01 9.66787042e-01 0.00000000e+00 -4.69687053e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.88914852e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.98, Y:-46.98, Z:0.00 [[ 9.66590519e-01 2.56325513e-01 0.00000000e+00 2.12976856e+02] [-2.56325513e-01 9.66590519e-01 0.00000000e+00 -4.69782179e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.11015638e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.00, Y:-46.99, Z:-0.00 [[ 9.66183796e-01 2.57854361e-01 0.00000000e+00 2.13002272e+02] [-2.57854361e-01 9.66183796e-01 0.00000000e+00 -4.69875950e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02064799e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.03, Y:-47.00, Z:-0.00 [[ 9.65665122e-01 2.59790054e-01 0.00000000e+00 2.13028167e+02] [-2.59790054e-01 9.65665122e-01 0.00000000e+00 -4.69971281e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64706242e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.05, Y:-47.01, Z:-0.00 [[ 9.65066509e-01 2.62005024e-01 0.00000000e+00 2.13053660e+02] [-2.62005024e-01 9.65066509e-01 0.00000000e+00 -4.70060719e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.76305147e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.08, Y:-47.01, Z:-0.00 [[ 9.63748894e-01 2.66810925e-01 0.00000000e+00 2.13081118e+02] [-2.66810925e-01 9.63748894e-01 0.00000000e+00 -4.70131602e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.11401298e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.601400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:213.11, Y:-47.02, Z:-0.00 [[ 9.63214371e-01 2.68734210e-01 0.00000000e+00 2.13108266e+02] [-2.68734210e-01 9.63214371e-01 0.00000000e+00 -4.70210569e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.89673927e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.631400513 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:213.14, Y:-47.03, Z:0.00 [[ 9.63041482e-01 2.69353120e-01 0.00000000e+00 2.13135168e+02] [-2.69353120e-01 9.63041482e-01 0.00000000e+00 -4.70290850e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27218102e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.16, Y:-47.04, Z:0.00 [[ 9.63188716e-01 2.68826146e-01 0.00000000e+00 2.13161341e+02] [-2.68826146e-01 9.63188716e-01 0.00000000e+00 -4.70366558e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18866988e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.691400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:213.19, Y:-47.04, Z:0.00 [[ 9.64374311e-01 2.64541466e-01 0.00000000e+00 2.13188908e+02] [-2.64541466e-01 9.64374311e-01 0.00000000e+00 -4.70438467e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58603534e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.21, Y:-47.05, Z:0.00 [[ 9.65117695e-01 2.61816415e-01 0.00000000e+00 2.13214411e+02] [-2.61816415e-01 9.65117695e-01 0.00000000e+00 -4.70523420e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18205492e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.24, Y:-47.06, Z:0.00 [[ 9.65887876e-01 2.58960636e-01 0.00000000e+00 2.13241103e+02] [-2.58960636e-01 9.65887876e-01 0.00000000e+00 -4.70610013e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29135625e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.27, Y:-47.07, Z:0.00 [[ 9.66880582e-01 2.55229192e-01 0.00000000e+00 2.13267240e+02] [-2.55229192e-01 9.66880582e-01 0.00000000e+00 -4.70684739e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97231405e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.811400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:213.29, Y:-47.08, Z:-0.00 [[ 9.67247516e-01 2.53835069e-01 0.00000000e+00 2.13294393e+02] [-2.53835069e-01 9.67247516e-01 0.00000000e+00 -4.70780002e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14329715e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.841400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:213.32, Y:-47.09, Z:-0.00 [[ 9.67500765e-01 2.52868088e-01 0.00000000e+00 2.13321479e+02] [-2.52868088e-01 9.67500765e-01 0.00000000e+00 -4.70891381e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.96988427e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.35, Y:-47.10, Z:-0.01 [[ 9.67685543e-01 2.52160048e-01 0.00000000e+00 2.13345856e+02] [-2.52160048e-01 9.67685543e-01 0.00000000e+00 -4.71002912e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.70313770e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.37, Y:-47.11, Z:-0.00 [[ 9.67824695e-01 2.51625435e-01 0.00000000e+00 2.13371380e+02] [-2.51625435e-01 9.67824695e-01 0.00000000e+00 -4.71121853e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27591350e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.93140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.40, Y:-47.12, Z:0.00 [[ 9.67819689e-01 2.51644687e-01 0.00000000e+00 2.13397745e+02] [-2.51644687e-01 9.67819689e-01 0.00000000e+00 -4.71208401e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26171571e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.42, Y:-47.13, Z:0.00 [[ 9.67670685e-01 2.52217060e-01 0.00000000e+00 2.13424627e+02] [-2.52217060e-01 9.67670685e-01 0.00000000e+00 -4.71294629e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62354277e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.45, Y:-47.14, Z:-0.00 [[ 9.67328655e-01 2.53525687e-01 0.00000000e+00 2.13450833e+02] [-2.53525687e-01 9.67328655e-01 0.00000000e+00 -4.71389207e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.54301878e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.48, Y:-47.15, Z:-0.00 [[ 9.66476073e-01 2.56756695e-01 0.00000000e+00 2.13476316e+02] [-2.56756695e-01 9.66476073e-01 0.00000000e+00 -4.71489179e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.38300271e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.50, Y:-47.16, Z:-0.00 [[ 9.66036760e-01 2.58404680e-01 0.00000000e+00 2.13502711e+02] [-2.58404680e-01 9.66036760e-01 0.00000000e+00 -4.71570399e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.50794235e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.53, Y:-47.16, Z:-0.00 [[ 9.65498772e-01 2.60407606e-01 0.00000000e+00 2.13529486e+02] [-2.60407606e-01 9.65498772e-01 0.00000000e+00 -4.71642186e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.90758204e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.56, Y:-47.17, Z:0.00 [[ 9.64983029e-01 2.62312320e-01 0.00000000e+00 2.13557326e+02] [-2.62312320e-01 9.64983029e-01 0.00000000e+00 -4.71720335e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51737131e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:213.58, Y:-47.18, Z:0.00 [[ 9.64378836e-01 2.64524973e-01 0.00000000e+00 2.13584132e+02] [-2.64524973e-01 9.64378836e-01 0.00000000e+00 -4.71773457e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27901587e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.61, Y:-47.18, Z:0.00 [[ 9.64383973e-01 2.64506242e-01 0.00000000e+00 2.13610754e+02] [-2.64506242e-01 9.64383973e-01 0.00000000e+00 -4.71829222e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89259962e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20140051299998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:213.64, Y:-47.19, Z:0.00 [[ 9.64477346e-01 2.64165570e-01 0.00000000e+00 2.13638561e+02] [-2.64165570e-01 9.64477346e-01 0.00000000e+00 -4.71879424e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82383915e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.67, Y:-47.19, Z:0.00 [[ 9.64666496e-01 2.63474006e-01 0.00000000e+00 2.13666457e+02] [-2.63474006e-01 9.64666496e-01 0.00000000e+00 -4.71928393e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54626448e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.69, Y:-47.20, Z:0.00 [[ 9.65204148e-01 2.61497519e-01 0.00000000e+00 2.13694106e+02] [-2.61497519e-01 9.65204148e-01 0.00000000e+00 -4.71954993e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.81183139e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.72, Y:-47.20, Z:0.00 [[ 9.65806317e-01 2.59264649e-01 0.00000000e+00 2.13721256e+02] [-2.59264649e-01 9.65806317e-01 0.00000000e+00 -4.72010143e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52744032e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.321400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:213.75, Y:-47.21, Z:0.00 [[ 9.66512170e-01 2.56620780e-01 0.00000000e+00 2.13748827e+02] [-2.56620780e-01 9.66512170e-01 0.00000000e+00 -4.72059349e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19262595e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.78, Y:-47.21, Z:0.00 [[ 9.67305441e-01 2.53614243e-01 0.00000000e+00 2.13775710e+02] [-2.53614243e-01 9.67305441e-01 0.00000000e+00 -4.72099494e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68030095e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.381400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:213.80, Y:-47.21, Z:0.00 [[ 9.68198182e-01 2.50184491e-01 0.00000000e+00 2.13803106e+02] [-2.50184491e-01 9.68198182e-01 0.00000000e+00 -4.72145608e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73462013e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.411400513 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:213.83, Y:-47.22, Z:0.00 [[ 9.70223650e-01 2.42210793e-01 0.00000000e+00 2.13831742e+02] [-2.42210793e-01 9.70223650e-01 0.00000000e+00 -4.72179851e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69032533e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.441400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:213.86, Y:-47.22, Z:0.00 [[ 9.71186779e-01 2.38319617e-01 0.00000000e+00 2.13857898e+02] [-2.38319617e-01 9.71186779e-01 0.00000000e+00 -4.72244247e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40354870e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.89, Y:-47.23, Z:-0.00 [[ 9.72616715e-01 2.32414986e-01 0.00000000e+00 2.13885815e+02] [-2.32414986e-01 9.72616715e-01 0.00000000e+00 -4.72319938e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12358687e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.91, Y:-47.24, Z:-0.00 [[ 9.72948187e-01 2.31023432e-01 0.00000000e+00 2.13911373e+02] [-2.31023432e-01 9.72948187e-01 0.00000000e+00 -4.72418482e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.23592480e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.94, Y:-47.25, Z:-0.00 [[ 9.73053953e-01 2.30577544e-01 0.00000000e+00 2.13937295e+02] [-2.30577544e-01 9.73053953e-01 0.00000000e+00 -4.72523283e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.15840187e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.96, Y:-47.26, Z:-0.00 [[ 9.72883668e-01 2.31294981e-01 0.00000000e+00 2.13963462e+02] [-2.31294981e-01 9.72883668e-01 0.00000000e+00 -4.72624216e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.20418669e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.99, Y:-47.27, Z:-0.00 [[ 9.72507863e-01 2.32870042e-01 0.00000000e+00 2.13990059e+02] [-2.32870042e-01 9.72507863e-01 0.00000000e+00 -4.72716117e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21411012e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.02, Y:-47.28, Z:-0.00 [[ 9.71213256e-01 2.38211694e-01 0.00000000e+00 2.14016144e+02] [-2.38211694e-01 9.71213256e-01 0.00000000e+00 -4.72812824e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.97345440e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.04, Y:-47.29, Z:-0.00 [[ 9.70345238e-01 2.41723227e-01 0.00000000e+00 2.14042018e+02] [-2.41723227e-01 9.70345238e-01 0.00000000e+00 -4.72903829e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92768743e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.07, Y:-47.30, Z:-0.00 [[ 9.69426701e-01 2.45381073e-01 0.00000000e+00 2.14068818e+02] [-2.45381073e-01 9.69426701e-01 0.00000000e+00 -4.72978959e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07857520e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.10, Y:-47.30, Z:-0.00 [[ 9.68356475e-01 2.49571106e-01 0.00000000e+00 2.14095697e+02] [-2.49571106e-01 9.68356475e-01 0.00000000e+00 -4.73047170e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.94946220e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.12, Y:-47.31, Z:0.00 [[ 9.66124459e-01 2.58076595e-01 0.00000000e+00 2.14122973e+02] [-2.58076595e-01 9.66124459e-01 0.00000000e+00 -4.73095636e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45110776e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.15, Y:-47.32, Z:0.00 [[ 9.65165485e-01 2.61640186e-01 0.00000000e+00 2.14150496e+02] [-2.61640186e-01 9.65165485e-01 0.00000000e+00 -4.73169621e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45380280e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.18, Y:-47.32, Z:0.00 [[ 9.64282311e-01 2.64876620e-01 0.00000000e+00 2.14177253e+02] [-2.64876620e-01 9.64282311e-01 0.00000000e+00 -4.73227677e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01163428e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.21, Y:-47.33, Z:0.00 [[ 9.63470927e-01 2.67812943e-01 0.00000000e+00 2.14205522e+02] [-2.67812943e-01 9.63470927e-01 0.00000000e+00 -4.73280213e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13764319e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86140051299998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:214.23, Y:-47.33, Z:0.00 [[ 9.62734442e-01 2.70448506e-01 0.00000000e+00 2.14233032e+02] [-2.70448506e-01 9.62734442e-01 0.00000000e+00 -4.73327828e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49256267e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.89140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:214.26, Y:-47.34, Z:-0.00 [[ 9.61468687e-01 2.74914466e-01 0.00000000e+00 2.14260888e+02] [-2.74914466e-01 9.61468687e-01 0.00000000e+00 -4.73366690e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.30531027e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.29, Y:-47.34, Z:0.00 [[ 9.61148516e-01 2.76031755e-01 0.00000000e+00 2.14287499e+02] [-2.76031755e-01 9.61148516e-01 0.00000000e+00 -4.73439309e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16204770e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.31, Y:-47.35, Z:0.00 [[ 9.61027102e-01 2.76454171e-01 0.00000000e+00 2.14314835e+02] [-2.76454171e-01 9.61027102e-01 0.00000000e+00 -4.73514021e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40732898e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.34, Y:-47.36, Z:0.01 [[ 9.60944975e-01 2.76739507e-01 0.00000000e+00 2.14341947e+02] [-2.76739507e-01 9.60944975e-01 0.00000000e+00 -4.73577976e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.41737157e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.37, Y:-47.37, Z:0.01 [[ 9.60798263e-01 2.77248442e-01 0.00000000e+00 2.14367841e+02] [-2.77248442e-01 9.60798263e-01 0.00000000e+00 -4.73664598e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.77515610e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04140051299999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:214.39, Y:-47.38, Z:0.01 [[ 9.60358582e-01 2.78767634e-01 0.00000000e+00 2.14393835e+02] [-2.78767634e-01 9.60358582e-01 0.00000000e+00 -4.73755011e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.28253449e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.42, Y:-47.38, Z:0.00 [[ 9.58569511e-01 2.84858724e-01 0.00000000e+00 2.14419914e+02] [-2.84858724e-01 9.58569511e-01 0.00000000e+00 -4.73822643e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.20244099e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.45, Y:-47.39, Z:0.00 [[ 9.58621637e-01 2.84683259e-01 0.00000000e+00 2.14446859e+02] [-2.84683259e-01 9.58621637e-01 0.00000000e+00 -4.73913405e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.20244099e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.47, Y:-47.40, Z:0.00 [[ 9.57580588e-01 2.88165609e-01 0.00000000e+00 2.14473387e+02] [-2.88165609e-01 9.57580588e-01 0.00000000e+00 -4.73989797e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04465690e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.50, Y:-47.41, Z:0.00 [[ 9.56562801e-01 2.91526341e-01 0.00000000e+00 2.14498641e+02] [-2.91526341e-01 9.56562801e-01 0.00000000e+00 -4.74073489e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96338001e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.52, Y:-47.42, Z:0.00 [[ 9.55562837e-01 2.94787491e-01 0.00000000e+00 2.14524248e+02] [-2.94787491e-01 9.55562837e-01 0.00000000e+00 -4.74166872e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76365100e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.55, Y:-47.43, Z:0.01 [[ 9.53864201e-01 3.00238382e-01 0.00000000e+00 2.14550969e+02] [-3.00238382e-01 9.53864201e-01 0.00000000e+00 -4.74260128e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.15757309e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.58, Y:-47.43, Z:0.01 [[ 9.53188595e-01 3.02376426e-01 0.00000000e+00 2.14576498e+02] [-3.02376426e-01 9.53188595e-01 0.00000000e+00 -4.74345484e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.75268260e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.60, Y:-47.44, Z:0.01 [[ 9.52561423e-01 3.04346407e-01 0.00000000e+00 2.14603024e+02] [-3.04346407e-01 9.52561423e-01 0.00000000e+00 -4.74442222e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.03616069e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.63, Y:-47.45, Z:0.00 [[ 9.51978707e-01 3.06164240e-01 0.00000000e+00 2.14629457e+02] [-3.06164240e-01 9.51978707e-01 0.00000000e+00 -4.74536848e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50964314e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.66, Y:-47.46, Z:-0.00 [[ 9.50765171e-01 3.09912227e-01 0.00000000e+00 2.14655761e+02] [-3.09912227e-01 9.50765171e-01 0.00000000e+00 -4.74626403e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14434033e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.68, Y:-47.47, Z:-0.00 [[ 9.50077775e-01 3.12013175e-01 0.00000000e+00 2.14682020e+02] [-3.12013175e-01 9.50077775e-01 0.00000000e+00 -4.74710748e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43351821e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.71, Y:-47.48, Z:0.00 [[ 9.49359089e-01 3.14193126e-01 0.00000000e+00 2.14709161e+02] [-3.14193126e-01 9.49359089e-01 0.00000000e+00 -4.74798566e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29194701e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.43140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.74, Y:-47.49, Z:0.00 [[ 9.48600393e-01 3.16476374e-01 0.00000000e+00 2.14735415e+02] [-3.16476374e-01 9.48600393e-01 0.00000000e+00 -4.74884152e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40334702e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.76, Y:-47.50, Z:0.00 [[ 9.47005113e-01 3.21218486e-01 0.00000000e+00 2.14761637e+02] [-3.21218486e-01 9.47005113e-01 0.00000000e+00 -4.74966229e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28152654e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.79, Y:-47.50, Z:0.00 [[ 9.46591639e-01 3.22434905e-01 0.00000000e+00 2.14788837e+02] [-3.22434905e-01 9.46591639e-01 0.00000000e+00 -4.75045862e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.52912990e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.82, Y:-47.51, Z:0.00 [[ 9.46564119e-01 3.22515688e-01 0.00000000e+00 2.14815415e+02] [-3.22515688e-01 9.46564119e-01 0.00000000e+00 -4.75127801e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38768188e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.84, Y:-47.52, Z:0.00 [[ 9.46796396e-01 3.21833162e-01 0.00000000e+00 2.14841585e+02] [-3.21833162e-01 9.46796396e-01 0.00000000e+00 -4.75213610e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27272189e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.87, Y:-47.53, Z:0.00 [[ 9.47120172e-01 3.20879072e-01 0.00000000e+00 2.14866390e+02] [-3.20879072e-01 9.47120172e-01 0.00000000e+00 -4.75320563e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.50653525e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.89, Y:-47.54, Z:0.00 [[ 9.47343678e-01 3.20218606e-01 0.00000000e+00 2.14892179e+02] [-3.20218606e-01 9.47343678e-01 0.00000000e+00 -4.75423478e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.37518091e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.92, Y:-47.55, Z:0.00 [[ 9.47492977e-01 3.19776575e-01 0.00000000e+00 2.14916953e+02] [-3.19776575e-01 9.47492977e-01 0.00000000e+00 -4.75527025e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.43844385e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.94, Y:-47.57, Z:0.01 [[ 9.47330609e-01 3.20257268e-01 0.00000000e+00 2.14942264e+02] [-3.20257268e-01 9.47330609e-01 0.00000000e+00 -4.75663183e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.35535660e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.97, Y:-47.58, Z:0.01 [[ 9.46832784e-01 3.21726092e-01 0.00000000e+00 2.14967492e+02] [-3.21726092e-01 9.46832784e-01 0.00000000e+00 -4.75771266e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.24185926e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.99, Y:-47.59, Z:0.00 [[ 9.46019949e-01 3.24108403e-01 0.00000000e+00 2.14992268e+02] [-3.24108403e-01 9.46019949e-01 0.00000000e+00 -4.75871461e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.71385208e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.02, Y:-47.60, Z:0.00 [[ 9.44996250e-01 3.27081164e-01 0.00000000e+00 2.15018145e+02] [-3.27081164e-01 9.44996250e-01 0.00000000e+00 -4.75963050e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.88659473e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.04, Y:-47.61, Z:0.00 [[ 9.42134474e-01 3.35235191e-01 0.00000000e+00 2.15044887e+02] [-3.35235191e-01 9.42134474e-01 0.00000000e+00 -4.76057922e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.00085748e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.07, Y:-47.62, Z:0.00 [[ 9.40436937e-01 3.39968187e-01 0.00000000e+00 2.15070387e+02] [-3.39968187e-01 9.40436937e-01 0.00000000e+00 -4.76156040e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60464382e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.10, Y:-47.63, Z:0.00 [[ 9.38861010e-01 3.44296388e-01 0.00000000e+00 2.15096838e+02] [-3.44296388e-01 9.38861010e-01 0.00000000e+00 -4.76256153e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24316453e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.12, Y:-47.63, Z:0.00 [[ 9.36436515e-01 3.50837076e-01 0.00000000e+00 2.15123865e+02] [-3.50837076e-01 9.36436515e-01 0.00000000e+00 -4.76342114e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.47990225e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.15, Y:-47.64, Z:0.01 [[ 9.35664820e-01 3.52889989e-01 0.00000000e+00 2.15149927e+02] [-3.52889989e-01 9.35664820e-01 0.00000000e+00 -4.76416734e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.51577868e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.18, Y:-47.65, Z:0.01 [[ 9.35199641e-01 3.54120927e-01 0.00000000e+00 2.15176485e+02] [-3.54120927e-01 9.35199641e-01 0.00000000e+00 -4.76498557e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.17600768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.20, Y:-47.66, Z:0.00 [[ 9.34972503e-01 3.54720198e-01 0.00000000e+00 2.15202961e+02] [-3.54720198e-01 9.34972503e-01 0.00000000e+00 -4.76593033e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89350477e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.23, Y:-47.67, Z:0.00 [[ 9.34895772e-01 3.54922379e-01 0.00000000e+00 2.15228519e+02] [-3.54922379e-01 9.34895772e-01 0.00000000e+00 -4.76686533e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86998782e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.26, Y:-47.68, Z:0.00 [[ 9.35024324e-01 3.54583576e-01 0.00000000e+00 2.15255583e+02] [-3.54583576e-01 9.35024324e-01 0.00000000e+00 -4.76770983e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84967359e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.28, Y:-47.68, Z:0.00 [[ 9.35003140e-01 3.54639435e-01 0.00000000e+00 2.15281757e+02] [-3.54639435e-01 9.35003140e-01 0.00000000e+00 -4.76849928e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.34875145e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.31, Y:-47.69, Z:0.01 [[ 9.34826267e-01 3.55105407e-01 0.00000000e+00 2.15308442e+02] [-3.55105407e-01 9.34826267e-01 0.00000000e+00 -4.76938875e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.58075363e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.33, Y:-47.70, Z:0.00 [[ 9.34728514e-01 3.55362639e-01 0.00000000e+00 2.15333411e+02] [-3.55362639e-01 9.34728514e-01 0.00000000e+00 -4.77029047e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.60586836e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-47.71, Z:0.00 [[ 9.34731933e-01 3.55353644e-01 0.00000000e+00 2.15359950e+02] [-3.55353644e-01 9.34731933e-01 0.00000000e+00 -4.77138889e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15716705e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.39, Y:-47.72, Z:0.00 [[ 9.34778090e-01 3.55232210e-01 0.00000000e+00 2.15385657e+02] [-3.55232210e-01 9.34778090e-01 0.00000000e+00 -4.77239033e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62549567e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.41, Y:-47.73, Z:0.00 [[ 9.34850484e-01 3.55041648e-01 0.00000000e+00 2.15411480e+02] [-3.55041648e-01 9.34850484e-01 0.00000000e+00 -4.77339816e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.48014451e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.44, Y:-47.75, Z:0.01 [[ 9.34866848e-01 3.54998557e-01 0.00000000e+00 2.15436502e+02] [-3.54998557e-01 9.34866848e-01 0.00000000e+00 -4.77466643e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.93124449e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.46, Y:-47.76, Z:0.01 [[ 9.34821890e-01 3.55116931e-01 0.00000000e+00 2.15461863e+02] [-3.55116931e-01 9.34821890e-01 0.00000000e+00 -4.77581651e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.39463080e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.49, Y:-47.77, Z:0.01 [[ 9.34627612e-01 3.55627934e-01 0.00000000e+00 2.15486453e+02] [-3.55627934e-01 9.34627612e-01 0.00000000e+00 -4.77699700e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.18284414e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.51, Y:-47.78, Z:0.00 [[ 9.34295744e-01 3.56498895e-01 0.00000000e+00 2.15512180e+02] [-3.56498895e-01 9.34295744e-01 0.00000000e+00 -4.77823899e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.86261295e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.54, Y:-47.80, Z:0.01 [[ 9.33517391e-01 3.58532119e-01 0.00000000e+00 2.15536977e+02] [-3.58532119e-01 9.33517391e-01 0.00000000e+00 -4.77976817e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.15229542e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.56, Y:-47.81, Z:0.01 [[ 9.33277218e-01 3.59156839e-01 0.00000000e+00 2.15561695e+02] [-3.59156839e-01 9.33277218e-01 0.00000000e+00 -4.78090403e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.13878694e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.59, Y:-47.82, Z:0.01 [[ 9.33254171e-01 3.59216720e-01 0.00000000e+00 2.15587318e+02] [-3.59216720e-01 9.33254171e-01 0.00000000e+00 -4.78208026e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.29519257e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.61, Y:-47.84, Z:0.01 [[ 9.33342140e-01 3.58988091e-01 0.00000000e+00 2.15611632e+02] [-3.58988091e-01 9.33342140e-01 0.00000000e+00 -4.78368522e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.01023649e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:215.64, Y:-47.85, Z:0.00 [[ 9.33555991e-01 3.58431601e-01 0.00000000e+00 2.15635826e+02] [-3.58431601e-01 9.33555991e-01 0.00000000e+00 -4.78483674e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09107955e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.66, Y:-47.86, Z:0.00 [[ 9.33899799e-01 3.57534845e-01 0.00000000e+00 2.15661057e+02] [-3.57534845e-01 9.33899799e-01 0.00000000e+00 -4.78598244e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02231391e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.69, Y:-47.87, Z:0.00 [[ 9.34310764e-01 3.56459530e-01 0.00000000e+00 2.15686523e+02] [-3.56459530e-01 9.34310764e-01 0.00000000e+00 -4.78713731e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25777799e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.71, Y:-47.89, Z:0.00 [[ 9.35310340e-01 3.53828444e-01 0.00000000e+00 2.15709440e+02] [-3.53828444e-01 9.35310340e-01 0.00000000e+00 -4.78866908e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29335936e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.73, Y:-47.90, Z:-0.00 [[ 9.36029846e-01 3.51920625e-01 0.00000000e+00 2.15734980e+02] [-3.51920625e-01 9.36029846e-01 0.00000000e+00 -4.78993387e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30180544e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.76, Y:-47.91, Z:0.00 [[ 9.36702736e-01 3.50125669e-01 0.00000000e+00 2.15760011e+02] [-3.50125669e-01 9.36702736e-01 0.00000000e+00 -4.79118939e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.81536290e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.78, Y:-47.92, Z:0.00 [[ 9.37111335e-01 3.49030580e-01 0.00000000e+00 2.15784555e+02] [-3.49030580e-01 9.37111335e-01 0.00000000e+00 -4.79241925e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.44168992e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.81, Y:-47.94, Z:0.00 [[ 9.37085768e-01 3.49099216e-01 0.00000000e+00 2.15808497e+02] [-3.49099216e-01 9.37085768e-01 0.00000000e+00 -4.79398404e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39154841e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.83, Y:-47.95, Z:0.00 [[ 9.36723790e-01 3.50069338e-01 0.00000000e+00 2.15833896e+02] [-3.50069338e-01 9.36723790e-01 0.00000000e+00 -4.79510919e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59948571e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.86, Y:-47.96, Z:0.00 [[ 9.36242692e-01 3.51353984e-01 0.00000000e+00 2.15860376e+02] [-3.51353984e-01 9.36242692e-01 0.00000000e+00 -4.79610001e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04987001e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.89, Y:-47.97, Z:0.01 [[ 9.34642784e-01 3.55588056e-01 0.00000000e+00 2.15886249e+02] [-3.55588056e-01 9.34642784e-01 0.00000000e+00 -4.79702323e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.00373708e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.91, Y:-47.98, Z:0.00 [[ 9.33770701e-01 3.57871874e-01 0.00000000e+00 2.15911870e+02] [-3.57871874e-01 9.33770701e-01 0.00000000e+00 -4.79792409e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.73160575e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.94, Y:-47.99, Z:0.00 [[ 9.32972871e-01 3.59946693e-01 0.00000000e+00 2.15938342e+02] [-3.59946693e-01 9.32972871e-01 0.00000000e+00 -4.79884212e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47224788e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.96, Y:-48.00, Z:0.00 [[ 9.31817760e-01 3.62926523e-01 0.00000000e+00 2.15964830e+02] [-3.62926523e-01 9.31817760e-01 0.00000000e+00 -4.79959169e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64180147e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.99, Y:-48.00, Z:0.00 [[ 9.31643325e-01 3.63374069e-01 0.00000000e+00 2.15990894e+02] [-3.63374069e-01 9.31643325e-01 0.00000000e+00 -4.80032517e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94122839e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.93140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.02, Y:-48.01, Z:0.00 [[ 9.31765326e-01 3.63061119e-01 0.00000000e+00 2.16017914e+02] [-3.63061119e-01 9.31765326e-01 0.00000000e+00 -4.80108025e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24715885e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.04, Y:-48.02, Z:0.00 [[ 9.32024715e-01 3.62394718e-01 0.00000000e+00 2.16044919e+02] [-3.62394718e-01 9.32024715e-01 0.00000000e+00 -4.80184268e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11343576e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.07, Y:-48.03, Z:0.00 [[ 9.32095051e-01 3.62213772e-01 0.00000000e+00 2.16071976e+02] [-3.62213772e-01 9.32095051e-01 0.00000000e+00 -4.80272116e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11343576e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.10, Y:-48.03, Z:0.01 [[ 9.32661733e-01 3.60752118e-01 0.00000000e+00 2.16098914e+02] [-3.60752118e-01 9.32661733e-01 0.00000000e+00 -4.80334161e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.30656665e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.12, Y:-48.04, Z:0.01 [[ 9.32991858e-01 3.59897476e-01 0.00000000e+00 2.16124804e+02] [-3.59897476e-01 9.32991858e-01 0.00000000e+00 -4.80409500e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.83858246e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.15, Y:-48.05, Z:0.01 [[ 9.33254499e-01 3.59215870e-01 0.00000000e+00 2.16151809e+02] [-3.59215870e-01 9.33254499e-01 0.00000000e+00 -4.80495792e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.85902729e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.18, Y:-48.06, Z:0.01 [[ 9.33486718e-01 3.58611973e-01 0.00000000e+00 2.16177039e+02] [-3.58611973e-01 9.33486718e-01 0.00000000e+00 -4.80580972e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.75941086e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.20, Y:-48.07, Z:0.00 [[ 9.34027864e-01 3.57200154e-01 0.00000000e+00 2.16203053e+02] [-3.57200154e-01 9.34027864e-01 0.00000000e+00 -4.80683766e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10572918e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.23, Y:-48.08, Z:0.00 [[ 9.34182693e-01 3.56795034e-01 0.00000000e+00 2.16228726e+02] [-3.56795034e-01 9.34182693e-01 0.00000000e+00 -4.80784206e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90852636e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.25, Y:-48.09, Z:0.00 [[ 9.34158411e-01 3.56858605e-01 0.00000000e+00 2.16253316e+02] [-3.56858605e-01 9.34158411e-01 0.00000000e+00 -4.80893065e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44547518e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.28, Y:-48.10, Z:0.01 [[ 9.33961154e-01 3.57374540e-01 0.00000000e+00 2.16277014e+02] [-3.57374540e-01 9.33961154e-01 0.00000000e+00 -4.81032318e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.47200412e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.30, Y:-48.11, Z:0.01 [[ 9.33975531e-01 3.57336967e-01 0.00000000e+00 2.16302787e+02] [-3.57336967e-01 9.33975531e-01 0.00000000e+00 -4.81140883e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.62620375e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.33, Y:-48.13, Z:0.01 [[ 9.34086335e-01 3.57047221e-01 0.00000000e+00 2.16328972e+02] [-3.57047221e-01 9.34086335e-01 0.00000000e+00 -4.81254560e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.24569836e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.35, Y:-48.14, Z:0.00 [[ 9.34258317e-01 3.56596968e-01 0.00000000e+00 2.16354135e+02] [-3.56596968e-01 9.34258317e-01 0.00000000e+00 -4.81374953e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70955944e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.38, Y:-48.15, Z:0.00 [[ 9.34466723e-01 3.56050479e-01 0.00000000e+00 2.16377049e+02] [-3.56050479e-01 9.34466723e-01 0.00000000e+00 -4.81545940e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97392420e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.40, Y:-48.17, Z:0.00 [[ 9.34627475e-01 3.55628293e-01 0.00000000e+00 2.16402316e+02] [-3.55628293e-01 9.34627475e-01 0.00000000e+00 -4.81671462e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.70418185e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.43, Y:-48.18, Z:0.00 [[ 9.34700672e-01 3.55435865e-01 0.00000000e+00 2.16426809e+02] [-3.55435865e-01 9.34700672e-01 0.00000000e+00 -4.81795187e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91409294e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.45, Y:-48.19, Z:0.00 [[ 9.34878801e-01 3.54967080e-01 0.00000000e+00 2.16452193e+02] [-3.54967080e-01 9.34878801e-01 0.00000000e+00 -4.81925421e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06387649e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.48, Y:-48.21, Z:-0.01 [[ 9.34674362e-01 3.55505045e-01 0.00000000e+00 2.16476067e+02] [-3.55505045e-01 9.34674362e-01 0.00000000e+00 -4.82101912e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.05301335e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.50, Y:-48.22, Z:-0.01 [[ 9.34358919e-01 3.56333286e-01 0.00000000e+00 2.16502413e+02] [-3.56333286e-01 9.34358919e-01 0.00000000e+00 -4.82223870e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.76522359e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.53, Y:-48.24, Z:-0.01 [[ 9.33576836e-01 3.58377303e-01 0.00000000e+00 2.16527608e+02] [-3.58377303e-01 9.33576836e-01 0.00000000e+00 -4.82371804e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.92039528e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.55, Y:-48.25, Z:-0.01 [[ 9.33301753e-01 3.59093078e-01 0.00000000e+00 2.16553887e+02] [-3.59093078e-01 9.33301753e-01 0.00000000e+00 -4.82488241e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.30324544e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.58, Y:-48.26, Z:-0.01 [[ 9.33219049e-01 3.59307955e-01 0.00000000e+00 2.16579754e+02] [-3.59307955e-01 9.33219049e-01 0.00000000e+00 -4.82599475e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.95878698e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.61, Y:-48.27, Z:-0.00 [[ 9.33323063e-01 3.59037686e-01 0.00000000e+00 2.16606098e+02] [-3.59037686e-01 9.33323063e-01 0.00000000e+00 -4.82710398e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.85714744e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.63, Y:-48.29, Z:-0.00 [[ 9.33760910e-01 3.57897419e-01 0.00000000e+00 2.16631633e+02] [-3.57897419e-01 9.33760910e-01 0.00000000e+00 -4.82858577e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23660098e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.66, Y:-48.30, Z:-0.00 [[ 9.34144301e-01 3.56895539e-01 0.00000000e+00 2.16656887e+02] [-3.56895539e-01 9.34144301e-01 0.00000000e+00 -4.82979919e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68596974e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.68, Y:-48.31, Z:0.00 [[ 9.34538238e-01 3.55862728e-01 0.00000000e+00 2.16682078e+02] [-3.55862728e-01 9.34538238e-01 0.00000000e+00 -4.83105294e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30742196e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.71, Y:-48.32, Z:0.00 [[ 9.34839982e-01 3.55069299e-01 0.00000000e+00 2.16706473e+02] [-3.55069299e-01 9.34839982e-01 0.00000000e+00 -4.83225791e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08377010e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.73, Y:-48.34, Z:0.00 [[ 9.35059438e-01 3.54490970e-01 0.00000000e+00 2.16731113e+02] [-3.54490970e-01 9.35059438e-01 0.00000000e+00 -4.83373779e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73401381e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.76, Y:-48.35, Z:0.00 [[ 9.34708571e-01 3.55415092e-01 0.00000000e+00 2.16756366e+02] [-3.55415092e-01 9.34708571e-01 0.00000000e+00 -4.83491595e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99745400e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.78, Y:-48.36, Z:0.00 [[ 9.34022093e-01 3.57215243e-01 0.00000000e+00 2.16781550e+02] [-3.57215243e-01 9.34022093e-01 0.00000000e+00 -4.83613166e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46271652e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.80, Y:-48.38, Z:-0.00 [[ 9.32098426e-01 3.62205087e-01 0.00000000e+00 2.16804407e+02] [-3.62205087e-01 9.32098426e-01 0.00000000e+00 -4.83769570e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.84438044e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.83, Y:-48.39, Z:0.00 [[ 9.31144227e-01 3.64651105e-01 0.00000000e+00 2.16830304e+02] [-3.64651105e-01 9.31144227e-01 0.00000000e+00 -4.83885360e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06729728e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.85, Y:-48.40, Z:0.00 [[ 9.30280349e-01 3.66849385e-01 0.00000000e+00 2.16854705e+02] [-3.66849385e-01 9.30280349e-01 0.00000000e+00 -4.83995721e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00189350e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.88, Y:-48.42, Z:-0.00 [[ 9.29263885e-01 3.69416609e-01 0.00000000e+00 2.16877375e+02] [-3.69416609e-01 9.29263885e-01 0.00000000e+00 -4.84159172e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34824960e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.90, Y:-48.43, Z:-0.00 [[ 9.29151452e-01 3.69699308e-01 0.00000000e+00 2.16902775e+02] [-3.69699308e-01 9.29151452e-01 0.00000000e+00 -4.84282355e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27294620e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.93, Y:-48.44, Z:-0.00 [[ 9.29102604e-01 3.69822052e-01 0.00000000e+00 2.16927779e+02] [-3.69822052e-01 9.29102604e-01 0.00000000e+00 -4.84397307e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.08782200e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.95, Y:-48.45, Z:0.00 [[ 9.29218000e-01 3.69532013e-01 0.00000000e+00 2.16953497e+02] [-3.69532013e-01 9.29218000e-01 0.00000000e+00 -4.84510973e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62011506e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.98, Y:-48.47, Z:0.00 [[ 9.29802731e-01 3.68058257e-01 0.00000000e+00 2.16977945e+02] [-3.68058257e-01 9.29802731e-01 0.00000000e+00 -4.84671555e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20030025e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.00, Y:-48.48, Z:-0.00 [[ 9.30271676e-01 3.66871378e-01 0.00000000e+00 2.17002816e+02] [-3.66871378e-01 9.30271676e-01 0.00000000e+00 -4.84790569e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.60776955e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.03, Y:-48.49, Z:-0.00 [[ 9.30818212e-01 3.65482498e-01 0.00000000e+00 2.17027622e+02] [-3.65482498e-01 9.30818212e-01 0.00000000e+00 -4.84903618e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35730750e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.05, Y:-48.50, Z:-0.00 [[ 9.31546411e-01 3.63622447e-01 0.00000000e+00 2.17053544e+02] [-3.63622447e-01 9.31546411e-01 0.00000000e+00 -4.85021059e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05582430e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.08, Y:-48.52, Z:-0.00 [[ 9.32684424e-01 3.60693450e-01 0.00000000e+00 2.17076448e+02] [-3.60693450e-01 9.32684424e-01 0.00000000e+00 -4.85179016e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04455450e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.10, Y:-48.53, Z:-0.00 [[ 9.33040984e-01 3.59770097e-01 0.00000000e+00 2.17101433e+02] [-3.59770097e-01 9.33040984e-01 0.00000000e+00 -4.85300680e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44314491e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.13, Y:-48.54, Z:-0.00 [[ 9.33189586e-01 3.59384469e-01 0.00000000e+00 2.17126962e+02] [-3.59384469e-01 9.33189586e-01 0.00000000e+00 -4.85416635e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.20118215e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.15, Y:-48.55, Z:-0.01 [[ 9.32797051e-01 3.60402084e-01 0.00000000e+00 2.17152424e+02] [-3.60402084e-01 9.32797051e-01 0.00000000e+00 -4.85544616e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.22163964e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.18, Y:-48.57, Z:-0.01 [[ 9.32287330e-01 3.61718584e-01 0.00000000e+00 2.17178300e+02] [-3.61718584e-01 9.32287330e-01 0.00000000e+00 -4.85652428e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.80779757e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.20, Y:-48.58, Z:-0.01 [[ 9.31633069e-01 3.63400366e-01 0.00000000e+00 2.17204168e+02] [-3.63400366e-01 9.31633069e-01 0.00000000e+00 -4.85763585e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.80522562e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.23, Y:-48.59, Z:-0.00 [[ 9.30050440e-01 3.67431870e-01 0.00000000e+00 2.17230071e+02] [-3.67431870e-01 9.30050440e-01 0.00000000e+00 -4.85873411e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.71815791e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.26, Y:-48.60, Z:-0.00 [[ 9.29290727e-01 3.69349083e-01 0.00000000e+00 2.17256494e+02] [-3.69349083e-01 9.29290727e-01 0.00000000e+00 -4.85953623e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.54267019e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43140051299997 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:217.28, Y:-48.60, Z:-0.01 [[ 9.28147473e-01 3.72212666e-01 0.00000000e+00 2.17283423e+02] [-3.72212666e-01 9.28147473e-01 0.00000000e+00 -4.86038521e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.15497768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.31, Y:-48.61, Z:-0.01 [[ 9.27868277e-01 3.72908112e-01 0.00000000e+00 2.17308597e+02] [-3.72908112e-01 9.27868277e-01 0.00000000e+00 -4.86131221e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.29681953e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.34, Y:-48.62, Z:-0.00 [[ 9.27844345e-01 3.72967655e-01 0.00000000e+00 2.17335811e+02] [-3.72967655e-01 9.27844345e-01 0.00000000e+00 -4.86227080e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.13154282e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.36, Y:-48.63, Z:-0.00 [[ 9.27963514e-01 3.72671058e-01 0.00000000e+00 2.17363049e+02] [-3.72671058e-01 9.27963514e-01 0.00000000e+00 -4.86322913e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37196246e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.39, Y:-48.65, Z:0.00 [[ 9.28454832e-01 3.71445319e-01 0.00000000e+00 2.17388234e+02] [-3.71445319e-01 9.28454832e-01 0.00000000e+00 -4.86462975e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11025089e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58140051299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:217.41, Y:-48.66, Z:0.00 [[ 9.29035283e-01 3.69991139e-01 0.00000000e+00 2.17413862e+02] [-3.69991139e-01 9.29035283e-01 0.00000000e+00 -4.86587963e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05300145e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.44, Y:-48.67, Z:0.00 [[ 9.29552192e-01 3.68690551e-01 0.00000000e+00 2.17439640e+02] [-3.68690551e-01 9.29552192e-01 0.00000000e+00 -4.86709335e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75720392e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.46, Y:-48.68, Z:0.00 [[ 9.30111550e-01 3.67277150e-01 0.00000000e+00 2.17463784e+02] [-3.67277150e-01 9.30111550e-01 0.00000000e+00 -4.86828529e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87773570e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.49, Y:-48.69, Z:0.00 [[ 9.29971477e-01 3.67631679e-01 0.00000000e+00 2.17489377e+02] [-3.67631679e-01 9.29971477e-01 0.00000000e+00 -4.86944387e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00253974e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.51, Y:-48.71, Z:-0.00 [[ 9.29657435e-01 3.68425098e-01 0.00000000e+00 2.17514093e+02] [-3.68425098e-01 9.29657435e-01 0.00000000e+00 -4.87072066e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.72920448e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.54, Y:-48.72, Z:0.00 [[ 9.29354270e-01 3.69189166e-01 0.00000000e+00 2.17538999e+02] [-3.69189166e-01 9.29354270e-01 0.00000000e+00 -4.87203522e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.46469555e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.56, Y:-48.74, Z:0.00 [[ 9.28781602e-01 3.70627490e-01 0.00000000e+00 2.17561967e+02] [-3.70627490e-01 9.28781602e-01 0.00000000e+00 -4.87370450e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.41508935e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.59, Y:-48.75, Z:0.00 [[ 9.28701715e-01 3.70827621e-01 0.00000000e+00 2.17587148e+02] [-3.70827621e-01 9.28701715e-01 0.00000000e+00 -4.87499774e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.16959418e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.821400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:217.61, Y:-48.76, Z:0.00 [[ 9.28654001e-01 3.70947094e-01 0.00000000e+00 2.17612062e+02] [-3.70947094e-01 9.28654001e-01 0.00000000e+00 -4.87628982e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62844316e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.64, Y:-48.78, Z:0.00 [[ 9.28313311e-01 3.71798867e-01 0.00000000e+00 2.17636862e+02] [-3.71798867e-01 9.28313311e-01 0.00000000e+00 -4.87765495e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06228501e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.66, Y:-48.79, Z:-0.00 [[ 9.27445375e-01 3.73958657e-01 0.00000000e+00 2.17659385e+02] [-3.73958657e-01 9.27445375e-01 0.00000000e+00 -4.87942001e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.25260237e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.69, Y:-48.80, Z:-0.00 [[ 9.27510391e-01 3.73797371e-01 0.00000000e+00 2.17686563e+02] [-3.73797371e-01 9.27510391e-01 0.00000000e+00 -4.88027587e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.25260237e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.71, Y:-48.82, Z:-0.01 [[ 9.27060486e-01 3.74911796e-01 0.00000000e+00 2.17712275e+02] [-3.74911796e-01 9.27060486e-01 0.00000000e+00 -4.88153001e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.39846997e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.74, Y:-48.83, Z:-0.01 [[ 9.26650104e-01 3.75924971e-01 0.00000000e+00 2.17738050e+02] [-3.75924971e-01 9.26650104e-01 0.00000000e+00 -4.88273408e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.48720330e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.76, Y:-48.84, Z:-0.01 [[ 9.25464491e-01 3.78834366e-01 0.00000000e+00 2.17762655e+02] [-3.78834366e-01 9.25464491e-01 0.00000000e+00 -4.88434362e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.19246342e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.79, Y:-48.86, Z:-0.01 [[ 9.24970708e-01 3.80038406e-01 0.00000000e+00 2.17788283e+02] [-3.80038406e-01 9.24970708e-01 0.00000000e+00 -4.88551372e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.25938288e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.81, Y:-48.87, Z:-0.01 [[ 9.24605729e-01 3.80925512e-01 0.00000000e+00 2.17813926e+02] [-3.80925512e-01 9.24605729e-01 0.00000000e+00 -4.88654345e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.61531300e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.84, Y:-48.88, Z:-0.01 [[ 9.24648902e-01 3.80820704e-01 0.00000000e+00 2.17839533e+02] [-3.80820704e-01 9.24648902e-01 0.00000000e+00 -4.88766416e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.51689981e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.87, Y:-48.89, Z:-0.01 [[ 9.25078138e-01 3.79776826e-01 0.00000000e+00 2.17865986e+02] [-3.79776826e-01 9.25078138e-01 0.00000000e+00 -4.88873494e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.78015048e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.151400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:217.89, Y:-48.90, Z:-0.01 [[ 9.25751161e-01 3.78133294e-01 0.00000000e+00 2.17892489e+02] [-3.78133294e-01 9.25751161e-01 0.00000000e+00 -4.88983206e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.93581539e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.92, Y:-48.91, Z:-0.00 [[ 9.27655818e-01 3.73436317e-01 0.00000000e+00 2.17918265e+02] [-3.73436317e-01 9.27655818e-01 0.00000000e+00 -4.89096112e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.68974576e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.95, Y:-48.92, Z:-0.00 [[ 9.28810967e-01 3.70553893e-01 0.00000000e+00 2.17945091e+02] [-3.70553893e-01 9.28810967e-01 0.00000000e+00 -4.89187837e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.18404452e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.97, Y:-48.93, Z:-0.00 [[ 9.29914784e-01 3.67775059e-01 0.00000000e+00 2.17971208e+02] [-3.67775059e-01 9.29914784e-01 0.00000000e+00 -4.89280671e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.67028740e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.00, Y:-48.94, Z:0.00 [[ 9.31776648e-01 3.63032063e-01 0.00000000e+00 2.17996565e+02] [-3.63032063e-01 9.31776648e-01 0.00000000e+00 -4.89404943e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24309241e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.02, Y:-48.95, Z:0.00 [[ 9.32691139e-01 3.60676085e-01 0.00000000e+00 2.18021958e+02] [-3.60676085e-01 9.32691139e-01 0.00000000e+00 -4.89501056e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78993816e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.05, Y:-48.96, Z:0.00 [[ 9.33518556e-01 3.58529086e-01 0.00000000e+00 2.18048413e+02] [-3.58529086e-01 9.33518556e-01 0.00000000e+00 -4.89598412e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07807488e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.07, Y:-48.97, Z:0.00 [[ 9.34007491e-01 3.57253421e-01 0.00000000e+00 2.18073409e+02] [-3.57253421e-01 9.34007491e-01 0.00000000e+00 -4.89697679e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24596788e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.10, Y:-48.98, Z:0.00 [[ 9.34345056e-01 3.56369633e-01 0.00000000e+00 2.18099463e+02] [-3.56369633e-01 9.34345056e-01 0.00000000e+00 -4.89803952e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.74261032e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.13, Y:-48.99, Z:0.00 [[ 9.34756058e-01 3.55290179e-01 0.00000000e+00 2.18125083e+02] [-3.55290179e-01 9.34756058e-01 0.00000000e+00 -4.89924951e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.80081555e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.15, Y:-49.00, Z:0.00 [[ 9.34831294e-01 3.55092174e-01 0.00000000e+00 2.18151088e+02] [-3.55092174e-01 9.34831294e-01 0.00000000e+00 -4.90020810e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68169109e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.18, Y:-49.01, Z:0.00 [[ 9.34716800e-01 3.55393448e-01 0.00000000e+00 2.18177202e+02] [-3.55393448e-01 9.34716800e-01 0.00000000e+00 -4.90121378e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87945602e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.20, Y:-49.02, Z:0.00 [[ 9.34471964e-01 3.56036723e-01 0.00000000e+00 2.18202605e+02] [-3.56036723e-01 9.34471964e-01 0.00000000e+00 -4.90223312e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36102174e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.23, Y:-49.03, Z:0.00 [[ 9.33294709e-01 3.59111384e-01 0.00000000e+00 2.18227839e+02] [-3.59111384e-01 9.33294709e-01 0.00000000e+00 -4.90342509e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96404286e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.25, Y:-49.04, Z:0.00 [[ 9.32705640e-01 3.60638586e-01 0.00000000e+00 2.18254493e+02] [-3.60638586e-01 9.32705640e-01 0.00000000e+00 -4.90438640e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96664609e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.28, Y:-49.05, Z:0.00 [[ 9.32268074e-01 3.61768211e-01 0.00000000e+00 2.18280316e+02] [-3.61768211e-01 9.32268074e-01 0.00000000e+00 -4.90530335e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21265246e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.31, Y:-49.06, Z:0.00 [[ 9.32130111e-01 3.62123538e-01 0.00000000e+00 2.18306699e+02] [-3.62123538e-01 9.32130111e-01 0.00000000e+00 -4.90624469e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67520370e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.33, Y:-49.07, Z:0.01 [[ 9.32118192e-01 3.62154216e-01 0.00000000e+00 2.18331936e+02] [-3.62154216e-01 9.32118192e-01 0.00000000e+00 -4.90733093e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.28483105e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.36, Y:-49.08, Z:0.00 [[ 9.32136484e-01 3.62107133e-01 0.00000000e+00 2.18357109e+02] [-3.62107133e-01 9.32136484e-01 0.00000000e+00 -4.90829045e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.63745774e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.38, Y:-49.09, Z:0.00 [[ 9.32128942e-01 3.62126547e-01 0.00000000e+00 2.18382974e+02] [-3.62126547e-01 9.32128942e-01 0.00000000e+00 -4.90941055e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01065450e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.41, Y:-49.10, Z:-0.00 [[ 9.31852780e-01 3.62836599e-01 0.00000000e+00 2.18409549e+02] [-3.62836599e-01 9.31852780e-01 0.00000000e+00 -4.91041784e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35858354e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.44, Y:-49.11, Z:-0.00 [[ 9.31347402e-01 3.64131868e-01 0.00000000e+00 2.18435265e+02] [-3.64131868e-01 9.31347402e-01 0.00000000e+00 -4.91132624e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.63249515e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.46, Y:-49.12, Z:-0.00 [[ 9.30407554e-01 3.66526648e-01 0.00000000e+00 2.18460496e+02] [-3.66526648e-01 9.30407554e-01 0.00000000e+00 -4.91221235e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.99101554e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.49, Y:-49.13, Z:0.00 [[ 9.27841831e-01 3.72973909e-01 0.00000000e+00 2.18487064e+02] [-3.72973909e-01 9.27841831e-01 0.00000000e+00 -4.91296557e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.26198013e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.51, Y:-49.14, Z:-0.00 [[ 9.26458082e-01 3.76397958e-01 0.00000000e+00 2.18513806e+02] [-3.76397958e-01 9.26458082e-01 0.00000000e+00 -4.91363891e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.34288230e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.54, Y:-49.14, Z:-0.00 [[ 9.25256260e-01 3.79342659e-01 0.00000000e+00 2.18540630e+02] [-3.79342659e-01 9.25256260e-01 0.00000000e+00 -4.91432355e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.41132070e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.93140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.57, Y:-49.15, Z:-0.01 [[ 9.24277804e-01 3.81720502e-01 0.00000000e+00 2.18567886e+02] [-3.81720502e-01 9.24277804e-01 0.00000000e+00 -4.91509290e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.23964390e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.59, Y:-49.16, Z:-0.00 [[ 9.23604215e-01 3.83347432e-01 0.00000000e+00 2.18594758e+02] [-3.83347432e-01 9.23604215e-01 0.00000000e+00 -4.91598855e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.82693405e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.62, Y:-49.17, Z:-0.00 [[ 9.24062550e-01 3.82241291e-01 0.00000000e+00 2.18621119e+02] [-3.82241291e-01 9.24062550e-01 0.00000000e+00 -4.91685783e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47752172e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.65, Y:-49.18, Z:-0.00 [[ 9.24819457e-01 3.80406325e-01 0.00000000e+00 2.18647400e+02] [-3.80406325e-01 9.24819457e-01 0.00000000e+00 -4.91769590e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60078094e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.68, Y:-49.19, Z:-0.00 [[ 9.26493720e-01 3.76310227e-01 0.00000000e+00 2.18675357e+02] [-3.76310227e-01 9.26493720e-01 0.00000000e+00 -4.91851374e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.71250726e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.70, Y:-49.19, Z:-0.00 [[ 9.27098209e-01 3.74818503e-01 0.00000000e+00 2.18702335e+02] [-3.74818503e-01 9.27098209e-01 0.00000000e+00 -4.91928923e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.71595593e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.73, Y:-49.20, Z:-0.00 [[ 9.27487913e-01 3.73853141e-01 0.00000000e+00 2.18729128e+02] [-3.73853141e-01 9.27487913e-01 0.00000000e+00 -4.92004964e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62378079e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.76, Y:-49.21, Z:-0.00 [[ 9.27851604e-01 3.72949597e-01 0.00000000e+00 2.18755434e+02] [-3.72949597e-01 9.27851604e-01 0.00000000e+00 -4.92080587e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29468691e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.78, Y:-49.22, Z:-0.00 [[ 9.28316016e-01 3.71792112e-01 0.00000000e+00 2.18782283e+02] [-3.71792112e-01 9.28316016e-01 0.00000000e+00 -4.92160994e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15363975e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.81, Y:-49.23, Z:-0.00 [[ 9.29424481e-01 3.69012378e-01 0.00000000e+00 2.18807689e+02] [-3.69012378e-01 9.29424481e-01 0.00000000e+00 -4.92253335e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61505917e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.83, Y:-49.23, Z:-0.00 [[ 9.30030202e-01 3.67483093e-01 0.00000000e+00 2.18833615e+02] [-3.67483093e-01 9.30030202e-01 0.00000000e+00 -4.92345736e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23102543e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.86, Y:-49.24, Z:0.00 [[ 9.30506441e-01 3.66275530e-01 0.00000000e+00 2.18859551e+02] [-3.66275530e-01 9.30506441e-01 0.00000000e+00 -4.92441642e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97877149e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.89, Y:-49.25, Z:0.00 [[ 9.30858531e-01 3.65379796e-01 0.00000000e+00 2.18885988e+02] [-3.65379796e-01 9.30858531e-01 0.00000000e+00 -4.92540673e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64979039e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.91, Y:-49.26, Z:0.00 [[ 9.30847567e-01 3.65407728e-01 0.00000000e+00 2.18910985e+02] [-3.65407728e-01 9.30847567e-01 0.00000000e+00 -4.92634734e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.81381863e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.94, Y:-49.27, Z:0.01 [[ 9.30460621e-01 3.66391913e-01 0.00000000e+00 2.18936747e+02] [-3.66391913e-01 9.30460621e-01 0.00000000e+00 -4.92733417e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.86244219e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.96, Y:-49.29, Z:0.00 [[ 9.29309486e-01 3.69301881e-01 0.00000000e+00 2.18963353e+02] [-3.69301881e-01 9.29309486e-01 0.00000000e+00 -4.92855680e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75934121e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.99, Y:-49.29, Z:0.00 [[ 9.28825989e-01 3.70516238e-01 0.00000000e+00 2.18988865e+02] [-3.70516238e-01 9.28825989e-01 0.00000000e+00 -4.92948333e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41940006e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.01, Y:-49.31, Z:-0.00 [[ 9.27966901e-01 3.72662624e-01 0.00000000e+00 2.19014537e+02] [-3.72662624e-01 9.27966901e-01 0.00000000e+00 -4.93066285e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.79235302e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.04, Y:-49.32, Z:-0.00 [[ 9.27648198e-01 3.73455246e-01 0.00000000e+00 2.19040241e+02] [-3.73455246e-01 9.27648198e-01 0.00000000e+00 -4.93177087e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.62546915e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.07, Y:-49.33, Z:-0.00 [[ 9.27441556e-01 3.73968128e-01 0.00000000e+00 2.19066122e+02] [-3.73968128e-01 9.27441556e-01 0.00000000e+00 -4.93290272e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03514912e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.09, Y:-49.34, Z:-0.00 [[ 9.27493751e-01 3.73838656e-01 0.00000000e+00 2.19091519e+02] [-3.73838656e-01 9.27493751e-01 0.00000000e+00 -4.93394155e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.55789781e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.561400513 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:219.12, Y:-49.35, Z:-0.00 [[ 9.27862760e-01 3.72921839e-01 0.00000000e+00 2.19118345e+02] [-3.72921839e-01 9.27862760e-01 0.00000000e+00 -4.93511323e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93407911e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.14, Y:-49.36, Z:-0.00 [[ 9.27837904e-01 3.72983677e-01 0.00000000e+00 2.19143439e+02] [-3.72983677e-01 9.27837904e-01 0.00000000e+00 -4.93612843e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.17034724e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.17, Y:-49.37, Z:-0.00 [[ 9.27707252e-01 3.73308524e-01 0.00000000e+00 2.19169052e+02] [-3.73308524e-01 9.27707252e-01 0.00000000e+00 -4.93717108e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33912578e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.20, Y:-49.38, Z:-0.00 [[ 9.27264818e-01 3.74406140e-01 0.00000000e+00 2.19195306e+02] [-3.74406140e-01 9.27264818e-01 0.00000000e+00 -4.93819124e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.51660484e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.22, Y:-49.39, Z:-0.01 [[ 9.26705258e-01 3.75788990e-01 0.00000000e+00 2.19222297e+02] [-3.75788990e-01 9.26705258e-01 0.00000000e+00 -4.93916738e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.25630499e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.25, Y:-49.40, Z:-0.01 [[ 9.26096305e-01 3.77287203e-01 0.00000000e+00 2.19249860e+02] [-3.77287203e-01 9.26096305e-01 0.00000000e+00 -4.94011603e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03447628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.28, Y:-49.41, Z:-0.01 [[ 9.24841832e-01 3.80351925e-01 0.00000000e+00 2.19275911e+02] [-3.80351925e-01 9.24841832e-01 0.00000000e+00 -4.94110685e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06108740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.30, Y:-49.42, Z:-0.01 [[ 9.24330825e-01 3.81592094e-01 0.00000000e+00 2.19302999e+02] [-3.81592094e-01 9.24330825e-01 0.00000000e+00 -4.94209610e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.20488961e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.33, Y:-49.43, Z:-0.01 [[ 9.24356814e-01 3.81529135e-01 0.00000000e+00 2.19330229e+02] [-3.81529135e-01 9.24356814e-01 0.00000000e+00 -4.94293912e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.20488961e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.36, Y:-49.44, Z:-0.01 [[ 9.23821508e-01 3.82823487e-01 0.00000000e+00 2.19356956e+02] [-3.82823487e-01 9.23821508e-01 0.00000000e+00 -4.94387689e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.04054046e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.38, Y:-49.45, Z:-0.01 [[ 9.23255564e-01 3.84186366e-01 0.00000000e+00 2.19383680e+02] [-3.84186366e-01 9.23255564e-01 0.00000000e+00 -4.94473957e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.63615741e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.41, Y:-49.46, Z:-0.01 [[ 9.22352879e-01 3.86348503e-01 0.00000000e+00 2.19411570e+02] [-3.86348503e-01 9.22352879e-01 0.00000000e+00 -4.94557289e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.63853050e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.44, Y:-49.46, Z:-0.01 [[ 9.22393978e-01 3.86250371e-01 0.00000000e+00 2.19438475e+02] [-3.86250371e-01 9.22393978e-01 0.00000000e+00 -4.94636002e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.37577846e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.46, Y:-49.47, Z:-0.01 [[ 9.22709501e-01 3.85496014e-01 0.00000000e+00 2.19464307e+02] [-3.85496014e-01 9.22709501e-01 0.00000000e+00 -4.94711792e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.16688665e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.49, Y:-49.48, Z:-0.01 [[ 9.23256259e-01 3.84184696e-01 0.00000000e+00 2.19489736e+02] [-3.84184696e-01 9.23256259e-01 0.00000000e+00 -4.94793244e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.51709684e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.52, Y:-49.49, Z:-0.00 [[ 9.23994350e-01 3.82406121e-01 0.00000000e+00 2.19516572e+02] [-3.82406121e-01 9.23994350e-01 0.00000000e+00 -4.94886842e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.43820394e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.54, Y:-49.50, Z:-0.00 [[ 9.25560644e-01 3.78599384e-01 0.00000000e+00 2.19542279e+02] [-3.78599384e-01 9.25560644e-01 0.00000000e+00 -4.94993638e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.59951041e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.57, Y:-49.51, Z:-0.01 [[ 9.26284704e-01 3.76824425e-01 0.00000000e+00 2.19569448e+02] [-3.76824425e-01 9.26284704e-01 0.00000000e+00 -4.95082032e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.74606778e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.59, Y:-49.52, Z:-0.01 [[ 9.26938134e-01 3.75214200e-01 0.00000000e+00 2.19594945e+02] [-3.75214200e-01 9.26938134e-01 0.00000000e+00 -4.95163713e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.93224837e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.62, Y:-49.53, Z:-0.01 [[ 9.27434905e-01 3.73984622e-01 0.00000000e+00 2.19620802e+02] [-3.73984622e-01 9.27434905e-01 0.00000000e+00 -4.95257198e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.57336481e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.161400513 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:219.65, Y:-49.54, Z:-0.00 [[ 9.28367562e-01 3.71663382e-01 0.00000000e+00 2.19645807e+02] [-3.71663382e-01 9.28367562e-01 0.00000000e+00 -4.95374062e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.92566633e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.67, Y:-49.55, Z:-0.00 [[ 9.28624707e-01 3.71020422e-01 0.00000000e+00 2.19672375e+02] [-3.71020422e-01 9.28624707e-01 0.00000000e+00 -4.95471623e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.56214788e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.70, Y:-49.56, Z:-0.01 [[ 9.28755775e-01 3.70692205e-01 0.00000000e+00 2.19698346e+02] [-3.70692205e-01 9.28755775e-01 0.00000000e+00 -4.95560964e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.13852143e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.72, Y:-49.57, Z:-0.01 [[ 9.28804000e-01 3.70571355e-01 0.00000000e+00 2.19724240e+02] [-3.70571355e-01 9.28804000e-01 0.00000000e+00 -4.95650238e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.89948568e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.75, Y:-49.57, Z:-0.01 [[ 9.28743537e-01 3.70722864e-01 0.00000000e+00 2.19750911e+02] [-3.70722864e-01 9.28743537e-01 0.00000000e+00 -4.95749035e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.09186325e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.78, Y:-49.59, Z:-0.01 [[ 9.28707074e-01 3.70814200e-01 0.00000000e+00 2.19776844e+02] [-3.70814200e-01 9.28707074e-01 0.00000000e+00 -4.95880140e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.90625206e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.80, Y:-49.60, Z:-0.01 [[ 9.28691464e-01 3.70853294e-01 0.00000000e+00 2.19802433e+02] [-3.70853294e-01 9.28691464e-01 0.00000000e+00 -4.95984127e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.22948168e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.83, Y:-49.61, Z:-0.01 [[ 9.28621822e-01 3.71027644e-01 0.00000000e+00 2.19829772e+02] [-3.71027644e-01 9.28621822e-01 0.00000000e+00 -4.96089631e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.89912804e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.86, Y:-49.62, Z:-0.01 [[ 9.28480361e-01 3.71381501e-01 0.00000000e+00 2.19856956e+02] [-3.71381501e-01 9.28480361e-01 0.00000000e+00 -4.96191933e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.63469886e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.43140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.88, Y:-49.63, Z:-0.00 [[ 9.27891722e-01 3.72849773e-01 0.00000000e+00 2.19882133e+02] [-3.72849773e-01 9.27891722e-01 0.00000000e+00 -4.96322969e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.84920978e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.91, Y:-49.64, Z:-0.01 [[ 9.27559465e-01 3.73675579e-01 0.00000000e+00 2.19907663e+02] [-3.73675579e-01 9.27559465e-01 0.00000000e+00 -4.96422715e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.81578769e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.93, Y:-49.65, Z:-0.01 [[ 9.27329030e-01 3.74247072e-01 0.00000000e+00 2.19934965e+02] [-3.74247072e-01 9.27329030e-01 0.00000000e+00 -4.96514615e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.62491762e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.96, Y:-49.66, Z:-0.01 [[ 9.27088254e-01 3.74843125e-01 0.00000000e+00 2.19962676e+02] [-3.74843125e-01 9.27088254e-01 0.00000000e+00 -4.96605927e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.05106234e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.99, Y:-49.67, Z:-0.00 [[ 9.26512898e-01 3.76263006e-01 0.00000000e+00 2.19987882e+02] [-3.76263006e-01 9.26512898e-01 0.00000000e+00 -4.96725561e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.80129589e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.01, Y:-49.68, Z:-0.00 [[ 9.26378821e-01 3.76592991e-01 0.00000000e+00 2.20014061e+02] [-3.76592991e-01 9.26378821e-01 0.00000000e+00 -4.96833886e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.10751136e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.04, Y:-49.69, Z:-0.00 [[ 9.26416307e-01 3.76500764e-01 0.00000000e+00 2.20041137e+02] [-3.76500764e-01 9.26416307e-01 0.00000000e+00 -4.96936677e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06496383e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.07, Y:-49.70, Z:-0.00 [[ 9.26592762e-01 3.76066290e-01 0.00000000e+00 2.20068915e+02] [-3.76066290e-01 9.26592762e-01 0.00000000e+00 -4.97034871e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.65777958e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.10, Y:-49.71, Z:-0.00 [[ 9.26911376e-01 3.75280297e-01 0.00000000e+00 2.20096922e+02] [-3.75280297e-01 9.26911376e-01 0.00000000e+00 -4.97138884e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.56901671e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.13, Y:-49.72, Z:-0.01 [[ 9.27065583e-01 3.74899192e-01 0.00000000e+00 2.20125172e+02] [-3.74899192e-01 9.27065583e-01 0.00000000e+00 -4.97235496e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.74312427e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.15, Y:-49.73, Z:-0.01 [[ 9.27405532e-01 3.74057455e-01 0.00000000e+00 2.20152990e+02] [-3.74057455e-01 9.27405532e-01 0.00000000e+00 -4.97328616e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.49258761e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.18, Y:-49.74, Z:-0.01 [[ 9.27725884e-01 3.73262220e-01 0.00000000e+00 2.20182763e+02] [-3.73262220e-01 9.27725884e-01 0.00000000e+00 -4.97427120e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.05055778e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.21, Y:-49.75, Z:-0.01 [[ 9.28020982e-01 3.72527929e-01 0.00000000e+00 2.20211516e+02] [-3.72527929e-01 9.28020982e-01 0.00000000e+00 -4.97525133e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.58695523e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.24, Y:-49.76, Z:-0.01 [[ 9.28465166e-01 3.71419486e-01 0.00000000e+00 2.20238402e+02] [-3.71419486e-01 9.28465166e-01 0.00000000e+00 -4.97642253e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.38275108e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.27, Y:-49.77, Z:-0.01 [[ 9.28520923e-01 3.71280077e-01 0.00000000e+00 2.20267765e+02] [-3.71280077e-01 9.28520923e-01 0.00000000e+00 -4.97740233e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.97535903e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.30, Y:-49.78, Z:-0.01 [[ 9.28429861e-01 3.71507729e-01 0.00000000e+00 2.20297040e+02] [-3.71507729e-01 9.28429861e-01 0.00000000e+00 -4.97826597e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.39814521e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.33, Y:-49.79, Z:-0.00 [[ 9.27833650e-01 3.72994261e-01 0.00000000e+00 2.20326315e+02] [-3.72994261e-01 9.27833650e-01 0.00000000e+00 -4.97913408e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.07420506e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.36, Y:-49.80, Z:-0.00 [[ 9.27349085e-01 3.74197373e-01 0.00000000e+00 2.20355236e+02] [-3.74197373e-01 9.27349085e-01 0.00000000e+00 -4.98008003e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.26828356e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.38, Y:-49.81, Z:-0.00 [[ 9.26741464e-01 3.75699694e-01 0.00000000e+00 2.20383940e+02] [-3.75699694e-01 9.26741464e-01 0.00000000e+00 -4.98098605e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.65956823e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.41, Y:-49.82, Z:-0.01 [[ 9.26058698e-01 3.77379501e-01 0.00000000e+00 2.20411160e+02] [-3.77379501e-01 9.26058698e-01 0.00000000e+00 -4.98178317e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.49211966e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.44, Y:-49.82, Z:-0.01 [[ 9.24618245e-01 3.80895131e-01 0.00000000e+00 2.20438567e+02] [-3.80895131e-01 9.24618245e-01 0.00000000e+00 -4.98228448e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09889294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.47, Y:-49.83, Z:-0.01 [[ 9.23864736e-01 3.82719152e-01 0.00000000e+00 2.20466173e+02] [-3.82719152e-01 9.23864736e-01 0.00000000e+00 -4.98295339e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04985669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.50, Y:-49.84, Z:-0.01 [[ 9.23141699e-01 3.84459885e-01 0.00000000e+00 2.20495253e+02] [-3.84459885e-01 9.23141699e-01 0.00000000e+00 -4.98372379e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.51336213e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.52, Y:-49.84, Z:-0.01 [[ 9.22489233e-01 3.86022816e-01 0.00000000e+00 2.20521985e+02] [-3.86022816e-01 9.22489233e-01 0.00000000e+00 -4.98440405e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.61179871e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.55, Y:-49.85, Z:-0.01 [[ 9.22000166e-01 3.87189481e-01 0.00000000e+00 2.20549984e+02] [-3.87189481e-01 9.22000166e-01 0.00000000e+00 -4.98508386e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.06164491e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.58, Y:-49.86, Z:-0.01 [[ 9.21727584e-01 3.87837931e-01 0.00000000e+00 2.20577747e+02] [-3.87837931e-01 9.21727584e-01 0.00000000e+00 -4.98565432e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.05517637e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.61, Y:-49.86, Z:-0.01 [[ 9.21837543e-01 3.87576501e-01 0.00000000e+00 2.20606893e+02] [-3.87576501e-01 9.21837543e-01 0.00000000e+00 -4.98598808e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.27589598e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.63, Y:-49.87, Z:-0.01 [[ 9.22147066e-01 3.86839488e-01 0.00000000e+00 2.20633774e+02] [-3.86839488e-01 9.22147066e-01 0.00000000e+00 -4.98658888e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.86422285e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.66, Y:-49.87, Z:-0.01 [[ 9.22736534e-01 3.85431301e-01 0.00000000e+00 2.20662615e+02] [-3.85431301e-01 9.22736534e-01 0.00000000e+00 -4.98718447e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.73162166e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.69, Y:-49.88, Z:-0.01 [[ 9.24791308e-01 3.80474751e-01 0.00000000e+00 2.20691599e+02] [-3.80474751e-01 9.24791308e-01 0.00000000e+00 -4.98755294e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.41262102e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.72, Y:-49.88, Z:-0.01 [[ 9.26255964e-01 3.76895064e-01 0.00000000e+00 2.20718377e+02] [-3.76895064e-01 9.26255964e-01 0.00000000e+00 -4.98828065e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.32157660e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.75, Y:-49.89, Z:-0.01 [[ 9.27832528e-01 3.72997051e-01 0.00000000e+00 2.20746222e+02] [-3.72997051e-01 9.27832528e-01 0.00000000e+00 -4.98913990e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.72486495e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.77, Y:-49.90, Z:-0.01 [[ 9.29433655e-01 3.68989268e-01 0.00000000e+00 2.20772883e+02] [-3.68989268e-01 9.29433655e-01 0.00000000e+00 -4.98995193e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.69241512e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.80, Y:-49.91, Z:-0.01 [[ 9.32204534e-01 3.61931908e-01 0.00000000e+00 2.20800695e+02] [-3.61931908e-01 9.32204534e-01 0.00000000e+00 -4.99072649e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.24349469e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.83, Y:-49.92, Z:-0.01 [[ 9.33191362e-01 3.59379857e-01 0.00000000e+00 2.20827294e+02] [-3.59379857e-01 9.33191362e-01 0.00000000e+00 -4.99155530e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.33022739e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.86, Y:-49.93, Z:-0.00 [[ 9.33788587e-01 3.57825202e-01 0.00000000e+00 2.20855741e+02] [-3.57825202e-01 9.33788587e-01 0.00000000e+00 -4.99251364e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.87649120e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.88, Y:-49.93, Z:-0.00 [[ 9.33995617e-01 3.57284463e-01 0.00000000e+00 2.20882461e+02] [-3.57284463e-01 9.33995617e-01 0.00000000e+00 -4.99342890e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21600648e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.91, Y:-49.94, Z:-0.00 [[ 9.33798325e-01 3.57799787e-01 0.00000000e+00 2.20909171e+02] [-3.57799787e-01 9.33798325e-01 0.00000000e+00 -4.99431524e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09744352e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.94, Y:-49.95, Z:-0.00 [[ 9.33414550e-01 3.58799775e-01 0.00000000e+00 2.20936382e+02] [-3.58799775e-01 9.33414550e-01 0.00000000e+00 -4.99519692e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44891509e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.96, Y:-49.96, Z:-0.00 [[ 9.32657673e-01 3.60762617e-01 0.00000000e+00 2.20963066e+02] [-3.60762617e-01 9.32657673e-01 0.00000000e+00 -4.99632217e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88308511e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.99, Y:-49.97, Z:-0.00 [[ 9.32589773e-01 3.60938105e-01 0.00000000e+00 2.20989775e+02] [-3.60938105e-01 9.32589773e-01 0.00000000e+00 -4.99734883e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41424729e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.02, Y:-49.98, Z:-0.00 [[ 9.32642185e-01 3.60802653e-01 0.00000000e+00 2.21015943e+02] [-3.60802653e-01 9.32642185e-01 0.00000000e+00 -4.99831094e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.30369512e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.04, Y:-49.99, Z:0.00 [[ 9.32691634e-01 3.60674807e-01 0.00000000e+00 2.21043556e+02] [-3.60674807e-01 9.32691634e-01 0.00000000e+00 -4.99925788e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36444038e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.07, Y:-50.00, Z:0.00 [[ 9.32707603e-01 3.60633509e-01 0.00000000e+00 2.21071595e+02] [-3.60633509e-01 9.32707603e-01 0.00000000e+00 -5.00012145e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36444038e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.10, Y:-50.01, Z:0.00 [[ 9.32118682e-01 3.62152955e-01 0.00000000e+00 2.21098898e+02] [-3.62152955e-01 9.32118682e-01 0.00000000e+00 -5.00114761e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41574740e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.13, Y:-50.02, Z:0.00 [[ 9.31542027e-01 3.63633678e-01 0.00000000e+00 2.21126126e+02] [-3.63633678e-01 9.31542027e-01 0.00000000e+00 -5.00207448e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.58815594e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.811400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:221.15, Y:-50.03, Z:-0.00 [[ 9.30920291e-01 3.65222413e-01 0.00000000e+00 2.21154604e+02] [-3.65222413e-01 9.30920291e-01 0.00000000e+00 -5.00296620e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.44331322e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.18, Y:-50.04, Z:-0.00 [[ 9.30211918e-01 3.67022871e-01 0.00000000e+00 2.21181472e+02] [-3.67022871e-01 9.30211918e-01 0.00000000e+00 -5.00384751e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32686891e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.21, Y:-50.05, Z:-0.00 [[ 9.29528955e-01 3.68749131e-01 0.00000000e+00 2.21208583e+02] [-3.68749131e-01 9.29528955e-01 0.00000000e+00 -5.00471586e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.44543933e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.23, Y:-50.06, Z:-0.01 [[ 9.28112281e-01 3.72300407e-01 0.00000000e+00 2.21234918e+02] [-3.72300407e-01 9.28112281e-01 0.00000000e+00 -5.00556022e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.46015020e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.26, Y:-50.06, Z:-0.01 [[ 9.27616961e-01 3.73532828e-01 0.00000000e+00 2.21262892e+02] [-3.73532828e-01 9.27616961e-01 0.00000000e+00 -5.00638289e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.57308858e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.29, Y:-50.07, Z:-0.01 [[ 9.27294569e-01 3.74332449e-01 0.00000000e+00 2.21289836e+02] [-3.74332449e-01 9.27294569e-01 0.00000000e+00 -5.00714097e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.46091424e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.32, Y:-50.08, Z:-0.01 [[ 9.27214785e-01 3.74530028e-01 0.00000000e+00 2.21317261e+02] [-3.74530028e-01 9.27214785e-01 0.00000000e+00 -5.00793453e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.62504811e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02140051299997 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:221.34, Y:-50.09, Z:-0.01 [[ 9.27686217e-01 3.73360794e-01 0.00000000e+00 2.21344312e+02] [-3.73360794e-01 9.27686217e-01 0.00000000e+00 -5.00864907e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.60926534e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.37, Y:-50.09, Z:-0.01 [[ 9.28035951e-01 3.72490635e-01 0.00000000e+00 2.21371762e+02] [-3.72490635e-01 9.28035951e-01 0.00000000e+00 -5.00947769e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.47181649e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.40, Y:-50.10, Z:-0.01 [[ 9.28459762e-01 3.71432997e-01 0.00000000e+00 2.21399683e+02] [-3.71432997e-01 9.28459762e-01 0.00000000e+00 -5.01028624e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.68212001e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.43, Y:-50.11, Z:-0.01 [[ 9.28865569e-01 3.70417001e-01 0.00000000e+00 2.21426845e+02] [-3.70417001e-01 9.28865569e-01 0.00000000e+00 -5.01105791e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.61731051e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.45, Y:-50.12, Z:-0.01 [[ 9.29478246e-01 3.68876932e-01 0.00000000e+00 2.21454948e+02] [-3.68876932e-01 9.29478246e-01 0.00000000e+00 -5.01183824e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.79162333e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.48, Y:-50.12, Z:-0.01 [[ 9.31027273e-01 3.64949607e-01 0.00000000e+00 2.21481918e+02] [-3.64949607e-01 9.31027273e-01 0.00000000e+00 -5.01247511e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.58265859e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.51, Y:-50.13, Z:-0.00 [[ 9.31628468e-01 3.63412159e-01 0.00000000e+00 2.21509585e+02] [-3.63412159e-01 9.31628468e-01 0.00000000e+00 -5.01317734e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.77075231e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.54, Y:-50.14, Z:-0.00 [[ 9.31941632e-01 3.62608321e-01 0.00000000e+00 2.21537584e+02] [-3.62608321e-01 9.31941632e-01 0.00000000e+00 -5.01392004e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.18578441e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.57, Y:-50.15, Z:-0.00 [[ 9.31971281e-01 3.62532110e-01 0.00000000e+00 2.21566155e+02] [-3.62532110e-01 9.31971281e-01 0.00000000e+00 -5.01471316e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.05786655e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.59, Y:-50.15, Z:-0.01 [[ 9.31431130e-01 3.63917641e-01 0.00000000e+00 2.21594180e+02] [-3.63917641e-01 9.31431130e-01 0.00000000e+00 -5.01533920e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.02574178e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.62, Y:-50.16, Z:-0.01 [[ 9.31117092e-01 3.64720388e-01 0.00000000e+00 2.21621893e+02] [-3.64720388e-01 9.31117092e-01 0.00000000e+00 -5.01600353e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.02775840e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.65, Y:-50.17, Z:-0.01 [[ 9.30834333e-01 3.65441437e-01 0.00000000e+00 2.21649146e+02] [-3.65441437e-01 9.30834333e-01 0.00000000e+00 -5.01671374e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.16243219e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.68, Y:-50.18, Z:-0.01 [[ 9.30596827e-01 3.66045824e-01 0.00000000e+00 2.21677141e+02] [-3.66045824e-01 9.30596827e-01 0.00000000e+00 -5.01751743e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.55639506e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.70, Y:-50.18, Z:-0.00 [[ 9.29768397e-01 3.68144981e-01 0.00000000e+00 2.21703807e+02] [-3.68144981e-01 9.29768397e-01 0.00000000e+00 -5.01842061e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.24274599e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.73, Y:-50.19, Z:-0.01 [[ 9.29336770e-01 3.69233215e-01 0.00000000e+00 2.21731742e+02] [-3.69233215e-01 9.29336770e-01 0.00000000e+00 -5.01927688e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.37087852e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.76, Y:-50.20, Z:-0.01 [[ 9.28966247e-01 3.70164438e-01 0.00000000e+00 2.21758687e+02] [-3.70164438e-01 9.28966247e-01 0.00000000e+00 -5.02002942e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.53746447e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.501400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:221.79, Y:-50.21, Z:-0.01 [[ 9.28709999e-01 3.70806873e-01 0.00000000e+00 2.21786920e+02] [-3.70806873e-01 9.28709999e-01 0.00000000e+00 -5.02080171e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.08539237e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.81, Y:-50.22, Z:-0.01 [[ 9.28307063e-01 3.71814465e-01 0.00000000e+00 2.21814292e+02] [-3.71814465e-01 9.28307063e-01 0.00000000e+00 -5.02171958e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.56346061e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.84, Y:-50.23, Z:-0.01 [[ 9.27568641e-01 3.73652801e-01 0.00000000e+00 2.21840075e+02] [-3.73652801e-01 9.27568641e-01 0.00000000e+00 -5.02286180e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.71487032e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.87, Y:-50.24, Z:-0.01 [[ 9.27324878e-01 3.74257359e-01 0.00000000e+00 2.21867580e+02] [-3.74257359e-01 9.27324878e-01 0.00000000e+00 -5.02381634e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.61344742e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.89, Y:-50.25, Z:-0.01 [[ 9.27113244e-01 3.74781314e-01 0.00000000e+00 2.21894637e+02] [-3.74781314e-01 9.27113244e-01 0.00000000e+00 -5.02474889e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.10615992e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.92, Y:-50.26, Z:-0.01 [[ 9.26944530e-01 3.75198399e-01 0.00000000e+00 2.21922231e+02] [-3.75198399e-01 9.26944530e-01 0.00000000e+00 -5.02571733e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.90348793e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68140051299997 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:221.95, Y:-50.27, Z:-0.01 [[ 9.26514125e-01 3.76259985e-01 0.00000000e+00 2.21949373e+02] [-3.76259985e-01 9.26514125e-01 0.00000000e+00 -5.02686129e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.06974564e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.98, Y:-50.28, Z:-0.01 [[ 9.26062574e-01 3.77369991e-01 0.00000000e+00 2.21976521e+02] [-3.77369991e-01 9.26062574e-01 0.00000000e+00 -5.02779721e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.13882126e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.00, Y:-50.29, Z:-0.01 [[ 9.25693703e-01 3.78273933e-01 0.00000000e+00 2.22003086e+02] [-3.78273933e-01 9.25693703e-01 0.00000000e+00 -5.02853232e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.61747277e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.03, Y:-50.29, Z:-0.01 [[ 9.25255600e-01 3.79344269e-01 0.00000000e+00 2.22031896e+02] [-3.79344269e-01 9.25255600e-01 0.00000000e+00 -5.02936295e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25936875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.06, Y:-50.30, Z:-0.01 [[ 9.25207730e-01 3.79461008e-01 0.00000000e+00 2.22059410e+02] [-3.79461008e-01 9.25207730e-01 0.00000000e+00 -5.03028358e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45906858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.09, Y:-50.31, Z:-0.02 [[ 9.25287435e-01 3.79266611e-01 0.00000000e+00 2.22085887e+02] [-3.79266611e-01 9.25287435e-01 0.00000000e+00 -5.03114719e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56795422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.11, Y:-50.32, Z:-0.01 [[ 9.25565095e-01 3.78588502e-01 0.00000000e+00 2.22113392e+02] [-3.78588502e-01 9.25565095e-01 0.00000000e+00 -5.03199610e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46690348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.14, Y:-50.33, Z:-0.01 [[ 9.26348543e-01 3.76667462e-01 0.00000000e+00 2.22140802e+02] [-3.76667462e-01 9.26348543e-01 0.00000000e+00 -5.03269425e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22616050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.17, Y:-50.33, Z:-0.01 [[ 9.26626561e-01 3.75983001e-01 0.00000000e+00 2.22168844e+02] [-3.75983001e-01 9.26626561e-01 0.00000000e+00 -5.03344822e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27156104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.20, Y:-50.34, Z:-0.01 [[ 9.26698517e-01 3.75805612e-01 0.00000000e+00 2.22196213e+02] [-3.75805612e-01 9.26698517e-01 0.00000000e+00 -5.03416799e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38540017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.22, Y:-50.35, Z:-0.01 [[ 9.26817803e-01 3.75511331e-01 0.00000000e+00 2.22223536e+02] [-3.75511331e-01 9.26817803e-01 0.00000000e+00 -5.03484705e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39703729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.25, Y:-50.36, Z:-0.01 [[ 9.27127156e-01 3.74746896e-01 0.00000000e+00 2.22251975e+02] [-3.74746896e-01 9.27127156e-01 0.00000000e+00 -5.03553551e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31285138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.28, Y:-50.36, Z:-0.01 [[ 9.28189075e-01 3.72108911e-01 0.00000000e+00 2.22279152e+02] [-3.72108911e-01 9.28189075e-01 0.00000000e+00 -5.03616294e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35521290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.31, Y:-50.37, Z:-0.01 [[ 9.28989731e-01 3.70105498e-01 0.00000000e+00 2.22307018e+02] [-3.70105498e-01 9.28989731e-01 0.00000000e+00 -5.03699846e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35367753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.34, Y:-50.38, Z:-0.01 [[ 9.29919900e-01 3.67762125e-01 0.00000000e+00 2.22335834e+02] [-3.67762125e-01 9.29919900e-01 0.00000000e+00 -5.03787705e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21038247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.36, Y:-50.39, Z:-0.01 [[ 9.30935018e-01 3.65184874e-01 0.00000000e+00 2.22364157e+02] [-3.65184874e-01 9.30935018e-01 0.00000000e+00 -5.03871242e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10633622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.39, Y:-50.40, Z:-0.01 [[ 9.32689348e-01 3.60680718e-01 0.00000000e+00 2.22392690e+02] [-3.60680718e-01 9.32689348e-01 0.00000000e+00 -5.03958751e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.68114112e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.42, Y:-50.40, Z:-0.01 [[ 9.33235077e-01 3.59266323e-01 0.00000000e+00 2.22419667e+02] [-3.59266323e-01 9.33235077e-01 0.00000000e+00 -5.04043078e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.54176767e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.45, Y:-50.41, Z:-0.01 [[ 9.33492364e-01 3.58597277e-01 0.00000000e+00 2.22447691e+02] [-3.58597277e-01 9.33492364e-01 0.00000000e+00 -5.04126493e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.91514894e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.48, Y:-50.42, Z:-0.01 [[ 9.33469763e-01 3.58656106e-01 0.00000000e+00 2.22475304e+02] [-3.58656106e-01 9.33469763e-01 0.00000000e+00 -5.04209052e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03394729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.50, Y:-50.43, Z:-0.01 [[ 9.33253960e-01 3.59217270e-01 0.00000000e+00 2.22501554e+02] [-3.59217270e-01 9.33253960e-01 0.00000000e+00 -5.04291230e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19656419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.53, Y:-50.44, Z:-0.01 [[ 9.32921830e-01 3.60078962e-01 0.00000000e+00 2.22528980e+02] [-3.60078962e-01 9.32921830e-01 0.00000000e+00 -5.04379565e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13219321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.56, Y:-50.45, Z:-0.01 [[ 9.32292324e-01 3.61705712e-01 0.00000000e+00 2.22556890e+02] [-3.61705712e-01 9.32292324e-01 0.00000000e+00 -5.04480380e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05398183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.58, Y:-50.46, Z:-0.01 [[ 9.31845199e-01 3.62856067e-01 0.00000000e+00 2.22584183e+02] [-3.62856067e-01 9.31845199e-01 0.00000000e+00 -5.04569876e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21654176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.61, Y:-50.47, Z:-0.01 [[ 9.31427458e-01 3.63927039e-01 0.00000000e+00 2.22610831e+02] [-3.63927039e-01 9.31427458e-01 0.00000000e+00 -5.04658656e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35824235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.64, Y:-50.48, Z:-0.01 [[ 9.31106894e-01 3.64746421e-01 0.00000000e+00 2.22637459e+02] [-3.64746421e-01 9.31106894e-01 0.00000000e+00 -5.04758659e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23708280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.66, Y:-50.49, Z:-0.01 [[ 9.30696387e-01 3.65792611e-01 0.00000000e+00 2.22662869e+02] [-3.65792611e-01 9.30696387e-01 0.00000000e+00 -5.04888767e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.48382388e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.69, Y:-50.50, Z:-0.01 [[ 9.30421193e-01 3.66492023e-01 0.00000000e+00 2.22690017e+02] [-3.66492023e-01 9.30421193e-01 0.00000000e+00 -5.04992862e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.53743341e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.72, Y:-50.51, Z:-0.01 [[ 9.30058227e-01 3.67412158e-01 0.00000000e+00 2.22717565e+02] [-3.67412158e-01 9.30058227e-01 0.00000000e+00 -5.05090087e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.62853504e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.75, Y:-50.52, Z:-0.01 [[ 9.29425704e-01 3.69009296e-01 0.00000000e+00 2.22746536e+02] [-3.69009296e-01 9.29425704e-01 0.00000000e+00 -5.05192570e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16512081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.77, Y:-50.53, Z:-0.01 [[ 9.29177701e-01 3.69633332e-01 0.00000000e+00 2.22774334e+02] [-3.69633332e-01 9.29177701e-01 0.00000000e+00 -5.05287719e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14053265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.80, Y:-50.54, Z:-0.01 [[ 9.29185905e-01 3.69612708e-01 0.00000000e+00 2.22803178e+02] [-3.69612708e-01 9.29185905e-01 0.00000000e+00 -5.05376143e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14053265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.83, Y:-50.55, Z:-0.01 [[ 9.29043924e-01 3.69969442e-01 0.00000000e+00 2.22830938e+02] [-3.69969442e-01 9.29043924e-01 0.00000000e+00 -5.05475801e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04072837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.86, Y:-50.56, Z:-0.01 [[ 9.28968318e-01 3.70159241e-01 0.00000000e+00 2.22858130e+02] [-3.70159241e-01 9.28968318e-01 0.00000000e+00 -5.05570381e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.26737302e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.88, Y:-50.57, Z:-0.01 [[ 9.29061802e-01 3.69924544e-01 0.00000000e+00 2.22884677e+02] [-3.69924544e-01 9.29061802e-01 0.00000000e+00 -5.05651747e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.96562275e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.91, Y:-50.57, Z:-0.01 [[ 9.29748083e-01 3.68196283e-01 0.00000000e+00 2.22911993e+02] [-3.68196283e-01 9.29748083e-01 0.00000000e+00 -5.05737620e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.91456444e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.94, Y:-50.58, Z:-0.01 [[ 9.30355942e-01 3.66657634e-01 0.00000000e+00 2.22941069e+02] [-3.66657634e-01 9.30355942e-01 0.00000000e+00 -5.05834433e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.97255372e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.97, Y:-50.59, Z:-0.01 [[ 9.31084755e-01 3.64802933e-01 0.00000000e+00 2.22967945e+02] [-3.64802933e-01 9.31084755e-01 0.00000000e+00 -5.05921705e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.14506835e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.00, Y:-50.60, Z:-0.01 [[ 9.32054855e-01 3.62317191e-01 0.00000000e+00 2.22996899e+02] [-3.62317191e-01 9.32054855e-01 0.00000000e+00 -5.06005680e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.28388992e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.02, Y:-50.61, Z:-0.01 [[ 9.33063545e-01 3.59711580e-01 0.00000000e+00 2.23024942e+02] [-3.59711580e-01 9.33063545e-01 0.00000000e+00 -5.06077855e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.78361844e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.05, Y:-50.62, Z:-0.01 [[ 9.34126157e-01 3.56943025e-01 0.00000000e+00 2.23054628e+02] [-3.56943025e-01 9.34126157e-01 0.00000000e+00 -5.06152527e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.12479154e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.08, Y:-50.62, Z:-0.01 [[ 9.36329617e-01 3.51122270e-01 0.00000000e+00 2.23083748e+02] [-3.51122270e-01 9.36329617e-01 0.00000000e+00 -5.06231796e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.89747971e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.11, Y:-50.63, Z:-0.01 [[ 9.37457872e-01 3.48098747e-01 0.00000000e+00 2.23112881e+02] [-3.48098747e-01 9.37457872e-01 0.00000000e+00 -5.06319770e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.56249621e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.14, Y:-50.64, Z:-0.00 [[ 9.39447719e-01 3.42692259e-01 0.00000000e+00 2.23141094e+02] [-3.42692259e-01 9.39447719e-01 0.00000000e+00 -5.06375429e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.38502155e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.17, Y:-50.64, Z:-0.00 [[ 9.40511653e-01 3.39761431e-01 0.00000000e+00 2.23172459e+02] [-3.39761431e-01 9.40511653e-01 0.00000000e+00 -5.06445947e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.35353904e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.20, Y:-50.65, Z:-0.00 [[ 9.41373257e-01 3.37366848e-01 0.00000000e+00 2.23204355e+02] [-3.37366848e-01 9.41373257e-01 0.00000000e+00 -5.06520325e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.96463868e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.23, Y:-50.66, Z:-0.00 [[ 9.42078580e-01 3.35392233e-01 0.00000000e+00 2.23234909e+02] [-3.35392233e-01 9.42078580e-01 0.00000000e+00 -5.06596469e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.86780202e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.26, Y:-50.66, Z:-0.00 [[ 9.42975470e-01 3.32862227e-01 0.00000000e+00 2.23264257e+02] [-3.32862227e-01 9.42975470e-01 0.00000000e+00 -5.06629829e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.50625712e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.29, Y:-50.67, Z:-0.00 [[ 9.43365794e-01 3.31754396e-01 0.00000000e+00 2.23293558e+02] [-3.31754396e-01 9.43365794e-01 0.00000000e+00 -5.06670768e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50702692e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.32, Y:-50.67, Z:0.00 [[ 9.43606422e-01 3.31069359e-01 0.00000000e+00 2.23322470e+02] [-3.31069359e-01 9.43606422e-01 0.00000000e+00 -5.06709107e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.19371218e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.35, Y:-50.67, Z:0.00 [[ 9.43723580e-01 3.30735247e-01 0.00000000e+00 2.23351252e+02] [-3.30735247e-01 9.43723580e-01 0.00000000e+00 -5.06749531e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57152664e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.38, Y:-50.68, Z:0.00 [[ 9.43672169e-01 3.30881908e-01 0.00000000e+00 2.23378698e+02] [-3.30881908e-01 9.43672169e-01 0.00000000e+00 -5.06799645e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99079811e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.41, Y:-50.68, Z:0.00 [[ 9.43855644e-01 3.30358175e-01 0.00000000e+00 2.23407903e+02] [-3.30358175e-01 9.43855644e-01 0.00000000e+00 -5.06830474e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.85186590e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.44, Y:-50.69, Z:0.00 [[ 9.44264576e-01 3.29187500e-01 0.00000000e+00 2.23435806e+02] [-3.29187500e-01 9.44264576e-01 0.00000000e+00 -5.06875326e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.39123322e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.46, Y:-50.69, Z:-0.00 [[ 9.44904776e-01 3.27345329e-01 0.00000000e+00 2.23463381e+02] [-3.27345329e-01 9.44904776e-01 0.00000000e+00 -5.06912953e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.67631873e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.49, Y:-50.70, Z:-0.00 [[ 9.45731247e-01 3.24949856e-01 0.00000000e+00 2.23491436e+02] [-3.24949856e-01 9.45731247e-01 0.00000000e+00 -5.06968679e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71995643e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.52, Y:-50.70, Z:-0.00 [[ 9.46818538e-01 3.21768015e-01 0.00000000e+00 2.23519545e+02] [-3.21768015e-01 9.46818538e-01 0.00000000e+00 -5.07040393e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.72963910e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.55, Y:-50.71, Z:-0.00 [[ 9.49026955e-01 3.15194922e-01 0.00000000e+00 2.23546576e+02] [-3.15194922e-01 9.49026955e-01 0.00000000e+00 -5.07108170e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.36642567e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.57, Y:-50.72, Z:-0.00 [[ 9.50025020e-01 3.12173768e-01 0.00000000e+00 2.23574844e+02] [-3.12173768e-01 9.50025020e-01 0.00000000e+00 -5.07186397e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.65202420e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.60, Y:-50.73, Z:-0.00 [[ 9.50902808e-01 3.09489659e-01 0.00000000e+00 2.23601210e+02] [-3.09489659e-01 9.50902808e-01 0.00000000e+00 -5.07266622e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.73163935e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.63, Y:-50.74, Z:-0.00 [[ 9.52174936e-01 3.05553418e-01 0.00000000e+00 2.23627811e+02] [-3.05553418e-01 9.52174936e-01 0.00000000e+00 -5.07378751e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.64992553e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.66, Y:-50.75, Z:-0.00 [[ 9.52608509e-01 3.04198994e-01 0.00000000e+00 2.23655994e+02] [-3.04198994e-01 9.52608509e-01 0.00000000e+00 -5.07480017e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.62732659e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.68, Y:-50.76, Z:-0.00 [[ 9.52817726e-01 3.03543047e-01 0.00000000e+00 2.23682012e+02] [-3.03543047e-01 9.52817726e-01 0.00000000e+00 -5.07565594e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47681747e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.71, Y:-50.76, Z:-0.00 [[ 9.52824768e-01 3.03520941e-01 0.00000000e+00 2.23708362e+02] [-3.03520941e-01 9.52824768e-01 0.00000000e+00 -5.07646115e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.79606506e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.74, Y:-50.77, Z:-0.00 [[ 9.52552820e-01 3.04373332e-01 0.00000000e+00 2.23735980e+02] [-3.04373332e-01 9.52552820e-01 0.00000000e+00 -5.07733039e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.86602454e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.76, Y:-50.78, Z:-0.01 [[ 9.52217192e-01 3.05421708e-01 0.00000000e+00 2.23763992e+02] [-3.05421708e-01 9.52217192e-01 0.00000000e+00 -5.07815927e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.16855614e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.79, Y:-50.79, Z:-0.00 [[ 9.51839905e-01 3.06595490e-01 0.00000000e+00 2.23791276e+02] [-3.06595490e-01 9.51839905e-01 0.00000000e+00 -5.07884661e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.93629140e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.82, Y:-50.79, Z:-0.00 [[ 9.51449579e-01 3.07804645e-01 0.00000000e+00 2.23819772e+02] [-3.07804645e-01 9.51449579e-01 0.00000000e+00 -5.07949587e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.27315361e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.85, Y:-50.80, Z:0.00 [[ 9.50551174e-01 3.10567973e-01 0.00000000e+00 2.23848878e+02] [-3.10567973e-01 9.50551174e-01 0.00000000e+00 -5.07992497e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81464368e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.88, Y:-50.80, Z:-0.00 [[ 9.50104341e-01 3.11932270e-01 0.00000000e+00 2.23876750e+02] [-3.11932270e-01 9.50104341e-01 0.00000000e+00 -5.08045874e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.69526746e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.90, Y:-50.81, Z:-0.00 [[ 9.49620034e-01 3.13403559e-01 0.00000000e+00 2.23903635e+02] [-3.13403559e-01 9.49620034e-01 0.00000000e+00 -5.08084594e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.38859778e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.93, Y:-50.81, Z:-0.01 [[ 9.49145293e-01 3.14838391e-01 0.00000000e+00 2.23932361e+02] [-3.14838391e-01 9.49145293e-01 0.00000000e+00 -5.08121262e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.54213456e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.96, Y:-50.82, Z:-0.01 [[ 9.48752914e-01 3.16018841e-01 0.00000000e+00 2.23960636e+02] [-3.16018841e-01 9.48752914e-01 0.00000000e+00 -5.08160446e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.29881788e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.99, Y:-50.82, Z:-0.01 [[ 9.48473111e-01 3.16857630e-01 0.00000000e+00 2.23989504e+02] [-3.16857630e-01 9.48473111e-01 0.00000000e+00 -5.08162113e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.57332503e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.02, Y:-50.82, Z:-0.01 [[ 9.48646889e-01 3.16336972e-01 0.00000000e+00 2.24016683e+02] [-3.16336972e-01 9.48646889e-01 0.00000000e+00 -5.08201385e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.97978273e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.93140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.04, Y:-50.82, Z:-0.01 [[ 9.49066382e-01 3.15076185e-01 0.00000000e+00 2.24044529e+02] [-3.15076185e-01 9.49066382e-01 0.00000000e+00 -5.08240926e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.55097329e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96140051299997 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:224.07, Y:-50.83, Z:-0.01 [[ 9.49638866e-01 3.13346494e-01 0.00000000e+00 2.24072213e+02] [-3.13346494e-01 9.49638866e-01 0.00000000e+00 -5.08286834e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.67909620e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.10, Y:-50.83, Z:-0.01 [[ 9.50579590e-01 3.10480985e-01 0.00000000e+00 2.24099458e+02] [-3.10480985e-01 9.50579590e-01 0.00000000e+00 -5.08322980e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.84747965e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.13, Y:-50.84, Z:-0.00 [[ 9.50896278e-01 3.09509722e-01 0.00000000e+00 2.24126115e+02] [-3.09509722e-01 9.50896278e-01 0.00000000e+00 -5.08386273e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.79511430e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.15, Y:-50.84, Z:-0.00 [[ 9.50764721e-01 3.09913608e-01 0.00000000e+00 2.24153211e+02] [-3.09913608e-01 9.50764721e-01 0.00000000e+00 -5.08418019e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71745772e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.18, Y:-50.85, Z:0.00 [[ 9.50159691e-01 3.11763630e-01 0.00000000e+00 2.24181370e+02] [-3.11763630e-01 9.50159691e-01 0.00000000e+00 -5.08464818e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.85607644e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.21, Y:-50.85, Z:0.00 [[ 9.49226399e-01 3.14593775e-01 0.00000000e+00 2.24208911e+02] [-3.14593775e-01 9.49226399e-01 0.00000000e+00 -5.08511105e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27855196e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.24, Y:-50.86, Z:-0.00 [[ 9.48267372e-01 3.17472821e-01 0.00000000e+00 2.24236594e+02] [-3.17472821e-01 9.48267372e-01 0.00000000e+00 -5.08559768e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18228304e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.26, Y:-50.86, Z:-0.00 [[ 9.47178263e-01 3.20707558e-01 0.00000000e+00 2.24263402e+02] [-3.20707558e-01 9.47178263e-01 0.00000000e+00 -5.08615762e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.23925016e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.29, Y:-50.87, Z:-0.00 [[ 9.46242618e-01 3.23457737e-01 0.00000000e+00 2.24291063e+02] [-3.23457737e-01 9.46242618e-01 0.00000000e+00 -5.08679096e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.50639190e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.32, Y:-50.87, Z:-0.00 [[ 9.44626524e-01 3.28147423e-01 0.00000000e+00 2.24318764e+02] [-3.28147423e-01 9.44626524e-01 0.00000000e+00 -5.08733300e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.32284601e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.35, Y:-50.88, Z:0.00 [[ 9.43990026e-01 3.29973985e-01 0.00000000e+00 2.24345184e+02] [-3.29973985e-01 9.43990026e-01 0.00000000e+00 -5.08796644e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10943106e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.37, Y:-50.89, Z:0.00 [[ 9.43526009e-01 3.31298460e-01 0.00000000e+00 2.24371305e+02] [-3.31298460e-01 9.43526009e-01 0.00000000e+00 -5.08852633e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69554150e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.40, Y:-50.89, Z:0.00 [[ 9.43100047e-01 3.32509099e-01 0.00000000e+00 2.24399292e+02] [-3.32509099e-01 9.43100047e-01 0.00000000e+00 -5.08909772e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90553111e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.43, Y:-50.90, Z:0.00 [[ 9.42565632e-01 3.34021000e-01 0.00000000e+00 2.24426546e+02] [-3.34021000e-01 9.42565632e-01 0.00000000e+00 -5.08962195e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97919593e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.45, Y:-50.90, Z:-0.00 [[ 9.41427424e-01 3.37215666e-01 0.00000000e+00 2.24454631e+02] [-3.37215666e-01 9.41427424e-01 0.00000000e+00 -5.08991625e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01725735e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.48, Y:-50.91, Z:-0.00 [[ 9.40809417e-01 3.38936044e-01 0.00000000e+00 2.24481695e+02] [-3.38936044e-01 9.40809417e-01 0.00000000e+00 -5.09052279e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.89592968e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.51, Y:-50.91, Z:0.00 [[ 9.40193582e-01 3.40640614e-01 0.00000000e+00 2.24508424e+02] [-3.40640614e-01 9.40193582e-01 0.00000000e+00 -5.09112192e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28617457e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.54, Y:-50.92, Z:-0.00 [[ 9.39661845e-01 3.42104686e-01 0.00000000e+00 2.24535972e+02] [-3.42104686e-01 9.39661845e-01 0.00000000e+00 -5.09162739e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07319750e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.56, Y:-50.92, Z:-0.00 [[ 9.39843045e-01 3.41606572e-01 0.00000000e+00 2.24563265e+02] [-3.41606572e-01 9.39843045e-01 0.00000000e+00 -5.09230620e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.36880659e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.59, Y:-50.93, Z:-0.00 [[ 9.39905878e-01 3.41433654e-01 0.00000000e+00 2.24590575e+02] [-3.41433654e-01 9.39905878e-01 0.00000000e+00 -5.09311939e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.36880659e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.62, Y:-50.94, Z:-0.00 [[ 9.40102041e-01 3.40893170e-01 0.00000000e+00 2.24616823e+02] [-3.40893170e-01 9.40102041e-01 0.00000000e+00 -5.09374825e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.74650812e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.64, Y:-50.94, Z:-0.00 [[ 9.40426400e-01 3.39997332e-01 0.00000000e+00 2.24644572e+02] [-3.39997332e-01 9.40426400e-01 0.00000000e+00 -5.09420782e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81510530e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.67, Y:-50.95, Z:-0.00 [[ 9.40468373e-01 3.39881213e-01 0.00000000e+00 2.24671563e+02] [-3.39881213e-01 9.40468373e-01 0.00000000e+00 -5.09483362e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.25555951e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.70, Y:-50.95, Z:-0.00 [[ 9.40381662e-01 3.40121052e-01 0.00000000e+00 2.24698411e+02] [-3.40121052e-01 9.40381662e-01 0.00000000e+00 -5.09548520e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29343662e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.72, Y:-50.96, Z:-0.00 [[ 9.40088734e-01 3.40929865e-01 0.00000000e+00 2.24724870e+02] [-3.40929865e-01 9.40088734e-01 0.00000000e+00 -5.09621820e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13356953e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.75, Y:-50.97, Z:-0.00 [[ 9.39799492e-01 3.41726374e-01 0.00000000e+00 2.24751808e+02] [-3.41726374e-01 9.39799492e-01 0.00000000e+00 -5.09701512e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.40508464e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.78, Y:-50.98, Z:-0.00 [[ 9.38988497e-01 3.43948547e-01 0.00000000e+00 2.24779445e+02] [-3.43948547e-01 9.38988497e-01 0.00000000e+00 -5.09769666e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77784027e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.81, Y:-50.98, Z:-0.00 [[ 9.38423942e-01 3.45485897e-01 0.00000000e+00 2.24805970e+02] [-3.45485897e-01 9.38423942e-01 0.00000000e+00 -5.09831363e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09093065e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.83, Y:-50.99, Z:0.00 [[ 9.37756290e-01 3.47294026e-01 0.00000000e+00 2.24833084e+02] [-3.47294026e-01 9.37756290e-01 0.00000000e+00 -5.09893673e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.21590376e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.86, Y:-51.00, Z:0.00 [[ 9.37065433e-01 3.49153796e-01 0.00000000e+00 2.24860551e+02] [-3.49153796e-01 9.37065433e-01 0.00000000e+00 -5.09963173e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58182568e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86140051299998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:224.89, Y:-51.00, Z:0.00 [[ 9.36472198e-01 3.50741816e-01 0.00000000e+00 2.24887391e+02] [-3.50741816e-01 9.36472198e-01 0.00000000e+00 -5.10036450e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93062820e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.91, Y:-51.01, Z:0.00 [[ 9.35471774e-01 3.53401414e-01 0.00000000e+00 2.24914090e+02] [-3.53401414e-01 9.35471774e-01 0.00000000e+00 -5.10088910e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58563169e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.94, Y:-51.02, Z:0.00 [[ 9.35220121e-01 3.54066838e-01 0.00000000e+00 2.24941749e+02] [-3.54066838e-01 9.35220121e-01 0.00000000e+00 -5.10153284e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.69517860e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.97, Y:-51.02, Z:-0.00 [[ 9.35138307e-01 3.54282863e-01 0.00000000e+00 2.24967860e+02] [-3.54282863e-01 9.35138307e-01 0.00000000e+00 -5.10223278e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.16591838e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.99, Y:-51.03, Z:-0.00 [[ 9.35637744e-01 3.52961770e-01 0.00000000e+00 2.24993053e+02] [-3.52961770e-01 9.35637744e-01 0.00000000e+00 -5.10305704e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06288085e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.01140051299998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:225.02, Y:-51.04, Z:0.00 [[ 9.36447134e-01 3.50808729e-01 0.00000000e+00 2.25021826e+02] [-3.50808729e-01 9.36447134e-01 0.00000000e+00 -5.10398431e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65409401e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.05, Y:-51.05, Z:0.00 [[ 9.37002357e-01 3.49323036e-01 0.00000000e+00 2.25047619e+02] [-3.49323036e-01 9.37002357e-01 0.00000000e+00 -5.10470154e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.20675712e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.071400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:225.07, Y:-51.05, Z:0.00 [[ 9.37842349e-01 3.47061564e-01 0.00000000e+00 2.25074222e+02] [-3.47061564e-01 9.37842349e-01 0.00000000e+00 -5.10539727e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14314359e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.101400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:225.10, Y:-51.06, Z:0.00 [[ 9.38601255e-01 3.45003890e-01 0.00000000e+00 2.25100372e+02] [-3.45003890e-01 9.38601255e-01 0.00000000e+00 -5.10644365e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74423247e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.13, Y:-51.07, Z:0.00 [[ 9.38738918e-01 3.44629139e-01 0.00000000e+00 2.25125036e+02] [-3.44629139e-01 9.38738918e-01 0.00000000e+00 -5.10747022e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46127119e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.15, Y:-51.08, Z:0.00 [[ 9.39132921e-01 3.43554008e-01 0.00000000e+00 2.25151258e+02] [-3.43554008e-01 9.39132921e-01 0.00000000e+00 -5.10849289e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15744951e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.18, Y:-51.10, Z:0.00 [[ 9.39473887e-01 3.42620513e-01 0.00000000e+00 2.25177246e+02] [-3.42620513e-01 9.39473887e-01 0.00000000e+00 -5.10950456e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12319171e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.20, Y:-51.11, Z:0.00 [[ 9.39671500e-01 3.42078167e-01 0.00000000e+00 2.25199778e+02] [-3.42078167e-01 9.39671500e-01 0.00000000e+00 -5.11067314e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37893582e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.23, Y:-51.12, Z:0.00 [[ 9.39615857e-01 3.42230978e-01 0.00000000e+00 2.25227120e+02] [-3.42230978e-01 9.39615857e-01 0.00000000e+00 -5.11180909e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12974275e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.25, Y:-51.13, Z:0.00 [[ 9.39287135e-01 3.43132159e-01 0.00000000e+00 2.25253927e+02] [-3.43132159e-01 9.39287135e-01 0.00000000e+00 -5.11276810e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17692951e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.28, Y:-51.14, Z:-0.00 [[ 9.38777074e-01 3.44525188e-01 0.00000000e+00 2.25280905e+02] [-3.44525188e-01 9.38777074e-01 0.00000000e+00 -5.11366160e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07565412e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.31, Y:-51.15, Z:-0.00 [[ 9.37574522e-01 3.47784438e-01 0.00000000e+00 2.25306588e+02] [-3.47784438e-01 9.37574522e-01 0.00000000e+00 -5.11474456e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.18175015e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.33, Y:-51.16, Z:-0.00 [[ 9.37096749e-01 3.49069738e-01 0.00000000e+00 2.25332723e+02] [-3.49069738e-01 9.37096749e-01 0.00000000e+00 -5.11572709e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24213882e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.36, Y:-51.17, Z:-0.00 [[ 9.36585181e-01 3.50440008e-01 0.00000000e+00 2.25359254e+02] [-3.50440008e-01 9.36585181e-01 0.00000000e+00 -5.11668186e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18436261e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.38, Y:-51.17, Z:-0.00 [[ 9.35930176e-01 3.52185611e-01 0.00000000e+00 2.25384603e+02] [-3.52185611e-01 9.35930176e-01 0.00000000e+00 -5.11749025e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.27014747e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.41, Y:-51.18, Z:-0.00 [[ 9.34356480e-01 3.56339680e-01 0.00000000e+00 2.25411091e+02] [-3.56339680e-01 9.34356480e-01 0.00000000e+00 -5.11828116e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.09609584e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.44, Y:-51.19, Z:-0.00 [[ 9.33704517e-01 3.58044514e-01 0.00000000e+00 2.25437232e+02] [-3.58044514e-01 9.33704517e-01 0.00000000e+00 -5.11921326e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53201185e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.46, Y:-51.20, Z:0.00 [[ 9.33338518e-01 3.58997508e-01 0.00000000e+00 2.25463312e+02] [-3.58997508e-01 9.33338518e-01 0.00000000e+00 -5.12017263e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70082689e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.49, Y:-51.21, Z:-0.00 [[ 9.33206776e-01 3.59339831e-01 0.00000000e+00 2.25488743e+02] [-3.59339831e-01 9.33206776e-01 0.00000000e+00 -5.12107928e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.11233791e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.52, Y:-51.22, Z:-0.00 [[ 9.33212464e-01 3.59325058e-01 0.00000000e+00 2.25515003e+02] [-3.59325058e-01 9.33212464e-01 0.00000000e+00 -5.12214381e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.69034778e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.54, Y:-51.23, Z:-0.00 [[ 9.33205139e-01 3.59344082e-01 0.00000000e+00 2.25541802e+02] [-3.59344082e-01 9.33205139e-01 0.00000000e+00 -5.12305778e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.19400440e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.57, Y:-51.24, Z:-0.00 [[ 9.33009438e-01 3.59851899e-01 0.00000000e+00 2.25568646e+02] [-3.59851899e-01 9.33009438e-01 0.00000000e+00 -5.12395207e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13767229e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.59, Y:-51.25, Z:-0.00 [[ 9.32729124e-01 3.60577845e-01 0.00000000e+00 2.25594962e+02] [-3.60577845e-01 9.32729124e-01 0.00000000e+00 -5.12479235e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84916331e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.62, Y:-51.26, Z:0.00 [[ 9.31857802e-01 3.62823699e-01 0.00000000e+00 2.25621395e+02] [-3.62823699e-01 9.31857802e-01 0.00000000e+00 -5.12578840e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00213359e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.65, Y:-51.27, Z:0.00 [[ 9.31608026e-01 3.63464560e-01 0.00000000e+00 2.25646348e+02] [-3.63464560e-01 9.31608026e-01 0.00000000e+00 -5.12671692e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31995460e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.67, Y:-51.28, Z:-0.00 [[ 9.31522943e-01 3.63682564e-01 0.00000000e+00 2.25672602e+02] [-3.63682564e-01 9.31522943e-01 0.00000000e+00 -5.12767029e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.36088235e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.79140051299999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:225.70, Y:-51.28, Z:-0.00 [[ 9.31714803e-01 3.63190756e-01 0.00000000e+00 2.25699700e+02] [-3.63190756e-01 9.31714803e-01 0.00000000e+00 -5.12849912e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29966443e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.72, Y:-51.29, Z:-0.00 [[ 9.31272918e-01 3.64322319e-01 0.00000000e+00 2.25724688e+02] [-3.64322319e-01 9.31272918e-01 0.00000000e+00 -5.12941896e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.20154700e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.75, Y:-51.30, Z:-0.00 [[ 9.31212280e-01 3.64477283e-01 0.00000000e+00 2.25749841e+02] [-3.64477283e-01 9.31212280e-01 0.00000000e+00 -5.13041117e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68791817e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.78, Y:-51.31, Z:0.00 [[ 9.31206551e-01 3.64491920e-01 0.00000000e+00 2.25776149e+02] [-3.64491920e-01 9.31206551e-01 0.00000000e+00 -5.13146156e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30457350e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.80, Y:-51.32, Z:0.00 [[ 9.31338736e-01 3.64154033e-01 0.00000000e+00 2.25802571e+02] [-3.64154033e-01 9.31338736e-01 0.00000000e+00 -5.13243889e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80225443e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.83, Y:-51.33, Z:0.00 [[ 9.31424767e-01 3.63933928e-01 0.00000000e+00 2.25828229e+02] [-3.63933928e-01 9.31424767e-01 0.00000000e+00 -5.13329444e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14451239e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.86, Y:-51.34, Z:-0.00 [[ 9.31535456e-01 3.63650510e-01 0.00000000e+00 2.25855191e+02] [-3.63650510e-01 9.31535456e-01 0.00000000e+00 -5.13422895e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.39221846e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.88, Y:-51.35, Z:-0.00 [[ 9.31516246e-01 3.63699715e-01 0.00000000e+00 2.25881128e+02] [-3.63699715e-01 9.31516246e-01 0.00000000e+00 -5.13522827e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18064506e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.91, Y:-51.36, Z:-0.00 [[ 9.31479439e-01 3.63793973e-01 0.00000000e+00 2.25906551e+02] [-3.63793973e-01 9.31479439e-01 0.00000000e+00 -5.13624254e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.81143623e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.93, Y:-51.37, Z:0.00 [[ 9.31136325e-01 3.64671283e-01 0.00000000e+00 2.25932161e+02] [-3.64671283e-01 9.31136325e-01 0.00000000e+00 -5.13721901e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93050509e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.96, Y:-51.38, Z:0.00 [[ 9.30860365e-01 3.65375123e-01 0.00000000e+00 2.25958362e+02] [-3.65375123e-01 9.30860365e-01 0.00000000e+00 -5.13797308e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30926133e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.99, Y:-51.39, Z:0.00 [[ 9.30666694e-01 3.65868151e-01 0.00000000e+00 2.25985538e+02] [-3.65868151e-01 9.30666694e-01 0.00000000e+00 -5.13868722e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.72749769e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.15140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.01, Y:-51.39, Z:0.00 [[ 9.30510724e-01 3.66264648e-01 0.00000000e+00 2.26012597e+02] [-3.66264648e-01 9.30510724e-01 0.00000000e+00 -5.13943267e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14463978e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.04, Y:-51.40, Z:-0.00 [[ 9.30780427e-01 3.65578714e-01 0.00000000e+00 2.26039380e+02] [-3.65578714e-01 9.30780427e-01 0.00000000e+00 -5.14007334e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.30828620e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.07, Y:-51.41, Z:-0.00 [[ 9.31344600e-01 3.64139033e-01 0.00000000e+00 2.26065219e+02] [-3.64139033e-01 9.31344600e-01 0.00000000e+00 -5.14077886e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.50499936e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.09, Y:-51.42, Z:0.00 [[ 9.32072369e-01 3.62272134e-01 0.00000000e+00 2.26091660e+02] [-3.62272134e-01 9.32072369e-01 0.00000000e+00 -5.14162769e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.87001333e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.12, Y:-51.43, Z:0.00 [[ 9.32945154e-01 3.60018526e-01 0.00000000e+00 2.26118374e+02] [-3.60018526e-01 9.32945154e-01 0.00000000e+00 -5.14260264e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63063387e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.14, Y:-51.44, Z:0.00 [[ 9.35005004e-01 3.54634519e-01 0.00000000e+00 2.26143669e+02] [-3.54634519e-01 9.35005004e-01 0.00000000e+00 -5.14370571e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02567602e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.17, Y:-51.45, Z:0.00 [[ 9.36080593e-01 3.51785621e-01 0.00000000e+00 2.26170055e+02] [-3.51785621e-01 9.36080593e-01 0.00000000e+00 -5.14460086e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.15619352e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.20, Y:-51.45, Z:0.00 [[ 9.37069714e-01 3.49142309e-01 0.00000000e+00 2.26195577e+02] [-3.49142309e-01 9.37069714e-01 0.00000000e+00 -5.14546400e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.04070018e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.22, Y:-51.46, Z:0.00 [[ 9.37810018e-01 3.47148916e-01 0.00000000e+00 2.26222927e+02] [-3.47148916e-01 9.37810018e-01 0.00000000e+00 -5.14637393e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37496164e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.25, Y:-51.47, Z:0.00 [[ 9.37833099e-01 3.47086558e-01 0.00000000e+00 2.26250301e+02] [-3.47086558e-01 9.37833099e-01 0.00000000e+00 -5.14716778e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37496164e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.28, Y:-51.48, Z:0.00 [[ 9.38832594e-01 3.44373868e-01 0.00000000e+00 2.26275836e+02] [-3.44373868e-01 9.38832594e-01 0.00000000e+00 -5.14824975e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87044578e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.30, Y:-51.49, Z:0.00 [[ 9.39337156e-01 3.42995201e-01 0.00000000e+00 2.26301943e+02] [-3.42995201e-01 9.39337156e-01 0.00000000e+00 -5.14920296e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97422793e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.33, Y:-51.50, Z:0.00 [[ 9.39828795e-01 3.41645775e-01 0.00000000e+00 2.26328450e+02] [-3.41645775e-01 9.39828795e-01 0.00000000e+00 -5.15015972e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80068586e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.35, Y:-51.51, Z:0.00 [[ 9.40387052e-01 3.40106148e-01 0.00000000e+00 2.26353785e+02] [-3.40106148e-01 9.40387052e-01 0.00000000e+00 -5.15112341e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02411268e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.38, Y:-51.52, Z:0.00 [[ 9.41013510e-01 3.38368990e-01 0.00000000e+00 2.26380970e+02] [-3.38368990e-01 9.41013510e-01 0.00000000e+00 -5.15220066e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77348440e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.41, Y:-51.54, Z:0.00 [[ 9.42214145e-01 3.35011201e-01 0.00000000e+00 2.26405620e+02] [-3.35011201e-01 9.42214145e-01 0.00000000e+00 -5.15363842e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57219705e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.43, Y:-51.55, Z:0.00 [[ 9.42692478e-01 3.33662841e-01 0.00000000e+00 2.26431032e+02] [-3.33662841e-01 9.42692478e-01 0.00000000e+00 -5.15485213e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.17402079e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.46, Y:-51.56, Z:0.00 [[ 9.42990663e-01 3.32819183e-01 0.00000000e+00 2.26455219e+02] [-3.32819183e-01 9.42990663e-01 0.00000000e+00 -5.15609099e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.47059605e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.48, Y:-51.57, Z:0.00 [[ 9.43071345e-01 3.32590495e-01 0.00000000e+00 2.26480640e+02] [-3.32590495e-01 9.43071345e-01 0.00000000e+00 -5.15728076e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.31741375e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.51, Y:-51.59, Z:0.00 [[ 9.42153582e-01 3.35181485e-01 0.00000000e+00 2.26505048e+02] [-3.35181485e-01 9.42153582e-01 0.00000000e+00 -5.15865901e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64074958e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.53, Y:-51.60, Z:0.00 [[ 9.41247963e-01 3.37716259e-01 0.00000000e+00 2.26531344e+02] [-3.37716259e-01 9.41247963e-01 0.00000000e+00 -5.15972242e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40141610e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.56, Y:-51.61, Z:0.00 [[ 9.40084932e-01 3.40940349e-01 0.00000000e+00 2.26556324e+02] [-3.40940349e-01 9.40084932e-01 0.00000000e+00 -5.16073877e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.42971308e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.58, Y:-51.62, Z:-0.00 [[ 9.37685325e-01 3.47485584e-01 0.00000000e+00 2.26582372e+02] [-3.47485584e-01 9.37685325e-01 0.00000000e+00 -5.16204304e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.26521948e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.61, Y:-51.63, Z:-0.01 [[ 9.36517304e-01 3.50621362e-01 0.00000000e+00 2.26608836e+02] [-3.50621362e-01 9.36517304e-01 0.00000000e+00 -5.16301177e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.23358699e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.64, Y:-51.64, Z:-0.00 [[ 9.35671556e-01 3.52872130e-01 0.00000000e+00 2.26635152e+02] [-3.52872130e-01 9.35671556e-01 0.00000000e+00 -5.16387430e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.81444654e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.66, Y:-51.65, Z:-0.00 [[ 9.35184589e-01 3.54160676e-01 0.00000000e+00 2.26662290e+02] [-3.54160676e-01 9.35184589e-01 0.00000000e+00 -5.16465662e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.53131476e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.93140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.69, Y:-51.65, Z:-0.00 [[ 9.34906279e-01 3.54894701e-01 0.00000000e+00 2.26689747e+02] [-3.54894701e-01 9.34906279e-01 0.00000000e+00 -5.16539755e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50968735e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.72, Y:-51.66, Z:0.00 [[ 9.35159495e-01 3.54226931e-01 0.00000000e+00 2.26716200e+02] [-3.54226931e-01 9.35159495e-01 0.00000000e+00 -5.16622206e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46605797e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.74, Y:-51.67, Z:0.00 [[ 9.35733582e-01 3.52707618e-01 0.00000000e+00 2.26742645e+02] [-3.52707618e-01 9.35733582e-01 0.00000000e+00 -5.16709702e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80150744e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.77, Y:-51.68, Z:0.00 [[ 9.36412811e-01 3.50900338e-01 0.00000000e+00 2.26769646e+02] [-3.50900338e-01 9.36412811e-01 0.00000000e+00 -5.16800443e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57646625e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.05140051299998 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:226.79, Y:-51.69, Z:-0.00 [[ 9.37846610e-01 3.47050049e-01 0.00000000e+00 2.26794628e+02] [-3.47050049e-01 9.37846610e-01 0.00000000e+00 -5.16889064e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.40590512e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.82, Y:-51.70, Z:-0.00 [[ 9.38708334e-01 3.44712437e-01 0.00000000e+00 2.26822056e+02] [-3.44712437e-01 9.38708334e-01 0.00000000e+00 -5.16987507e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.71696457e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.85, Y:-51.71, Z:-0.00 [[ 9.39480600e-01 3.42602104e-01 0.00000000e+00 2.26848915e+02] [-3.42602104e-01 9.39480600e-01 0.00000000e+00 -5.17098757e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.28240197e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.88, Y:-51.72, Z:-0.00 [[ 9.40102072e-01 3.40893083e-01 0.00000000e+00 2.26876001e+02] [-3.40893083e-01 9.40102072e-01 0.00000000e+00 -5.17212284e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21234017e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.90, Y:-51.73, Z:-0.00 [[ 9.40481039e-01 3.39846163e-01 0.00000000e+00 2.26902642e+02] [-3.39846163e-01 9.40481039e-01 0.00000000e+00 -5.17315812e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16561156e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.93, Y:-51.74, Z:0.00 [[ 9.40322200e-01 3.40285409e-01 0.00000000e+00 2.26929177e+02] [-3.40285409e-01 9.40322200e-01 0.00000000e+00 -5.17433809e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33989386e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.96, Y:-51.75, Z:0.00 [[ 9.39667296e-01 3.42089716e-01 0.00000000e+00 2.26955113e+02] [-3.42089716e-01 9.39667296e-01 0.00000000e+00 -5.17533299e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53482489e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.98, Y:-51.76, Z:0.00 [[ 9.38778185e-01 3.44522161e-01 0.00000000e+00 2.26980780e+02] [-3.44522161e-01 9.38778185e-01 0.00000000e+00 -5.17636709e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46796149e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.01, Y:-51.78, Z:0.00 [[ 9.37692081e-01 3.47467354e-01 0.00000000e+00 2.27007728e+02] [-3.47467354e-01 9.37692081e-01 0.00000000e+00 -5.17750583e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93784128e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.03, Y:-51.79, Z:0.00 [[ 9.35433292e-01 3.53503263e-01 0.00000000e+00 2.27032878e+02] [-3.53503263e-01 9.35433292e-01 0.00000000e+00 -5.17881081e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83585020e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.06, Y:-51.80, Z:0.00 [[ 9.34373460e-01 3.56295154e-01 0.00000000e+00 2.27059800e+02] [-3.56295154e-01 9.34373460e-01 0.00000000e+00 -5.17985618e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.63704098e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.381400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:227.09, Y:-51.81, Z:-0.00 [[ 9.33463213e-01 3.58673153e-01 0.00000000e+00 2.27087299e+02] [-3.58673153e-01 9.33463213e-01 0.00000000e+00 -5.18089395e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.00809909e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.12, Y:-51.82, Z:-0.00 [[ 9.31508632e-01 3.63719215e-01 0.00000000e+00 2.27115086e+02] [-3.63719215e-01 9.31508632e-01 0.00000000e+00 -5.18215126e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.98219246e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.14, Y:-51.83, Z:0.00 [[ 9.30657667e-01 3.65891114e-01 0.00000000e+00 2.27143373e+02] [-3.65891114e-01 9.30657667e-01 0.00000000e+00 -5.18296542e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21590271e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.17, Y:-51.84, Z:-0.00 [[ 9.29812866e-01 3.68032655e-01 0.00000000e+00 2.27170506e+02] [-3.68032655e-01 9.29812866e-01 0.00000000e+00 -5.18362937e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43223769e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.20, Y:-51.84, Z:-0.00 [[ 9.29072507e-01 3.69897657e-01 0.00000000e+00 2.27198467e+02] [-3.69897657e-01 9.29072507e-01 0.00000000e+00 -5.18429573e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08927475e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.23, Y:-51.85, Z:-0.00 [[ 9.28222638e-01 3.72025180e-01 0.00000000e+00 2.27226175e+02] [-3.72025180e-01 9.28222638e-01 0.00000000e+00 -5.18498308e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.25099740e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.25, Y:-51.86, Z:-0.00 [[ 9.28457736e-01 3.71438061e-01 0.00000000e+00 2.27252977e+02] [-3.71438061e-01 9.28457736e-01 0.00000000e+00 -5.18565187e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.30787887e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.591400513 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:227.28, Y:-51.86, Z:-0.00 [[ 9.29232502e-01 3.69495545e-01 0.00000000e+00 2.27280771e+02] [-3.69495545e-01 9.29232502e-01 0.00000000e+00 -5.18626833e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27490670e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.31, Y:-51.87, Z:-0.00 [[ 9.30230618e-01 3.66975473e-01 0.00000000e+00 2.27309750e+02] [-3.66975473e-01 9.30230618e-01 0.00000000e+00 -5.18689717e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.98191295e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.65140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.34, Y:-51.87, Z:-0.00 [[ 9.31549810e-01 3.63613740e-01 0.00000000e+00 2.27337838e+02] [-3.63613740e-01 9.31549810e-01 0.00000000e+00 -5.18747986e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.48399499e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68140051299997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:227.37, Y:-51.88, Z:-0.00 [[ 9.34744938e-01 3.55319434e-01 0.00000000e+00 2.27367991e+02] [-3.55319434e-01 9.34744938e-01 0.00000000e+00 -5.18801593e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.82725100e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.40, Y:-51.89, Z:-0.00 [[ 9.36157210e-01 3.51581681e-01 0.00000000e+00 2.27398129e+02] [-3.51581681e-01 9.36157210e-01 0.00000000e+00 -5.18869815e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.04311066e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.43, Y:-51.89, Z:-0.00 [[ 9.37485819e-01 3.48023475e-01 0.00000000e+00 2.27427046e+02] [-3.48023475e-01 9.37485819e-01 0.00000000e+00 -5.18930753e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.16631274e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.46, Y:-51.90, Z:-0.00 [[ 9.38710562e-01 3.44706370e-01 0.00000000e+00 2.27456181e+02] [-3.44706370e-01 9.38710562e-01 0.00000000e+00 -5.18994098e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.54471011e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.48, Y:-51.90, Z:-0.00 [[ 9.40553610e-01 3.39645267e-01 0.00000000e+00 2.27484865e+02] [-3.39645267e-01 9.40553610e-01 0.00000000e+00 -5.19049223e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.62909679e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.51, Y:-51.91, Z:-0.00 [[ 9.41289808e-01 3.37599612e-01 0.00000000e+00 2.27512592e+02] [-3.37599612e-01 9.41289808e-01 0.00000000e+00 -5.19117260e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.71378446e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.54, Y:-51.92, Z:-0.00 [[ 9.41894558e-01 3.35908680e-01 0.00000000e+00 2.27540532e+02] [-3.35908680e-01 9.41894558e-01 0.00000000e+00 -5.19186368e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.34033031e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.57, Y:-51.93, Z:-0.00 [[ 9.42461330e-01 3.34315182e-01 0.00000000e+00 2.27568469e+02] [-3.34315182e-01 9.42461330e-01 0.00000000e+00 -5.19257914e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23781558e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.60, Y:-51.93, Z:0.00 [[ 9.43273035e-01 3.32018045e-01 0.00000000e+00 2.27595163e+02] [-3.32018045e-01 9.43273035e-01 0.00000000e+00 -5.19320737e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96591443e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.62, Y:-51.94, Z:0.00 [[ 9.43524811e-01 3.31301874e-01 0.00000000e+00 2.27624169e+02] [-3.31301874e-01 9.43524811e-01 0.00000000e+00 -5.19402865e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20847483e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.65, Y:-51.95, Z:0.00 [[ 9.43700638e-01 3.30800703e-01 0.00000000e+00 2.27651443e+02] [-3.30800703e-01 9.43700638e-01 0.00000000e+00 -5.19479798e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90475507e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.68, Y:-51.95, Z:0.00 [[ 9.43203999e-01 3.32214113e-01 0.00000000e+00 2.27679044e+02] [-3.32214113e-01 9.43203999e-01 0.00000000e+00 -5.19531874e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.35550179e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.71, Y:-51.96, Z:0.00 [[ 9.42696268e-01 3.33652133e-01 0.00000000e+00 2.27707007e+02] [-3.33652133e-01 9.42696268e-01 0.00000000e+00 -5.19597430e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52957441e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.73, Y:-51.97, Z:0.00 [[ 9.42268426e-01 3.34858496e-01 0.00000000e+00 2.27734881e+02] [-3.34858496e-01 9.42268426e-01 0.00000000e+00 -5.19673452e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01832998e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.76, Y:-51.98, Z:0.00 [[ 9.41925041e-01 3.35823193e-01 0.00000000e+00 2.27761994e+02] [-3.35823193e-01 9.41925041e-01 0.00000000e+00 -5.19755055e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15126324e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.79, Y:-51.98, Z:0.00 [[ 9.41711887e-01 3.36420455e-01 0.00000000e+00 2.27790294e+02] [-3.36420455e-01 9.41711887e-01 0.00000000e+00 -5.19827598e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14794157e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.82, Y:-51.99, Z:0.00 [[ 9.41765018e-01 3.36271693e-01 0.00000000e+00 2.27817716e+02] [-3.36271693e-01 9.41765018e-01 0.00000000e+00 -5.19901577e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.58523375e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.85, Y:-52.00, Z:0.00 [[ 9.41913663e-01 3.35855106e-01 0.00000000e+00 2.27845552e+02] [-3.35855106e-01 9.41913663e-01 0.00000000e+00 -5.19985867e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63290658e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.87, Y:-52.01, Z:0.00 [[ 9.42150147e-01 3.35191142e-01 0.00000000e+00 2.27872614e+02] [-3.35191142e-01 9.42150147e-01 0.00000000e+00 -5.20073191e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03980763e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.90, Y:-52.02, Z:0.00 [[ 9.42447335e-01 3.34354633e-01 0.00000000e+00 2.27899814e+02] [-3.34354633e-01 9.42447335e-01 0.00000000e+00 -5.20168039e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01123115e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.93, Y:-52.02, Z:0.00 [[ 9.42375572e-01 3.34556843e-01 0.00000000e+00 2.27927323e+02] [-3.34556843e-01 9.42375572e-01 0.00000000e+00 -5.20245620e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45563398e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.96, Y:-52.03, Z:0.00 [[ 9.42045192e-01 3.35486001e-01 0.00000000e+00 2.27955764e+02] [-3.35486001e-01 9.42045192e-01 0.00000000e+00 -5.20326491e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.82200285e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.98, Y:-52.04, Z:0.00 [[ 9.42053004e-01 3.35464063e-01 0.00000000e+00 2.27984739e+02] [-3.35464063e-01 9.42053004e-01 0.00000000e+00 -5.20410500e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.82200285e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.01, Y:-52.05, Z:-0.00 [[ 9.41484953e-01 3.37055015e-01 0.00000000e+00 2.28012765e+02] [-3.37055015e-01 9.41484953e-01 0.00000000e+00 -5.20488491e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70486030e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.04, Y:-52.06, Z:-0.00 [[ 9.39839823e-01 3.41615438e-01 0.00000000e+00 2.28041302e+02] [-3.41615438e-01 9.39839823e-01 0.00000000e+00 -5.20552891e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59065519e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.43140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.07, Y:-52.06, Z:-0.00 [[ 9.39064754e-01 3.43740291e-01 0.00000000e+00 2.28069555e+02] [-3.43740291e-01 9.39064754e-01 0.00000000e+00 -5.20619744e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70665697e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.10, Y:-52.07, Z:-0.00 [[ 9.38440173e-01 3.45441806e-01 0.00000000e+00 2.28096813e+02] [-3.45441806e-01 9.38440173e-01 0.00000000e+00 -5.20689628e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.37430347e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.13, Y:-52.08, Z:-0.00 [[ 9.38112580e-01 3.46330461e-01 0.00000000e+00 2.28125095e+02] [-3.46330461e-01 9.38112580e-01 0.00000000e+00 -5.20758626e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.83957053e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.15, Y:-52.08, Z:-0.00 [[ 9.38102099e-01 3.46358848e-01 0.00000000e+00 2.28151870e+02] [-3.46358848e-01 9.38102099e-01 0.00000000e+00 -5.20820944e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.66049996e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.18, Y:-52.09, Z:-0.00 [[ 9.38514209e-01 3.45240612e-01 0.00000000e+00 2.28179866e+02] [-3.45240612e-01 9.38514209e-01 0.00000000e+00 -5.20902683e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.58667017e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.21, Y:-52.10, Z:-0.00 [[ 9.39126924e-01 3.43570401e-01 0.00000000e+00 2.28207311e+02] [-3.43570401e-01 9.39126924e-01 0.00000000e+00 -5.20985862e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09315786e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.23, Y:-52.11, Z:0.00 [[ 9.39799552e-01 3.41726210e-01 0.00000000e+00 2.28234906e+02] [-3.41726210e-01 9.39799552e-01 0.00000000e+00 -5.21073055e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37604422e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.26, Y:-52.12, Z:0.00 [[ 9.41322490e-01 3.37508473e-01 0.00000000e+00 2.28263048e+02] [-3.37508473e-01 9.41322490e-01 0.00000000e+00 -5.21167264e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27497862e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.29, Y:-52.12, Z:0.00 [[ 9.42003846e-01 3.35602077e-01 0.00000000e+00 2.28290494e+02] [-3.35602077e-01 9.42003846e-01 0.00000000e+00 -5.21246194e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79347609e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.32, Y:-52.13, Z:0.00 [[ 9.42627310e-01 3.33846902e-01 0.00000000e+00 2.28317906e+02] [-3.33846902e-01 9.42627310e-01 0.00000000e+00 -5.21321908e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.33911929e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.35, Y:-52.14, Z:0.00 [[ 9.43127008e-01 3.32432621e-01 0.00000000e+00 2.28346584e+02] [-3.32432621e-01 9.43127008e-01 0.00000000e+00 -5.21408323e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05025057e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.37, Y:-52.15, Z:0.00 [[ 9.43829971e-01 3.30431515e-01 0.00000000e+00 2.28373128e+02] [-3.30431515e-01 9.43829971e-01 0.00000000e+00 -5.21525021e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95248716e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.40, Y:-52.16, Z:0.00 [[ 9.44375963e-01 3.28867816e-01 0.00000000e+00 2.28399372e+02] [-3.28867816e-01 9.44375963e-01 0.00000000e+00 -5.21628556e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06827434e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.43, Y:-52.17, Z:0.00 [[ 9.45047755e-01 3.26932318e-01 0.00000000e+00 2.28426588e+02] [-3.26932318e-01 9.45047755e-01 0.00000000e+00 -5.21729423e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48150276e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.45, Y:-52.19, Z:0.01 [[ 9.46227963e-01 3.23500607e-01 0.00000000e+00 2.28454076e+02] [-3.23500607e-01 9.46227963e-01 0.00000000e+00 -5.21855322e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.33882238e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.48, Y:-52.20, Z:0.01 [[ 9.46613520e-01 3.22370661e-01 0.00000000e+00 2.28482977e+02] [-3.22370661e-01 9.46613520e-01 0.00000000e+00 -5.21975842e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.27530860e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.51, Y:-52.21, Z:0.01 [[ 9.46806312e-01 3.21803990e-01 0.00000000e+00 2.28510906e+02] [-3.21803990e-01 9.46806312e-01 0.00000000e+00 -5.22102110e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.94327724e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.54, Y:-52.22, Z:0.01 [[ 9.46930850e-01 3.21437342e-01 0.00000000e+00 2.28541709e+02] [-3.21437342e-01 9.46930850e-01 0.00000000e+00 -5.22234411e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.09730523e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.57, Y:-52.24, Z:0.01 [[ 9.46914905e-01 3.21484312e-01 0.00000000e+00 2.28571219e+02] [-3.21484312e-01 9.46914905e-01 0.00000000e+00 -5.22356602e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.31877096e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.001400513 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:228.60, Y:-52.25, Z:0.00 [[ 9.46321484e-01 3.23226932e-01 0.00000000e+00 2.28598804e+02] [-3.23226932e-01 9.46321484e-01 0.00000000e+00 -5.22467967e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94294681e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.63, Y:-52.26, Z:0.00 [[ 9.45893605e-01 3.24476946e-01 0.00000000e+00 2.28629022e+02] [-3.24476946e-01 9.45893605e-01 0.00000000e+00 -5.22570782e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10563924e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.66, Y:-52.27, Z:0.01 [[ 9.44076812e-01 3.29725603e-01 0.00000000e+00 2.28658024e+02] [-3.29725603e-01 9.44076812e-01 0.00000000e+00 -5.22682224e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.57205616e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.69, Y:-52.28, Z:0.01 [[ 9.42930887e-01 3.32988503e-01 0.00000000e+00 2.28689256e+02] [-3.32988503e-01 9.42930887e-01 0.00000000e+00 -5.22771956e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.12744336e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.72, Y:-52.28, Z:0.01 [[ 9.41818742e-01 3.36121195e-01 0.00000000e+00 2.28719333e+02] [-3.36121195e-01 9.41818742e-01 0.00000000e+00 -5.22848015e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.96893764e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.15140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.75, Y:-52.29, Z:0.01 [[ 9.40733992e-01 3.39145331e-01 0.00000000e+00 2.28749826e+02] [-3.39145331e-01 9.40733992e-01 0.00000000e+00 -5.22922413e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.81773606e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.78, Y:-52.30, Z:0.00 [[ 9.38787879e-01 3.44495745e-01 0.00000000e+00 2.28778050e+02] [-3.44495745e-01 9.38787879e-01 0.00000000e+00 -5.22981794e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.19584872e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.81, Y:-52.31, Z:-0.00 [[ 9.38103531e-01 3.46354970e-01 0.00000000e+00 2.28806936e+02] [-3.46354970e-01 9.38103531e-01 0.00000000e+00 -5.23050572e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93809323e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.84, Y:-52.31, Z:-0.00 [[ 9.37516619e-01 3.47940497e-01 0.00000000e+00 2.28838808e+02] [-3.47940497e-01 9.37516619e-01 0.00000000e+00 -5.23122253e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06936066e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.87, Y:-52.32, Z:-0.00 [[ 9.37034843e-01 3.49235884e-01 0.00000000e+00 2.28868402e+02] [-3.49235884e-01 9.37034843e-01 0.00000000e+00 -5.23190005e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.50922539e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.90, Y:-52.32, Z:-0.00 [[ 9.36087506e-01 3.51767225e-01 0.00000000e+00 2.28896387e+02] [-3.51767225e-01 9.36087506e-01 0.00000000e+00 -5.23234404e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01526088e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.92, Y:-52.33, Z:-0.00 [[ 9.35459095e-01 3.53434975e-01 0.00000000e+00 2.28924716e+02] [-3.53434975e-01 9.35459095e-01 0.00000000e+00 -5.23287910e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71097957e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.95, Y:-52.33, Z:-0.00 [[ 9.34903890e-01 3.54900995e-01 0.00000000e+00 2.28952949e+02] [-3.54900995e-01 9.34903890e-01 0.00000000e+00 -5.23330367e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55021184e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.98, Y:-52.34, Z:-0.00 [[ 9.34596548e-01 3.55709561e-01 0.00000000e+00 2.28980333e+02] [-3.55709561e-01 9.34596548e-01 0.00000000e+00 -5.23371144e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16859578e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.01, Y:-52.34, Z:0.00 [[ 9.34743667e-01 3.55322780e-01 0.00000000e+00 2.29008980e+02] [-3.55322780e-01 9.34743667e-01 0.00000000e+00 -5.23425595e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15475614e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.04, Y:-52.35, Z:0.00 [[ 9.36372345e-01 3.51008306e-01 0.00000000e+00 2.29036835e+02] [-3.51008306e-01 9.36372345e-01 0.00000000e+00 -5.23489495e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70004657e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.06, Y:-52.36, Z:0.00 [[ 9.37557129e-01 3.47831325e-01 0.00000000e+00 2.29063232e+02] [-3.47831325e-01 9.37557129e-01 0.00000000e+00 -5.23563887e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78952204e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.09, Y:-52.36, Z:0.00 [[ 9.38636050e-01 3.44909214e-01 0.00000000e+00 2.29091599e+02] [-3.44909214e-01 9.38636050e-01 0.00000000e+00 -5.23645224e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97652735e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.12, Y:-52.37, Z:0.00 [[ 9.39499191e-01 3.42551121e-01 0.00000000e+00 2.29118714e+02] [-3.42551121e-01 9.39499191e-01 0.00000000e+00 -5.23727227e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24019095e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.15, Y:-52.38, Z:0.00 [[ 9.40670913e-01 3.39320252e-01 0.00000000e+00 2.29145674e+02] [-3.39320252e-01 9.40670913e-01 0.00000000e+00 -5.23821286e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19463982e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.17, Y:-52.39, Z:0.00 [[ 9.40856025e-01 3.38806641e-01 0.00000000e+00 2.29172400e+02] [-3.38806641e-01 9.40856025e-01 0.00000000e+00 -5.23901210e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16062137e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.20, Y:-52.40, Z:0.00 [[ 9.40810030e-01 3.38934341e-01 0.00000000e+00 2.29200649e+02] [-3.38934341e-01 9.40810030e-01 0.00000000e+00 -5.23977179e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50643256e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.23, Y:-52.41, Z:0.00 [[ 9.40263659e-01 3.40447135e-01 0.00000000e+00 2.29227724e+02] [-3.40447135e-01 9.40263659e-01 0.00000000e+00 -5.24050296e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45370712e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.26, Y:-52.41, Z:0.00 [[ 9.39985156e-01 3.41215337e-01 0.00000000e+00 2.29255246e+02] [-3.41215337e-01 9.39985156e-01 0.00000000e+00 -5.24133383e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91565948e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.28, Y:-52.42, Z:0.00 [[ 9.39742874e-01 3.41882042e-01 0.00000000e+00 2.29281870e+02] [-3.41882042e-01 9.39742874e-01 0.00000000e+00 -5.24212701e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.94836863e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.31, Y:-52.43, Z:0.00 [[ 9.39447908e-01 3.42691739e-01 0.00000000e+00 2.29309388e+02] [-3.42691739e-01 9.39447908e-01 0.00000000e+00 -5.24288120e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60975585e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.34, Y:-52.43, Z:0.00 [[ 9.38675316e-01 3.44802337e-01 0.00000000e+00 2.29337136e+02] [-3.44802337e-01 9.38675316e-01 0.00000000e+00 -5.24349262e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36005918e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.36, Y:-52.44, Z:0.00 [[ 9.38315138e-01 3.45781292e-01 0.00000000e+00 2.29363810e+02] [-3.45781292e-01 9.38315138e-01 0.00000000e+00 -5.24419651e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98322977e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.39, Y:-52.45, Z:0.00 [[ 9.38092572e-01 3.46384650e-01 0.00000000e+00 2.29391182e+02] [-3.46384650e-01 9.38092572e-01 0.00000000e+00 -5.24484378e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15977309e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.42, Y:-52.45, Z:0.00 [[ 9.38018391e-01 3.46585484e-01 0.00000000e+00 2.29419348e+02] [-3.46585484e-01 9.38018391e-01 0.00000000e+00 -5.24540397e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06921394e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.45, Y:-52.46, Z:0.00 [[ 9.37971736e-01 3.46711728e-01 0.00000000e+00 2.29448464e+02] [-3.46711728e-01 9.37971736e-01 0.00000000e+00 -5.24574141e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29316753e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.93140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.48, Y:-52.46, Z:0.00 [[ 9.37985764e-01 3.46673776e-01 0.00000000e+00 2.29475382e+02] [-3.46673776e-01 9.37985764e-01 0.00000000e+00 -5.24635082e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48354301e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.50, Y:-52.47, Z:-0.00 [[ 9.38019681e-01 3.46581994e-01 0.00000000e+00 2.29503723e+02] [-3.46581994e-01 9.38019681e-01 0.00000000e+00 -5.24686113e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.07368970e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.53, Y:-52.47, Z:-0.01 [[ 9.38015950e-01 3.46592091e-01 0.00000000e+00 2.29530585e+02] [-3.46592091e-01 9.38015950e-01 0.00000000e+00 -5.24746114e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.12013606e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.56, Y:-52.48, Z:-0.01 [[ 9.38005159e-01 3.46621293e-01 0.00000000e+00 2.29558782e+02] [-3.46621293e-01 9.38005159e-01 0.00000000e+00 -5.24809116e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.91211171e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.59, Y:-52.49, Z:-0.01 [[ 9.37944573e-01 3.46785203e-01 0.00000000e+00 2.29586794e+02] [-3.46785203e-01 9.37944573e-01 0.00000000e+00 -5.24870324e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.69694908e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.61, Y:-52.49, Z:-0.01 [[ 9.37752466e-01 3.47304350e-01 0.00000000e+00 2.29614610e+02] [-3.47304350e-01 9.37752466e-01 0.00000000e+00 -5.24935686e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.87179194e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.64, Y:-52.50, Z:-0.00 [[ 9.37203285e-01 3.48783605e-01 0.00000000e+00 2.29641670e+02] [-3.48783605e-01 9.37203285e-01 0.00000000e+00 -5.24990199e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.40736385e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.67, Y:-52.51, Z:-0.00 [[ 9.37092013e-01 3.49082452e-01 0.00000000e+00 2.29670173e+02] [-3.49082452e-01 9.37092013e-01 0.00000000e+00 -5.25059432e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61025186e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.70, Y:-52.51, Z:-0.00 [[ 9.37139384e-01 3.48955263e-01 0.00000000e+00 2.29698146e+02] [-3.48955263e-01 9.37139384e-01 0.00000000e+00 -5.25125210e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19722304e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.73, Y:-52.52, Z:-0.00 [[ 9.37467677e-01 3.48072340e-01 0.00000000e+00 2.29725510e+02] [-3.48072340e-01 9.37467677e-01 0.00000000e+00 -5.25183660e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23694051e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.75, Y:-52.53, Z:-0.00 [[ 9.37490460e-01 3.48010972e-01 0.00000000e+00 2.29752920e+02] [-3.48010972e-01 9.37490460e-01 0.00000000e+00 -5.25261872e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23694051e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.78, Y:-52.53, Z:0.00 [[ 9.37826412e-01 3.47104626e-01 0.00000000e+00 2.29781114e+02] [-3.47104626e-01 9.37826412e-01 0.00000000e+00 -5.25336100e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.19043361e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.81, Y:-52.54, Z:0.00 [[ 9.38274032e-01 3.45892816e-01 0.00000000e+00 2.29807163e+02] [-3.45892816e-01 9.38274032e-01 0.00000000e+00 -5.25403753e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39284060e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.83, Y:-52.55, Z:0.00 [[ 9.39064025e-01 3.43742283e-01 0.00000000e+00 2.29834444e+02] [-3.43742283e-01 9.39064025e-01 0.00000000e+00 -5.25459879e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50564917e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.86, Y:-52.55, Z:0.00 [[ 9.39315381e-01 3.43054827e-01 0.00000000e+00 2.29861318e+02] [-3.43054827e-01 9.39315381e-01 0.00000000e+00 -5.25529413e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26234809e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.89, Y:-52.56, Z:0.00 [[ 9.39536324e-01 3.42449261e-01 0.00000000e+00 2.29888411e+02] [-3.42449261e-01 9.39536324e-01 0.00000000e+00 -5.25597765e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82528300e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.92, Y:-52.57, Z:0.00 [[ 9.39664106e-01 3.42098477e-01 0.00000000e+00 2.29915422e+02] [-3.42098477e-01 9.39664106e-01 0.00000000e+00 -5.25666249e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70871624e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.94, Y:-52.57, Z:0.00 [[ 9.39670844e-01 3.42079970e-01 0.00000000e+00 2.29943683e+02] [-3.42079970e-01 9.39670844e-01 0.00000000e+00 -5.25736599e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.75716734e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.97, Y:-52.58, Z:0.01 [[ 9.39474060e-01 3.42620039e-01 0.00000000e+00 2.29970874e+02] [-3.42620039e-01 9.39474060e-01 0.00000000e+00 -5.25792994e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.50341247e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.00, Y:-52.59, Z:0.01 [[ 9.39360630e-01 3.42930908e-01 0.00000000e+00 2.29997947e+02] [-3.42930908e-01 9.39360630e-01 0.00000000e+00 -5.25857394e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.08089143e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.02, Y:-52.59, Z:0.01 [[ 9.39318665e-01 3.43045835e-01 0.00000000e+00 2.30024699e+02] [-3.43045835e-01 9.39318665e-01 0.00000000e+00 -5.25918339e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.66013119e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.05, Y:-52.60, Z:0.00 [[ 9.38956912e-01 3.44034761e-01 0.00000000e+00 2.30052734e+02] [-3.44034761e-01 9.38956912e-01 0.00000000e+00 -5.25978508e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57321894e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.08, Y:-52.60, Z:0.00 [[ 9.38701261e-01 3.44731698e-01 0.00000000e+00 2.30080675e+02] [-3.44731698e-01 9.38701261e-01 0.00000000e+00 -5.26040036e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.45192281e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.11, Y:-52.61, Z:0.00 [[ 9.38449132e-01 3.45417468e-01 0.00000000e+00 2.30108658e+02] [-3.45417468e-01 9.38449132e-01 0.00000000e+00 -5.26092202e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79570973e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.65140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.14, Y:-52.61, Z:0.00 [[ 9.38215854e-01 3.46050592e-01 0.00000000e+00 2.30137424e+02] [-3.46050592e-01 9.38215854e-01 0.00000000e+00 -5.26138457e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14685656e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.17, Y:-52.62, Z:0.00 [[ 9.37782464e-01 3.47223343e-01 0.00000000e+00 2.30165849e+02] [-3.47223343e-01 9.37782464e-01 0.00000000e+00 -5.26163053e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.98620669e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.19, Y:-52.62, Z:0.00 [[ 9.37871753e-01 3.46982095e-01 0.00000000e+00 2.30192088e+02] [-3.46982095e-01 9.37871753e-01 0.00000000e+00 -5.26227698e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29611915e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.22, Y:-52.63, Z:0.00 [[ 9.38285356e-01 3.45862099e-01 0.00000000e+00 2.30220262e+02] [-3.45862099e-01 9.38285356e-01 0.00000000e+00 -5.26303525e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09820149e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.25, Y:-52.64, Z:-0.00 [[ 9.39046219e-01 3.43790924e-01 0.00000000e+00 2.30247643e+02] [-3.43790924e-01 9.39046219e-01 0.00000000e+00 -5.26370001e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.48884470e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.28, Y:-52.65, Z:-0.00 [[ 9.40940773e-01 3.38571207e-01 0.00000000e+00 2.30275249e+02] [-3.38571207e-01 9.40940773e-01 0.00000000e+00 -5.26457541e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.45348359e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.30, Y:-52.66, Z:-0.00 [[ 9.41901937e-01 3.35887989e-01 0.00000000e+00 2.30300302e+02] [-3.35887989e-01 9.41901937e-01 0.00000000e+00 -5.26551822e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.60318743e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.33, Y:-52.67, Z:-0.00 [[ 9.42769823e-01 3.33444240e-01 0.00000000e+00 2.30327103e+02] [-3.33444240e-01 9.42769823e-01 0.00000000e+00 -5.26653907e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.45966718e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.35, Y:-52.67, Z:-0.00 [[ 9.43323373e-01 3.31874997e-01 0.00000000e+00 2.30352929e+02] [-3.31874997e-01 9.43323373e-01 0.00000000e+00 -5.26749584e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.14110312e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.38, Y:-52.68, Z:-0.00 [[ 9.43510091e-01 3.31343791e-01 0.00000000e+00 2.30379055e+02] [-3.31343791e-01 9.43510091e-01 0.00000000e+00 -5.26847417e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.21497881e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.40, Y:-52.70, Z:-0.00 [[ 9.43066447e-01 3.32604383e-01 0.00000000e+00 2.30403576e+02] [-3.32604383e-01 9.43066447e-01 0.00000000e+00 -5.26983674e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73017431e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.43, Y:-52.71, Z:-0.00 [[ 9.42561818e-01 3.34031765e-01 0.00000000e+00 2.30429725e+02] [-3.34031765e-01 9.42561818e-01 0.00000000e+00 -5.27100505e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.40525702e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.45, Y:-52.72, Z:-0.00 [[ 9.41965480e-01 3.35709748e-01 0.00000000e+00 2.30454975e+02] [-3.35709748e-01 9.41965480e-01 0.00000000e+00 -5.27215621e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.67654898e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.48, Y:-52.73, Z:0.00 [[ 9.40919257e-01 3.38630997e-01 0.00000000e+00 2.30479593e+02] [-3.38630997e-01 9.40919257e-01 0.00000000e+00 -5.27349498e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33067946e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.51, Y:-52.75, Z:0.00 [[ 9.40528309e-01 3.39715323e-01 0.00000000e+00 2.30506188e+02] [-3.39715323e-01 9.40528309e-01 0.00000000e+00 -5.27451618e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.99327209e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.53, Y:-52.76, Z:0.00 [[ 9.40153248e-01 3.40751920e-01 0.00000000e+00 2.30531985e+02] [-3.40751920e-01 9.40153248e-01 0.00000000e+00 -5.27555415e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54932072e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.56, Y:-52.77, Z:0.00 [[ 9.39743876e-01 3.41879287e-01 0.00000000e+00 2.30558067e+02] [-3.41879287e-01 9.39743876e-01 0.00000000e+00 -5.27662628e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65887411e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.58, Y:-52.78, Z:0.01 [[ 9.38974722e-01 3.43986151e-01 0.00000000e+00 2.30584902e+02] [-3.43986151e-01 9.38974722e-01 0.00000000e+00 -5.27780639e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.05166286e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.61, Y:-52.79, Z:0.01 [[ 9.38560495e-01 3.45114759e-01 0.00000000e+00 2.30612027e+02] [-3.45114759e-01 9.38560495e-01 0.00000000e+00 -5.27867355e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.95483955e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.221400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:230.64, Y:-52.80, Z:0.01 [[ 9.38121567e-01 3.46306114e-01 0.00000000e+00 2.30639423e+02] [-3.46306114e-01 9.38121567e-01 0.00000000e+00 -5.27960255e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.55081810e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.67, Y:-52.81, Z:0.01 [[ 9.37615186e-01 3.47674796e-01 0.00000000e+00 2.30666130e+02] [-3.47674796e-01 9.37615186e-01 0.00000000e+00 -5.28067077e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.79167006e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.69, Y:-52.82, Z:0.01 [[ 9.37135399e-01 3.48965963e-01 0.00000000e+00 2.30691693e+02] [-3.48965963e-01 9.37135399e-01 0.00000000e+00 -5.28202266e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.46809369e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.72, Y:-52.83, Z:0.01 [[ 9.37167499e-01 3.48879749e-01 0.00000000e+00 2.30719319e+02] [-3.48879749e-01 9.37167499e-01 0.00000000e+00 -5.28290725e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.21286065e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.75, Y:-52.84, Z:0.01 [[ 9.37172999e-01 3.48864975e-01 0.00000000e+00 2.30746321e+02] [-3.48864975e-01 9.37172999e-01 0.00000000e+00 -5.28370893e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.49744009e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.77, Y:-52.85, Z:0.01 [[ 9.36883077e-01 3.49642817e-01 0.00000000e+00 2.30772771e+02] [-3.49642817e-01 9.36883077e-01 0.00000000e+00 -5.28484563e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.69188998e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40140051299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:230.80, Y:-52.86, Z:0.01 [[ 9.36850479e-01 3.49730152e-01 0.00000000e+00 2.30800146e+02] [-3.49730152e-01 9.36850479e-01 0.00000000e+00 -5.28587527e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.99857816e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.43140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.83, Y:-52.87, Z:0.01 [[ 9.36873804e-01 3.49667665e-01 0.00000000e+00 2.30827454e+02] [-3.49667665e-01 9.36873804e-01 0.00000000e+00 -5.28689164e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.14025660e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.85, Y:-52.88, Z:0.00 [[ 9.37315640e-01 3.48481551e-01 0.00000000e+00 2.30853851e+02] [-3.48481551e-01 9.37315640e-01 0.00000000e+00 -5.28813527e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.94674735e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.88, Y:-52.89, Z:0.00 [[ 9.37856454e-01 3.47023447e-01 0.00000000e+00 2.30880571e+02] [-3.47023447e-01 9.37856454e-01 0.00000000e+00 -5.28923365e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79183150e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.91, Y:-52.90, Z:0.00 [[ 9.38536555e-01 3.45179860e-01 0.00000000e+00 2.30907118e+02] [-3.45179860e-01 9.38536555e-01 0.00000000e+00 -5.29035051e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96664284e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.94, Y:-52.92, Z:0.00 [[ 9.39337963e-01 3.42992990e-01 0.00000000e+00 2.30936344e+02] [-3.42992990e-01 9.39337963e-01 0.00000000e+00 -5.29154181e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.74604923e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.96, Y:-52.93, Z:0.00 [[ 9.40723617e-01 3.39174110e-01 0.00000000e+00 2.30964618e+02] [-3.39174110e-01 9.40723617e-01 0.00000000e+00 -5.29301146e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99504521e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.00, Y:-52.94, Z:0.00 [[ 9.41105383e-01 3.38113379e-01 0.00000000e+00 2.30995484e+02] [-3.38113379e-01 9.41105383e-01 0.00000000e+00 -5.29429947e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46057798e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.03, Y:-52.96, Z:0.00 [[ 9.41276040e-01 3.37637996e-01 0.00000000e+00 2.31025947e+02] [-3.37637996e-01 9.41276040e-01 0.00000000e+00 -5.29565108e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42911477e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.06, Y:-52.97, Z:0.00 [[ 9.41214776e-01 3.37808741e-01 0.00000000e+00 2.31055721e+02] [-3.37808741e-01 9.41214776e-01 0.00000000e+00 -5.29701686e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.70716978e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.09, Y:-52.98, Z:0.00 [[ 9.40951137e-01 3.38542401e-01 0.00000000e+00 2.31086004e+02] [-3.38542401e-01 9.40951137e-01 0.00000000e+00 -5.29830625e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70337356e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.12, Y:-53.00, Z:0.00 [[ 9.39833964e-01 3.41631557e-01 0.00000000e+00 2.31116066e+02] [-3.41631557e-01 9.39833964e-01 0.00000000e+00 -5.29988659e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65920548e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.15, Y:-53.01, Z:0.00 [[ 9.38992546e-01 3.43937494e-01 0.00000000e+00 2.31145627e+02] [-3.43937494e-01 9.38992546e-01 0.00000000e+00 -5.30114259e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20217730e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.79140051299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:231.18, Y:-53.02, Z:0.00 [[ 9.38080101e-01 3.46418425e-01 0.00000000e+00 2.31176440e+02] [-3.46418425e-01 9.38080101e-01 0.00000000e+00 -5.30233395e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77083588e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.21, Y:-53.03, Z:0.00 [[ 9.37125767e-01 3.48991829e-01 0.00000000e+00 2.31206761e+02] [-3.48991829e-01 9.37125767e-01 0.00000000e+00 -5.30336730e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12693057e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.24, Y:-53.04, Z:0.01 [[ 9.35313370e-01 3.53820435e-01 0.00000000e+00 2.31237776e+02] [-3.53820435e-01 9.35313370e-01 0.00000000e+00 -5.30440187e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.93262480e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.27, Y:-53.06, Z:0.01 [[ 9.34574238e-01 3.55768175e-01 0.00000000e+00 2.31268473e+02] [-3.55768175e-01 9.34574238e-01 0.00000000e+00 -5.30552179e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.15627045e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.30, Y:-53.07, Z:0.00 [[ 9.34153811e-01 3.56870644e-01 0.00000000e+00 2.31299422e+02] [-3.56870644e-01 9.34153811e-01 0.00000000e+00 -5.30666911e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.40591601e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.33, Y:-53.08, Z:0.01 [[ 9.33905051e-01 3.57521125e-01 0.00000000e+00 2.31330414e+02] [-3.57521125e-01 9.33905051e-01 0.00000000e+00 -5.30791899e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.09377061e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.36, Y:-53.09, Z:0.01 [[ 9.33946763e-01 3.57412149e-01 0.00000000e+00 2.31361759e+02] [-3.57412149e-01 9.33946763e-01 0.00000000e+00 -5.30889372e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.82816776e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.39, Y:-53.10, Z:0.01 [[ 9.34067997e-01 3.57095194e-01 0.00000000e+00 2.31392534e+02] [-3.57095194e-01 9.34067997e-01 0.00000000e+00 -5.30988166e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.52059377e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.42, Y:-53.11, Z:0.01 [[ 9.34246823e-01 3.56627080e-01 0.00000000e+00 2.31424047e+02] [-3.56627080e-01 9.34246823e-01 0.00000000e+00 -5.31088957e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03615535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.46, Y:-53.12, Z:0.01 [[ 9.34564851e-01 3.55792833e-01 0.00000000e+00 2.31455192e+02] [-3.55792833e-01 9.34564851e-01 0.00000000e+00 -5.31181045e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10769251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.49, Y:-53.13, Z:0.01 [[ 9.35686113e-01 3.52833527e-01 0.00000000e+00 2.31487102e+02] [-3.52833527e-01 9.35686113e-01 0.00000000e+00 -5.31257062e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08156703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.52, Y:-53.13, Z:0.01 [[ 9.36391386e-01 3.50957508e-01 0.00000000e+00 2.31517480e+02] [-3.50957508e-01 9.36391386e-01 0.00000000e+00 -5.31343243e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.25749104e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.55, Y:-53.14, Z:0.01 [[ 9.36330802e-01 3.51119111e-01 0.00000000e+00 2.31549584e+02] [-3.51119111e-01 9.36330802e-01 0.00000000e+00 -5.31438077e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.25749104e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.58, Y:-53.15, Z:0.01 [[ 9.37249049e-01 3.48660609e-01 0.00000000e+00 2.31580243e+02] [-3.48660609e-01 9.37249049e-01 0.00000000e+00 -5.31529541e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.11023123e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.61, Y:-53.16, Z:0.01 [[ 9.39677876e-01 3.42060651e-01 0.00000000e+00 2.31610921e+02] [-3.42060651e-01 9.39677876e-01 0.00000000e+00 -5.31621309e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.00679912e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.64, Y:-53.17, Z:0.00 [[ 9.41057984e-01 3.38245281e-01 0.00000000e+00 2.31641810e+02] [-3.38245281e-01 9.41057984e-01 0.00000000e+00 -5.31705146e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.77511743e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.67, Y:-53.18, Z:0.01 [[ 9.42535562e-01 3.34105842e-01 0.00000000e+00 2.31673478e+02] [-3.34105842e-01 9.42535562e-01 0.00000000e+00 -5.31793768e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.01508929e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.70, Y:-53.19, Z:0.00 [[ 9.43978151e-01 3.30007955e-01 0.00000000e+00 2.31703900e+02] [-3.30007955e-01 9.43978151e-01 0.00000000e+00 -5.31887568e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.92899261e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.73, Y:-53.20, Z:0.00 [[ 9.46322772e-01 3.23223159e-01 0.00000000e+00 2.31734032e+02] [-3.23223159e-01 9.46322772e-01 0.00000000e+00 -5.31997837e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75249033e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.77, Y:-53.21, Z:0.00 [[ 9.47161956e-01 3.20755715e-01 0.00000000e+00 2.31765203e+02] [-3.20755715e-01 9.47161956e-01 0.00000000e+00 -5.32094118e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02421256e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.80, Y:-53.22, Z:0.00 [[ 9.47804666e-01 3.18851557e-01 0.00000000e+00 2.31796301e+02] [-3.18851557e-01 9.47804666e-01 0.00000000e+00 -5.32187446e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.09441699e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.83, Y:-53.23, Z:0.01 [[ 9.48251181e-01 3.17521177e-01 0.00000000e+00 2.31827381e+02] [-3.17521177e-01 9.48251181e-01 0.00000000e+00 -5.32281796e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.54243430e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.86, Y:-53.24, Z:0.01 [[ 9.48629984e-01 3.16387663e-01 0.00000000e+00 2.31858182e+02] [-3.16387663e-01 9.48629984e-01 0.00000000e+00 -5.32376871e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.80569089e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.89, Y:-53.25, Z:0.01 [[ 9.48985865e-01 3.15318614e-01 0.00000000e+00 2.31889394e+02] [-3.15318614e-01 9.48985865e-01 0.00000000e+00 -5.32476030e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.00145579e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.92, Y:-53.26, Z:0.00 [[ 9.50058134e-01 3.12072975e-01 0.00000000e+00 2.31920028e+02] [-3.12072975e-01 9.50058134e-01 0.00000000e+00 -5.32568070e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87518558e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.95, Y:-53.27, Z:0.00 [[ 9.50756028e-01 3.09940277e-01 0.00000000e+00 2.31951361e+02] [-3.09940277e-01 9.50756028e-01 0.00000000e+00 -5.32673478e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25732803e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.98, Y:-53.28, Z:0.01 [[ 9.53032737e-01 3.02867300e-01 0.00000000e+00 2.31980414e+02] [-3.02867300e-01 9.53032737e-01 0.00000000e+00 -5.32825780e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.72724343e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.601400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:232.01, Y:-53.29, Z:0.01 [[ 9.54349607e-01 2.98691862e-01 0.00000000e+00 2.32010319e+02] [-2.98691862e-01 9.54349607e-01 0.00000000e+00 -5.32948750e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.82377253e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.04, Y:-53.31, Z:0.01 [[ 9.55608777e-01 2.94638533e-01 0.00000000e+00 2.32040374e+02] [-2.94638533e-01 9.55608777e-01 0.00000000e+00 -5.33067996e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.65040016e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.07, Y:-53.32, Z:0.00 [[ 9.56592844e-01 2.91427744e-01 0.00000000e+00 2.32070440e+02] [-2.91427744e-01 9.56592844e-01 0.00000000e+00 -5.33187412e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.98725024e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.10, Y:-53.33, Z:0.01 [[ 9.57344114e-01 2.88950251e-01 0.00000000e+00 2.32100920e+02] [-2.88950251e-01 9.57344114e-01 0.00000000e+00 -5.33323236e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.28697476e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.13, Y:-53.35, Z:0.01 [[ 9.57925636e-01 2.87016509e-01 0.00000000e+00 2.32130474e+02] [-2.87016509e-01 9.57925636e-01 0.00000000e+00 -5.33469141e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.38610939e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.16, Y:-53.37, Z:0.01 [[ 9.58373412e-01 2.85517782e-01 0.00000000e+00 2.32158092e+02] [-2.85517782e-01 9.58373412e-01 0.00000000e+00 -5.33650485e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13486281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.19, Y:-53.38, Z:0.01 [[ 9.58166227e-01 2.86212300e-01 0.00000000e+00 2.32188307e+02] [-2.86212300e-01 9.58166227e-01 0.00000000e+00 -5.33773604e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03900707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.22, Y:-53.39, Z:0.01 [[ 9.57736865e-01 2.87645785e-01 0.00000000e+00 2.32219337e+02] [-2.87645785e-01 9.57736865e-01 0.00000000e+00 -5.33899678e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.24990277e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.25, Y:-53.40, Z:0.01 [[ 9.57210541e-01 2.89392432e-01 0.00000000e+00 2.32250381e+02] [-2.89392432e-01 9.57210541e-01 0.00000000e+00 -5.34028795e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.26590851e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.28, Y:-53.42, Z:0.00 [[ 9.56096097e-01 2.93053327e-01 0.00000000e+00 2.32278532e+02] [-2.93053327e-01 9.56096097e-01 0.00000000e+00 -5.34191385e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.71792144e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.31, Y:-53.43, Z:0.01 [[ 9.55592330e-01 2.94691871e-01 0.00000000e+00 2.32309621e+02] [-2.94691871e-01 9.55592330e-01 0.00000000e+00 -5.34307726e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.67167325e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.93140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.34, Y:-53.44, Z:0.01 [[ 9.55131909e-01 2.96180750e-01 0.00000000e+00 2.32339857e+02] [-2.96180750e-01 9.55131909e-01 0.00000000e+00 -5.34410106e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.32598588e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.37, Y:-53.45, Z:0.01 [[ 9.54610102e-01 2.97858277e-01 0.00000000e+00 2.32370945e+02] [-2.97858277e-01 9.54610102e-01 0.00000000e+00 -5.34515863e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.99572837e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.40, Y:-53.46, Z:0.01 [[ 9.53788520e-01 3.00478718e-01 0.00000000e+00 2.32402094e+02] [-3.00478718e-01 9.53788520e-01 0.00000000e+00 -5.34638864e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.81155864e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.43, Y:-53.47, Z:0.01 [[ 9.53676770e-01 3.00833207e-01 0.00000000e+00 2.32433535e+02] [-3.00833207e-01 9.53676770e-01 0.00000000e+00 -5.34743624e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.22435932e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.47, Y:-53.48, Z:0.01 [[ 9.53844270e-01 3.00301698e-01 0.00000000e+00 2.32465526e+02] [-3.00301698e-01 9.53844270e-01 0.00000000e+00 -5.34839452e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.38584551e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.50, Y:-53.49, Z:0.00 [[ 9.54647596e-01 2.97738086e-01 0.00000000e+00 2.32496295e+02] [-2.97738086e-01 9.54647596e-01 0.00000000e+00 -5.34921791e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.73151933e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.53, Y:-53.50, Z:0.01 [[ 9.55128349e-01 2.96192231e-01 0.00000000e+00 2.32527830e+02] [-2.96192231e-01 9.55128349e-01 0.00000000e+00 -5.35012357e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.37934218e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.56, Y:-53.51, Z:0.01 [[ 9.55739524e-01 2.94214145e-01 0.00000000e+00 2.32559336e+02] [-2.94214145e-01 9.55739524e-01 0.00000000e+00 -5.35099426e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.93917116e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.59, Y:-53.52, Z:0.01 [[ 9.56312090e-01 2.92347716e-01 0.00000000e+00 2.32589723e+02] [-2.92347716e-01 9.56312090e-01 0.00000000e+00 -5.35182567e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.31468327e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.62, Y:-53.53, Z:0.01 [[ 9.56913076e-01 2.90374526e-01 0.00000000e+00 2.32621345e+02] [-2.90374526e-01 9.56913076e-01 0.00000000e+00 -5.35266801e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.69385293e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.65, Y:-53.53, Z:0.01 [[ 9.58062007e-01 2.86560971e-01 0.00000000e+00 2.32653492e+02] [-2.86560971e-01 9.58062007e-01 0.00000000e+00 -5.35336943e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.58628322e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.68, Y:-53.54, Z:0.01 [[ 9.58472052e-01 2.85186477e-01 0.00000000e+00 2.32684322e+02] [-2.85186477e-01 9.58472052e-01 0.00000000e+00 -5.35415385e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.52739543e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.72, Y:-53.55, Z:0.01 [[ 9.58694394e-01 2.84438147e-01 0.00000000e+00 2.32716164e+02] [-2.84438147e-01 9.58694394e-01 0.00000000e+00 -5.35489514e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04651010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.75, Y:-53.56, Z:0.01 [[ 9.58672639e-01 2.84511462e-01 0.00000000e+00 2.32748331e+02] [-2.84511462e-01 9.58672639e-01 0.00000000e+00 -5.35562633e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07083759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.78, Y:-53.56, Z:0.01 [[ 9.58472029e-01 2.85186552e-01 0.00000000e+00 2.32779453e+02] [-2.85186552e-01 9.58472029e-01 0.00000000e+00 -5.35640726e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00583543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.81, Y:-53.57, Z:0.01 [[ 9.57916628e-01 2.87046569e-01 0.00000000e+00 2.32811108e+02] [-2.87046569e-01 9.57916628e-01 0.00000000e+00 -5.35720194e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.41989495e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.84, Y:-53.58, Z:0.01 [[ 9.57564125e-01 2.88220309e-01 0.00000000e+00 2.32842860e+02] [-2.88220309e-01 9.57564125e-01 0.00000000e+00 -5.35801384e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.59153443e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.87, Y:-53.59, Z:0.01 [[ 9.57166224e-01 2.89538978e-01 0.00000000e+00 2.32874209e+02] [-2.89538978e-01 9.57166224e-01 0.00000000e+00 -5.35872417e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.18490819e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.91, Y:-53.59, Z:0.01 [[ 9.56311168e-01 2.92350732e-01 0.00000000e+00 2.32906993e+02] [-2.92350732e-01 9.56311168e-01 0.00000000e+00 -5.35932522e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.56689885e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.94, Y:-53.60, Z:0.01 [[ 9.55838507e-01 2.93892409e-01 0.00000000e+00 2.32939178e+02] [-2.93892409e-01 9.55838507e-01 0.00000000e+00 -5.36022515e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.51224815e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.97, Y:-53.61, Z:0.00 [[ 9.55472223e-01 2.95081058e-01 0.00000000e+00 2.32969646e+02] [-2.95081058e-01 9.55472223e-01 0.00000000e+00 -5.36115481e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.87685461e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.00, Y:-53.62, Z:0.00 [[ 9.55288030e-01 2.95676816e-01 0.00000000e+00 2.33000849e+02] [-2.95676816e-01 9.55288030e-01 0.00000000e+00 -5.36206072e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77135574e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.03, Y:-53.63, Z:0.00 [[ 9.55520681e-01 2.94924107e-01 0.00000000e+00 2.33033257e+02] [-2.94924107e-01 9.55520681e-01 0.00000000e+00 -5.36287038e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03078536e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.06, Y:-53.64, Z:0.00 [[ 9.55963078e-01 2.93486957e-01 0.00000000e+00 2.33063496e+02] [-2.93486957e-01 9.55963078e-01 0.00000000e+00 -5.36374503e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77901663e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.65140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.09, Y:-53.65, Z:0.00 [[ 9.56529631e-01 2.91635158e-01 0.00000000e+00 2.33094792e+02] [-2.91635158e-01 9.56529631e-01 0.00000000e+00 -5.36473747e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82016506e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.13, Y:-53.66, Z:0.01 [[ 9.57130780e-01 2.89656122e-01 0.00000000e+00 2.33125810e+02] [-2.89656122e-01 9.57130780e-01 0.00000000e+00 -5.36577025e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.30167292e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.16, Y:-53.67, Z:0.01 [[ 9.58714381e-01 2.84370771e-01 0.00000000e+00 2.33157370e+02] [-2.84370771e-01 9.58714381e-01 0.00000000e+00 -5.36681174e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.91273521e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.19, Y:-53.68, Z:0.01 [[ 9.59655593e-01 2.81178133e-01 0.00000000e+00 2.33189229e+02] [-2.81178133e-01 9.59655593e-01 0.00000000e+00 -5.36767731e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.07569327e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.22, Y:-53.69, Z:0.01 [[ 9.60654936e-01 2.77744657e-01 0.00000000e+00 2.33220802e+02] [-2.77744657e-01 9.60654936e-01 0.00000000e+00 -5.36850621e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.18006376e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.25, Y:-53.69, Z:0.01 [[ 9.61587926e-01 2.74497103e-01 0.00000000e+00 2.33251572e+02] [-2.74497103e-01 9.61587926e-01 0.00000000e+00 -5.36939965e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.17969875e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.28, Y:-53.71, Z:0.00 [[ 9.63035665e-01 2.69373917e-01 0.00000000e+00 2.33282561e+02] [-2.69373917e-01 9.63035665e-01 0.00000000e+00 -5.37054861e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97060140e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.31, Y:-53.72, Z:0.00 [[ 9.63307579e-01 2.68399904e-01 0.00000000e+00 2.33313777e+02] [-2.68399904e-01 9.63307579e-01 0.00000000e+00 -5.37166376e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54080584e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.34, Y:-53.73, Z:0.00 [[ 9.63320862e-01 2.68352224e-01 0.00000000e+00 2.33344019e+02] [-2.68352224e-01 9.63320862e-01 0.00000000e+00 -5.37270708e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87072748e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.37, Y:-53.74, Z:0.00 [[ 9.63180742e-01 2.68854714e-01 0.00000000e+00 2.33374989e+02] [-2.68854714e-01 9.63180742e-01 0.00000000e+00 -5.37368078e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.51181021e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.41, Y:-53.75, Z:0.01 [[ 9.62819361e-01 2.70146030e-01 0.00000000e+00 2.33406187e+02] [-2.70146030e-01 9.62819361e-01 0.00000000e+00 -5.37457842e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.00827750e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.44, Y:-53.75, Z:0.01 [[ 9.61753903e-01 2.73915003e-01 0.00000000e+00 2.33438115e+02] [-2.73915003e-01 9.61753903e-01 0.00000000e+00 -5.37529558e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18605168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.01140051299998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:233.47, Y:-53.76, Z:0.01 [[ 9.61005356e-01 2.76529755e-01 0.00000000e+00 2.33468806e+02] [-2.76529755e-01 9.61005356e-01 0.00000000e+00 -5.37609763e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24003624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04140051299999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:233.50, Y:-53.77, Z:0.01 [[ 9.60953540e-01 2.76709766e-01 0.00000000e+00 2.33500788e+02] [-2.76709766e-01 9.60953540e-01 0.00000000e+00 -5.37708284e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24003624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.53, Y:-53.78, Z:0.01 [[ 9.60034031e-01 2.79883294e-01 0.00000000e+00 2.33532415e+02] [-2.79883294e-01 9.60034031e-01 0.00000000e+00 -5.37789982e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17468759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.101400513 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:233.57, Y:-53.78, Z:0.01 [[ 9.58050810e-01 2.86598404e-01 0.00000000e+00 2.33565340e+02] [-2.86598404e-01 9.58050810e-01 0.00000000e+00 -5.37846994e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.02206715e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.60, Y:-53.79, Z:0.01 [[ 9.57020747e-01 2.90019465e-01 0.00000000e+00 2.33596509e+02] [-2.90019465e-01 9.57020747e-01 0.00000000e+00 -5.37918448e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.33858351e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.63, Y:-53.80, Z:0.01 [[ 9.56186839e-01 2.92757117e-01 0.00000000e+00 2.33628841e+02] [-2.92757117e-01 9.56186839e-01 0.00000000e+00 -5.37999238e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.38639465e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.66, Y:-53.81, Z:0.01 [[ 9.55498370e-01 2.94996381e-01 0.00000000e+00 2.33660453e+02] [-2.94996381e-01 9.55498370e-01 0.00000000e+00 -5.38081286e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03807330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.69, Y:-53.81, Z:0.01 [[ 9.54465051e-01 2.98322754e-01 0.00000000e+00 2.33693604e+02] [-2.98322754e-01 9.54465051e-01 0.00000000e+00 -5.38139071e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.35075201e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.72, Y:-53.82, Z:0.01 [[ 9.53953216e-01 2.99955434e-01 0.00000000e+00 2.33724202e+02] [-2.99955434e-01 9.53953216e-01 0.00000000e+00 -5.38214680e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.18459669e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.75, Y:-53.83, Z:0.01 [[ 9.53456874e-01 3.01529417e-01 0.00000000e+00 2.33754878e+02] [-3.01529417e-01 9.53456874e-01 0.00000000e+00 -5.38299686e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.16419203e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.79, Y:-53.84, Z:0.01 [[ 9.52981962e-01 3.03027029e-01 0.00000000e+00 2.33786878e+02] [-3.03027029e-01 9.52981962e-01 0.00000000e+00 -5.38396905e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.20900254e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.82, Y:-53.85, Z:0.01 [[ 9.52543213e-01 3.04403397e-01 0.00000000e+00 2.33818534e+02] [-3.04403397e-01 9.52543213e-01 0.00000000e+00 -5.38499573e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.02423042e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.85, Y:-53.86, Z:0.01 [[ 9.51770560e-01 3.06810694e-01 0.00000000e+00 2.33849151e+02] [-3.06810694e-01 9.51770560e-01 0.00000000e+00 -5.38590480e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.86098996e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.88, Y:-53.87, Z:0.01 [[ 9.51327329e-01 3.08182273e-01 0.00000000e+00 2.33881019e+02] [-3.08182273e-01 9.51327329e-01 0.00000000e+00 -5.38680490e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.20843488e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.43140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.91, Y:-53.88, Z:0.01 [[ 9.50796890e-01 3.09814902e-01 0.00000000e+00 2.33913041e+02] [-3.09814902e-01 9.50796890e-01 0.00000000e+00 -5.38771815e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.88136472e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.94, Y:-53.89, Z:0.01 [[ 9.50156766e-01 3.11772544e-01 0.00000000e+00 2.33944766e+02] [-3.11772544e-01 9.50156766e-01 0.00000000e+00 -5.38864864e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.71912464e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.98, Y:-53.90, Z:0.01 [[ 9.48665039e-01 3.16282537e-01 0.00000000e+00 2.33975441e+02] [-3.16282537e-01 9.48665039e-01 0.00000000e+00 -5.38953003e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.93271303e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.01, Y:-53.90, Z:0.01 [[ 9.47841267e-01 3.18742737e-01 0.00000000e+00 2.34006585e+02] [-3.18742737e-01 9.47841267e-01 0.00000000e+00 -5.39047079e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.43721654e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.04, Y:-53.91, Z:0.01 [[ 9.47074731e-01 3.21013168e-01 0.00000000e+00 2.34037176e+02] [-3.21013168e-01 9.47074731e-01 0.00000000e+00 -5.39137524e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.84422216e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.07, Y:-53.92, Z:0.00 [[ 9.45773671e-01 3.24826357e-01 0.00000000e+00 2.34069144e+02] [-3.24826357e-01 9.45773671e-01 0.00000000e+00 -5.39233381e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32679736e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.61140051299998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:234.10, Y:-53.93, Z:0.00 [[ 9.45301144e-01 3.26198937e-01 0.00000000e+00 2.34100849e+02] [-3.26198937e-01 9.45301144e-01 0.00000000e+00 -5.39335642e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88830980e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.13, Y:-53.94, Z:0.00 [[ 9.44922673e-01 3.27293664e-01 0.00000000e+00 2.34131107e+02] [-3.27293664e-01 9.44922673e-01 0.00000000e+00 -5.39437658e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45818079e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.16, Y:-53.95, Z:0.00 [[ 9.44632226e-01 3.28131008e-01 0.00000000e+00 2.34162794e+02] [-3.28131008e-01 9.44632226e-01 0.00000000e+00 -5.39541093e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56373403e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.19, Y:-53.96, Z:0.00 [[ 9.44394189e-01 3.28815474e-01 0.00000000e+00 2.34193207e+02] [-3.28815474e-01 9.44394189e-01 0.00000000e+00 -5.39638091e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19093138e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.22, Y:-53.97, Z:0.01 [[ 9.44105125e-01 3.29644525e-01 0.00000000e+00 2.34224647e+02] [-3.29644525e-01 9.44105125e-01 0.00000000e+00 -5.39743437e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.31999620e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.26, Y:-53.99, Z:0.01 [[ 9.43695172e-01 3.30816298e-01 0.00000000e+00 2.34255410e+02] [-3.30816298e-01 9.43695172e-01 0.00000000e+00 -5.39852243e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.87626592e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.29, Y:-54.00, Z:0.01 [[ 9.43115716e-01 3.32464654e-01 0.00000000e+00 2.34286089e+02] [-3.32464654e-01 9.43115716e-01 0.00000000e+00 -5.39966780e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.47860636e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.32, Y:-54.01, Z:0.00 [[ 9.42257219e-01 3.34890031e-01 0.00000000e+00 2.34316620e+02] [-3.34890031e-01 9.42257219e-01 0.00000000e+00 -5.40100019e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65991675e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.35, Y:-54.02, Z:0.00 [[ 9.42039464e-01 3.35502084e-01 0.00000000e+00 2.34346461e+02] [-3.35502084e-01 9.42039464e-01 0.00000000e+00 -5.40203597e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64762557e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.38, Y:-54.03, Z:0.00 [[ 9.41862470e-01 3.35998643e-01 0.00000000e+00 2.34377692e+02] [-3.35998643e-01 9.41862470e-01 0.00000000e+00 -5.40307031e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.75982137e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.41, Y:-54.04, Z:0.01 [[ 9.41603024e-01 3.36725029e-01 0.00000000e+00 2.34408458e+02] [-3.36725029e-01 9.41603024e-01 0.00000000e+00 -5.40407148e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.25378015e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.44, Y:-54.05, Z:0.01 [[ 9.40809896e-01 3.38934713e-01 0.00000000e+00 2.34438565e+02] [-3.38934713e-01 9.40809896e-01 0.00000000e+00 -5.40521641e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.89782542e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.47, Y:-54.06, Z:0.01 [[ 9.40200162e-01 3.40622454e-01 0.00000000e+00 2.34470090e+02] [-3.40622454e-01 9.40200162e-01 0.00000000e+00 -5.40632270e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.88425711e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.50, Y:-54.07, Z:0.01 [[ 9.39463834e-01 3.42648077e-01 0.00000000e+00 2.34501712e+02] [-3.42648077e-01 9.39463834e-01 0.00000000e+00 -5.40738583e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.18596670e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.53, Y:-54.08, Z:0.01 [[ 9.38758600e-01 3.44575524e-01 0.00000000e+00 2.34531908e+02] [-3.44575524e-01 9.38758600e-01 0.00000000e+00 -5.40828647e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.28795943e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.56, Y:-54.09, Z:0.00 [[ 9.38073352e-01 3.46436699e-01 0.00000000e+00 2.34563700e+02] [-3.46436699e-01 9.38073352e-01 0.00000000e+00 -5.40913349e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25362399e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.60, Y:-54.10, Z:0.00 [[ 9.36974313e-01 3.49398250e-01 0.00000000e+00 2.34595305e+02] [-3.49398250e-01 9.36974313e-01 0.00000000e+00 -5.40987619e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79453549e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.63, Y:-54.11, Z:0.00 [[ 9.36588339e-01 3.50431568e-01 0.00000000e+00 2.34626570e+02] [-3.50431568e-01 9.36588339e-01 0.00000000e+00 -5.41081019e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.37219267e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.15140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.66, Y:-54.12, Z:0.00 [[ 9.36256679e-01 3.51316711e-01 0.00000000e+00 2.34657329e+02] [-3.51316711e-01 9.36256679e-01 0.00000000e+00 -5.41170275e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10007104e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.69, Y:-54.13, Z:0.00 [[ 9.35855379e-01 3.52384322e-01 0.00000000e+00 2.34687984e+02] [-3.52384322e-01 9.35855379e-01 0.00000000e+00 -5.41250921e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46222427e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.72, Y:-54.13, Z:0.00 [[ 9.35355483e-01 3.53709090e-01 0.00000000e+00 2.34720578e+02] [-3.53709090e-01 9.35355483e-01 0.00000000e+00 -5.41317237e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.98170071e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.75, Y:-54.14, Z:0.00 [[ 9.35347273e-01 3.53730801e-01 0.00000000e+00 2.34752391e+02] [-3.53730801e-01 9.35347273e-01 0.00000000e+00 -5.41403514e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94824690e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.78, Y:-54.15, Z:0.00 [[ 9.35603548e-01 3.53052405e-01 0.00000000e+00 2.34783354e+02] [-3.53052405e-01 9.35603548e-01 0.00000000e+00 -5.41493690e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77945814e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.81, Y:-54.16, Z:0.00 [[ 9.36834072e-01 3.49774102e-01 0.00000000e+00 2.34814176e+02] [-3.49774102e-01 9.36834072e-01 0.00000000e+00 -5.41594180e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87385003e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.85, Y:-54.17, Z:0.00 [[ 9.37640314e-01 3.47607022e-01 0.00000000e+00 2.34845916e+02] [-3.47607022e-01 9.37640314e-01 0.00000000e+00 -5.41699774e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04130061e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.88, Y:-54.18, Z:0.00 [[ 9.38380452e-01 3.45604004e-01 0.00000000e+00 2.34876328e+02] [-3.45604004e-01 9.38380452e-01 0.00000000e+00 -5.41803659e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59745366e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.91, Y:-54.19, Z:0.00 [[ 9.38899063e-01 3.44192604e-01 0.00000000e+00 2.34907261e+02] [-3.44192604e-01 9.38899063e-01 0.00000000e+00 -5.41913020e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68254521e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.94, Y:-54.20, Z:0.00 [[ 9.39483954e-01 3.42592909e-01 0.00000000e+00 2.34937849e+02] [-3.42592909e-01 9.39483954e-01 0.00000000e+00 -5.42039787e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26978972e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.97, Y:-54.21, Z:0.00 [[ 9.39388044e-01 3.42855805e-01 0.00000000e+00 2.34969130e+02] [-3.42855805e-01 9.39388044e-01 0.00000000e+00 -5.42144691e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12599735e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.00, Y:-54.22, Z:0.00 [[ 9.39008994e-01 3.43892583e-01 0.00000000e+00 2.35001025e+02] [-3.43892583e-01 9.39008994e-01 0.00000000e+00 -5.42238262e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97918394e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.51140051299998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:235.03, Y:-54.23, Z:0.00 [[ 9.38356786e-01 3.45668256e-01 0.00000000e+00 2.35032800e+02] [-3.45668256e-01 9.38356786e-01 0.00000000e+00 -5.42326690e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60057708e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.06, Y:-54.24, Z:0.00 [[ 9.36795566e-01 3.49877217e-01 0.00000000e+00 2.35063792e+02] [-3.49877217e-01 9.36795566e-01 0.00000000e+00 -5.42436169e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.77064502e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.09, Y:-54.25, Z:0.01 [[ 9.36230857e-01 3.51385517e-01 0.00000000e+00 2.35093460e+02] [-3.51385517e-01 9.36230857e-01 0.00000000e+00 -5.42545110e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.92264307e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.12, Y:-54.26, Z:0.01 [[ 9.35983844e-01 3.52042957e-01 0.00000000e+00 2.35123712e+02] [-3.52042957e-01 9.35983844e-01 0.00000000e+00 -5.42646618e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.87835071e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.16, Y:-54.27, Z:0.01 [[ 9.36585048e-01 3.50440363e-01 0.00000000e+00 2.35155288e+02] [-3.50440363e-01 9.36585048e-01 0.00000000e+00 -5.42746476e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.49991810e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.661400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:235.19, Y:-54.29, Z:0.01 [[ 9.36936488e-01 3.49499667e-01 0.00000000e+00 2.35185735e+02] [-3.49499667e-01 9.36936488e-01 0.00000000e+00 -5.42855083e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.29171240e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.22, Y:-54.30, Z:0.01 [[ 9.37173721e-01 3.48863033e-01 0.00000000e+00 2.35216082e+02] [-3.48863033e-01 9.37173721e-01 0.00000000e+00 -5.42972045e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.00472632e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.25, Y:-54.31, Z:0.01 [[ 9.36975277e-01 3.49395665e-01 0.00000000e+00 2.35246670e+02] [-3.49395665e-01 9.36975277e-01 0.00000000e+00 -5.43099110e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.90398799e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.28, Y:-54.32, Z:0.01 [[ 9.36406018e-01 3.50918465e-01 0.00000000e+00 2.35276971e+02] [-3.50918465e-01 9.36406018e-01 0.00000000e+00 -5.43200585e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.82104659e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.31, Y:-54.33, Z:0.01 [[ 9.35525859e-01 3.53258215e-01 0.00000000e+00 2.35308457e+02] [-3.53258215e-01 9.35525859e-01 0.00000000e+00 -5.43306986e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.84715956e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.34, Y:-54.34, Z:0.01 [[ 9.34389989e-01 3.56251804e-01 0.00000000e+00 2.35338492e+02] [-3.56251804e-01 9.34389989e-01 0.00000000e+00 -5.43407701e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.26656994e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.37, Y:-54.35, Z:0.00 [[ 9.31428024e-01 3.63925593e-01 0.00000000e+00 2.35369122e+02] [-3.63925593e-01 9.31428024e-01 0.00000000e+00 -5.43498400e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27527511e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.40, Y:-54.36, Z:0.00 [[ 9.29818374e-01 3.68018739e-01 0.00000000e+00 2.35401346e+02] [-3.68018739e-01 9.29818374e-01 0.00000000e+00 -5.43586572e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.05840289e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.43, Y:-54.37, Z:-0.00 [[ 9.28451302e-01 3.71454142e-01 0.00000000e+00 2.35432486e+02] [-3.71454142e-01 9.28451302e-01 0.00000000e+00 -5.43665488e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05132698e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.93140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.46, Y:-54.37, Z:-0.00 [[ 9.27373720e-01 3.74136317e-01 0.00000000e+00 2.35463294e+02] [-3.74136317e-01 9.27373720e-01 0.00000000e+00 -5.43741137e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84956381e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.50, Y:-54.38, Z:-0.00 [[ 9.27310532e-01 3.74292903e-01 0.00000000e+00 2.35495179e+02] [-3.74292903e-01 9.27310532e-01 0.00000000e+00 -5.43842948e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84956381e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.53, Y:-54.39, Z:-0.00 [[ 9.26492311e-01 3.76313695e-01 0.00000000e+00 2.35527228e+02] [-3.76313695e-01 9.26492311e-01 0.00000000e+00 -5.43927434e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30687206e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.56, Y:-54.40, Z:-0.00 [[ 9.26039632e-01 3.77426283e-01 0.00000000e+00 2.35558680e+02] [-3.77426283e-01 9.26039632e-01 0.00000000e+00 -5.44013586e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.14118447e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.59, Y:-54.41, Z:-0.00 [[ 9.26410682e-01 3.76514607e-01 0.00000000e+00 2.35589553e+02] [-3.76514607e-01 9.26410682e-01 0.00000000e+00 -5.44097678e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22499394e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.62, Y:-54.42, Z:-0.00 [[ 9.27057991e-01 3.74917966e-01 0.00000000e+00 2.35620829e+02] [-3.74917966e-01 9.27057991e-01 0.00000000e+00 -5.44190764e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91880021e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.11140051299998 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:235.65, Y:-54.43, Z:-0.00 [[ 9.27855480e-01 3.72939953e-01 0.00000000e+00 2.35652032e+02] [-3.72939953e-01 9.27855480e-01 0.00000000e+00 -5.44281012e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50323616e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.68, Y:-54.44, Z:0.00 [[ 9.28643755e-01 3.70972743e-01 0.00000000e+00 2.35682340e+02] [-3.70972743e-01 9.28643755e-01 0.00000000e+00 -5.44376128e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39920988e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.71, Y:-54.45, Z:0.00 [[ 9.30230627e-01 3.66975449e-01 0.00000000e+00 2.35713918e+02] [-3.66975449e-01 9.30230627e-01 0.00000000e+00 -5.44484343e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24770845e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.74, Y:-54.46, Z:0.00 [[ 9.30798268e-01 3.65533287e-01 0.00000000e+00 2.35744548e+02] [-3.65533287e-01 9.30798268e-01 0.00000000e+00 -5.44578900e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42139137e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.78, Y:-54.47, Z:0.00 [[ 9.31571491e-01 3.63558191e-01 0.00000000e+00 2.35776031e+02] [-3.63558191e-01 9.31571491e-01 0.00000000e+00 -5.44674441e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08042078e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.81, Y:-54.48, Z:0.00 [[ 9.31844437e-01 3.62858024e-01 0.00000000e+00 2.35807757e+02] [-3.62858024e-01 9.31844437e-01 0.00000000e+00 -5.44779843e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25224790e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.84, Y:-54.49, Z:0.00 [[ 9.32012623e-01 3.62425815e-01 0.00000000e+00 2.35838429e+02] [-3.62425815e-01 9.32012623e-01 0.00000000e+00 -5.44885634e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.84110157e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.87, Y:-54.50, Z:0.01 [[ 9.32231060e-01 3.61863581e-01 0.00000000e+00 2.35869478e+02] [-3.61863581e-01 9.32231060e-01 0.00000000e+00 -5.44985087e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.20353674e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.90, Y:-54.51, Z:0.01 [[ 9.32578732e-01 3.60966630e-01 0.00000000e+00 2.35900555e+02] [-3.60966630e-01 9.32578732e-01 0.00000000e+00 -5.45075942e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.68201020e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.93, Y:-54.52, Z:0.01 [[ 9.33430039e-01 3.58759476e-01 0.00000000e+00 2.35932211e+02] [-3.58759476e-01 9.33430039e-01 0.00000000e+00 -5.45167113e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.98038344e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.96, Y:-54.53, Z:0.01 [[ 9.33621350e-01 3.58261323e-01 0.00000000e+00 2.35963774e+02] [-3.58261323e-01 9.33621350e-01 0.00000000e+00 -5.45274110e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.56330622e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.441400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:235.99, Y:-54.54, Z:0.01 [[ 9.33647078e-01 3.58194269e-01 0.00000000e+00 2.35993876e+02] [-3.58194269e-01 9.33647078e-01 0.00000000e+00 -5.45377609e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.51447840e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.03, Y:-54.55, Z:0.01 [[ 9.33090884e-01 3.59640656e-01 0.00000000e+00 2.36025057e+02] [-3.59640656e-01 9.33090884e-01 0.00000000e+00 -5.45487210e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.56404304e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.06, Y:-54.56, Z:0.01 [[ 9.32553580e-01 3.61031607e-01 0.00000000e+00 2.36055882e+02] [-3.61031607e-01 9.32553580e-01 0.00000000e+00 -5.45583572e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.52339920e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.09, Y:-54.57, Z:0.01 [[ 9.31831269e-01 3.62891837e-01 0.00000000e+00 2.36087621e+02] [-3.62891837e-01 9.31831269e-01 0.00000000e+00 -5.45681260e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.10501171e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.12, Y:-54.58, Z:0.00 [[ 9.30101742e-01 3.67301987e-01 0.00000000e+00 2.36118265e+02] [-3.67301987e-01 9.30101742e-01 0.00000000e+00 -5.45760481e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52796561e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.15, Y:-54.59, Z:0.00 [[ 9.29053341e-01 3.69945794e-01 0.00000000e+00 2.36150223e+02] [-3.69945794e-01 9.29053341e-01 0.00000000e+00 -5.45850242e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01340330e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.18, Y:-54.59, Z:0.01 [[ 9.28014195e-01 3.72544834e-01 0.00000000e+00 2.36181060e+02] [-3.72544834e-01 9.28014195e-01 0.00000000e+00 -5.45935537e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.54751254e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.65140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.21, Y:-54.60, Z:0.01 [[ 9.27016726e-01 3.75019986e-01 0.00000000e+00 2.36213080e+02] [-3.75019986e-01 9.27016726e-01 0.00000000e+00 -5.46030199e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.08961427e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.24, Y:-54.61, Z:0.01 [[ 9.25560241e-01 3.78600371e-01 0.00000000e+00 2.36244425e+02] [-3.78600371e-01 9.25560241e-01 0.00000000e+00 -5.46111511e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.17262410e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.28, Y:-54.62, Z:0.00 [[ 9.25027599e-01 3.79899909e-01 0.00000000e+00 2.36275975e+02] [-3.79899909e-01 9.25027599e-01 0.00000000e+00 -5.46188831e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18718968e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.31, Y:-54.63, Z:0.00 [[ 9.24640706e-01 3.80840602e-01 0.00000000e+00 2.36308766e+02] [-3.80840602e-01 9.24640706e-01 0.00000000e+00 -5.46261462e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61977870e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.34, Y:-54.63, Z:0.00 [[ 9.24625242e-01 3.80878146e-01 0.00000000e+00 2.36341283e+02] [-3.80878146e-01 9.24625242e-01 0.00000000e+00 -5.46332436e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24337020e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.37, Y:-54.64, Z:0.00 [[ 9.25151853e-01 3.79597220e-01 0.00000000e+00 2.36371527e+02] [-3.79597220e-01 9.25151853e-01 0.00000000e+00 -5.46428423e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63477443e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.40, Y:-54.65, Z:0.00 [[ 9.25857631e-01 3.77872529e-01 0.00000000e+00 2.36402927e+02] [-3.77872529e-01 9.25857631e-01 0.00000000e+00 -5.46529392e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.67172348e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.43, Y:-54.66, Z:0.00 [[ 9.26736617e-01 3.75711648e-01 0.00000000e+00 2.36434427e+02] [-3.75711648e-01 9.26736617e-01 0.00000000e+00 -5.46629423e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.59518985e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.46, Y:-54.67, Z:0.00 [[ 9.28255028e-01 3.71944354e-01 0.00000000e+00 2.36464278e+02] [-3.71944354e-01 9.28255028e-01 0.00000000e+00 -5.46740323e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30046539e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.50, Y:-54.69, Z:0.00 [[ 9.28702951e-01 3.70824525e-01 0.00000000e+00 2.36495202e+02] [-3.70824525e-01 9.28702951e-01 0.00000000e+00 -5.46853926e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75006047e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.53, Y:-54.70, Z:0.00 [[ 9.28831788e-01 3.70501700e-01 0.00000000e+00 2.36525629e+02] [-3.70501700e-01 9.28831788e-01 0.00000000e+00 -5.46966619e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.67618415e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.56, Y:-54.71, Z:0.00 [[ 9.28825865e-01 3.70516547e-01 0.00000000e+00 2.36556468e+02] [-3.70516547e-01 9.28825865e-01 0.00000000e+00 -5.47074038e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18282677e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.59, Y:-54.72, Z:0.00 [[ 9.28798934e-01 3.70584054e-01 0.00000000e+00 2.36586542e+02] [-3.70584054e-01 9.28798934e-01 0.00000000e+00 -5.47192110e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35637569e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.62, Y:-54.73, Z:0.00 [[ 9.28777699e-01 3.70637270e-01 0.00000000e+00 2.36617947e+02] [-3.70637270e-01 9.28777699e-01 0.00000000e+00 -5.47308567e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78441054e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.65, Y:-54.74, Z:0.00 [[ 9.28747749e-01 3.70712313e-01 0.00000000e+00 2.36648807e+02] [-3.70712313e-01 9.28747749e-01 0.00000000e+00 -5.47422383e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.99589108e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.68, Y:-54.75, Z:0.00 [[ 9.28691003e-01 3.70854447e-01 0.00000000e+00 2.36678155e+02] [-3.70854447e-01 9.28691003e-01 0.00000000e+00 -5.47538793e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45310883e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.71, Y:-54.77, Z:0.00 [[ 9.28496836e-01 3.71340310e-01 0.00000000e+00 2.36709123e+02] [-3.71340310e-01 9.28496836e-01 0.00000000e+00 -5.47654105e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46423272e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.74, Y:-54.78, Z:0.00 [[ 9.28289602e-01 3.71858058e-01 0.00000000e+00 2.36739941e+02] [-3.71858058e-01 9.28289602e-01 0.00000000e+00 -5.47771775e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69755251e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.77, Y:-54.79, Z:0.00 [[ 9.28071200e-01 3.72402804e-01 0.00000000e+00 2.36769806e+02] [-3.72402804e-01 9.28071200e-01 0.00000000e+00 -5.47882302e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40485697e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.80, Y:-54.80, Z:0.00 [[ 9.27635313e-01 3.73487251e-01 0.00000000e+00 2.36801410e+02] [-3.73487251e-01 9.27635313e-01 0.00000000e+00 -5.47978460e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18292570e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.83, Y:-54.81, Z:0.00 [[ 9.27285987e-01 3.74353707e-01 0.00000000e+00 2.36832148e+02] [-3.74353707e-01 9.27285987e-01 0.00000000e+00 -5.48067752e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.73492280e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.86, Y:-54.82, Z:-0.00 [[ 9.26856084e-01 3.75416834e-01 0.00000000e+00 2.36863099e+02] [-3.75416834e-01 9.26856084e-01 0.00000000e+00 -5.48166147e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44710562e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.89, Y:-54.83, Z:-0.00 [[ 9.26331216e-01 3.76710072e-01 0.00000000e+00 2.36894396e+02] [-3.76710072e-01 9.26331216e-01 0.00000000e+00 -5.48261556e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.68669643e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.92, Y:-54.83, Z:0.00 [[ 9.26290399e-01 3.76810424e-01 0.00000000e+00 2.36924978e+02] [-3.76810424e-01 9.26290399e-01 0.00000000e+00 -5.48349697e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30658973e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.96, Y:-54.84, Z:0.01 [[ 9.26579166e-01 3.76099785e-01 0.00000000e+00 2.36956479e+02] [-3.76099785e-01 9.26579166e-01 0.00000000e+00 -5.48437590e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.27898380e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.99, Y:-54.85, Z:0.01 [[ 9.27194704e-01 3.74579740e-01 0.00000000e+00 2.36988339e+02] [-3.74579740e-01 9.27194704e-01 0.00000000e+00 -5.48532617e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.27340554e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.02, Y:-54.86, Z:0.00 [[ 9.29175375e-01 3.69639180e-01 0.00000000e+00 2.37018963e+02] [-3.69639180e-01 9.29175375e-01 0.00000000e+00 -5.48604808e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15579157e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.05, Y:-54.87, Z:0.00 [[ 9.30334190e-01 3.66712824e-01 0.00000000e+00 2.37050582e+02] [-3.66712824e-01 9.30334190e-01 0.00000000e+00 -5.48686754e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11300513e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.08, Y:-54.88, Z:0.00 [[ 9.31368909e-01 3.64076855e-01 0.00000000e+00 2.37082494e+02] [-3.64076855e-01 9.31368909e-01 0.00000000e+00 -5.48775868e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49815681e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.11, Y:-54.89, Z:0.00 [[ 9.31989966e-01 3.62484073e-01 0.00000000e+00 2.37112533e+02] [-3.62484073e-01 9.31989966e-01 0.00000000e+00 -5.48872787e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.38091699e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.14, Y:-54.90, Z:0.01 [[ 9.32256308e-01 3.61798529e-01 0.00000000e+00 2.37143545e+02] [-3.61798529e-01 9.32256308e-01 0.00000000e+00 -5.48980006e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.34761849e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.17, Y:-54.91, Z:0.00 [[ 9.32053550e-01 3.62320549e-01 0.00000000e+00 2.37173999e+02] [-3.62320549e-01 9.32053550e-01 0.00000000e+00 -5.49078177e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.35499741e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.20, Y:-54.92, Z:0.00 [[ 9.31636902e-01 3.63390537e-01 0.00000000e+00 2.37204615e+02] [-3.63390537e-01 9.31636902e-01 0.00000000e+00 -5.49158222e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78108315e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.24, Y:-54.92, Z:0.00 [[ 9.31181038e-01 3.64557093e-01 0.00000000e+00 2.37237201e+02] [-3.64557093e-01 9.31181038e-01 0.00000000e+00 -5.49234624e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.90562320e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.67140051299998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:237.27, Y:-54.93, Z:0.01 [[ 9.30664543e-01 3.65873623e-01 0.00000000e+00 2.37268966e+02] [-3.65873623e-01 9.30664543e-01 0.00000000e+00 -5.49310582e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.21422685e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.30, Y:-54.94, Z:0.01 [[ 9.29937466e-01 3.67717703e-01 0.00000000e+00 2.37300815e+02] [-3.67717703e-01 9.29937466e-01 0.00000000e+00 -5.49371583e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.91285294e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.33, Y:-54.95, Z:0.00 [[ 9.29722004e-01 3.68262129e-01 0.00000000e+00 2.37332631e+02] [-3.68262129e-01 9.29722004e-01 0.00000000e+00 -5.49454313e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.60673190e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.36, Y:-54.95, Z:0.00 [[ 9.29665936e-01 3.68403648e-01 0.00000000e+00 2.37363683e+02] [-3.68403648e-01 9.29665936e-01 0.00000000e+00 -5.49534436e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77734344e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.40, Y:-54.96, Z:0.00 [[ 9.29834591e-01 3.67977762e-01 0.00000000e+00 2.37395312e+02] [-3.67977762e-01 9.29834591e-01 0.00000000e+00 -5.49615905e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91667448e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.43, Y:-54.97, Z:0.01 [[ 9.30802061e-01 3.65523628e-01 0.00000000e+00 2.37426628e+02] [-3.65523628e-01 9.30802061e-01 0.00000000e+00 -5.49688164e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.15238936e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.46, Y:-54.98, Z:0.01 [[ 9.30745340e-01 3.65668036e-01 0.00000000e+00 2.37457630e+02] [-3.65668036e-01 9.30745340e-01 0.00000000e+00 -5.49790445e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.15238936e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.49, Y:-54.99, Z:0.01 [[ 9.31193008e-01 3.64526516e-01 0.00000000e+00 2.37489512e+02] [-3.64526516e-01 9.31193008e-01 0.00000000e+00 -5.49889242e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.21665725e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.52, Y:-55.00, Z:0.01 [[ 9.31606544e-01 3.63468359e-01 0.00000000e+00 2.37521165e+02] [-3.63468359e-01 9.31606544e-01 0.00000000e+00 -5.49987249e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.76085316e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.55, Y:-55.01, Z:0.01 [[ 9.31863674e-01 3.62808617e-01 0.00000000e+00 2.37552217e+02] [-3.62808617e-01 9.31863674e-01 0.00000000e+00 -5.50083151e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.07706983e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.58, Y:-55.02, Z:0.01 [[ 9.32206361e-01 3.61927204e-01 0.00000000e+00 2.37583496e+02] [-3.61927204e-01 9.32206361e-01 0.00000000e+00 -5.50177248e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.46853806e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.61, Y:-55.03, Z:0.00 [[ 9.32082976e-01 3.62244842e-01 0.00000000e+00 2.37613159e+02] [-3.62244842e-01 9.32082976e-01 0.00000000e+00 -5.50278548e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.26912261e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.64, Y:-55.04, Z:0.00 [[ 9.31792918e-01 3.62990300e-01 0.00000000e+00 2.37642865e+02] [-3.62990300e-01 9.31792918e-01 0.00000000e+00 -5.50386671e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22554988e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.67, Y:-55.05, Z:0.01 [[ 9.31477833e-01 3.63798086e-01 0.00000000e+00 2.37674182e+02] [-3.63798086e-01 9.31477833e-01 0.00000000e+00 -5.50490561e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.19678222e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.71, Y:-55.06, Z:0.01 [[ 9.31070978e-01 3.64838092e-01 0.00000000e+00 2.37705276e+02] [-3.64838092e-01 9.31070978e-01 0.00000000e+00 -5.50595978e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.38009323e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.74, Y:-55.07, Z:0.01 [[ 9.30764051e-01 3.65620405e-01 0.00000000e+00 2.37735844e+02] [-3.65620405e-01 9.30764051e-01 0.00000000e+00 -5.50708936e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.16953204e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.77, Y:-55.08, Z:0.00 [[ 9.30926637e-01 3.65206239e-01 0.00000000e+00 2.37765065e+02] [-3.65206239e-01 9.30926637e-01 0.00000000e+00 -5.50843667e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.37581229e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.79, Y:-55.10, Z:0.00 [[ 9.31159962e-01 3.64610922e-01 0.00000000e+00 2.37794455e+02] [-3.64610922e-01 9.31159962e-01 0.00000000e+00 -5.50962406e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65125506e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.83, Y:-55.11, Z:0.00 [[ 9.31247058e-01 3.64388415e-01 0.00000000e+00 2.37825300e+02] [-3.64388415e-01 9.31247058e-01 0.00000000e+00 -5.51092437e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.98419519e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.86, Y:-55.12, Z:0.00 [[ 9.31223671e-01 3.64448179e-01 0.00000000e+00 2.37855438e+02] [-3.64448179e-01 9.31223671e-01 0.00000000e+00 -5.51225433e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39082357e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.89, Y:-55.14, Z:0.00 [[ 9.31162858e-01 3.64603526e-01 0.00000000e+00 2.37885157e+02] [-3.64603526e-01 9.31162858e-01 0.00000000e+00 -5.51386173e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19244420e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.91, Y:-55.15, Z:0.00 [[ 9.30926436e-01 3.65206750e-01 0.00000000e+00 2.37914201e+02] [-3.65206750e-01 9.30926436e-01 0.00000000e+00 -5.51513160e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32540887e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.94, Y:-55.16, Z:0.00 [[ 9.30675405e-01 3.65845993e-01 0.00000000e+00 2.37943313e+02] [-3.65845993e-01 9.30675405e-01 0.00000000e+00 -5.51639386e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24325500e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.97, Y:-55.18, Z:0.00 [[ 9.30398616e-01 3.66549337e-01 0.00000000e+00 2.37973869e+02] [-3.66549337e-01 9.30398616e-01 0.00000000e+00 -5.51774144e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.49532618e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.00, Y:-55.20, Z:0.00 [[ 9.29758076e-01 3.68171047e-01 0.00000000e+00 2.38002811e+02] [-3.68171047e-01 9.29758076e-01 0.00000000e+00 -5.51952472e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.89590296e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.03, Y:-55.21, Z:0.00 [[ 9.29231990e-01 3.69496832e-01 0.00000000e+00 2.38031600e+02] [-3.69496832e-01 9.29231990e-01 0.00000000e+00 -5.52091149e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.19260128e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.06, Y:-55.23, Z:0.00 [[ 9.27780254e-01 3.73127057e-01 0.00000000e+00 2.38060269e+02] [-3.73127057e-01 9.27780254e-01 0.00000000e+00 -5.52277170e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02140912e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.09, Y:-55.24, Z:0.00 [[ 9.26882930e-01 3.75350548e-01 0.00000000e+00 2.38089371e+02] [-3.75350548e-01 9.26882930e-01 0.00000000e+00 -5.52409674e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71192973e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.12, Y:-55.25, Z:0.00 [[ 9.25862395e-01 3.77860855e-01 0.00000000e+00 2.38119622e+02] [-3.77860855e-01 9.25862395e-01 0.00000000e+00 -5.52534587e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44413423e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.15, Y:-55.27, Z:0.00 [[ 9.24874865e-01 3.80271593e-01 0.00000000e+00 2.38150784e+02] [-3.80271593e-01 9.24874865e-01 0.00000000e+00 -5.52653002e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48763456e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.18, Y:-55.28, Z:0.01 [[ 9.23089477e-01 3.84585253e-01 0.00000000e+00 2.38180506e+02] [-3.84585253e-01 9.23089477e-01 0.00000000e+00 -5.52779426e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.28077173e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.21, Y:-55.29, Z:0.01 [[ 9.22353458e-01 3.86347122e-01 0.00000000e+00 2.38210327e+02] [-3.86347122e-01 9.22353458e-01 0.00000000e+00 -5.52900730e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.33932265e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.24, Y:-55.30, Z:0.01 [[ 9.21781293e-01 3.87710263e-01 0.00000000e+00 2.38241419e+02] [-3.87710263e-01 9.21781293e-01 0.00000000e+00 -5.53026086e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.20293050e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.27, Y:-55.31, Z:0.01 [[ 9.21560171e-01 3.88235561e-01 0.00000000e+00 2.38271912e+02] [-3.88235561e-01 9.21560171e-01 0.00000000e+00 -5.53146771e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.37774847e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.30, Y:-55.33, Z:0.01 [[ 9.21763151e-01 3.87753392e-01 0.00000000e+00 2.38302127e+02] [-3.87753392e-01 9.21763151e-01 0.00000000e+00 -5.53270858e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.68550683e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.33, Y:-55.34, Z:0.00 [[ 9.22171660e-01 3.86780854e-01 0.00000000e+00 2.38332181e+02] [-3.86780854e-01 9.22171660e-01 0.00000000e+00 -5.53372918e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.49814815e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.36, Y:-55.35, Z:0.00 [[ 9.22677421e-01 3.85572792e-01 0.00000000e+00 2.38363314e+02] [-3.85572792e-01 9.22677421e-01 0.00000000e+00 -5.53477380e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50009705e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.39, Y:-55.36, Z:0.00 [[ 9.23927161e-01 3.82568428e-01 0.00000000e+00 2.38392893e+02] [-3.82568428e-01 9.23927161e-01 0.00000000e+00 -5.53589469e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76048697e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.42, Y:-55.37, Z:0.00 [[ 9.24519143e-01 3.81135612e-01 0.00000000e+00 2.38423674e+02] [-3.81135612e-01 9.24519143e-01 0.00000000e+00 -5.53700518e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.42176929e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.45, Y:-55.38, Z:0.00 [[ 9.25182551e-01 3.79522393e-01 0.00000000e+00 2.38454554e+02] [-3.79522393e-01 9.25182551e-01 0.00000000e+00 -5.53811039e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.72053039e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.48, Y:-55.39, Z:0.00 [[ 9.26801153e-01 3.75552424e-01 0.00000000e+00 2.38484360e+02] [-3.75552424e-01 9.26801153e-01 0.00000000e+00 -5.53924418e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22789525e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.51, Y:-55.40, Z:0.00 [[ 9.27513364e-01 3.73789993e-01 0.00000000e+00 2.38514629e+02] [-3.73789993e-01 9.27513364e-01 0.00000000e+00 -5.54040576e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28288680e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.93140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.55, Y:-55.42, Z:0.00 [[ 9.28029599e-01 3.72506461e-01 0.00000000e+00 2.38545201e+02] [-3.72506461e-01 9.28029599e-01 0.00000000e+00 -5.54160491e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55425381e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.58, Y:-55.43, Z:0.00 [[ 9.28290575e-01 3.71855628e-01 0.00000000e+00 2.38575375e+02] [-3.71855628e-01 9.28290575e-01 0.00000000e+00 -5.54276170e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82900613e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.61, Y:-55.44, Z:0.01 [[ 9.28081154e-01 3.72377995e-01 0.00000000e+00 2.38606309e+02] [-3.72377995e-01 9.28081154e-01 0.00000000e+00 -5.54399456e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.45911276e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.64, Y:-55.45, Z:0.01 [[ 9.27726798e-01 3.73259948e-01 0.00000000e+00 2.38636322e+02] [-3.73259948e-01 9.27726798e-01 0.00000000e+00 -5.54509287e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.26290133e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.67, Y:-55.46, Z:0.00 [[ 9.27414013e-01 3.74036426e-01 0.00000000e+00 2.38665025e+02] [-3.74036426e-01 9.27414013e-01 0.00000000e+00 -5.54625031e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59628388e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.69, Y:-55.48, Z:0.00 [[ 9.27330497e-01 3.74243437e-01 0.00000000e+00 2.38693588e+02] [-3.74243437e-01 9.27330497e-01 0.00000000e+00 -5.54774565e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26844996e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.72, Y:-55.49, Z:-0.00 [[ 9.27262800e-01 3.74411138e-01 0.00000000e+00 2.38722835e+02] [-3.74411138e-01 9.27262800e-01 0.00000000e+00 -5.54891125e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.76524648e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14140051299998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:238.75, Y:-55.50, Z:-0.00 [[ 9.27043380e-01 3.74954094e-01 0.00000000e+00 2.38752345e+02] [-3.74954094e-01 9.27043380e-01 0.00000000e+00 -5.55002290e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10844665e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.78, Y:-55.51, Z:-0.00 [[ 9.26587375e-01 3.76079562e-01 0.00000000e+00 2.38783340e+02] [-3.76079562e-01 9.26587375e-01 0.00000000e+00 -5.55122618e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23831277e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.81, Y:-55.53, Z:0.00 [[ 9.25372446e-01 3.79059147e-01 0.00000000e+00 2.38812961e+02] [-3.79059147e-01 9.25372446e-01 0.00000000e+00 -5.55257716e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01658216e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.84, Y:-55.54, Z:0.00 [[ 9.24538878e-01 3.81087738e-01 0.00000000e+00 2.38842024e+02] [-3.81087738e-01 9.24538878e-01 0.00000000e+00 -5.55361209e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.71891888e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.87, Y:-55.55, Z:0.01 [[ 9.23484937e-01 3.83634685e-01 0.00000000e+00 2.38873155e+02] [-3.83634685e-01 9.23484937e-01 0.00000000e+00 -5.55465069e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.28881415e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.90, Y:-55.56, Z:0.00 [[ 9.22308897e-01 3.86453487e-01 0.00000000e+00 2.38903565e+02] [-3.86453487e-01 9.22308897e-01 0.00000000e+00 -5.55570601e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.72428463e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.321400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.93, Y:-55.57, Z:0.00 [[ 9.20293082e-01 3.91229655e-01 0.00000000e+00 2.38932850e+02] [-3.91229655e-01 9.20293082e-01 0.00000000e+00 -5.55698667e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93948580e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.96, Y:-55.58, Z:0.00 [[ 9.19700119e-01 3.92621563e-01 0.00000000e+00 2.38962820e+02] [-3.92621563e-01 9.19700119e-01 0.00000000e+00 -5.55815534e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72934489e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.99, Y:-55.59, Z:0.00 [[ 9.19379167e-01 3.93372531e-01 0.00000000e+00 2.38993518e+02] [-3.93372531e-01 9.19379167e-01 0.00000000e+00 -5.55927361e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.03088416e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.02, Y:-55.60, Z:0.01 [[ 9.19391999e-01 3.93342538e-01 0.00000000e+00 2.39023352e+02] [-3.93342538e-01 9.19391999e-01 0.00000000e+00 -5.56030914e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.24692942e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.05, Y:-55.61, Z:0.01 [[ 9.20189875e-01 3.91472342e-01 0.00000000e+00 2.39053656e+02] [-3.91472342e-01 9.20189875e-01 0.00000000e+00 -5.56146850e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.40809083e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.08, Y:-55.63, Z:0.01 [[ 9.20644463e-01 3.90402064e-01 0.00000000e+00 2.39084462e+02] [-3.90402064e-01 9.20644463e-01 0.00000000e+00 -5.56261449e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.06573805e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.12, Y:-55.64, Z:0.00 [[ 9.21091535e-01 3.89346099e-01 0.00000000e+00 2.39115302e+02] [-3.89346099e-01 9.21091535e-01 0.00000000e+00 -5.56370731e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83062910e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.15, Y:-55.65, Z:0.00 [[ 9.21879815e-01 3.87475944e-01 0.00000000e+00 2.39146966e+02] [-3.87475944e-01 9.21879815e-01 0.00000000e+00 -5.56463125e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33127063e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.18, Y:-55.66, Z:0.00 [[ 9.22140419e-01 3.86855331e-01 0.00000000e+00 2.39178244e+02] [-3.86855331e-01 9.22140419e-01 0.00000000e+00 -5.56554229e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81848525e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.21, Y:-55.67, Z:0.00 [[ 9.22313755e-01 3.86441894e-01 0.00000000e+00 2.39208948e+02] [-3.86441894e-01 9.22313755e-01 0.00000000e+00 -5.56652134e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.26960536e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.24, Y:-55.68, Z:0.01 [[ 9.22612716e-01 3.85727593e-01 0.00000000e+00 2.39239747e+02] [-3.85727593e-01 9.22612716e-01 0.00000000e+00 -5.56758633e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.56880068e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.65140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.27, Y:-55.69, Z:0.00 [[ 9.23430594e-01 3.83765474e-01 0.00000000e+00 2.39269454e+02] [-3.83765474e-01 9.23430594e-01 0.00000000e+00 -5.56877645e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67188252e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.30, Y:-55.70, Z:0.00 [[ 9.23852274e-01 3.82749233e-01 0.00000000e+00 2.39300349e+02] [-3.82749233e-01 9.23852274e-01 0.00000000e+00 -5.56995165e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20954386e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.33, Y:-55.71, Z:0.00 [[ 9.24283429e-01 3.81706881e-01 0.00000000e+00 2.39330264e+02] [-3.81706881e-01 9.24283429e-01 0.00000000e+00 -5.57104183e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31125602e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.36, Y:-55.72, Z:-0.00 [[ 9.24756823e-01 3.80558561e-01 0.00000000e+00 2.39360962e+02] [-3.80558561e-01 9.24756823e-01 0.00000000e+00 -5.57211830e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.98973229e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.39, Y:-55.73, Z:-0.00 [[ 9.24690484e-01 3.80719725e-01 0.00000000e+00 2.39392616e+02] [-3.80719725e-01 9.24690484e-01 0.00000000e+00 -5.57320280e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.98973229e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.42, Y:-55.74, Z:-0.00 [[ 9.24582435e-01 3.80982047e-01 0.00000000e+00 2.39423822e+02] [-3.80982047e-01 9.24582435e-01 0.00000000e+00 -5.57431277e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.38461463e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.45, Y:-55.75, Z:-0.00 [[ 9.24320146e-01 3.81617961e-01 0.00000000e+00 2.39453420e+02] [-3.81617961e-01 9.24320146e-01 0.00000000e+00 -5.57538560e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.37655215e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.48, Y:-55.76, Z:0.00 [[ 9.23567698e-01 3.83435402e-01 0.00000000e+00 2.39482784e+02] [-3.83435402e-01 9.23567698e-01 0.00000000e+00 -5.57641208e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60147347e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.51, Y:-55.77, Z:0.00 [[ 9.22998003e-01 3.84804739e-01 0.00000000e+00 2.39513283e+02] [-3.84804739e-01 9.22998003e-01 0.00000000e+00 -5.57739300e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08075983e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.54, Y:-55.78, Z:0.00 [[ 9.22321462e-01 3.86423499e-01 0.00000000e+00 2.39544978e+02] [-3.86423499e-01 9.22321462e-01 0.00000000e+00 -5.57835962e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47583432e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.58, Y:-55.79, Z:0.00 [[ 9.21724999e-01 3.87844074e-01 0.00000000e+00 2.39576865e+02] [-3.87844074e-01 9.21724999e-01 0.00000000e+00 -5.57930242e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00745410e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.61, Y:-55.80, Z:0.00 [[ 9.21024532e-01 3.89504572e-01 0.00000000e+00 2.39608027e+02] [-3.89504572e-01 9.21024532e-01 0.00000000e+00 -5.58006817e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62842545e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.64, Y:-55.81, Z:0.00 [[ 9.21054684e-01 3.89433267e-01 0.00000000e+00 2.39638455e+02] [-3.89433267e-01 9.21054684e-01 0.00000000e+00 -5.58094690e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56069278e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.67, Y:-55.82, Z:0.00 [[ 9.21457904e-01 3.88478225e-01 0.00000000e+00 2.39669962e+02] [-3.88478225e-01 9.21457904e-01 0.00000000e+00 -5.58186560e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69924424e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.70, Y:-55.83, Z:0.00 [[ 9.23289919e-01 3.84103796e-01 0.00000000e+00 2.39700646e+02] [-3.84103796e-01 9.23289919e-01 0.00000000e+00 -5.58294577e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78340376e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.73, Y:-55.84, Z:0.00 [[ 9.24548626e-01 3.81064087e-01 0.00000000e+00 2.39731496e+02] [-3.81064087e-01 9.24548626e-01 0.00000000e+00 -5.58420543e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65434163e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.76, Y:-55.85, Z:0.00 [[ 9.25984028e-01 3.77562682e-01 0.00000000e+00 2.39761269e+02] [-3.77562682e-01 9.25984028e-01 0.00000000e+00 -5.58538789e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80212338e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.79, Y:-55.87, Z:0.01 [[ 9.27375874e-01 3.74130979e-01 0.00000000e+00 2.39792411e+02] [-3.74130979e-01 9.27375874e-01 0.00000000e+00 -5.58657071e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.29119346e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.82, Y:-55.88, Z:0.01 [[ 9.29313293e-01 3.69292302e-01 0.00000000e+00 2.39821550e+02] [-3.69292302e-01 9.29313293e-01 0.00000000e+00 -5.58795294e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.78405643e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.85, Y:-55.89, Z:0.01 [[ 9.29653468e-01 3.68435108e-01 0.00000000e+00 2.39851287e+02] [-3.68435108e-01 9.29653468e-01 0.00000000e+00 -5.58931563e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.69749179e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.88, Y:-55.91, Z:0.01 [[ 9.29599092e-01 3.68572283e-01 0.00000000e+00 2.39881863e+02] [-3.68572283e-01 9.29599092e-01 0.00000000e+00 -5.59069933e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.56123848e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.91, Y:-55.92, Z:0.01 [[ 9.28575573e-01 3.71143375e-01 0.00000000e+00 2.39911217e+02] [-3.71143375e-01 9.28575573e-01 0.00000000e+00 -5.59204935e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.70953582e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.94, Y:-55.93, Z:0.01 [[ 9.27641824e-01 3.73471077e-01 0.00000000e+00 2.39941124e+02] [-3.73471077e-01 9.27641824e-01 0.00000000e+00 -5.59317793e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.04013545e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.97, Y:-55.94, Z:0.01 [[ 9.26615820e-01 3.76009471e-01 0.00000000e+00 2.39971949e+02] [-3.76009471e-01 9.26615820e-01 0.00000000e+00 -5.59433406e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.13722209e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.00, Y:-55.96, Z:0.00 [[ 9.25074101e-01 3.79786660e-01 0.00000000e+00 2.40001075e+02] [-3.79786660e-01 9.25074101e-01 0.00000000e+00 -5.59559826e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.83371072e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.03, Y:-55.97, Z:0.00 [[ 9.24586033e-01 3.80973316e-01 0.00000000e+00 2.40030570e+02] [-3.80973316e-01 9.24586033e-01 0.00000000e+00 -5.59674133e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.78486500e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.43140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.06, Y:-55.98, Z:0.00 [[ 9.24459873e-01 3.81279352e-01 0.00000000e+00 2.40060093e+02] [-3.81279352e-01 9.24459873e-01 0.00000000e+00 -5.59795434e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.29273370e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.09, Y:-55.99, Z:0.00 [[ 9.24839975e-01 3.80356438e-01 0.00000000e+00 2.40089610e+02] [-3.80356438e-01 9.24839975e-01 0.00000000e+00 -5.59947276e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40684021e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.12, Y:-56.01, Z:0.00 [[ 9.24906807e-01 3.80193895e-01 0.00000000e+00 2.40120484e+02] [-3.80193895e-01 9.24906807e-01 0.00000000e+00 -5.60074184e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27010302e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.15, Y:-56.02, Z:0.00 [[ 9.24630579e-01 3.80865190e-01 0.00000000e+00 2.40150450e+02] [-3.80865190e-01 9.24630579e-01 0.00000000e+00 -5.60189620e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49089439e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.18, Y:-56.03, Z:0.00 [[ 9.23275708e-01 3.84137953e-01 0.00000000e+00 2.40181415e+02] [-3.84137953e-01 9.23275708e-01 0.00000000e+00 -5.60303049e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.86384250e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.21, Y:-56.04, Z:0.00 [[ 9.22346944e-01 3.86362672e-01 0.00000000e+00 2.40211734e+02] [-3.86362672e-01 9.22346944e-01 0.00000000e+00 -5.60412715e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.31698631e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.24, Y:-56.05, Z:0.00 [[ 9.21578830e-01 3.88191269e-01 0.00000000e+00 2.40242968e+02] [-3.88191269e-01 9.21578830e-01 0.00000000e+00 -5.60527862e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.05422150e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.27, Y:-56.06, Z:0.00 [[ 9.21009316e-01 3.89540551e-01 0.00000000e+00 2.40272878e+02] [-3.89540551e-01 9.21009316e-01 0.00000000e+00 -5.60635631e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37600954e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.30, Y:-56.07, Z:0.00 [[ 9.20589784e-01 3.90530985e-01 0.00000000e+00 2.40304338e+02] [-3.90530985e-01 9.20589784e-01 0.00000000e+00 -5.60737495e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89382901e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.34, Y:-56.08, Z:0.01 [[ 9.20486020e-01 3.90775495e-01 0.00000000e+00 2.40337082e+02] [-3.90775495e-01 9.20486020e-01 0.00000000e+00 -5.60805628e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.68831957e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.37, Y:-56.09, Z:0.01 [[ 9.20766495e-01 3.90114164e-01 0.00000000e+00 2.40368684e+02] [-3.90114164e-01 9.20766495e-01 0.00000000e+00 -5.60893337e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.99659604e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.40, Y:-56.10, Z:0.01 [[ 9.21225436e-01 3.89029172e-01 0.00000000e+00 2.40399513e+02] [-3.89029172e-01 9.21225436e-01 0.00000000e+00 -5.60981235e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.70129919e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.43, Y:-56.11, Z:0.01 [[ 9.22788148e-01 3.85307713e-01 0.00000000e+00 2.40431424e+02] [-3.85307713e-01 9.22788148e-01 0.00000000e+00 -5.61068542e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.15810713e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.46, Y:-56.12, Z:0.01 [[ 9.23532818e-01 3.83519405e-01 0.00000000e+00 2.40461779e+02] [-3.83519405e-01 9.23532818e-01 0.00000000e+00 -5.61166401e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.44940573e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.49, Y:-56.13, Z:0.01 [[ 9.24103013e-01 3.82143456e-01 0.00000000e+00 2.40493452e+02] [-3.82143456e-01 9.24103013e-01 0.00000000e+00 -5.61269812e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.37810538e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.53, Y:-56.14, Z:0.01 [[ 9.25171476e-01 3.79549392e-01 0.00000000e+00 2.40525115e+02] [-3.79549392e-01 9.25171476e-01 0.00000000e+00 -5.61356181e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.37284819e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.56, Y:-56.15, Z:0.00 [[ 9.25577659e-01 3.78557787e-01 0.00000000e+00 2.40556145e+02] [-3.78557787e-01 9.25577659e-01 0.00000000e+00 -5.61450611e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.80491030e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.59, Y:-56.15, Z:0.00 [[ 9.25930007e-01 3.77695144e-01 0.00000000e+00 2.40588154e+02] [-3.77695144e-01 9.25930007e-01 0.00000000e+00 -5.61545211e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.56509491e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.62, Y:-56.16, Z:0.01 [[ 9.26226898e-01 3.76966490e-01 0.00000000e+00 2.40619511e+02] [-3.76966490e-01 9.26226898e-01 0.00000000e+00 -5.61643298e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.52198049e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.65, Y:-56.17, Z:0.01 [[ 9.26628631e-01 3.75977898e-01 0.00000000e+00 2.40651086e+02] [-3.75977898e-01 9.26628631e-01 0.00000000e+00 -5.61746414e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.75263656e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.68, Y:-56.19, Z:0.01 [[ 9.26645947e-01 3.75935218e-01 0.00000000e+00 2.40682726e+02] [-3.75935218e-01 9.26645947e-01 0.00000000e+00 -5.61854193e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.58324554e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.71, Y:-56.20, Z:0.00 [[ 9.26455527e-01 3.76404247e-01 0.00000000e+00 2.40713681e+02] [-3.76404247e-01 9.26455527e-01 0.00000000e+00 -5.61958629e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89868569e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.74, Y:-56.21, Z:0.00 [[ 9.25215613e-01 3.79441786e-01 0.00000000e+00 2.40743645e+02] [-3.79441786e-01 9.25215613e-01 0.00000000e+00 -5.62058001e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26648865e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.78, Y:-56.22, Z:0.00 [[ 9.24345209e-01 3.81557249e-01 0.00000000e+00 2.40775015e+02] [-3.81557249e-01 9.24345209e-01 0.00000000e+00 -5.62153303e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.37445436e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.15140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.81, Y:-56.22, Z:0.00 [[ 9.23586033e-01 3.83391236e-01 0.00000000e+00 2.40806572e+02] [-3.83391236e-01 9.23586033e-01 0.00000000e+00 -5.62240079e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.98126234e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.84, Y:-56.23, Z:0.01 [[ 9.22995767e-01 3.84810102e-01 0.00000000e+00 2.40838631e+02] [-3.84810102e-01 9.22995767e-01 0.00000000e+00 -5.62330823e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.30241366e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.87, Y:-56.24, Z:0.00 [[ 9.22607333e-01 3.85740469e-01 0.00000000e+00 2.40869600e+02] [-3.85740469e-01 9.22607333e-01 0.00000000e+00 -5.62411673e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91956735e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.90, Y:-56.25, Z:0.00 [[ 9.22621250e-01 3.85707181e-01 0.00000000e+00 2.40900069e+02] [-3.85707181e-01 9.22621250e-01 0.00000000e+00 -5.62513549e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79939057e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.93, Y:-56.26, Z:0.00 [[ 9.22861776e-01 3.85131332e-01 0.00000000e+00 2.40930168e+02] [-3.85131332e-01 9.22861776e-01 0.00000000e+00 -5.62617524e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.80483999e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.96, Y:-56.27, Z:0.00 [[ 9.23750523e-01 3.82994739e-01 0.00000000e+00 2.40961322e+02] [-3.82994739e-01 9.23750523e-01 0.00000000e+00 -5.62728372e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51591789e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.99, Y:-56.28, Z:0.00 [[ 9.24209960e-01 3.81884734e-01 0.00000000e+00 2.40991983e+02] [-3.81884734e-01 9.24209960e-01 0.00000000e+00 -5.62832262e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61724016e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.02, Y:-56.29, Z:0.01 [[ 9.24596220e-01 3.80948592e-01 0.00000000e+00 2.41022712e+02] [-3.80948592e-01 9.24596220e-01 0.00000000e+00 -5.62937281e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.03155513e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.05, Y:-56.30, Z:0.00 [[ 9.25032865e-01 3.79887087e-01 0.00000000e+00 2.41053373e+02] [-3.79887087e-01 9.25032865e-01 0.00000000e+00 -5.63038861e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.45040654e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.08, Y:-56.31, Z:0.00 [[ 9.25020443e-01 3.79917332e-01 0.00000000e+00 2.41083136e+02] [-3.79917332e-01 9.25020443e-01 0.00000000e+00 -5.63146440e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67939795e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.11, Y:-56.33, Z:0.00 [[ 9.24952481e-01 3.80082765e-01 0.00000000e+00 2.41113924e+02] [-3.80082765e-01 9.24952481e-01 0.00000000e+00 -5.63263241e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36296192e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.14, Y:-56.34, Z:0.00 [[ 9.24795948e-01 3.80463473e-01 0.00000000e+00 2.41144795e+02] [-3.80463473e-01 9.24795948e-01 0.00000000e+00 -5.63380778e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02725140e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.17, Y:-56.35, Z:0.00 [[ 9.24356521e-01 3.81529843e-01 0.00000000e+00 2.41174770e+02] [-3.81529843e-01 9.24356521e-01 0.00000000e+00 -5.63498067e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.48372098e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.21, Y:-56.36, Z:0.00 [[ 9.24091796e-01 3.82170580e-01 0.00000000e+00 2.41205645e+02] [-3.82170580e-01 9.24091796e-01 0.00000000e+00 -5.63618555e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07093367e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.24, Y:-56.37, Z:0.00 [[ 9.23853648e-01 3.82745916e-01 0.00000000e+00 2.41236706e+02] [-3.82745916e-01 9.23853648e-01 0.00000000e+00 -5.63740983e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.85101597e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.27, Y:-56.39, Z:0.00 [[ 9.23535918e-01 3.83511940e-01 0.00000000e+00 2.41265911e+02] [-3.83511940e-01 9.23535918e-01 0.00000000e+00 -5.63872820e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.56289399e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.30, Y:-56.40, Z:-0.00 [[ 9.23250644e-01 3.84198189e-01 0.00000000e+00 2.41295680e+02] [-3.84198189e-01 9.23250644e-01 0.00000000e+00 -5.63987670e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.43988177e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.33, Y:-56.41, Z:-0.00 [[ 9.23184885e-01 3.84356174e-01 0.00000000e+00 2.41327214e+02] [-3.84356174e-01 9.23184885e-01 0.00000000e+00 -5.64099572e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.43988177e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.36, Y:-56.42, Z:-0.00 [[ 9.22929664e-01 3.84968615e-01 0.00000000e+00 2.41357211e+02] [-3.84968615e-01 9.22929664e-01 0.00000000e+00 -5.64220026e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02507845e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.39, Y:-56.44, Z:-0.00 [[ 9.22810252e-01 3.85254771e-01 0.00000000e+00 2.41387728e+02] [-3.85254771e-01 9.22810252e-01 0.00000000e+00 -5.64351402e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.33627505e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.42, Y:-56.45, Z:0.00 [[ 9.23096427e-01 3.84568571e-01 0.00000000e+00 2.41417094e+02] [-3.84568571e-01 9.23096427e-01 0.00000000e+00 -5.64515509e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11920428e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.45, Y:-56.46, Z:0.00 [[ 9.23226386e-01 3.84256477e-01 0.00000000e+00 2.41447299e+02] [-3.84256477e-01 9.23226386e-01 0.00000000e+00 -5.64643864e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20969284e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.48, Y:-56.48, Z:0.00 [[ 9.23208553e-01 3.84299320e-01 0.00000000e+00 2.41477379e+02] [-3.84299320e-01 9.23208553e-01 0.00000000e+00 -5.64768043e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80617215e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.51, Y:-56.49, Z:-0.00 [[ 9.22713337e-01 3.85486832e-01 0.00000000e+00 2.41505972e+02] [-3.85486832e-01 9.22713337e-01 0.00000000e+00 -5.64894883e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.82471580e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.54, Y:-56.50, Z:0.00 [[ 9.21941366e-01 3.87329470e-01 0.00000000e+00 2.41535999e+02] [-3.87329470e-01 9.21941366e-01 0.00000000e+00 -5.65008665e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92171114e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.57, Y:-56.51, Z:0.00 [[ 9.20733293e-01 3.90192520e-01 0.00000000e+00 2.41565594e+02] [-3.90192520e-01 9.20733293e-01 0.00000000e+00 -5.65116227e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37075184e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.93140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.60, Y:-56.52, Z:0.00 [[ 9.17258804e-01 3.98291710e-01 0.00000000e+00 2.41597091e+02] [-3.98291710e-01 9.17258804e-01 0.00000000e+00 -5.65222274e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84118624e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.63, Y:-56.53, Z:0.00 [[ 9.15410961e-01 4.02520525e-01 0.00000000e+00 2.41627200e+02] [-4.02520525e-01 9.15410961e-01 0.00000000e+00 -5.65322121e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03857110e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.66, Y:-56.54, Z:0.00 [[ 9.12857262e-01 4.08278850e-01 0.00000000e+00 2.41659490e+02] [-4.08278850e-01 9.12857262e-01 0.00000000e+00 -5.65407420e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38342984e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.69, Y:-56.55, Z:0.00 [[ 9.12111233e-01 4.09942798e-01 0.00000000e+00 2.41691343e+02] [-4.09942798e-01 9.12111233e-01 0.00000000e+00 -5.65499565e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95093912e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.72, Y:-56.56, Z:0.00 [[ 9.11587936e-01 4.11105138e-01 0.00000000e+00 2.41722640e+02] [-4.11105138e-01 9.11587936e-01 0.00000000e+00 -5.65590022e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.03606393e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.75, Y:-56.57, Z:0.01 [[ 9.11320682e-01 4.11697237e-01 0.00000000e+00 2.41754728e+02] [-4.11697237e-01 9.11320682e-01 0.00000000e+00 -5.65681096e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.75417226e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.79, Y:-56.58, Z:0.01 [[ 9.11217164e-01 4.11926305e-01 0.00000000e+00 2.41786394e+02] [-4.11926305e-01 9.11217164e-01 0.00000000e+00 -5.65770075e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.20279718e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.82, Y:-56.58, Z:0.00 [[ 9.11524560e-01 4.11245641e-01 0.00000000e+00 2.41818710e+02] [-4.11245641e-01 9.11524560e-01 0.00000000e+00 -5.65822368e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.03782603e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.85, Y:-56.59, Z:0.00 [[ 9.11879624e-01 4.10457735e-01 0.00000000e+00 2.41849543e+02] [-4.10457735e-01 9.11879624e-01 0.00000000e+00 -5.65894561e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73277908e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20140051299998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:241.88, Y:-56.60, Z:0.00 [[ 9.12130073e-01 4.09900879e-01 0.00000000e+00 2.41881511e+02] [-4.09900879e-01 9.12130073e-01 0.00000000e+00 -5.65975021e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11680628e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.91, Y:-56.60, Z:0.00 [[ 9.14022063e-01 4.05664477e-01 0.00000000e+00 2.41914424e+02] [-4.05664477e-01 9.14022063e-01 0.00000000e+00 -5.66047025e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94556408e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.95, Y:-56.61, Z:0.00 [[ 9.15059659e-01 4.03318511e-01 0.00000000e+00 2.41945034e+02] [-4.03318511e-01 9.15059659e-01 0.00000000e+00 -5.66138389e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22770405e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.98, Y:-56.62, Z:0.00 [[ 9.16157420e-01 4.00818640e-01 0.00000000e+00 2.41975726e+02] [-4.00818640e-01 9.16157420e-01 0.00000000e+00 -5.66232104e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35082417e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.01, Y:-56.63, Z:-0.00 [[ 9.18768213e-01 3.94797380e-01 0.00000000e+00 2.42006457e+02] [-3.94797380e-01 9.18768213e-01 0.00000000e+00 -5.66334435e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.33770457e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.04, Y:-56.65, Z:-0.00 [[ 9.20007067e-01 3.91901769e-01 0.00000000e+00 2.42037363e+02] [-3.91901769e-01 9.20007067e-01 0.00000000e+00 -5.66455059e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.04238214e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.07, Y:-56.66, Z:-0.00 [[ 9.21159431e-01 3.89185436e-01 0.00000000e+00 2.42066753e+02] [-3.89185436e-01 9.21159431e-01 0.00000000e+00 -5.66571070e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.29840142e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.10, Y:-56.67, Z:-0.00 [[ 9.21869427e-01 3.87500658e-01 0.00000000e+00 2.42096867e+02] [-3.87500658e-01 9.21869427e-01 0.00000000e+00 -5.66693182e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.96896244e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.13, Y:-56.68, Z:-0.00 [[ 9.22204649e-01 3.86702192e-01 0.00000000e+00 2.42126329e+02] [-3.86702192e-01 9.22204649e-01 0.00000000e+00 -5.66809050e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38924573e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.16, Y:-56.69, Z:-0.00 [[ 9.21733036e-01 3.87824975e-01 0.00000000e+00 2.42157130e+02] [-3.87824975e-01 9.21733036e-01 0.00000000e+00 -5.66934761e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83979918e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.19, Y:-56.71, Z:-0.00 [[ 9.21099342e-01 3.89327629e-01 0.00000000e+00 2.42187049e+02] [-3.89327629e-01 9.21099342e-01 0.00000000e+00 -5.67051030e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14081365e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.22, Y:-56.72, Z:-0.00 [[ 9.20449915e-01 3.90860531e-01 0.00000000e+00 2.42217868e+02] [-3.90860531e-01 9.20449915e-01 0.00000000e+00 -5.67166281e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.61602422e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.25, Y:-56.73, Z:-0.00 [[ 9.19458192e-01 3.93187783e-01 0.00000000e+00 2.42248535e+02] [-3.93187783e-01 9.19458192e-01 0.00000000e+00 -5.67281973e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.49427353e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.591400513 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:242.28, Y:-56.74, Z:-0.00 [[ 9.18682840e-01 3.94995999e-01 0.00000000e+00 2.42278370e+02] [-3.94995999e-01 9.18682840e-01 0.00000000e+00 -5.67400015e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.18327476e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.31, Y:-56.75, Z:-0.00 [[ 9.18415868e-01 3.95616346e-01 0.00000000e+00 2.42307161e+02] [-3.95616346e-01 9.18415868e-01 0.00000000e+00 -5.67517434e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.82786917e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.65140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.34, Y:-56.76, Z:-0.00 [[ 9.17885215e-01 3.96845980e-01 0.00000000e+00 2.42336687e+02] [-3.96845980e-01 9.17885215e-01 0.00000000e+00 -5.67638838e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.97014361e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.37, Y:-56.78, Z:-0.00 [[ 9.17329608e-01 3.98128611e-01 0.00000000e+00 2.42366422e+02] [-3.98128611e-01 9.17329608e-01 0.00000000e+00 -5.67759204e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.95599050e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.40, Y:-56.79, Z:-0.00 [[ 9.17251147e-01 3.98309343e-01 0.00000000e+00 2.42396019e+02] [-3.98309343e-01 9.17251147e-01 0.00000000e+00 -5.67862922e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41782021e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.43, Y:-56.80, Z:0.00 [[ 9.17093362e-01 3.98672504e-01 0.00000000e+00 2.42426470e+02] [-3.98672504e-01 9.17093362e-01 0.00000000e+00 -5.67969934e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.19939544e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.46, Y:-56.81, Z:0.00 [[ 9.16749278e-01 3.99463091e-01 0.00000000e+00 2.42457634e+02] [-3.99463091e-01 9.16749278e-01 0.00000000e+00 -5.68079407e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63921989e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.49, Y:-56.82, Z:0.00 [[ 9.16519378e-01 3.99990287e-01 0.00000000e+00 2.42487792e+02] [-3.99990287e-01 9.16519378e-01 0.00000000e+00 -5.68179938e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.35848148e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.52, Y:-56.83, Z:0.00 [[ 9.16363066e-01 4.00348262e-01 0.00000000e+00 2.42519784e+02] [-4.00348262e-01 9.16363066e-01 0.00000000e+00 -5.68275348e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84256666e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.55, Y:-56.84, Z:0.00 [[ 9.16237073e-01 4.00636525e-01 0.00000000e+00 2.42552144e+02] [-4.00636525e-01 9.16237073e-01 0.00000000e+00 -5.68363326e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.27479177e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.59, Y:-56.84, Z:0.00 [[ 9.16273851e-01 4.00552405e-01 0.00000000e+00 2.42585081e+02] [-4.00552405e-01 9.16273851e-01 0.00000000e+00 -5.68431823e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55560342e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.62, Y:-56.85, Z:0.00 [[ 9.16517056e-01 3.99995608e-01 0.00000000e+00 2.42616510e+02] [-3.99995608e-01 9.16517056e-01 0.00000000e+00 -5.68524820e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.38710812e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.65, Y:-56.86, Z:0.01 [[ 9.17018019e-01 3.98845776e-01 0.00000000e+00 2.42648463e+02] [-3.98845776e-01 9.17018019e-01 0.00000000e+00 -5.68609676e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.81821626e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.68, Y:-56.86, Z:0.01 [[ 9.18240107e-01 3.96024122e-01 0.00000000e+00 2.42681711e+02] [-3.96024122e-01 9.18240107e-01 0.00000000e+00 -5.68644711e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.24356438e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.71, Y:-56.87, Z:0.00 [[ 9.18834496e-01 3.94643090e-01 0.00000000e+00 2.42713601e+02] [-3.94643090e-01 9.18834496e-01 0.00000000e+00 -5.68720950e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.94253297e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.74, Y:-56.88, Z:0.00 [[ 9.19447331e-01 3.93213181e-01 0.00000000e+00 2.42744799e+02] [-3.93213181e-01 9.19447331e-01 0.00000000e+00 -5.68798686e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08559129e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.78, Y:-56.89, Z:0.00 [[ 9.20046266e-01 3.91809736e-01 0.00000000e+00 2.42777193e+02] [-3.91809736e-01 9.20046266e-01 0.00000000e+00 -5.68875200e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.09431338e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.81, Y:-56.89, Z:0.01 [[ 9.21080277e-01 3.89372732e-01 0.00000000e+00 2.42809959e+02] [-3.89372732e-01 9.21080277e-01 0.00000000e+00 -5.68913517e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.07003519e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.84, Y:-56.90, Z:0.01 [[ 9.21556193e-01 3.88245003e-01 0.00000000e+00 2.42841743e+02] [-3.88245003e-01 9.21556193e-01 0.00000000e+00 -5.69003344e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.08470370e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.87, Y:-56.91, Z:0.00 [[ 9.22103564e-01 3.86943170e-01 0.00000000e+00 2.42872425e+02] [-3.86943170e-01 9.22103564e-01 0.00000000e+00 -5.69099718e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.79335558e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.90, Y:-56.92, Z:0.00 [[ 9.22537314e-01 3.85907897e-01 0.00000000e+00 2.42903401e+02] [-3.85907897e-01 9.22537314e-01 0.00000000e+00 -5.69201446e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62360131e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.93, Y:-56.93, Z:-0.00 [[ 9.23630988e-01 3.83282921e-01 0.00000000e+00 2.42933542e+02] [-3.83282921e-01 9.23630988e-01 0.00000000e+00 -5.69288578e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02885571e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.96, Y:-56.94, Z:-0.00 [[ 9.24258643e-01 3.81766894e-01 0.00000000e+00 2.42963340e+02] [-3.81766894e-01 9.24258643e-01 0.00000000e+00 -5.69395050e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.43048951e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.281400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:242.99, Y:-56.95, Z:-0.00 [[ 9.24741517e-01 3.80595751e-01 0.00000000e+00 2.42994385e+02] [-3.80595751e-01 9.24741517e-01 0.00000000e+00 -5.69512894e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.60700868e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.02, Y:-56.96, Z:-0.00 [[ 9.25514577e-01 3.78711984e-01 0.00000000e+00 2.43024988e+02] [-3.78711984e-01 9.25514577e-01 0.00000000e+00 -5.69630309e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.74532356e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.06, Y:-56.98, Z:0.00 [[ 9.26179239e-01 3.77083568e-01 0.00000000e+00 2.43055503e+02] [-3.77083568e-01 9.26179239e-01 0.00000000e+00 -5.69767750e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33033790e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.09, Y:-56.99, Z:0.00 [[ 9.26074929e-01 3.77339669e-01 0.00000000e+00 2.43085493e+02] [-3.77339669e-01 9.26074929e-01 0.00000000e+00 -5.69892664e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24735596e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.12, Y:-57.00, Z:0.00 [[ 9.25700474e-01 3.78257363e-01 0.00000000e+00 2.43115753e+02] [-3.78257363e-01 9.25700474e-01 0.00000000e+00 -5.70025281e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96743023e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.43140051299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:243.15, Y:-57.02, Z:0.00 [[ 9.25154636e-01 3.79590436e-01 0.00000000e+00 2.43146119e+02] [-3.79590436e-01 9.25154636e-01 0.00000000e+00 -5.70161536e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45946889e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.18, Y:-57.03, Z:0.00 [[ 9.24400814e-01 3.81422514e-01 0.00000000e+00 2.43175486e+02] [-3.81422514e-01 9.24400814e-01 0.00000000e+00 -5.70287803e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50966803e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.21, Y:-57.04, Z:0.00 [[ 9.23733978e-01 3.83034643e-01 0.00000000e+00 2.43206634e+02] [-3.83034643e-01 9.23733978e-01 0.00000000e+00 -5.70407859e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87395311e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.24, Y:-57.05, Z:0.00 [[ 9.22988578e-01 3.84827343e-01 0.00000000e+00 2.43236861e+02] [-3.84827343e-01 9.22988578e-01 0.00000000e+00 -5.70531762e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51928839e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.27, Y:-57.07, Z:0.00 [[ 9.22153801e-01 3.86823431e-01 0.00000000e+00 2.43266613e+02] [-3.86823431e-01 9.22153801e-01 0.00000000e+00 -5.70660806e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02756056e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.30, Y:-57.08, Z:0.00 [[ 9.22083236e-01 3.86991611e-01 0.00000000e+00 2.43298030e+02] [-3.86991611e-01 9.22083236e-01 0.00000000e+00 -5.70776061e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02756056e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.33, Y:-57.09, Z:0.00 [[ 9.20617675e-01 3.90465230e-01 0.00000000e+00 2.43327018e+02] [-3.90465230e-01 9.20617675e-01 0.00000000e+00 -5.70910890e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06988355e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.36, Y:-57.10, Z:0.00 [[ 9.19913074e-01 3.92122349e-01 0.00000000e+00 2.43358113e+02] [-3.92122349e-01 9.19913074e-01 0.00000000e+00 -5.71026700e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59545619e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.67140051299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:243.39, Y:-57.11, Z:0.00 [[ 9.19045657e-01 3.94151089e-01 0.00000000e+00 2.43389367e+02] [-3.94151089e-01 9.19045657e-01 0.00000000e+00 -5.71138613e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.85611880e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.42, Y:-57.12, Z:-0.00 [[ 9.18649403e-01 3.95073758e-01 0.00000000e+00 2.43419988e+02] [-3.95073758e-01 9.18649403e-01 0.00000000e+00 -5.71245397e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.40368013e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.45, Y:-57.14, Z:-0.00 [[ 9.17944080e-01 3.96709800e-01 0.00000000e+00 2.43450388e+02] [-3.96709800e-01 9.17944080e-01 0.00000000e+00 -5.71351764e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.87277560e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.48, Y:-57.15, Z:-0.00 [[ 9.17476012e-01 3.97791109e-01 0.00000000e+00 2.43481613e+02] [-3.97791109e-01 9.17476012e-01 0.00000000e+00 -5.71454452e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74860038e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.51, Y:-57.16, Z:0.00 [[ 9.16154371e-01 4.00825608e-01 0.00000000e+00 2.43512921e+02] [-4.00825608e-01 9.16154371e-01 0.00000000e+00 -5.71555575e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.41638803e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.54, Y:-57.17, Z:-0.00 [[ 9.15631842e-01 4.02017822e-01 0.00000000e+00 2.43543474e+02] [-4.02017822e-01 9.15631842e-01 0.00000000e+00 -5.71665349e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.11761638e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.57, Y:-57.18, Z:-0.00 [[ 9.15296813e-01 4.02780020e-01 0.00000000e+00 2.43574865e+02] [-4.02780020e-01 9.15296813e-01 0.00000000e+00 -5.71770316e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.60746835e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.61, Y:-57.19, Z:-0.00 [[ 9.15138056e-01 4.03140594e-01 0.00000000e+00 2.43605875e+02] [-4.03140594e-01 9.15138056e-01 0.00000000e+00 -5.71873069e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.04988560e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.64, Y:-57.20, Z:-0.00 [[ 9.14957116e-01 4.03551081e-01 0.00000000e+00 2.43636460e+02] [-4.03551081e-01 9.14957116e-01 0.00000000e+00 -5.71965920e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.34528628e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.67, Y:-57.21, Z:0.00 [[ 9.14620874e-01 4.04312573e-01 0.00000000e+00 2.43667994e+02] [-4.04312573e-01 9.14620874e-01 0.00000000e+00 -5.72072416e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.50867931e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.70, Y:-57.22, Z:0.00 [[ 9.14109740e-01 4.05466870e-01 0.00000000e+00 2.43698156e+02] [-4.05466870e-01 9.14109740e-01 0.00000000e+00 -5.72170633e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39073729e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.73, Y:-57.23, Z:0.00 [[ 9.13474345e-01 4.06896328e-01 0.00000000e+00 2.43730017e+02] [-4.06896328e-01 9.13474345e-01 0.00000000e+00 -5.72266567e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.91689815e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.76, Y:-57.24, Z:-0.00 [[ 9.12821108e-01 4.08359675e-01 0.00000000e+00 2.43762043e+02] [-4.08359675e-01 9.12821108e-01 0.00000000e+00 -5.72362525e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.12099345e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.79, Y:-57.25, Z:-0.00 [[ 9.12227028e-01 4.09685061e-01 0.00000000e+00 2.43793698e+02] [-4.09685061e-01 9.12227028e-01 0.00000000e+00 -5.72462586e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16949163e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.82, Y:-57.26, Z:-0.00 [[ 9.11788826e-01 4.10659393e-01 0.00000000e+00 2.43823760e+02] [-4.10659393e-01 9.11788826e-01 0.00000000e+00 -5.72560614e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96530148e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.85, Y:-57.27, Z:-0.00 [[ 9.11818332e-01 4.10593874e-01 0.00000000e+00 2.43854505e+02] [-4.10593874e-01 9.11818332e-01 0.00000000e+00 -5.72668536e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.09334085e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.15140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.89, Y:-57.28, Z:0.00 [[ 9.11963471e-01 4.10271407e-01 0.00000000e+00 2.43885712e+02] [-4.10271407e-01 9.11963471e-01 0.00000000e+00 -5.72776900e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31760487e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.92, Y:-57.29, Z:0.00 [[ 9.12044188e-01 4.10091941e-01 0.00000000e+00 2.43916066e+02] [-4.10091941e-01 9.12044188e-01 0.00000000e+00 -5.72881423e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.09013136e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.95, Y:-57.30, Z:-0.00 [[ 9.12270914e-01 4.09587329e-01 0.00000000e+00 2.43946848e+02] [-4.09587329e-01 9.12270914e-01 0.00000000e+00 -5.72990836e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.22717571e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.98, Y:-57.31, Z:-0.00 [[ 9.12335529e-01 4.09443381e-01 0.00000000e+00 2.43976621e+02] [-4.09443381e-01 9.12335529e-01 0.00000000e+00 -5.73097262e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.49328062e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.01, Y:-57.32, Z:-0.00 [[ 9.12238240e-01 4.09660095e-01 0.00000000e+00 2.44007810e+02] [-4.09660095e-01 9.12238240e-01 0.00000000e+00 -5.73206773e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.51242244e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.04, Y:-57.33, Z:-0.00 [[ 9.12047461e-01 4.10084660e-01 0.00000000e+00 2.44038632e+02] [-4.10084660e-01 9.12047461e-01 0.00000000e+00 -5.73314738e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59384624e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.07, Y:-57.34, Z:0.00 [[ 9.11437515e-01 4.11438520e-01 0.00000000e+00 2.44067643e+02] [-4.11438520e-01 9.11437515e-01 0.00000000e+00 -5.73442114e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43402169e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.10, Y:-57.36, Z:0.00 [[ 9.11028131e-01 4.12344206e-01 0.00000000e+00 2.44098016e+02] [-4.12344206e-01 9.11028131e-01 0.00000000e+00 -5.73579914e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91418095e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.13, Y:-57.37, Z:0.00 [[ 9.10843639e-01 4.12751579e-01 0.00000000e+00 2.44127126e+02] [-4.12751579e-01 9.10843639e-01 0.00000000e+00 -5.73709436e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01484860e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.16, Y:-57.38, Z:0.00 [[ 9.10875293e-01 4.12681718e-01 0.00000000e+00 2.44158186e+02] [-4.12681718e-01 9.10875293e-01 0.00000000e+00 -5.73825469e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.28804893e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.19, Y:-57.39, Z:0.00 [[ 9.10791176e-01 4.12867332e-01 0.00000000e+00 2.44189016e+02] [-4.12867332e-01 9.10791176e-01 0.00000000e+00 -5.73936785e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87488028e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.22, Y:-57.41, Z:0.00 [[ 9.10858827e-01 4.12718061e-01 0.00000000e+00 2.44218754e+02] [-4.12718061e-01 9.10858827e-01 0.00000000e+00 -5.74051564e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89154627e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.25, Y:-57.42, Z:0.01 [[ 9.11010625e-01 4.12382882e-01 0.00000000e+00 2.44247955e+02] [-4.12382882e-01 9.11010625e-01 0.00000000e+00 -5.74171616e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.18203134e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.28, Y:-57.43, Z:0.01 [[ 9.11535623e-01 4.11221119e-01 0.00000000e+00 2.44278454e+02] [-4.11221119e-01 9.11535623e-01 0.00000000e+00 -5.74301453e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.68328852e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.31, Y:-57.44, Z:0.00 [[ 9.11646929e-01 4.10974302e-01 0.00000000e+00 2.44309365e+02] [-4.10974302e-01 9.11646929e-01 0.00000000e+00 -5.74421184e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76555301e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.34, Y:-57.45, Z:0.00 [[ 9.11544564e-01 4.11201298e-01 0.00000000e+00 2.44339481e+02] [-4.11201298e-01 9.11544564e-01 0.00000000e+00 -5.74541749e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.17181583e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.37, Y:-57.47, Z:-0.00 [[ 9.11209051e-01 4.11944251e-01 0.00000000e+00 2.44368383e+02] [-4.11944251e-01 9.11209051e-01 0.00000000e+00 -5.74662855e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06333897e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.40, Y:-57.48, Z:-0.00 [[ 9.10735982e-01 4.12989068e-01 0.00000000e+00 2.44398525e+02] [-4.12989068e-01 9.10735982e-01 0.00000000e+00 -5.74785032e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04502553e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.43, Y:-57.49, Z:-0.00 [[ 9.09967467e-01 4.14679646e-01 0.00000000e+00 2.44428653e+02] [-4.14679646e-01 9.09967467e-01 0.00000000e+00 -5.74880357e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.07285710e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.46, Y:-57.50, Z:-0.00 [[ 9.09267574e-01 4.16212060e-01 0.00000000e+00 2.44459508e+02] [-4.16212060e-01 9.09267574e-01 0.00000000e+00 -5.75003224e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.43817736e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.49, Y:-57.51, Z:-0.00 [[ 9.09058410e-01 4.16668703e-01 0.00000000e+00 2.44487902e+02] [-4.16668703e-01 9.09058410e-01 0.00000000e+00 -5.75097678e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.21224545e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.52, Y:-57.52, Z:-0.00 [[ 9.08771602e-01 4.17293871e-01 0.00000000e+00 2.44518701e+02] [-4.17293871e-01 9.08771602e-01 0.00000000e+00 -5.75224243e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.18581504e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.55, Y:-57.53, Z:-0.00 [[ 9.09073977e-01 4.16634738e-01 0.00000000e+00 2.44548660e+02] [-4.16634738e-01 9.09073977e-01 0.00000000e+00 -5.75343744e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.23876575e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.58, Y:-57.55, Z:-0.01 [[ 9.09196457e-01 4.16367388e-01 0.00000000e+00 2.44579559e+02] [-4.16367388e-01 9.09196457e-01 0.00000000e+00 -5.75468881e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.88878720e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.61, Y:-57.56, Z:-0.00 [[ 9.09729443e-01 4.15201567e-01 0.00000000e+00 2.44609262e+02] [-4.15201567e-01 9.09729443e-01 0.00000000e+00 -5.75563415e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.28212047e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.64, Y:-57.57, Z:-0.01 [[ 9.10445118e-01 4.13629891e-01 0.00000000e+00 2.44639532e+02] [-4.13629891e-01 9.10445118e-01 0.00000000e+00 -5.75691849e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.14123764e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.93140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.67, Y:-57.58, Z:-0.00 [[ 9.11172802e-01 4.12024423e-01 0.00000000e+00 2.44668438e+02] [-4.12024423e-01 9.11172802e-01 0.00000000e+00 -5.75794004e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.96362679e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.70, Y:-57.59, Z:-0.01 [[ 9.11614921e-01 4.11045297e-01 0.00000000e+00 2.44698413e+02] [-4.11045297e-01 9.11614921e-01 0.00000000e+00 -5.75910402e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.44630278e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.73, Y:-57.60, Z:-0.01 [[ 9.11923476e-01 4.10360297e-01 0.00000000e+00 2.44728167e+02] [-4.10360297e-01 9.11923476e-01 0.00000000e+00 -5.76029260e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.43142335e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.76, Y:-57.62, Z:-0.00 [[ 9.12132087e-01 4.09896397e-01 0.00000000e+00 2.44758226e+02] [-4.09896397e-01 9.12132087e-01 0.00000000e+00 -5.76161415e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.41406420e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.79, Y:-57.63, Z:-0.00 [[ 9.12718649e-01 4.08588629e-01 0.00000000e+00 2.44788535e+02] [-4.08588629e-01 9.12718649e-01 0.00000000e+00 -5.76305743e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.90061755e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.82, Y:-57.64, Z:-0.00 [[ 9.12886176e-01 4.08214197e-01 0.00000000e+00 2.44818053e+02] [-4.08214197e-01 9.12886176e-01 0.00000000e+00 -5.76430627e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.59968041e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.85, Y:-57.66, Z:-0.00 [[ 9.13090590e-01 4.07756759e-01 0.00000000e+00 2.44847700e+02] [-4.07756759e-01 9.13090590e-01 0.00000000e+00 -5.76589882e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.54945800e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.88, Y:-57.67, Z:-0.00 [[ 9.12836740e-01 4.08324731e-01 0.00000000e+00 2.44878161e+02] [-4.08324731e-01 9.12836740e-01 0.00000000e+00 -5.76730486e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09090110e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.17140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.91, Y:-57.69, Z:-0.00 [[ 9.12496698e-01 4.09084069e-01 0.00000000e+00 2.44908031e+02] [-4.09084069e-01 9.12496698e-01 0.00000000e+00 -5.76851230e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00841401e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.94, Y:-57.70, Z:-0.00 [[ 9.12066244e-01 4.10042883e-01 0.00000000e+00 2.44938941e+02] [-4.10042883e-01 9.12066244e-01 0.00000000e+00 -5.76974502e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02167492e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.97, Y:-57.71, Z:-0.01 [[ 9.12027466e-01 4.10129128e-01 0.00000000e+00 2.44966924e+02] [-4.10129128e-01 9.12027466e-01 0.00000000e+00 -5.77088636e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.34675763e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26140051299998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:245.00, Y:-57.72, Z:-0.01 [[ 9.12128385e-01 4.09904633e-01 0.00000000e+00 2.44997237e+02] [-4.09904633e-01 9.12128385e-01 0.00000000e+00 -5.77227709e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.48039653e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.03, Y:-57.74, Z:-0.00 [[ 9.12349698e-01 4.09411808e-01 0.00000000e+00 2.45026664e+02] [-4.09411808e-01 9.12349698e-01 0.00000000e+00 -5.77361227e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.42669730e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.06, Y:-57.75, Z:-0.00 [[ 9.12200049e-01 4.09745128e-01 0.00000000e+00 2.45057111e+02] [-4.09745128e-01 9.12200049e-01 0.00000000e+00 -5.77484143e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.07208775e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.09, Y:-57.76, Z:-0.00 [[ 9.11342897e-01 4.11648058e-01 0.00000000e+00 2.45086538e+02] [-4.11648058e-01 9.11342897e-01 0.00000000e+00 -5.77572750e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.25983816e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.12, Y:-57.77, Z:-0.00 [[ 9.10470856e-01 4.13573235e-01 0.00000000e+00 2.45116444e+02] [-4.13573235e-01 9.10470856e-01 0.00000000e+00 -5.77688910e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.20583472e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.15, Y:-57.78, Z:-0.00 [[ 9.09442987e-01 4.15828634e-01 0.00000000e+00 2.45147063e+02] [-4.15828634e-01 9.09442987e-01 0.00000000e+00 -5.77807108e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.89803441e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.441400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:245.18, Y:-57.79, Z:-0.00 [[ 9.07473466e-01 4.20109400e-01 0.00000000e+00 2.45178876e+02] [-4.20109400e-01 9.07473466e-01 0.00000000e+00 -5.77907071e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.98535941e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.471400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:245.21, Y:-57.80, Z:-0.00 [[ 9.07396763e-01 4.20275046e-01 0.00000000e+00 2.45210176e+02] [-4.20275046e-01 9.07396763e-01 0.00000000e+00 -5.78025382e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.98535941e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.24, Y:-57.81, Z:-0.01 [[ 9.06553668e-01 4.22090567e-01 0.00000000e+00 2.45239876e+02] [-4.22090567e-01 9.06553668e-01 0.00000000e+00 -5.78134244e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.23136473e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.27, Y:-57.82, Z:-0.01 [[ 9.05932408e-01 4.23422334e-01 0.00000000e+00 2.45269466e+02] [-4.23422334e-01 9.05932408e-01 0.00000000e+00 -5.78245058e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.15536127e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.30, Y:-57.84, Z:-0.00 [[ 9.05493053e-01 4.24361085e-01 0.00000000e+00 2.45299791e+02] [-4.24361085e-01 9.05493053e-01 0.00000000e+00 -5.78364160e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.81171260e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.33, Y:-57.85, Z:-0.00 [[ 9.05281296e-01 4.24812635e-01 0.00000000e+00 2.45330811e+02] [-4.24812635e-01 9.05281296e-01 0.00000000e+00 -5.78483133e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.55505356e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.36, Y:-57.86, Z:-0.01 [[ 9.05394037e-01 4.24572300e-01 0.00000000e+00 2.45360740e+02] [-4.24572300e-01 9.05394037e-01 0.00000000e+00 -5.78592910e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.44453313e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.65140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.39, Y:-57.87, Z:-0.01 [[ 9.05583535e-01 4.24167963e-01 0.00000000e+00 2.45391321e+02] [-4.24167963e-01 9.05583535e-01 0.00000000e+00 -5.78706351e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.44808268e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.42, Y:-57.88, Z:-0.01 [[ 9.05578547e-01 4.24178612e-01 0.00000000e+00 2.45421499e+02] [-4.24178612e-01 9.05578547e-01 0.00000000e+00 -5.78815580e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.92073650e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.71140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.45, Y:-57.89, Z:-0.01 [[ 9.05319125e-01 4.24732011e-01 0.00000000e+00 2.45453591e+02] [-4.24732011e-01 9.05319125e-01 0.00000000e+00 -5.78909712e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.79615727e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.48, Y:-57.90, Z:-0.01 [[ 9.05067702e-01 4.25267509e-01 0.00000000e+00 2.45484318e+02] [-4.25267509e-01 9.05067702e-01 0.00000000e+00 -5.79007144e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.52737937e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.77140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.52, Y:-57.91, Z:-0.01 [[ 9.04580769e-01 4.26302279e-01 0.00000000e+00 2.45515204e+02] [-4.26302279e-01 9.04580769e-01 0.00000000e+00 -5.79105863e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.34057475e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80140051299998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:245.55, Y:-57.92, Z:-0.01 [[ 9.04101492e-01 4.27317789e-01 0.00000000e+00 2.45545415e+02] [-4.27317789e-01 9.04101492e-01 0.00000000e+00 -5.79199382e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.07838153e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.58, Y:-57.93, Z:-0.00 [[ 9.03654164e-01 4.28262948e-01 0.00000000e+00 2.45577234e+02] [-4.28262948e-01 9.03654164e-01 0.00000000e+00 -5.79281890e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.00520468e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.61, Y:-57.94, Z:-0.01 [[ 9.03839915e-01 4.27870784e-01 0.00000000e+00 2.45607397e+02] [-4.27870784e-01 9.03839915e-01 0.00000000e+00 -5.79379675e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.73518778e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.64, Y:-57.95, Z:-0.01 [[ 9.04358798e-01 4.26772966e-01 0.00000000e+00 2.45637887e+02] [-4.26772966e-01 9.04358798e-01 0.00000000e+00 -5.79478548e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.06630699e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92140051299998 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:245.67, Y:-57.96, Z:-0.01 [[ 9.04892937e-01 4.25639251e-01 0.00000000e+00 2.45669074e+02] [-4.25639251e-01 9.04892937e-01 0.00000000e+00 -5.79583474e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.50351436e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.95140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.70, Y:-57.97, Z:-0.00 [[ 9.06133648e-01 4.22991504e-01 0.00000000e+00 2.45699897e+02] [-4.22991504e-01 9.06133648e-01 0.00000000e+00 -5.79674932e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77523767e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.73, Y:-57.98, Z:-0.00 [[ 9.06462714e-01 4.22285860e-01 0.00000000e+00 2.45730944e+02] [-4.22285860e-01 9.06462714e-01 0.00000000e+00 -5.79781365e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.53431749e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.01140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.76, Y:-57.99, Z:-0.00 [[ 9.06693752e-01 4.21789568e-01 0.00000000e+00 2.45761722e+02] [-4.21789568e-01 9.06693752e-01 0.00000000e+00 -5.79891354e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.87946683e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.79, Y:-58.00, Z:-0.00 [[ 9.06841318e-01 4.21472210e-01 0.00000000e+00 2.45791590e+02] [-4.21472210e-01 9.06841318e-01 0.00000000e+00 -5.79995983e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18458391e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.82, Y:-58.01, Z:-0.00 [[ 9.07352144e-01 4.20371368e-01 0.00000000e+00 2.45822150e+02] [-4.20371368e-01 9.07352144e-01 0.00000000e+00 -5.80112626e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07729027e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.85, Y:-58.02, Z:-0.00 [[ 9.07899222e-01 4.19188505e-01 0.00000000e+00 2.45851254e+02] [-4.19188505e-01 9.07899222e-01 0.00000000e+00 -5.80238033e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.77863565e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.88, Y:-58.04, Z:0.00 [[ 9.08796829e-01 4.17238929e-01 0.00000000e+00 2.45881312e+02] [-4.17238929e-01 9.08796829e-01 0.00000000e+00 -5.80373494e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.52618392e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.91, Y:-58.05, Z:0.00 [[ 9.09844388e-01 4.14949624e-01 0.00000000e+00 2.45910156e+02] [-4.14949624e-01 9.09844388e-01 0.00000000e+00 -5.80506407e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18974202e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.94, Y:-58.07, Z:0.00 [[ 9.11776144e-01 4.10687549e-01 0.00000000e+00 2.45939178e+02] [-4.10687549e-01 9.11776144e-01 0.00000000e+00 -5.80657254e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54956589e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.97, Y:-58.08, Z:0.00 [[ 9.12170560e-01 4.09810772e-01 0.00000000e+00 2.45968038e+02] [-4.09810772e-01 9.12170560e-01 0.00000000e+00 -5.80784432e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36445578e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.00, Y:-58.09, Z:0.00 [[ 9.11948135e-01 4.10305495e-01 0.00000000e+00 2.45997988e+02] [-4.10305495e-01 9.11948135e-01 0.00000000e+00 -5.80916599e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54143104e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.281400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:246.03, Y:-58.10, Z:0.00 [[ 9.11109487e-01 4.12164412e-01 0.00000000e+00 2.46027267e+02] [-4.12164412e-01 9.11109487e-01 0.00000000e+00 -5.81045578e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51938142e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.06, Y:-58.12, Z:-0.00 [[ 9.08825642e-01 4.17176166e-01 0.00000000e+00 2.46057068e+02] [-4.17176166e-01 9.08825642e-01 0.00000000e+00 -5.81183370e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.45704572e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.09, Y:-58.13, Z:-0.00 [[ 9.07546862e-01 4.19950823e-01 0.00000000e+00 2.46086968e+02] [-4.19950823e-01 9.07546862e-01 0.00000000e+00 -5.81300453e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.55509832e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.12, Y:-58.14, Z:-0.00 [[ 9.05475638e-01 4.24398244e-01 0.00000000e+00 2.46118007e+02] [-4.24398244e-01 9.05475638e-01 0.00000000e+00 -5.81413487e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.49320935e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.15, Y:-58.15, Z:-0.00 [[ 9.04980500e-01 4.25453046e-01 0.00000000e+00 2.46148102e+02] [-4.25453046e-01 9.04980500e-01 0.00000000e+00 -5.81529090e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.02442714e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.43140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.18, Y:-58.17, Z:-0.00 [[ 9.04895770e-01 4.25633229e-01 0.00000000e+00 2.46178692e+02] [-4.25633229e-01 9.04895770e-01 0.00000000e+00 -5.81652070e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.15498540e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.21, Y:-58.18, Z:-0.00 [[ 9.05165334e-01 4.25059665e-01 0.00000000e+00 2.46207900e+02] [-4.25059665e-01 9.05165334e-01 0.00000000e+00 -5.81771508e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59317440e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.49140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.24, Y:-58.19, Z:-0.00 [[ 9.05818838e-01 4.23665236e-01 0.00000000e+00 2.46238356e+02] [-4.23665236e-01 9.05818838e-01 0.00000000e+00 -5.81892653e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.36528983e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.27, Y:-58.20, Z:0.00 [[ 9.07599619e-01 4.19836791e-01 0.00000000e+00 2.46268542e+02] [-4.19836791e-01 9.07599619e-01 0.00000000e+00 -5.82014135e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.03160849e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.30, Y:-58.21, Z:0.00 [[ 9.08376900e-01 4.18152373e-01 0.00000000e+00 2.46299109e+02] [-4.18152373e-01 9.08376900e-01 0.00000000e+00 -5.82140447e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33815490e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.33, Y:-58.23, Z:0.00 [[ 9.08777017e-01 4.17282079e-01 0.00000000e+00 2.46328833e+02] [-4.17282079e-01 9.08777017e-01 0.00000000e+00 -5.82263210e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54346504e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.36, Y:-58.24, Z:0.00 [[ 9.08758119e-01 4.17323235e-01 0.00000000e+00 2.46358666e+02] [-4.17323235e-01 9.08758119e-01 0.00000000e+00 -5.82387274e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.97556944e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.39, Y:-58.25, Z:0.00 [[ 9.08310977e-01 4.18295551e-01 0.00000000e+00 2.46389520e+02] [-4.18295551e-01 9.08310977e-01 0.00000000e+00 -5.82500808e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44423624e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.42, Y:-58.26, Z:0.00 [[ 9.07918410e-01 4.19146943e-01 0.00000000e+00 2.46420277e+02] [-4.19146943e-01 9.07918410e-01 0.00000000e+00 -5.82611618e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75323994e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.45, Y:-58.27, Z:0.00 [[ 9.07026005e-01 4.21074608e-01 0.00000000e+00 2.46450387e+02] [-4.21074608e-01 9.07026005e-01 0.00000000e+00 -5.82711915e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73934034e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.48, Y:-58.28, Z:0.00 [[ 9.06469966e-01 4.22270294e-01 0.00000000e+00 2.46481069e+02] [-4.22270294e-01 9.06469966e-01 0.00000000e+00 -5.82823909e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67264376e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.51, Y:-58.29, Z:0.00 [[ 9.05826569e-01 4.23648706e-01 0.00000000e+00 2.46511244e+02] [-4.23648706e-01 9.05826569e-01 0.00000000e+00 -5.82935911e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.74244993e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.79140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.54, Y:-58.31, Z:0.00 [[ 9.05149929e-01 4.25092468e-01 0.00000000e+00 2.46542387e+02] [-4.25092468e-01 9.05149929e-01 0.00000000e+00 -5.83052026e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08307893e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.57, Y:-58.32, Z:0.00 [[ 9.04663775e-01 4.26126102e-01 0.00000000e+00 2.46573607e+02] [-4.26126102e-01 9.04663775e-01 0.00000000e+00 -5.83162867e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89966955e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.851400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:246.60, Y:-58.33, Z:0.00 [[ 9.03863883e-01 4.27820150e-01 0.00000000e+00 2.46604963e+02] [-4.27820150e-01 9.03863883e-01 0.00000000e+00 -5.83256854e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.13945905e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.64, Y:-58.34, Z:-0.00 [[ 9.03673549e-01 4.28222043e-01 0.00000000e+00 2.46635607e+02] [-4.28222043e-01 9.03673549e-01 0.00000000e+00 -5.83359757e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.43875995e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.67, Y:-58.35, Z:-0.00 [[ 9.03472097e-01 4.28646905e-01 0.00000000e+00 2.46667281e+02] [-4.28646905e-01 9.03472097e-01 0.00000000e+00 -5.83467324e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.63173175e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.70, Y:-58.36, Z:0.00 [[ 9.03518366e-01 4.28549369e-01 0.00000000e+00 2.46697377e+02] [-4.28549369e-01 9.03518366e-01 0.00000000e+00 -5.83591196e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56122341e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.73, Y:-58.37, Z:0.00 [[ 9.03746746e-01 4.28067541e-01 0.00000000e+00 2.46728080e+02] [-4.28067541e-01 9.03746746e-01 0.00000000e+00 -5.83716961e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43624800e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.001400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:246.76, Y:-58.38, Z:-0.00 [[ 9.04005376e-01 4.27521088e-01 0.00000000e+00 2.46757950e+02] [-4.27521088e-01 9.04005376e-01 0.00000000e+00 -5.83831664e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61096172e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.79, Y:-58.39, Z:-0.00 [[ 9.04784781e-01 4.25869111e-01 0.00000000e+00 2.46787937e+02] [-4.25869111e-01 9.04784781e-01 0.00000000e+00 -5.83948642e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.82353627e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.82, Y:-58.41, Z:-0.00 [[ 9.04817105e-01 4.25800431e-01 0.00000000e+00 2.46817513e+02] [-4.25800431e-01 9.04817105e-01 0.00000000e+00 -5.84070749e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.99056649e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.85, Y:-58.42, Z:-0.00 [[ 9.04657040e-01 4.26140400e-01 0.00000000e+00 2.46847436e+02] [-4.26140400e-01 9.04657040e-01 0.00000000e+00 -5.84194731e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48957318e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.88, Y:-58.43, Z:0.00 [[ 9.04332105e-01 4.26829525e-01 0.00000000e+00 2.46878502e+02] [-4.26829525e-01 9.04332105e-01 0.00000000e+00 -5.84318363e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.40407820e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.15140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.91, Y:-58.44, Z:0.00 [[ 9.03098959e-01 4.29432498e-01 0.00000000e+00 2.46909729e+02] [-4.29432498e-01 9.03098959e-01 0.00000000e+00 -5.84432008e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.56669183e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.94, Y:-58.45, Z:-0.00 [[ 9.02328696e-01 4.31048633e-01 0.00000000e+00 2.46939151e+02] [-4.31048633e-01 9.02328696e-01 0.00000000e+00 -5.84545343e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.29200224e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.97, Y:-58.47, Z:-0.00 [[ 9.01551222e-01 4.32672386e-01 0.00000000e+00 2.46970115e+02] [-4.32672386e-01 9.01551222e-01 0.00000000e+00 -5.84662179e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86919657e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.00, Y:-58.48, Z:-0.00 [[ 9.00701129e-01 4.34439266e-01 0.00000000e+00 2.46999810e+02] [-4.34439266e-01 9.00701129e-01 0.00000000e+00 -5.84771818e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.36694073e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.03, Y:-58.49, Z:-0.00 [[ 8.99701309e-01 4.36506076e-01 0.00000000e+00 2.47031292e+02] [-4.36506076e-01 8.99701309e-01 0.00000000e+00 -5.84864180e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41922826e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.06, Y:-58.50, Z:-0.00 [[ 8.99493449e-01 4.36934246e-01 0.00000000e+00 2.47062743e+02] [-4.36934246e-01 8.99493449e-01 0.00000000e+00 -5.84970702e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00580268e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.09, Y:-58.51, Z:-0.00 [[ 8.99303905e-01 4.37324234e-01 0.00000000e+00 2.47094098e+02] [-4.37324234e-01 8.99303905e-01 0.00000000e+00 -5.85082843e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89231079e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.12, Y:-58.52, Z:-0.00 [[ 8.99312793e-01 4.37305958e-01 0.00000000e+00 2.47124423e+02] [-4.37305958e-01 8.99312793e-01 0.00000000e+00 -5.85190271e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58082049e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.16, Y:-58.53, Z:-0.00 [[ 8.99237068e-01 4.37461650e-01 0.00000000e+00 2.47155600e+02] [-4.37461650e-01 8.99237068e-01 0.00000000e+00 -5.85311970e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58082049e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.19, Y:-58.54, Z:-0.00 [[ 8.99692780e-01 4.36523655e-01 0.00000000e+00 2.47186291e+02] [-4.36523655e-01 8.99692780e-01 0.00000000e+00 -5.85421562e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.24657538e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.22, Y:-58.55, Z:-0.00 [[ 9.00139554e-01 4.35601633e-01 0.00000000e+00 2.47217407e+02] [-4.35601633e-01 9.00139554e-01 0.00000000e+00 -5.85543705e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.82752517e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.25, Y:-58.57, Z:-0.00 [[ 9.00783984e-01 4.34267445e-01 0.00000000e+00 2.47247272e+02] [-4.34267445e-01 9.00783984e-01 0.00000000e+00 -5.85658063e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.42841170e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.28, Y:-58.58, Z:0.00 [[ 9.02091802e-01 4.31544181e-01 0.00000000e+00 2.47277753e+02] [-4.31544181e-01 9.02091802e-01 0.00000000e+00 -5.85771471e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.40522007e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.31, Y:-58.59, Z:0.00 [[ 9.02494174e-01 4.30702061e-01 0.00000000e+00 2.47308562e+02] [-4.30702061e-01 9.02494174e-01 0.00000000e+00 -5.85888819e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65234804e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.34, Y:-58.60, Z:0.00 [[ 9.02773579e-01 4.30116106e-01 0.00000000e+00 2.47339303e+02] [-4.30116106e-01 9.02773579e-01 0.00000000e+00 -5.86008947e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53088329e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.37, Y:-58.61, Z:0.00 [[ 9.02908754e-01 4.29832272e-01 0.00000000e+00 2.47369774e+02] [-4.29832272e-01 9.02908754e-01 0.00000000e+00 -5.86129357e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.66905397e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.40, Y:-58.62, Z:0.00 [[ 9.02847992e-01 4.29959886e-01 0.00000000e+00 2.47399701e+02] [-4.29959886e-01 9.02847992e-01 0.00000000e+00 -5.86232810e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80536534e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.43, Y:-58.63, Z:0.00 [[ 9.02704871e-01 4.30260289e-01 0.00000000e+00 2.47430260e+02] [-4.30260289e-01 9.02704871e-01 0.00000000e+00 -5.86346014e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66488361e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.46, Y:-58.65, Z:0.00 [[ 9.02430466e-01 4.30835530e-01 0.00000000e+00 2.47460678e+02] [-4.30835530e-01 9.02430466e-01 0.00000000e+00 -5.86463580e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07889780e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.49, Y:-58.66, Z:0.00 [[ 9.01850149e-01 4.32048965e-01 0.00000000e+00 2.47490873e+02] [-4.32048965e-01 9.01850149e-01 0.00000000e+00 -5.86578130e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82435869e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.52, Y:-58.67, Z:0.00 [[ 9.00513746e-01 4.34827545e-01 0.00000000e+00 2.47520705e+02] [-4.34827545e-01 9.00513746e-01 0.00000000e+00 -5.86679994e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.83064191e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.55, Y:-58.68, Z:-0.00 [[ 8.99977593e-01 4.35936156e-01 0.00000000e+00 2.47551535e+02] [-4.35936156e-01 8.99977593e-01 0.00000000e+00 -5.86793786e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.42134824e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.58, Y:-58.69, Z:-0.00 [[ 8.99537258e-01 4.36844047e-01 0.00000000e+00 2.47581396e+02] [-4.36844047e-01 8.99537258e-01 0.00000000e+00 -5.86902968e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.04915980e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.61, Y:-58.70, Z:-0.00 [[ 8.99424836e-01 4.37075467e-01 0.00000000e+00 2.47611771e+02] [-4.37075467e-01 8.99424836e-01 0.00000000e+00 -5.87013926e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.94901272e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.64, Y:-58.71, Z:-0.00 [[ 8.99970869e-01 4.35950037e-01 0.00000000e+00 2.47642577e+02] [-4.35950037e-01 8.99970869e-01 0.00000000e+00 -5.87121151e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13535312e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.67, Y:-58.72, Z:-0.00 [[ 9.00592991e-01 4.34663392e-01 0.00000000e+00 2.47672972e+02] [-4.34663392e-01 9.00592991e-01 0.00000000e+00 -5.87240489e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.03612971e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.70, Y:-58.74, Z:-0.01 [[ 9.01535647e-01 4.32704838e-01 0.00000000e+00 2.47701552e+02] [-4.32704838e-01 9.01535647e-01 0.00000000e+00 -5.87360195e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.58349559e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.73, Y:-58.75, Z:-0.01 [[ 9.02742845e-01 4.30180608e-01 0.00000000e+00 2.47732031e+02] [-4.30180608e-01 9.02742845e-01 0.00000000e+00 -5.87493646e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.17802311e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.76, Y:-58.76, Z:-0.00 [[ 9.05578871e-01 4.24177922e-01 0.00000000e+00 2.47761067e+02] [-4.24177922e-01 9.05578871e-01 0.00000000e+00 -5.87632692e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.62374000e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.79, Y:-58.78, Z:-0.00 [[ 9.06681328e-01 4.21816275e-01 0.00000000e+00 2.47791714e+02] [-4.21816275e-01 9.06681328e-01 0.00000000e+00 -5.87757006e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.20933067e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.05140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.82, Y:-58.79, Z:-0.00 [[ 9.07397219e-01 4.20274062e-01 0.00000000e+00 2.47821306e+02] [-4.20274062e-01 9.07397219e-01 0.00000000e+00 -5.87872157e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27821783e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.85, Y:-58.80, Z:-0.00 [[ 9.07706970e-01 4.19604642e-01 0.00000000e+00 2.47850665e+02] [-4.19604642e-01 9.07706970e-01 0.00000000e+00 -5.87988526e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41430262e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.11140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.88, Y:-58.81, Z:-0.00 [[ 9.07910526e-01 4.19164021e-01 0.00000000e+00 2.47879005e+02] [-4.19164021e-01 9.07910526e-01 0.00000000e+00 -5.88132769e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.07100661e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.91, Y:-58.83, Z:-0.00 [[ 9.07969024e-01 4.19037291e-01 0.00000000e+00 2.47908701e+02] [-4.19037291e-01 9.07969024e-01 0.00000000e+00 -5.88282139e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.32634865e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.17140051299998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:247.94, Y:-58.85, Z:-0.00 [[ 9.08545041e-01 4.17786917e-01 0.00000000e+00 2.47936947e+02] [-4.17786917e-01 9.08545041e-01 0.00000000e+00 -5.88458528e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.74283662e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.97, Y:-58.86, Z:-0.00 [[ 9.08938390e-01 4.16930453e-01 0.00000000e+00 2.47965650e+02] [-4.16930453e-01 9.08938390e-01 0.00000000e+00 -5.88591416e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.30929221e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.23140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.99, Y:-58.87, Z:-0.00 [[ 9.09180234e-01 4.16402812e-01 0.00000000e+00 2.47994778e+02] [-4.16402812e-01 9.09180234e-01 0.00000000e+00 -5.88718239e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05709338e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.02, Y:-58.88, Z:-0.00 [[ 9.09240429e-01 4.16271356e-01 0.00000000e+00 2.48024868e+02] [-4.16271356e-01 9.09240429e-01 0.00000000e+00 -5.88846817e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.12698813e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.29140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.06, Y:-58.90, Z:-0.00 [[ 9.08922957e-01 4.16964097e-01 0.00000000e+00 2.48055074e+02] [-4.16964097e-01 9.08922957e-01 0.00000000e+00 -5.88992379e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05622461e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.08, Y:-58.91, Z:-0.00 [[ 9.08395682e-01 4.18111571e-01 0.00000000e+00 2.48083755e+02] [-4.18111571e-01 9.08395682e-01 0.00000000e+00 -5.89124224e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.85591341e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.11, Y:-58.93, Z:0.00 [[ 9.07793372e-01 4.19417685e-01 0.00000000e+00 2.48113571e+02] [-4.19417685e-01 9.07793372e-01 0.00000000e+00 -5.89265402e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.30796443e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.14, Y:-58.94, Z:0.00 [[ 9.07407395e-01 4.20252090e-01 0.00000000e+00 2.48143449e+02] [-4.20252090e-01 9.07407395e-01 0.00000000e+00 -5.89406700e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72763452e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.17, Y:-58.95, Z:-0.00 [[ 9.07678194e-01 4.19666887e-01 0.00000000e+00 2.48172454e+02] [-4.19666887e-01 9.07678194e-01 0.00000000e+00 -5.89540313e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16275174e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.20, Y:-58.97, Z:-0.00 [[ 9.08088609e-01 4.18778077e-01 0.00000000e+00 2.48202580e+02] [-4.18778077e-01 9.08088609e-01 0.00000000e+00 -5.89650125e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.49021508e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.23, Y:-58.98, Z:-0.00 [[ 9.08665824e-01 4.17524154e-01 0.00000000e+00 2.48233831e+02] [-4.17524154e-01 9.08665824e-01 0.00000000e+00 -5.89765084e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.82270964e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.26, Y:-58.99, Z:-0.00 [[ 9.09357109e-01 4.16016403e-01 0.00000000e+00 2.48263722e+02] [-4.16016403e-01 9.09357109e-01 0.00000000e+00 -5.89878929e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35967461e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.29, Y:-59.00, Z:0.00 [[ 9.11891311e-01 4.10431769e-01 0.00000000e+00 2.48294386e+02] [-4.10431769e-01 9.11891311e-01 0.00000000e+00 -5.90001634e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.48402981e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.561400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:248.32, Y:-59.01, Z:-0.00 [[ 9.13447015e-01 4.06957676e-01 0.00000000e+00 2.48324546e+02] [-4.06957676e-01 9.13447015e-01 0.00000000e+00 -5.90123823e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.84027451e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.591400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:248.35, Y:-59.02, Z:-0.00 [[ 9.15077243e-01 4.03278613e-01 0.00000000e+00 2.48354661e+02] [-4.03278613e-01 9.15077243e-01 0.00000000e+00 -5.90247379e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.11663034e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.38, Y:-59.04, Z:-0.01 [[ 9.17956381e-01 3.96681337e-01 0.00000000e+00 2.48383387e+02] [-3.96681337e-01 9.17956381e-01 0.00000000e+00 -5.90369873e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.55498609e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.41, Y:-59.05, Z:-0.00 [[ 9.18876015e-01 3.94546410e-01 0.00000000e+00 2.48414247e+02] [-3.94546410e-01 9.18876015e-01 0.00000000e+00 -5.90492478e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.79043869e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.44, Y:-59.06, Z:0.00 [[ 9.19450754e-01 3.93205176e-01 0.00000000e+00 2.48444818e+02] [-3.93205176e-01 9.19450754e-01 0.00000000e+00 -5.90605581e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05993584e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.71140051299997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:248.47, Y:-59.07, Z:0.00 [[ 9.19561379e-01 3.92946396e-01 0.00000000e+00 2.48474944e+02] [-3.92946396e-01 9.19561379e-01 0.00000000e+00 -5.90713712e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06629123e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74140051299997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:248.51, Y:-59.08, Z:0.00 [[ 9.19457386e-01 3.93189668e-01 0.00000000e+00 2.48505168e+02] [-3.93189668e-01 9.19457386e-01 0.00000000e+00 -5.90818643e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65507811e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.77140051299997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:248.54, Y:-59.09, Z:-0.00 [[ 9.18658466e-01 3.95052684e-01 0.00000000e+00 2.48537129e+02] [-3.95052684e-01 9.18658466e-01 0.00000000e+00 -5.90901438e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02821815e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.57, Y:-59.10, Z:-0.00 [[ 9.18162546e-01 3.96203910e-01 0.00000000e+00 2.48568917e+02] [-3.96203910e-01 9.18162546e-01 0.00000000e+00 -5.90995002e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09108985e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.83140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.60, Y:-59.11, Z:-0.00 [[ 9.17629668e-01 3.97436527e-01 0.00000000e+00 2.48600674e+02] [-3.97436527e-01 9.17629668e-01 0.00000000e+00 -5.91089467e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48830327e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.63, Y:-59.12, Z:-0.00 [[ 9.17334323e-01 3.98117746e-01 0.00000000e+00 2.48631372e+02] [-3.98117746e-01 9.17334323e-01 0.00000000e+00 -5.91190753e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.19697000e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.89140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.66, Y:-59.13, Z:-0.00 [[ 9.17559228e-01 3.97599125e-01 0.00000000e+00 2.48661665e+02] [-3.97599125e-01 9.17559228e-01 0.00000000e+00 -5.91302673e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.02785772e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92140051299998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:248.69, Y:-59.14, Z:-0.00 [[ 9.17853795e-01 3.96918646e-01 0.00000000e+00 2.48693088e+02] [-3.96918646e-01 9.17853795e-01 0.00000000e+00 -5.91414877e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.39353073e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.95140051299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:248.72, Y:-59.15, Z:-0.00 [[ 9.18201535e-01 3.96113546e-01 0.00000000e+00 2.48724425e+02] [-3.96113546e-01 9.18201535e-01 0.00000000e+00 -5.91515315e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.18073531e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.76, Y:-59.16, Z:-0.00 [[ 9.19226295e-01 3.93729625e-01 0.00000000e+00 2.48756642e+02] [-3.93729625e-01 9.19226295e-01 0.00000000e+00 -5.91605031e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.85751276e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.01140051299998 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:248.79, Y:-59.17, Z:0.00 [[ 9.19992130e-01 3.91936833e-01 0.00000000e+00 2.48786193e+02] [-3.91936833e-01 9.19992130e-01 0.00000000e+00 -5.91719800e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18687205e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.82, Y:-59.18, Z:0.00 [[ 9.21193411e-01 3.89104998e-01 0.00000000e+00 2.48816851e+02] [-3.89104998e-01 9.21193411e-01 0.00000000e+00 -5.91843865e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91588487e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.071400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:248.85, Y:-59.20, Z:0.00 [[ 9.22528126e-01 3.85929859e-01 0.00000000e+00 2.48846368e+02] [-3.85929859e-01 9.22528126e-01 0.00000000e+00 -5.91956665e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25318711e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.88, Y:-59.21, Z:-0.00 [[ 9.25317240e-01 3.79193888e-01 0.00000000e+00 2.48877826e+02] [-3.79193888e-01 9.25317240e-01 0.00000000e+00 -5.92066916e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.30536543e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.131400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:248.91, Y:-59.22, Z:-0.00 [[ 9.26363246e-01 3.76631300e-01 0.00000000e+00 2.48907836e+02] [-3.76631300e-01 9.26363246e-01 0.00000000e+00 -5.92201571e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.57336762e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.161400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:248.94, Y:-59.23, Z:-0.00 [[ 9.27142005e-01 3.74710158e-01 0.00000000e+00 2.48937209e+02] [-3.74710158e-01 9.27142005e-01 0.00000000e+00 -5.92340679e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.00807812e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.191400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:248.97, Y:-59.25, Z:0.00 [[ 9.27549005e-01 3.73701542e-01 0.00000000e+00 2.48966803e+02] [-3.73701542e-01 9.27549005e-01 0.00000000e+00 -5.92478232e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36574171e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.221400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:249.00, Y:-59.26, Z:0.00 [[ 9.27265937e-01 3.74403367e-01 0.00000000e+00 2.48998244e+02] [-3.74403367e-01 9.27265937e-01 0.00000000e+00 -5.92579814e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88085768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.03, Y:-59.27, Z:0.00 [[ 9.26624952e-01 3.75986966e-01 0.00000000e+00 2.49029399e+02] [-3.75986966e-01 9.26624952e-01 0.00000000e+00 -5.92687921e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02549454e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.06, Y:-59.28, Z:0.00 [[ 9.26552429e-01 3.76165650e-01 0.00000000e+00 2.49060433e+02] [-3.76165650e-01 9.26552429e-01 0.00000000e+00 -5.92813116e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02549454e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.311400513 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:249.09, Y:-59.29, Z:0.00 [[ 9.25626122e-01 3.78439270e-01 0.00000000e+00 2.49090990e+02] [-3.78439270e-01 9.25626122e-01 0.00000000e+00 -5.92925295e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46554940e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.12, Y:-59.30, Z:-0.00 [[ 9.23782302e-01 3.82918082e-01 0.00000000e+00 2.49120516e+02] [-3.82918082e-01 9.23782302e-01 0.00000000e+00 -5.93018920e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90911693e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.371400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:249.15, Y:-59.31, Z:-0.00 [[ 9.22825877e-01 3.85217341e-01 0.00000000e+00 2.49152343e+02] [-3.85217341e-01 9.22825877e-01 0.00000000e+00 -5.93116023e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62560668e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.18, Y:-59.32, Z:-0.00 [[ 9.21929880e-01 3.87356806e-01 0.00000000e+00 2.49183697e+02] [-3.87356806e-01 9.21929880e-01 0.00000000e+00 -5.93206605e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.32439824e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.43140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.21, Y:-59.33, Z:0.00 [[ 9.21078803e-01 3.89376217e-01 0.00000000e+00 2.49213832e+02] [-3.89376217e-01 9.21078803e-01 0.00000000e+00 -5.93300787e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.09640442e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.24, Y:-59.34, Z:-0.00 [[ 9.20379532e-01 3.91026236e-01 0.00000000e+00 2.49244767e+02] [-3.91026236e-01 9.20379532e-01 0.00000000e+00 -5.93392042e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.63402096e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.49140051299997 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:249.27, Y:-59.35, Z:-0.00 [[ 9.20444115e-01 3.90874190e-01 0.00000000e+00 2.49274924e+02] [-3.90874190e-01 9.20444115e-01 0.00000000e+00 -5.93491006e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08829279e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.31, Y:-59.36, Z:-0.00 [[ 9.20864794e-01 3.89882074e-01 0.00000000e+00 2.49306779e+02] [-3.89882074e-01 9.20864794e-01 0.00000000e+00 -5.93592339e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38246633e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.55140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.34, Y:-59.37, Z:-0.00 [[ 9.21209990e-01 3.89065746e-01 0.00000000e+00 2.49336800e+02] [-3.89065746e-01 9.21209990e-01 0.00000000e+00 -5.93695590e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58202142e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58140051299998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:249.37, Y:-59.38, Z:0.01 [[ 9.22002926e-01 3.87182907e-01 0.00000000e+00 2.49365807e+02] [-3.87182907e-01 9.22002926e-01 0.00000000e+00 -5.93801091e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.11522644e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.61140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.40, Y:-59.39, Z:0.01 [[ 9.22286809e-01 3.86506200e-01 0.00000000e+00 2.49396268e+02] [-3.86506200e-01 9.22286809e-01 0.00000000e+00 -5.93928357e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.76081303e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64140051299998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:249.43, Y:-59.41, Z:0.00 [[ 9.22425775e-01 3.86174430e-01 0.00000000e+00 2.49426564e+02] [-3.86174430e-01 9.22425775e-01 0.00000000e+00 -5.94054230e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.74035941e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.67140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.46, Y:-59.42, Z:0.00 [[ 9.22361052e-01 3.86328991e-01 0.00000000e+00 2.49456400e+02] [-3.86328991e-01 9.22361052e-01 0.00000000e+00 -5.94174717e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16431852e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.49, Y:-59.43, Z:-0.00 [[ 9.21045343e-01 3.89455358e-01 0.00000000e+00 2.49485279e+02] [-3.89455358e-01 9.21045343e-01 0.00000000e+00 -5.94303620e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74073277e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.73140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.52, Y:-59.44, Z:0.00 [[ 9.19802763e-01 3.92381036e-01 0.00000000e+00 2.49515764e+02] [-3.92381036e-01 9.19802763e-01 0.00000000e+00 -5.94428978e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.33783356e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.55, Y:-59.45, Z:0.00 [[ 9.18516114e-01 3.95383546e-01 0.00000000e+00 2.49546914e+02] [-3.95383546e-01 9.18516114e-01 0.00000000e+00 -5.94549102e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81690110e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.79140051299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:249.58, Y:-59.47, Z:0.01 [[ 9.17167148e-01 3.98502725e-01 0.00000000e+00 2.49576939e+02] [-3.98502725e-01 9.17167148e-01 0.00000000e+00 -5.94661105e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.30898155e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.61, Y:-59.48, Z:0.00 [[ 9.14666370e-01 4.04209639e-01 0.00000000e+00 2.49607111e+02] [-4.04209639e-01 9.14666370e-01 0.00000000e+00 -5.94779004e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50450267e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.64, Y:-59.49, Z:0.00 [[ 9.13532943e-01 4.06764751e-01 0.00000000e+00 2.49636286e+02] [-4.06764751e-01 9.13532943e-01 0.00000000e+00 -5.94908290e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.53616227e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.67, Y:-59.50, Z:0.00 [[ 9.12714427e-01 4.08598061e-01 0.00000000e+00 2.49666160e+02] [-4.08598061e-01 9.12714427e-01 0.00000000e+00 -5.95039022e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.36428014e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.70, Y:-59.52, Z:0.00 [[ 9.12129317e-01 4.09902560e-01 0.00000000e+00 2.49696612e+02] [-4.09902560e-01 9.12129317e-01 0.00000000e+00 -5.95175131e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36693710e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.73, Y:-59.53, Z:0.01 [[ 9.12327132e-01 4.09462092e-01 0.00000000e+00 2.49727057e+02] [-4.09462092e-01 9.12327132e-01 0.00000000e+00 -5.95313632e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.98362185e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.76, Y:-59.54, Z:0.01 [[ 9.12700976e-01 4.08628105e-01 0.00000000e+00 2.49755759e+02] [-4.08628105e-01 9.12700976e-01 0.00000000e+00 -5.95448483e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.77901985e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.79, Y:-59.56, Z:0.01 [[ 9.13117300e-01 4.07696943e-01 0.00000000e+00 2.49785554e+02] [-4.07696943e-01 9.13117300e-01 0.00000000e+00 -5.95599752e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.33345642e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.81, Y:-59.58, Z:0.01 [[ 9.13602475e-01 4.06608556e-01 0.00000000e+00 2.49814969e+02] [-4.06608556e-01 9.13602475e-01 0.00000000e+00 -5.95751178e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.97484413e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.061400513 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:249.84, Y:-59.59, Z:0.00 [[ 9.14071758e-01 4.05552488e-01 0.00000000e+00 2.49842657e+02] [-4.05552488e-01 9.14071758e-01 0.00000000e+00 -5.95939281e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27173809e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.091400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:249.87, Y:-59.61, Z:0.00 [[ 9.13823774e-01 4.06110958e-01 0.00000000e+00 2.49870831e+02] [-4.06110958e-01 9.13823774e-01 0.00000000e+00 -5.96091118e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55920055e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.90, Y:-59.62, Z:0.00 [[ 9.13553693e-01 4.06718147e-01 0.00000000e+00 2.49900245e+02] [-4.06718147e-01 9.13553693e-01 0.00000000e+00 -5.96241619e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94962252e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.93, Y:-59.64, Z:0.00 [[ 9.13125803e-01 4.07677898e-01 0.00000000e+00 2.49928450e+02] [-4.07677898e-01 9.13125803e-01 0.00000000e+00 -5.96387133e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59666795e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.96, Y:-59.66, Z:0.00 [[ 9.11899858e-01 4.10412780e-01 0.00000000e+00 2.49955797e+02] [-4.10412780e-01 9.11899858e-01 0.00000000e+00 -5.96555930e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.03032295e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.21140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.99, Y:-59.67, Z:0.00 [[ 9.11134942e-01 4.12108138e-01 0.00000000e+00 2.49985654e+02] [-4.12108138e-01 9.11134942e-01 0.00000000e+00 -5.96708988e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69515968e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.01, Y:-59.69, Z:0.00 [[ 9.10388063e-01 4.13755454e-01 0.00000000e+00 2.50014538e+02] [-4.13755454e-01 9.10388063e-01 0.00000000e+00 -5.96858624e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77092129e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.27140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.04, Y:-59.70, Z:0.00 [[ 9.09275502e-01 4.16194739e-01 0.00000000e+00 2.50042933e+02] [-4.16194739e-01 9.09275502e-01 0.00000000e+00 -5.97030146e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62846518e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.07, Y:-59.72, Z:0.00 [[ 9.08656966e-01 4.17543432e-01 0.00000000e+00 2.50072460e+02] [-4.17543432e-01 9.08656966e-01 0.00000000e+00 -5.97183606e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.13300415e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.33140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.10, Y:-59.73, Z:0.00 [[ 9.07975764e-01 4.19022687e-01 0.00000000e+00 2.50100523e+02] [-4.19022687e-01 9.07975764e-01 0.00000000e+00 -5.97334971e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.68477125e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.13, Y:-59.75, Z:0.01 [[ 9.07338604e-01 4.20400592e-01 0.00000000e+00 2.50129803e+02] [-4.20400592e-01 9.07338604e-01 0.00000000e+00 -5.97489611e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.28749078e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.39140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.16, Y:-59.77, Z:0.01 [[ 9.06421748e-01 4.22373786e-01 0.00000000e+00 2.50158322e+02] [-4.22373786e-01 9.06421748e-01 0.00000000e+00 -5.97662860e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.10564362e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.19, Y:-59.78, Z:0.01 [[ 9.05930784e-01 4.23425807e-01 0.00000000e+00 2.50186801e+02] [-4.23425807e-01 9.05930784e-01 0.00000000e+00 -5.97805286e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.28406076e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.45140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.22, Y:-59.80, Z:0.01 [[ 9.05405426e-01 4.24548011e-01 0.00000000e+00 2.50216054e+02] [-4.24548011e-01 9.05405426e-01 0.00000000e+00 -5.97951883e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.21364553e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.24, Y:-59.81, Z:0.01 [[ 9.04843372e-01 4.25744608e-01 0.00000000e+00 2.50244945e+02] [-4.25744608e-01 9.04843372e-01 0.00000000e+00 -5.98097371e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.84222755e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.51140051299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.27, Y:-59.83, Z:0.00 [[ 9.03507863e-01 4.28571513e-01 0.00000000e+00 2.50273887e+02] [-4.28571513e-01 9.03507863e-01 0.00000000e+00 -5.98257869e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.13299903e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54140051299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.30, Y:-59.84, Z:0.00 [[ 9.02882748e-01 4.29886897e-01 0.00000000e+00 2.50304165e+02] [-4.29886897e-01 9.02882748e-01 0.00000000e+00 -5.98401020e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99416221e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.33, Y:-59.85, Z:0.00 [[ 9.02354423e-01 4.30994773e-01 0.00000000e+00 2.50333065e+02] [-4.30994773e-01 9.02354423e-01 0.00000000e+00 -5.98539176e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11819394e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.36, Y:-59.87, Z:0.01 [[ 9.02135097e-01 4.31453667e-01 0.00000000e+00 2.50362137e+02] [-4.31453667e-01 9.02135097e-01 0.00000000e+00 -5.98695912e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.31852395e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.39, Y:-59.88, Z:0.01 [[ 9.02396452e-01 4.30906768e-01 0.00000000e+00 2.50392461e+02] [-4.30906768e-01 9.02396452e-01 0.00000000e+00 -5.98827646e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.43846171e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.42, Y:-59.89, Z:0.01 [[ 9.02822901e-01 4.30012568e-01 0.00000000e+00 2.50422480e+02] [-4.30012568e-01 9.02822901e-01 0.00000000e+00 -5.98949872e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.21900465e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.45, Y:-59.91, Z:0.01 [[ 9.03474355e-01 4.28642146e-01 0.00000000e+00 2.50452650e+02] [-4.28642146e-01 9.03474355e-01 0.00000000e+00 -5.99065300e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.22755153e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.48, Y:-59.92, Z:0.00 [[ 9.05649514e-01 4.24027072e-01 0.00000000e+00 2.50482870e+02] [-4.24027072e-01 9.05649514e-01 0.00000000e+00 -5.99173510e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77461466e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.51, Y:-59.93, Z:0.00 [[ 9.06951564e-01 4.21234923e-01 0.00000000e+00 2.50513093e+02] [-4.21234923e-01 9.06951564e-01 0.00000000e+00 -5.99294491e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59810270e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.54, Y:-59.94, Z:0.00 [[ 9.08390127e-01 4.18123639e-01 0.00000000e+00 2.50543577e+02] [-4.18123639e-01 9.08390127e-01 0.00000000e+00 -5.99411704e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64481610e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.57, Y:-59.95, Z:0.00 [[ 9.09785902e-01 4.15077840e-01 0.00000000e+00 2.50573964e+02] [-4.15077840e-01 9.09785902e-01 0.00000000e+00 -5.99517597e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.75436755e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.61, Y:-59.96, Z:0.01 [[ 9.12097815e-01 4.09972653e-01 0.00000000e+00 2.50605172e+02] [-4.09972653e-01 9.12097815e-01 0.00000000e+00 -5.99600916e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.44345061e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.64, Y:-59.97, Z:0.01 [[ 9.13038994e-01 4.07872279e-01 0.00000000e+00 2.50635232e+02] [-4.07872279e-01 9.13038994e-01 0.00000000e+00 -5.99707556e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05483488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.67, Y:-59.98, Z:0.01 [[ 9.14091074e-01 4.05508951e-01 0.00000000e+00 2.50666456e+02] [-4.05508951e-01 9.14091074e-01 0.00000000e+00 -5.99814753e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05796345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.93140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.70, Y:-59.99, Z:0.01 [[ 9.15191157e-01 4.03020032e-01 0.00000000e+00 2.50697589e+02] [-4.03020032e-01 9.15191157e-01 0.00000000e+00 -5.99924671e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03328637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.73, Y:-60.00, Z:0.01 [[ 9.16448060e-01 4.00153662e-01 0.00000000e+00 2.50727403e+02] [-4.00153662e-01 9.16448060e-01 0.00000000e+00 -6.00037493e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.64092536e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.99140051299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.76, Y:-60.02, Z:0.01 [[ 9.19316307e-01 3.93519412e-01 0.00000000e+00 2.50757933e+02] [-3.93519412e-01 9.19316307e-01 0.00000000e+00 -6.00166856e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02730255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.79, Y:-60.03, Z:0.01 [[ 9.20540385e-01 3.90647412e-01 0.00000000e+00 2.50788394e+02] [-3.90647412e-01 9.20540385e-01 0.00000000e+00 -6.00297935e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12741004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.82, Y:-60.04, Z:0.01 [[ 9.21483665e-01 3.88417115e-01 0.00000000e+00 2.50817680e+02] [-3.88417115e-01 9.21483665e-01 0.00000000e+00 -6.00417934e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22398769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.85, Y:-60.05, Z:0.01 [[ 9.21739018e-01 3.87810755e-01 0.00000000e+00 2.50847841e+02] [-3.87810755e-01 9.21739018e-01 0.00000000e+00 -6.00538598e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30160048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.88, Y:-60.07, Z:0.01 [[ 9.21004914e-01 3.89550957e-01 0.00000000e+00 2.50877675e+02] [-3.89550957e-01 9.21004914e-01 0.00000000e+00 -6.00671415e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28709043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.91, Y:-60.08, Z:0.01 [[ 9.19925235e-01 3.92093819e-01 0.00000000e+00 2.50906508e+02] [-3.92093819e-01 9.19925235e-01 0.00000000e+00 -6.00808689e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28204292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.94, Y:-60.10, Z:0.01 [[ 9.18800935e-01 3.94721220e-01 0.00000000e+00 2.50936531e+02] [-3.94721220e-01 9.18800935e-01 0.00000000e+00 -6.00953854e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26428808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.97, Y:-60.11, Z:0.01 [[ 9.18727871e-01 3.94891250e-01 0.00000000e+00 2.50967418e+02] [-3.94891250e-01 9.18727871e-01 0.00000000e+00 -6.01082481e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26428808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.23140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.00, Y:-60.13, Z:0.01 [[ 9.16667820e-01 3.99649982e-01 0.00000000e+00 2.50995411e+02] [-3.99649982e-01 9.16667820e-01 0.00000000e+00 -6.01254493e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14698496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.02, Y:-60.14, Z:0.01 [[ 9.16018499e-01 4.01136023e-01 0.00000000e+00 2.51024696e+02] [-4.01136023e-01 9.16018499e-01 0.00000000e+00 -6.01405632e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05659922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.05, Y:-60.15, Z:0.01 [[ 9.15541459e-01 4.02223615e-01 0.00000000e+00 2.51052907e+02] [-4.02223615e-01 9.15541459e-01 0.00000000e+00 -6.01547809e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03133098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.08, Y:-60.17, Z:0.01 [[ 9.15094505e-01 4.03239440e-01 0.00000000e+00 2.51080650e+02] [-4.03239440e-01 9.15094505e-01 0.00000000e+00 -6.01708866e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28676407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.11, Y:-60.19, Z:0.01 [[ 9.14578651e-01 4.04408075e-01 0.00000000e+00 2.51109992e+02] [-4.04408075e-01 9.14578651e-01 0.00000000e+00 -6.01860911e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35436328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.14, Y:-60.20, Z:0.01 [[ 9.13771675e-01 4.06228170e-01 0.00000000e+00 2.51139094e+02] [-4.06228170e-01 9.13771675e-01 0.00000000e+00 -6.02019388e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34235783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.17, Y:-60.22, Z:0.01 [[ 9.12807317e-01 4.08390501e-01 0.00000000e+00 2.51167642e+02] [-4.08390501e-01 9.12807317e-01 0.00000000e+00 -6.02172365e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22478379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.20, Y:-60.23, Z:0.01 [[ 9.11123787e-01 4.12132800e-01 0.00000000e+00 2.51196198e+02] [-4.12132800e-01 9.11123787e-01 0.00000000e+00 -6.02336197e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.24637695e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.23, Y:-60.25, Z:0.01 [[ 9.10521851e-01 4.13460952e-01 0.00000000e+00 2.51225224e+02] [-4.13460952e-01 9.10521851e-01 0.00000000e+00 -6.02480961e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.69177331e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.25, Y:-60.26, Z:0.01 [[ 9.10040223e-01 4.14519954e-01 0.00000000e+00 2.51254013e+02] [-4.14519954e-01 9.10040223e-01 0.00000000e+00 -6.02634541e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.62612919e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.28, Y:-60.28, Z:0.01 [[ 9.09286865e-01 4.16169914e-01 0.00000000e+00 2.51280648e+02] [-4.16169914e-01 9.09286865e-01 0.00000000e+00 -6.02817816e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.29719232e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.31, Y:-60.30, Z:0.01 [[ 9.08752045e-01 4.17336459e-01 0.00000000e+00 2.51309063e+02] [-4.17336459e-01 9.08752045e-01 0.00000000e+00 -6.02964047e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.30627223e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.34, Y:-60.31, Z:0.01 [[ 9.08202916e-01 4.18530122e-01 0.00000000e+00 2.51338408e+02] [-4.18530122e-01 9.08202916e-01 0.00000000e+00 -6.03115941e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.25219223e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.37, Y:-60.33, Z:0.01 [[ 9.07438528e-01 4.20184862e-01 0.00000000e+00 2.51366113e+02] [-4.20184862e-01 9.07438528e-01 0.00000000e+00 -6.03269176e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.99665478e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.39, Y:-60.35, Z:0.01 [[ 9.06227959e-01 4.22789411e-01 0.00000000e+00 2.51392824e+02] [-4.22789411e-01 9.06227959e-01 0.00000000e+00 -6.03452136e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.17479474e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.42, Y:-60.36, Z:0.01 [[ 9.05605562e-01 4.24120934e-01 0.00000000e+00 2.51422103e+02] [-4.24120934e-01 9.05605562e-01 0.00000000e+00 -6.03597183e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.39833463e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.45, Y:-60.37, Z:0.01 [[ 9.04893753e-01 4.25637516e-01 0.00000000e+00 2.51450949e+02] [-4.25637516e-01 9.04893753e-01 0.00000000e+00 -6.03737462e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.63359273e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.48, Y:-60.39, Z:0.01 [[ 9.03550300e-01 4.28482036e-01 0.00000000e+00 2.51478115e+02] [-4.28482036e-01 9.03550300e-01 0.00000000e+00 -6.03914894e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.11359787e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.51, Y:-60.41, Z:0.01 [[ 9.02777349e-01 4.30108193e-01 0.00000000e+00 2.51507811e+02] [-4.30108193e-01 9.02777349e-01 0.00000000e+00 -6.04070164e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.52557433e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.54, Y:-60.42, Z:0.01 [[ 9.02026266e-01 4.31681150e-01 0.00000000e+00 2.51537011e+02] [-4.31681150e-01 9.02026266e-01 0.00000000e+00 -6.04213358e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.21434689e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.57, Y:-60.44, Z:0.01 [[ 9.01265982e-01 4.33266235e-01 0.00000000e+00 2.51566051e+02] [-4.33266235e-01 9.01265982e-01 0.00000000e+00 -6.04352504e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.71665073e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.59, Y:-60.45, Z:0.01 [[ 9.00133791e-01 4.35613543e-01 0.00000000e+00 2.51594636e+02] [-4.35613543e-01 9.00133791e-01 0.00000000e+00 -6.04510880e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.20436892e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.62, Y:-60.47, Z:0.01 [[ 8.99514420e-01 4.36891071e-01 0.00000000e+00 2.51622797e+02] [-4.36891071e-01 8.99514420e-01 0.00000000e+00 -6.04654497e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.02344140e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.65, Y:-60.48, Z:0.01 [[ 8.98889555e-01 4.38175270e-01 0.00000000e+00 2.51652169e+02] [-4.38175270e-01 8.98889555e-01 0.00000000e+00 -6.04797768e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.10546196e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.68, Y:-60.49, Z:0.01 [[ 8.98287700e-01 4.39407792e-01 0.00000000e+00 2.51681110e+02] [-4.39407792e-01 8.98287700e-01 0.00000000e+00 -6.04931771e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.75672266e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.71, Y:-60.51, Z:0.01 [[ 8.96724449e-01 4.42589270e-01 0.00000000e+00 2.51710942e+02] [-4.42589270e-01 8.96724449e-01 0.00000000e+00 -6.05070695e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.93519651e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.74, Y:-60.52, Z:0.01 [[ 8.95817619e-01 4.44421865e-01 0.00000000e+00 2.51740059e+02] [-4.44421865e-01 8.95817619e-01 0.00000000e+00 -6.05194247e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00692770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.77, Y:-60.53, Z:0.01 [[ 8.94950163e-01 4.46166119e-01 0.00000000e+00 2.51770739e+02] [-4.46166119e-01 8.94950163e-01 0.00000000e+00 -6.05316234e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.99896534e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.80, Y:-60.54, Z:0.01 [[ 8.93833501e-01 4.48399010e-01 0.00000000e+00 2.51800274e+02] [-4.48399010e-01 8.93833501e-01 0.00000000e+00 -6.05436834e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.23104439e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.83, Y:-60.56, Z:0.01 [[ 8.93671455e-01 4.48721885e-01 0.00000000e+00 2.51830214e+02] [-4.48721885e-01 8.93671455e-01 0.00000000e+00 -6.05570864e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.51089957e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.86, Y:-60.57, Z:0.01 [[ 8.93618077e-01 4.48828178e-01 0.00000000e+00 2.51859666e+02] [-4.48828178e-01 8.93618077e-01 0.00000000e+00 -6.05705466e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.58710445e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.89, Y:-60.58, Z:0.01 [[ 8.93463981e-01 4.49134851e-01 0.00000000e+00 2.51889698e+02] [-4.49134851e-01 8.93463981e-01 0.00000000e+00 -6.05835235e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.87817867e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.92, Y:-60.59, Z:0.01 [[ 8.93250798e-01 4.49558685e-01 0.00000000e+00 2.51919964e+02] [-4.49558685e-01 8.93250798e-01 0.00000000e+00 -6.05933584e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.98408803e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.95, Y:-60.60, Z:0.00 [[ 8.93248823e-01 4.49562609e-01 0.00000000e+00 2.51950665e+02] [-4.49562609e-01 8.93248823e-01 0.00000000e+00 -6.06043524e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64185749e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.98, Y:-60.62, Z:0.00 [[ 8.93322395e-01 4.49416397e-01 0.00000000e+00 2.51981318e+02] [-4.49416397e-01 8.93322395e-01 0.00000000e+00 -6.06160124e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81063968e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.01, Y:-60.63, Z:0.00 [[ 8.93385863e-01 4.49290218e-01 0.00000000e+00 2.52010839e+02] [-4.49290218e-01 8.93385863e-01 0.00000000e+00 -6.06279429e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68918966e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.311400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:252.04, Y:-60.64, Z:0.00 [[ 8.93935723e-01 4.48195184e-01 0.00000000e+00 2.52040716e+02] [-4.48195184e-01 8.93935723e-01 0.00000000e+00 -6.06429315e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.74864295e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.07, Y:-60.66, Z:0.00 [[ 8.94055648e-01 4.47955911e-01 0.00000000e+00 2.52069738e+02] [-4.47955911e-01 8.94055648e-01 0.00000000e+00 -6.06570923e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.73452350e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.10, Y:-60.67, Z:0.00 [[ 8.93867523e-01 4.48331184e-01 0.00000000e+00 2.52099886e+02] [-4.48331184e-01 8.93867523e-01 0.00000000e+00 -6.06688184e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57843325e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.13, Y:-60.68, Z:0.00 [[ 8.93108976e-01 4.49840368e-01 0.00000000e+00 2.52130043e+02] [-4.49840368e-01 8.93108976e-01 0.00000000e+00 -6.06794799e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.58415702e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.16, Y:-60.69, Z:0.00 [[ 8.92077528e-01 4.51882379e-01 0.00000000e+00 2.52161532e+02] [-4.51882379e-01 8.92077528e-01 0.00000000e+00 -6.06905528e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79728783e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.19, Y:-60.70, Z:0.00 [[ 8.90901286e-01 4.54196982e-01 0.00000000e+00 2.52191200e+02] [-4.54196982e-01 8.90901286e-01 0.00000000e+00 -6.07015390e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33108617e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.22, Y:-60.71, Z:0.00 [[ 8.89822800e-01 4.56306241e-01 0.00000000e+00 2.52221625e+02] [-4.56306241e-01 8.89822800e-01 0.00000000e+00 -6.07138120e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58801097e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.25, Y:-60.73, Z:0.00 [[ 8.88330237e-01 4.59205172e-01 0.00000000e+00 2.52250271e+02] [-4.59205172e-01 8.88330237e-01 0.00000000e+00 -6.07254135e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10774029e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.28, Y:-60.74, Z:0.01 [[ 8.88084043e-01 4.59681121e-01 0.00000000e+00 2.52280963e+02] [-4.59681121e-01 8.88084043e-01 0.00000000e+00 -6.07376805e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.77242116e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.31, Y:-60.75, Z:0.01 [[ 8.88155189e-01 4.59543644e-01 0.00000000e+00 2.52311898e+02] [-4.59543644e-01 8.88155189e-01 0.00000000e+00 -6.07498190e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.54458475e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.34, Y:-60.76, Z:0.01 [[ 8.88839667e-01 4.58218338e-01 0.00000000e+00 2.52341921e+02] [-4.58218338e-01 8.88839667e-01 0.00000000e+00 -6.07601425e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.92639713e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.37, Y:-60.77, Z:0.01 [[ 8.88865900e-01 4.58167449e-01 0.00000000e+00 2.52372037e+02] [-4.58167449e-01 8.88865900e-01 0.00000000e+00 -6.07719351e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.06905195e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.40, Y:-60.78, Z:0.01 [[ 8.88920332e-01 4.58061834e-01 0.00000000e+00 2.52403522e+02] [-4.58061834e-01 8.88920332e-01 0.00000000e+00 -6.07832460e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.90942244e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.43, Y:-60.79, Z:0.01 [[ 8.89037041e-01 4.57835276e-01 0.00000000e+00 2.52434700e+02] [-4.57835276e-01 8.89037041e-01 0.00000000e+00 -6.07933430e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.78476214e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.73140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.47, Y:-60.80, Z:0.01 [[ 8.89081130e-01 4.57749653e-01 0.00000000e+00 2.52465837e+02] [-4.57749653e-01 8.89081130e-01 0.00000000e+00 -6.08025675e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.61568346e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.50, Y:-60.81, Z:0.01 [[ 8.88920718e-01 4.58061085e-01 0.00000000e+00 2.52498040e+02] [-4.58061085e-01 8.88920718e-01 0.00000000e+00 -6.08079634e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.58580385e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.53, Y:-60.82, Z:0.01 [[ 8.88747587e-01 4.58396909e-01 0.00000000e+00 2.52529929e+02] [-4.58396909e-01 8.88747587e-01 0.00000000e+00 -6.08183703e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.20514820e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.56, Y:-60.83, Z:0.01 [[ 8.88876887e-01 4.58146133e-01 0.00000000e+00 2.52560719e+02] [-4.58146133e-01 8.88876887e-01 0.00000000e+00 -6.08283285e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.19742198e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.59, Y:-60.84, Z:0.01 [[ 8.89286197e-01 4.57351134e-01 0.00000000e+00 2.52592223e+02] [-4.57351134e-01 8.89286197e-01 0.00000000e+00 -6.08379457e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.01623493e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.63, Y:-60.84, Z:0.01 [[ 8.90122259e-01 4.55721806e-01 0.00000000e+00 2.52625167e+02] [-4.55721806e-01 8.90122259e-01 0.00000000e+00 -6.08424378e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.20458417e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.66, Y:-60.85, Z:0.01 [[ 8.90534737e-01 4.54915247e-01 0.00000000e+00 2.52655731e+02] [-4.54915247e-01 8.90534737e-01 0.00000000e+00 -6.08514110e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02541977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.69, Y:-60.86, Z:0.01 [[ 8.90918889e-01 4.54162452e-01 0.00000000e+00 2.52687120e+02] [-4.54162452e-01 8.90918889e-01 0.00000000e+00 -6.08618297e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16215202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.72, Y:-60.87, Z:0.01 [[ 8.91201280e-01 4.53608066e-01 0.00000000e+00 2.52717614e+02] [-4.53608066e-01 8.91201280e-01 0.00000000e+00 -6.08717170e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27024828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.75, Y:-60.88, Z:0.01 [[ 8.91429984e-01 4.53158454e-01 0.00000000e+00 2.52749218e+02] [-4.53158454e-01 8.91429984e-01 0.00000000e+00 -6.08813596e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17745534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.78, Y:-60.89, Z:0.01 [[ 8.91354196e-01 4.53307508e-01 0.00000000e+00 2.52782070e+02] [-4.53307508e-01 8.91354196e-01 0.00000000e+00 -6.08877169e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.89334250e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.061400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:252.81, Y:-60.90, Z:0.00 [[ 8.91274423e-01 4.53464336e-01 0.00000000e+00 2.52813546e+02] [-4.53464336e-01 8.91274423e-01 0.00000000e+00 -6.08981312e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.34848122e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.091400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:252.84, Y:-60.91, Z:0.00 [[ 8.91194268e-01 4.53621844e-01 0.00000000e+00 2.52844303e+02] [-4.53621844e-01 8.91194268e-01 0.00000000e+00 -6.09113035e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.34848122e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.88, Y:-60.92, Z:0.00 [[ 8.91479297e-01 4.53061434e-01 0.00000000e+00 2.52875401e+02] [-4.53061434e-01 8.91479297e-01 0.00000000e+00 -6.09207354e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01501748e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.91, Y:-60.93, Z:0.00 [[ 8.91980539e-01 4.52073798e-01 0.00000000e+00 2.52906198e+02] [-4.52073798e-01 8.91980539e-01 0.00000000e+00 -6.09317994e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32060188e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.94, Y:-60.94, Z:0.00 [[ 8.92709732e-01 4.50632150e-01 0.00000000e+00 2.52936116e+02] [-4.50632150e-01 8.92709732e-01 0.00000000e+00 -6.09432377e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48069722e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.97, Y:-60.96, Z:0.00 [[ 8.93626445e-01 4.48811516e-01 0.00000000e+00 2.52966634e+02] [-4.48811516e-01 8.93626445e-01 0.00000000e+00 -6.09561324e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96147031e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.24140051300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:253.00, Y:-60.97, Z:0.00 [[ 8.94713436e-01 4.46640647e-01 0.00000000e+00 2.52995386e+02] [-4.46640647e-01 8.94713436e-01 0.00000000e+00 -6.09692751e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01040068e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.02, Y:-60.99, Z:0.00 [[ 8.96330129e-01 4.43387302e-01 0.00000000e+00 2.53023218e+02] [-4.43387302e-01 8.96330129e-01 0.00000000e+00 -6.09861414e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97930535e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.05, Y:-61.00, Z:0.00 [[ 8.96710537e-01 4.42617456e-01 0.00000000e+00 2.53052375e+02] [-4.42617456e-01 8.96710537e-01 0.00000000e+00 -6.10009864e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.93469416e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.08, Y:-61.02, Z:0.01 [[ 8.96769053e-01 4.42498888e-01 0.00000000e+00 2.53080275e+02] [-4.42498888e-01 8.96769053e-01 0.00000000e+00 -6.10158010e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.54796144e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.11, Y:-61.03, Z:0.01 [[ 8.96275686e-01 4.43497345e-01 0.00000000e+00 2.53107057e+02] [-4.43497345e-01 8.96275686e-01 0.00000000e+00 -6.10340289e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.64178073e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.14, Y:-61.05, Z:0.01 [[ 8.95945844e-01 4.44163309e-01 0.00000000e+00 2.53135961e+02] [-4.44163309e-01 8.95945844e-01 0.00000000e+00 -6.10493532e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11590799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.16, Y:-61.06, Z:0.01 [[ 8.95299508e-01 4.45464692e-01 0.00000000e+00 2.53164727e+02] [-4.45464692e-01 8.95299508e-01 0.00000000e+00 -6.10640985e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05034783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.19, Y:-61.08, Z:0.01 [[ 8.94744394e-01 4.46578626e-01 0.00000000e+00 2.53193722e+02] [-4.46578626e-01 8.94744394e-01 0.00000000e+00 -6.10786482e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.06914747e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.22, Y:-61.10, Z:0.01 [[ 8.93945651e-01 4.48175381e-01 0.00000000e+00 2.53221868e+02] [-4.48175381e-01 8.93945651e-01 0.00000000e+00 -6.10961211e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.40546053e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.25, Y:-61.11, Z:0.01 [[ 8.93573865e-01 4.48916192e-01 0.00000000e+00 2.53251599e+02] [-4.48916192e-01 8.93573865e-01 0.00000000e+00 -6.11114857e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.01054785e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.28, Y:-61.13, Z:0.01 [[ 8.93257258e-01 4.49545851e-01 0.00000000e+00 2.53280023e+02] [-4.49545851e-01 8.93257258e-01 0.00000000e+00 -6.11255124e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.11785535e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.31, Y:-61.14, Z:0.01 [[ 8.92815871e-01 4.50421825e-01 0.00000000e+00 2.53308770e+02] [-4.50421825e-01 8.92815871e-01 0.00000000e+00 -6.11389207e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.91297283e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.34, Y:-61.15, Z:0.01 [[ 8.91947374e-01 4.52139229e-01 0.00000000e+00 2.53336490e+02] [-4.52139229e-01 8.91947374e-01 0.00000000e+00 -6.11541661e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.38777801e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.37, Y:-61.17, Z:0.01 [[ 8.91417081e-01 4.53183834e-01 0.00000000e+00 2.53366302e+02] [-4.53183834e-01 8.91417081e-01 0.00000000e+00 -6.11692285e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.15988536e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.40, Y:-61.18, Z:0.01 [[ 8.90714272e-01 4.54563621e-01 0.00000000e+00 2.53396206e+02] [-4.54563621e-01 8.90714272e-01 0.00000000e+00 -6.11826547e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.02563642e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.43, Y:-61.19, Z:0.01 [[ 8.89845977e-01 4.56261041e-01 0.00000000e+00 2.53425979e+02] [-4.56261041e-01 8.89845977e-01 0.00000000e+00 -6.11943661e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.24779877e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.46, Y:-61.20, Z:0.00 [[ 8.88175073e-01 4.59505211e-01 0.00000000e+00 2.53456122e+02] [-4.59505211e-01 8.88175073e-01 0.00000000e+00 -6.12046630e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.62761753e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.49, Y:-61.22, Z:0.01 [[ 8.87776180e-01 4.60275412e-01 0.00000000e+00 2.53485242e+02] [-4.60275412e-01 8.87776180e-01 0.00000000e+00 -6.12169255e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.53930888e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.52, Y:-61.23, Z:0.01 [[ 8.87565436e-01 4.60681665e-01 0.00000000e+00 2.53516022e+02] [-4.60681665e-01 8.87565436e-01 0.00000000e+00 -6.12299408e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.86679757e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.811400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:253.55, Y:-61.24, Z:0.00 [[ 8.87781321e-01 4.60265494e-01 0.00000000e+00 2.53545615e+02] [-4.60265494e-01 8.87781321e-01 0.00000000e+00 -6.12415567e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.59371828e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.58, Y:-61.25, Z:0.00 [[ 8.88733160e-01 4.58424880e-01 0.00000000e+00 2.53576829e+02] [-4.58424880e-01 8.88733160e-01 0.00000000e+00 -6.12518542e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94296042e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.61, Y:-61.26, Z:0.00 [[ 8.89375773e-01 4.57176918e-01 0.00000000e+00 2.53607543e+02] [-4.57176918e-01 8.89375773e-01 0.00000000e+00 -6.12628369e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73786511e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.64, Y:-61.27, Z:0.00 [[ 8.90012617e-01 4.55935897e-01 0.00000000e+00 2.53637745e+02] [-4.55935897e-01 8.90012617e-01 0.00000000e+00 -6.12734682e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36428829e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.67, Y:-61.28, Z:0.00 [[ 8.90680804e-01 4.54629196e-01 0.00000000e+00 2.53669064e+02] [-4.54629196e-01 8.90680804e-01 0.00000000e+00 -6.12846725e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70721431e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.70, Y:-61.30, Z:0.00 [[ 8.91415167e-01 4.53187599e-01 0.00000000e+00 2.53700796e+02] [-4.53187599e-01 8.91415167e-01 0.00000000e+00 -6.12952711e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.83884359e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.73, Y:-61.31, Z:0.01 [[ 8.91518485e-01 4.52984316e-01 0.00000000e+00 2.53730884e+02] [-4.52984316e-01 8.91518485e-01 0.00000000e+00 -6.13072856e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.23062380e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.021400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:253.76, Y:-61.32, Z:0.01 [[ 8.91497435e-01 4.53025742e-01 0.00000000e+00 2.53763713e+02] [-4.53025742e-01 8.91497435e-01 0.00000000e+00 -6.13153005e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.47858691e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.80, Y:-61.33, Z:0.01 [[ 8.90880457e-01 4.54237835e-01 0.00000000e+00 2.53795284e+02] [-4.54237835e-01 8.90880457e-01 0.00000000e+00 -6.13257663e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.50079603e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.83, Y:-61.34, Z:0.01 [[ 8.90403577e-01 4.55171912e-01 0.00000000e+00 2.53825480e+02] [-4.55171912e-01 8.90403577e-01 0.00000000e+00 -6.13359969e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.36582396e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.86, Y:-61.35, Z:0.01 [[ 8.90039543e-01 4.55883332e-01 0.00000000e+00 2.53855391e+02] [-4.55883332e-01 8.90039543e-01 0.00000000e+00 -6.13466714e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02054170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.89, Y:-61.36, Z:0.01 [[ 8.89796337e-01 4.56357840e-01 0.00000000e+00 2.53886916e+02] [-4.56357840e-01 8.89796337e-01 0.00000000e+00 -6.13577486e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02928179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.92, Y:-61.37, Z:0.01 [[ 8.89458677e-01 4.57015604e-01 0.00000000e+00 2.53919231e+02] [-4.57015604e-01 8.89458677e-01 0.00000000e+00 -6.13664462e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.75340158e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.95, Y:-61.38, Z:0.01 [[ 8.89292951e-01 4.57338002e-01 0.00000000e+00 2.53950409e+02] [-4.57338002e-01 8.89292951e-01 0.00000000e+00 -6.13782937e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.09986337e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.23140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.98, Y:-61.39, Z:0.01 [[ 8.89057558e-01 4.57795433e-01 0.00000000e+00 2.53981269e+02] [-4.57795433e-01 8.89057558e-01 0.00000000e+00 -6.13905757e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.28120530e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.01, Y:-61.40, Z:0.01 [[ 8.88237912e-01 4.59383729e-01 0.00000000e+00 2.54011758e+02] [-4.59383729e-01 8.88237912e-01 0.00000000e+00 -6.14008386e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.54964285e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.04, Y:-61.41, Z:0.01 [[ 8.87639058e-01 4.60539794e-01 0.00000000e+00 2.54042565e+02] [-4.60539794e-01 8.87639058e-01 0.00000000e+00 -6.14115322e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.96135375e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.07, Y:-61.42, Z:0.01 [[ 8.86857175e-01 4.62043669e-01 0.00000000e+00 2.54073668e+02] [-4.62043669e-01 8.86857175e-01 0.00000000e+00 -6.14225268e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02180684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.10, Y:-61.43, Z:0.01 [[ 8.85733640e-01 4.64193837e-01 0.00000000e+00 2.54103628e+02] [-4.64193837e-01 8.85733640e-01 0.00000000e+00 -6.14343548e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12057587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.13, Y:-61.44, Z:0.01 [[ 8.83402962e-01 4.68614134e-01 0.00000000e+00 2.54132187e+02] [-4.68614134e-01 8.83402962e-01 0.00000000e+00 -6.14442492e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25804310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.16, Y:-61.45, Z:0.01 [[ 8.82311035e-01 4.70666802e-01 0.00000000e+00 2.54162002e+02] [-4.70666802e-01 8.82311035e-01 0.00000000e+00 -6.14549787e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16408575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.19, Y:-61.47, Z:0.01 [[ 8.81542767e-01 4.72104172e-01 0.00000000e+00 2.54192946e+02] [-4.72104172e-01 8.81542767e-01 0.00000000e+00 -6.14657160e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01009073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.22, Y:-61.48, Z:0.01 [[ 8.80941935e-01 4.73224373e-01 0.00000000e+00 2.54223157e+02] [-4.73224373e-01 8.80941935e-01 0.00000000e+00 -6.14765306e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.47707731e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.25, Y:-61.49, Z:0.01 [[ 8.81258187e-01 4.72635175e-01 0.00000000e+00 2.54253771e+02] [-4.72635175e-01 8.81258187e-01 0.00000000e+00 -6.14897097e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.85757970e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.28, Y:-61.50, Z:0.01 [[ 8.81954996e-01 4.71333623e-01 0.00000000e+00 2.54283727e+02] [-4.71333623e-01 8.81954996e-01 0.00000000e+00 -6.15024615e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.14630338e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.31, Y:-61.52, Z:0.01 [[ 8.82931590e-01 4.69501658e-01 0.00000000e+00 2.54313320e+02] [-4.69501658e-01 8.82931590e-01 0.00000000e+00 -6.15154178e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.54536184e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.34, Y:-61.53, Z:0.00 [[ 8.85517612e-01 4.64605810e-01 0.00000000e+00 2.54343095e+02] [-4.64605810e-01 8.85517612e-01 0.00000000e+00 -6.15304699e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02738912e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.37, Y:-61.54, Z:0.00 [[ 8.87054967e-01 4.61663823e-01 0.00000000e+00 2.54371472e+02] [-4.61663823e-01 8.87054967e-01 0.00000000e+00 -6.15443677e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62299599e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.40, Y:-61.56, Z:0.00 [[ 8.88578471e-01 4.58724646e-01 0.00000000e+00 2.54400874e+02] [-4.58724646e-01 8.88578471e-01 0.00000000e+00 -6.15587251e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.85283362e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.43, Y:-61.57, Z:0.00 [[ 8.89985934e-01 4.55987979e-01 0.00000000e+00 2.54429234e+02] [-4.55987979e-01 8.89985934e-01 0.00000000e+00 -6.15727451e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.40178340e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.46, Y:-61.59, Z:0.01 [[ 8.91923203e-01 4.52186909e-01 0.00000000e+00 2.54456564e+02] [-4.52186909e-01 8.91923203e-01 0.00000000e+00 -6.15903779e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.29906529e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.49, Y:-61.61, Z:0.01 [[ 8.92263282e-01 4.51515488e-01 0.00000000e+00 2.54485699e+02] [-4.51515488e-01 8.92263282e-01 0.00000000e+00 -6.16062481e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.37911034e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.51, Y:-61.62, Z:0.01 [[ 8.92219204e-01 4.51602583e-01 0.00000000e+00 2.54514452e+02] [-4.51602583e-01 8.92219204e-01 0.00000000e+00 -6.16208950e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.44621509e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.54, Y:-61.64, Z:0.00 [[ 8.91366808e-01 4.53282708e-01 0.00000000e+00 2.54543423e+02] [-4.53282708e-01 8.91366808e-01 0.00000000e+00 -6.16369167e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.94373177e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.57, Y:-61.65, Z:0.00 [[ 8.90783555e-01 4.54427837e-01 0.00000000e+00 2.54572893e+02] [-4.54427837e-01 8.90783555e-01 0.00000000e+00 -6.16529237e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84157149e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.60, Y:-61.67, Z:0.00 [[ 8.90168995e-01 4.55630508e-01 0.00000000e+00 2.54600610e+02] [-4.55630508e-01 8.90168995e-01 0.00000000e+00 -6.16690134e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08221812e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.63, Y:-61.69, Z:0.01 [[ 8.89306456e-01 4.57311741e-01 0.00000000e+00 2.54628608e+02] [-4.57311741e-01 8.89306456e-01 0.00000000e+00 -6.16856011e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.67191132e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.66, Y:-61.70, Z:0.01 [[ 8.88820785e-01 4.58254963e-01 0.00000000e+00 2.54658531e+02] [-4.58254963e-01 8.88820785e-01 0.00000000e+00 -6.16992792e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00433434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.69, Y:-61.71, Z:0.01 [[ 8.88225245e-01 4.59408222e-01 0.00000000e+00 2.54687796e+02] [-4.59408222e-01 8.88225245e-01 0.00000000e+00 -6.17128328e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17519052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.72, Y:-61.73, Z:0.01 [[ 8.86542810e-01 4.62646567e-01 0.00000000e+00 2.54716718e+02] [-4.62646567e-01 8.86542810e-01 0.00000000e+00 -6.17294968e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.74804404e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.75, Y:-61.74, Z:0.01 [[ 8.85512542e-01 4.64615474e-01 0.00000000e+00 2.54746117e+02] [-4.64615474e-01 8.85512542e-01 0.00000000e+00 -6.17440740e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.49597497e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.78, Y:-61.76, Z:0.01 [[ 8.85430693e-01 4.64771437e-01 0.00000000e+00 2.54776731e+02] [-4.64771437e-01 8.85430693e-01 0.00000000e+00 -6.17575725e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.49597497e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.81, Y:-61.77, Z:0.01 [[ 8.83984371e-01 4.67516452e-01 0.00000000e+00 2.54805998e+02] [-4.67516452e-01 8.83984371e-01 0.00000000e+00 -6.17728144e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.47118108e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.84, Y:-61.79, Z:0.01 [[ 8.83614786e-01 4.68214597e-01 0.00000000e+00 2.54836125e+02] [-4.68214597e-01 8.83614786e-01 0.00000000e+00 -6.17871344e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.02890644e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.87, Y:-61.80, Z:0.01 [[ 8.83598593e-01 4.68245156e-01 0.00000000e+00 2.54866041e+02] [-4.68245156e-01 8.83598593e-01 0.00000000e+00 -6.18016669e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.64274938e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.89, Y:-61.82, Z:0.01 [[ 8.83794747e-01 4.67874817e-01 0.00000000e+00 2.54894528e+02] [-4.67874817e-01 8.83794747e-01 0.00000000e+00 -6.18152716e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.82712068e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.191400513 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:254.93, Y:-61.83, Z:0.01 [[ 8.84572692e-01 4.66402351e-01 0.00000000e+00 2.54925179e+02] [-4.66402351e-01 8.84572692e-01 0.00000000e+00 -6.18287608e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.46337709e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.95, Y:-61.84, Z:0.01 [[ 8.84621945e-01 4.66308926e-01 0.00000000e+00 2.54954302e+02] [-4.66308926e-01 8.84621945e-01 0.00000000e+00 -6.18417231e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.40902260e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.98, Y:-61.85, Z:0.01 [[ 8.84340790e-01 4.66841907e-01 0.00000000e+00 2.54984075e+02] [-4.66841907e-01 8.84340790e-01 0.00000000e+00 -6.18542667e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.74934370e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.281400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:255.01, Y:-61.87, Z:0.01 [[ 8.84059119e-01 4.67375089e-01 0.00000000e+00 2.55014196e+02] [-4.67375089e-01 8.84059119e-01 0.00000000e+00 -6.18668247e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.13761243e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.04, Y:-61.88, Z:0.01 [[ 8.83587290e-01 4.68266486e-01 0.00000000e+00 2.55043613e+02] [-4.68266486e-01 8.83587290e-01 0.00000000e+00 -6.18796721e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.39690499e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.341400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:255.07, Y:-61.89, Z:0.01 [[ 8.83867529e-01 4.67737311e-01 0.00000000e+00 2.55072862e+02] [-4.67737311e-01 8.83867529e-01 0.00000000e+00 -6.18919774e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.39184920e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.10, Y:-61.90, Z:0.01 [[ 8.83800425e-01 4.67864093e-01 0.00000000e+00 2.55101566e+02] [-4.67864093e-01 8.83800425e-01 0.00000000e+00 -6.19046972e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18601078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.13, Y:-61.92, Z:0.01 [[ 8.83924819e-01 4.67629035e-01 0.00000000e+00 2.55132203e+02] [-4.67629035e-01 8.83924819e-01 0.00000000e+00 -6.19174512e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23367653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.16, Y:-61.93, Z:0.01 [[ 8.84354869e-01 4.66815238e-01 0.00000000e+00 2.55163688e+02] [-4.66815238e-01 8.84354869e-01 0.00000000e+00 -6.19290645e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22598353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.19, Y:-61.94, Z:0.01 [[ 8.84591560e-01 4.66366564e-01 0.00000000e+00 2.55193349e+02] [-4.66366564e-01 8.84591560e-01 0.00000000e+00 -6.19412270e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22141954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.22, Y:-61.95, Z:0.01 [[ 8.84928985e-01 4.65725984e-01 0.00000000e+00 2.55222726e+02] [-4.65725984e-01 8.84928985e-01 0.00000000e+00 -6.19535854e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22264983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.25, Y:-61.97, Z:0.01 [[ 8.85343911e-01 4.64936726e-01 0.00000000e+00 2.55252880e+02] [-4.64936726e-01 8.85343911e-01 0.00000000e+00 -6.19655081e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29392602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.28, Y:-61.98, Z:0.01 [[ 8.85246717e-01 4.65121759e-01 0.00000000e+00 2.55283676e+02] [-4.65121759e-01 8.85246717e-01 0.00000000e+00 -6.19779897e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21697923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.31, Y:-61.99, Z:0.01 [[ 8.84699248e-01 4.66162246e-01 0.00000000e+00 2.55314985e+02] [-4.66162246e-01 8.84699248e-01 0.00000000e+00 -6.19883686e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.98341910e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.35, Y:-62.00, Z:0.01 [[ 8.84277236e-01 4.66962278e-01 0.00000000e+00 2.55345636e+02] [-4.66962278e-01 8.84277236e-01 0.00000000e+00 -6.19998068e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.90598325e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.38, Y:-62.01, Z:0.01 [[ 8.83815543e-01 4.67835533e-01 0.00000000e+00 2.55375998e+02] [-4.67835533e-01 8.83815543e-01 0.00000000e+00 -6.20106091e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.97221760e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.41, Y:-62.02, Z:0.01 [[ 8.83269637e-01 4.68865385e-01 0.00000000e+00 2.55406124e+02] [-4.68865385e-01 8.83269637e-01 0.00000000e+00 -6.20207242e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00121895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.44, Y:-62.03, Z:0.01 [[ 8.82616026e-01 4.70094618e-01 0.00000000e+00 2.55439236e+02] [-4.70094618e-01 8.82616026e-01 0.00000000e+00 -6.20281182e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35960232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.73140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.47, Y:-62.04, Z:0.01 [[ 8.82264548e-01 4.70753934e-01 0.00000000e+00 2.55471171e+02] [-4.70753934e-01 8.82264548e-01 0.00000000e+00 -6.20382943e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38285904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.50, Y:-62.04, Z:0.01 [[ 8.82404556e-01 4.70491444e-01 0.00000000e+00 2.55503867e+02] [-4.70491444e-01 8.82404556e-01 0.00000000e+00 -6.20432035e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16228438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.53, Y:-62.05, Z:0.01 [[ 8.82748694e-01 4.69845446e-01 0.00000000e+00 2.55532343e+02] [-4.69845446e-01 8.82748694e-01 0.00000000e+00 -6.20503045e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16891454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.56, Y:-62.06, Z:0.01 [[ 8.83273323e-01 4.68858440e-01 0.00000000e+00 2.55563935e+02] [-4.68858440e-01 8.83273323e-01 0.00000000e+00 -6.20596205e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29687076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.851400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:255.59, Y:-62.07, Z:0.02 [[ 8.84411421e-01 4.66708086e-01 0.00000000e+00 2.55594439e+02] [-4.66708086e-01 8.84411421e-01 0.00000000e+00 -6.20679766e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72553719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.63, Y:-62.08, Z:0.02 [[ 8.84566009e-01 4.66415025e-01 0.00000000e+00 2.55625481e+02] [-4.66415025e-01 8.84566009e-01 0.00000000e+00 -6.20801402e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76493675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.66, Y:-62.09, Z:0.02 [[ 8.84500324e-01 4.66539577e-01 0.00000000e+00 2.55655180e+02] [-4.66539577e-01 8.84500324e-01 0.00000000e+00 -6.20910383e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59903008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.941400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:255.69, Y:-62.10, Z:0.01 [[ 8.84689719e-01 4.66180331e-01 0.00000000e+00 2.55686193e+02] [-4.66180331e-01 8.84689719e-01 0.00000000e+00 -6.21001720e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35907817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.71, Y:-62.11, Z:0.01 [[ 8.84454297e-01 4.66626828e-01 0.00000000e+00 2.55714153e+02] [-4.66626828e-01 8.84454297e-01 0.00000000e+00 -6.21116226e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40906265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.001400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:255.74, Y:-62.12, Z:0.01 [[ 8.84522433e-01 4.66497659e-01 0.00000000e+00 2.55742500e+02] [-4.66497659e-01 8.84522433e-01 0.00000000e+00 -6.21230540e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46507842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.031400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:255.77, Y:-62.14, Z:0.02 [[ 8.84768155e-01 4.66031450e-01 0.00000000e+00 2.55770816e+02] [-4.66031450e-01 8.84768155e-01 0.00000000e+00 -6.21356966e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51655270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.80, Y:-62.15, Z:0.01 [[ 8.84577105e-01 4.66393981e-01 0.00000000e+00 2.55799574e+02] [-4.66393981e-01 8.84577105e-01 0.00000000e+00 -6.21489450e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40233697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.83, Y:-62.16, Z:0.01 [[ 8.84062318e-01 4.67369039e-01 0.00000000e+00 2.55828190e+02] [-4.67369039e-01 8.84062318e-01 0.00000000e+00 -6.21625321e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22419372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.86, Y:-62.18, Z:0.01 [[ 8.82432996e-01 4.70438101e-01 0.00000000e+00 2.55856597e+02] [-4.70438101e-01 8.82432996e-01 0.00000000e+00 -6.21762379e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01529985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.88, Y:-62.19, Z:0.01 [[ 8.81457520e-01 4.72263318e-01 0.00000000e+00 2.55884217e+02] [-4.72263318e-01 8.81457520e-01 0.00000000e+00 -6.21871630e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11675301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.91, Y:-62.20, Z:0.01 [[ 8.79965572e-01 4.75037465e-01 0.00000000e+00 2.55912655e+02] [-4.75037465e-01 8.79965572e-01 0.00000000e+00 -6.21950794e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32936430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.94, Y:-62.21, Z:0.01 [[ 8.79381450e-01 4.76117911e-01 0.00000000e+00 2.55942763e+02] [-4.76117911e-01 8.79381450e-01 0.00000000e+00 -6.22076669e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31495795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.97, Y:-62.22, Z:0.01 [[ 8.79070541e-01 4.76691708e-01 0.00000000e+00 2.55971686e+02] [-4.76691708e-01 8.79070541e-01 0.00000000e+00 -6.22207427e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34419555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.00, Y:-62.23, Z:0.01 [[ 8.79073902e-01 4.76685510e-01 0.00000000e+00 2.56001478e+02] [-4.76685510e-01 8.79073902e-01 0.00000000e+00 -6.22344320e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16988197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.03, Y:-62.25, Z:0.01 [[ 8.80336065e-01 4.74350516e-01 0.00000000e+00 2.56031316e+02] [-4.74350516e-01 8.80336065e-01 0.00000000e+00 -6.22476293e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15092531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.06, Y:-62.26, Z:0.01 [[ 8.81223889e-01 4.72699120e-01 0.00000000e+00 2.56060115e+02] [-4.72699120e-01 8.81223889e-01 0.00000000e+00 -6.22604215e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30755831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36140051300004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:256.09, Y:-62.27, Z:0.01 [[ 8.82059966e-01 4.71137153e-01 0.00000000e+00 2.56087595e+02] [-4.71137153e-01 8.82059966e-01 0.00000000e+00 -6.22728803e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36400566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.12, Y:-62.28, Z:0.01 [[ 8.83137244e-01 4.69114707e-01 0.00000000e+00 2.56115601e+02] [-4.69114707e-01 8.83137244e-01 0.00000000e+00 -6.22836285e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33734034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.14, Y:-62.29, Z:0.01 [[ 8.83070788e-01 4.69239793e-01 0.00000000e+00 2.56141530e+02] [-4.69239793e-01 8.83070788e-01 0.00000000e+00 -6.22928079e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39510792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.17, Y:-62.30, Z:0.02 [[ 8.82586927e-01 4.70149248e-01 0.00000000e+00 2.56167075e+02] [-4.70149248e-01 8.82586927e-01 0.00000000e+00 -6.23006033e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53646952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.20, Y:-62.31, Z:0.01 [[ 8.82329393e-01 4.70632385e-01 0.00000000e+00 2.56196110e+02] [-4.70632385e-01 8.82329393e-01 0.00000000e+00 -6.23120474e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44430746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.22, Y:-62.32, Z:0.01 [[ 8.81967860e-01 4.71309553e-01 0.00000000e+00 2.56224982e+02] [-4.71309553e-01 8.81967860e-01 0.00000000e+00 -6.23225839e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48881743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.25, Y:-62.33, Z:0.01 [[ 8.81057680e-01 4.73008841e-01 0.00000000e+00 2.56252776e+02] [-4.73008841e-01 8.81057680e-01 0.00000000e+00 -6.23282664e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46492603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.28, Y:-62.34, Z:0.01 [[ 8.80566723e-01 4.73922195e-01 0.00000000e+00 2.56280486e+02] [-4.73922195e-01 8.80566723e-01 0.00000000e+00 -6.23363409e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45065490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.601400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:256.31, Y:-62.34, Z:0.01 [[ 8.80353498e-01 4.74318162e-01 0.00000000e+00 2.56307212e+02] [-4.74318162e-01 8.80353498e-01 0.00000000e+00 -6.23431874e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36219856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.34, Y:-62.35, Z:0.01 [[ 8.80502295e-01 4.74041885e-01 0.00000000e+00 2.56335494e+02] [-4.74041885e-01 8.80502295e-01 0.00000000e+00 -6.23463626e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44587399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.36, Y:-62.35, Z:0.01 [[ 8.81256604e-01 4.72638126e-01 0.00000000e+00 2.56363751e+02] [-4.72638126e-01 8.81256604e-01 0.00000000e+00 -6.23547189e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38100411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.39, Y:-62.36, Z:0.02 [[ 8.82295544e-01 4.70695838e-01 0.00000000e+00 2.56390442e+02] [-4.70695838e-01 8.82295544e-01 0.00000000e+00 -6.23642198e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51258029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.42, Y:-62.38, Z:0.02 [[ 8.84653387e-01 4.66249273e-01 0.00000000e+00 2.56416211e+02] [-4.66249273e-01 8.84653387e-01 0.00000000e+00 -6.23754875e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71989817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.44, Y:-62.39, Z:0.02 [[ 8.85838696e-01 4.63993324e-01 0.00000000e+00 2.56442427e+02] [-4.63993324e-01 8.85838696e-01 0.00000000e+00 -6.23865107e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55713325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.47, Y:-62.39, Z:0.02 [[ 8.87359417e-01 4.61078372e-01 0.00000000e+00 2.56467211e+02] [-4.61078372e-01 8.87359417e-01 0.00000000e+00 -6.23940439e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75994245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.49, Y:-62.40, Z:0.02 [[ 8.87782297e-01 4.60263613e-01 0.00000000e+00 2.56494210e+02] [-4.60263613e-01 8.87782297e-01 0.00000000e+00 -6.24043347e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60756554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.52, Y:-62.42, Z:0.02 [[ 8.88289936e-01 4.59283126e-01 0.00000000e+00 2.56521868e+02] [-4.59283126e-01 8.88289936e-01 0.00000000e+00 -6.24156034e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75865101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.55, Y:-62.43, Z:0.02 [[ 8.88234068e-01 4.59391162e-01 0.00000000e+00 2.56547804e+02] [-4.59391162e-01 8.88234068e-01 0.00000000e+00 -6.24265038e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96687790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.57, Y:-62.44, Z:0.02 [[ 8.88264632e-01 4.59332062e-01 0.00000000e+00 2.56573929e+02] [-4.59332062e-01 8.88264632e-01 0.00000000e+00 -6.24379152e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96687790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.60, Y:-62.45, Z:0.02 [[ 8.88108513e-01 4.59633843e-01 0.00000000e+00 2.56601305e+02] [-4.59633843e-01 8.88108513e-01 0.00000000e+00 -6.24464178e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93490168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.63, Y:-62.46, Z:0.02 [[ 8.88144133e-01 4.59565010e-01 0.00000000e+00 2.56628538e+02] [-4.59565010e-01 8.88144133e-01 0.00000000e+00 -6.24564699e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94012397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.99140051300003 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:256.66, Y:-62.47, Z:0.02 [[ 8.88415644e-01 4.59039916e-01 0.00000000e+00 2.56656977e+02] [-4.59039916e-01 8.88415644e-01 0.00000000e+00 -6.24666091e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63701163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.68, Y:-62.48, Z:0.02 [[ 8.88111705e-01 4.59627676e-01 0.00000000e+00 2.56683954e+02] [-4.59627676e-01 8.88111705e-01 0.00000000e+00 -6.24774382e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58849542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.71, Y:-62.49, Z:0.01 [[ 8.87979275e-01 4.59883471e-01 0.00000000e+00 2.56710200e+02] [-4.59883471e-01 8.87979275e-01 0.00000000e+00 -6.24863082e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33312246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.74, Y:-62.50, Z:0.01 [[ 8.87884513e-01 4.60066400e-01 0.00000000e+00 2.56738236e+02] [-4.60066400e-01 8.87884513e-01 0.00000000e+00 -6.24950374e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10710185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.77, Y:-62.50, Z:0.01 [[ 8.87832499e-01 4.60166768e-01 0.00000000e+00 2.56766236e+02] [-4.60166768e-01 8.87832499e-01 0.00000000e+00 -6.25012955e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36810432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.79, Y:-62.51, Z:0.01 [[ 8.87948316e-01 4.59943245e-01 0.00000000e+00 2.56793239e+02] [-4.59943245e-01 8.87948316e-01 0.00000000e+00 -6.25114856e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22236643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.82, Y:-62.52, Z:0.01 [[ 8.88806707e-01 4.58282268e-01 0.00000000e+00 2.56819350e+02] [-4.58282268e-01 8.88806707e-01 0.00000000e+00 -6.25186304e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.69941781e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.85, Y:-62.53, Z:0.01 [[ 8.89718468e-01 4.56509637e-01 0.00000000e+00 2.56847753e+02] [-4.56509637e-01 8.89718468e-01 0.00000000e+00 -6.25285270e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.83846757e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.23140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.88, Y:-62.53, Z:0.00 [[ 8.91336420e-01 4.53342461e-01 0.00000000e+00 2.56877325e+02] [-4.53342461e-01 8.91336420e-01 0.00000000e+00 -6.25340335e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.96825931e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.90, Y:-62.54, Z:0.00 [[ 8.92373489e-01 4.51297636e-01 0.00000000e+00 2.56904428e+02] [-4.51297636e-01 8.92373489e-01 0.00000000e+00 -6.25423371e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12496054e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.93, Y:-62.55, Z:0.00 [[ 8.93355983e-01 4.49349628e-01 0.00000000e+00 2.56930437e+02] [-4.49349628e-01 8.93355983e-01 0.00000000e+00 -6.25510258e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.76941813e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.96, Y:-62.56, Z:0.01 [[ 8.95399452e-01 4.45263767e-01 0.00000000e+00 2.56957843e+02] [-4.45263767e-01 8.95399452e-01 0.00000000e+00 -6.25609364e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.50159111e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.98, Y:-62.57, Z:0.01 [[ 8.96375808e-01 4.43294948e-01 0.00000000e+00 2.56984217e+02] [-4.43294948e-01 8.96375808e-01 0.00000000e+00 -6.25722432e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.11144798e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.01, Y:-62.58, Z:0.01 [[ 8.97203102e-01 4.41618153e-01 0.00000000e+00 2.57009658e+02] [-4.41618153e-01 8.97203102e-01 0.00000000e+00 -6.25824904e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.66041464e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.04, Y:-62.59, Z:0.01 [[ 8.98111337e-01 4.39768150e-01 0.00000000e+00 2.57036405e+02] [-4.39768150e-01 8.98111337e-01 0.00000000e+00 -6.25924211e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.27280582e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.06, Y:-62.60, Z:0.01 [[ 8.99967052e-01 4.35957917e-01 0.00000000e+00 2.57063073e+02] [-4.35957917e-01 8.99967052e-01 0.00000000e+00 -6.26018685e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.16797005e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.09, Y:-62.61, Z:0.01 [[ 9.00908114e-01 4.34009873e-01 0.00000000e+00 2.57089330e+02] [-4.34009873e-01 9.00908114e-01 0.00000000e+00 -6.26134860e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.42021521e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.12, Y:-62.63, Z:0.00 [[ 9.01932485e-01 4.31877057e-01 0.00000000e+00 2.57115744e+02] [-4.31877057e-01 9.01932485e-01 0.00000000e+00 -6.26255995e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11600646e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.14, Y:-62.64, Z:0.00 [[ 9.01927939e-01 4.31886551e-01 0.00000000e+00 2.57141470e+02] [-4.31886551e-01 9.01927939e-01 0.00000000e+00 -6.26368583e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74845141e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.17, Y:-62.65, Z:0.00 [[ 9.01241141e-01 4.33317905e-01 0.00000000e+00 2.57166936e+02] [-4.33317905e-01 9.01241141e-01 0.00000000e+00 -6.26475858e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74733724e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.19, Y:-62.66, Z:0.00 [[ 9.00751569e-01 4.34334676e-01 0.00000000e+00 2.57192346e+02] [-4.34334676e-01 9.00751569e-01 0.00000000e+00 -6.26584279e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20518772e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.22, Y:-62.67, Z:0.00 [[ 9.00321489e-01 4.35225478e-01 0.00000000e+00 2.57218397e+02] [-4.35225478e-01 9.00321489e-01 0.00000000e+00 -6.26695920e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26387024e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.24, Y:-62.68, Z:0.00 [[ 9.00135969e-01 4.35609043e-01 0.00000000e+00 2.57244591e+02] [-4.35609043e-01 9.00135969e-01 0.00000000e+00 -6.26806609e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17125127e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.27, Y:-62.69, Z:0.00 [[ 9.00220588e-01 4.35434144e-01 0.00000000e+00 2.57269742e+02] [-4.35434144e-01 9.00220588e-01 0.00000000e+00 -6.26923848e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26807666e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.30, Y:-62.70, Z:0.00 [[ 9.00558035e-01 4.34735811e-01 0.00000000e+00 2.57295597e+02] [-4.34735811e-01 9.00558035e-01 0.00000000e+00 -6.27034470e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22552770e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.32, Y:-62.71, Z:0.00 [[ 9.00903817e-01 4.34018794e-01 0.00000000e+00 2.57320311e+02] [-4.34018794e-01 9.00903817e-01 0.00000000e+00 -6.27137815e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48664592e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.35, Y:-62.73, Z:0.00 [[ 9.01093351e-01 4.33625152e-01 0.00000000e+00 2.57346239e+02] [-4.33625152e-01 9.01093351e-01 0.00000000e+00 -6.27253268e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49663607e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.37, Y:-62.74, Z:0.00 [[ 9.01430001e-01 4.32924882e-01 0.00000000e+00 2.57373227e+02] [-4.32924882e-01 9.01430001e-01 0.00000000e+00 -6.27367762e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00766811e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.40, Y:-62.75, Z:0.00 [[ 9.01447452e-01 4.32888543e-01 0.00000000e+00 2.57399456e+02] [-4.32888543e-01 9.01447452e-01 0.00000000e+00 -6.27469913e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.78100744e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86140051300004 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:257.43, Y:-62.76, Z:0.00 [[ 9.01693164e-01 4.32376500e-01 0.00000000e+00 2.57425333e+02] [-4.32376500e-01 9.01693164e-01 0.00000000e+00 -6.27566457e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56879360e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.45, Y:-62.77, Z:0.00 [[ 9.01670675e-01 4.32423397e-01 0.00000000e+00 2.57449384e+02] [-4.32423397e-01 9.01670675e-01 0.00000000e+00 -6.27698397e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88598566e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.47, Y:-62.78, Z:0.00 [[ 9.02233099e-01 4.31248692e-01 0.00000000e+00 2.57474974e+02] [-4.31248692e-01 9.02233099e-01 0.00000000e+00 -6.27811091e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64813657e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.50, Y:-62.79, Z:-0.00 [[ 9.03139262e-01 4.29347730e-01 0.00000000e+00 2.57501879e+02] [-4.29347730e-01 9.03139262e-01 0.00000000e+00 -6.27918031e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.35597237e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.53, Y:-62.80, Z:-0.00 [[ 9.05040817e-01 4.25324724e-01 0.00000000e+00 2.57527593e+02] [-4.25324724e-01 9.05040817e-01 0.00000000e+00 -6.28021892e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.08076998e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.55, Y:-62.81, Z:-0.00 [[ 9.05698891e-01 4.23921595e-01 0.00000000e+00 2.57551961e+02] [-4.23921595e-01 9.05698891e-01 0.00000000e+00 -6.28138003e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.01767297e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.58, Y:-62.82, Z:-0.00 [[ 9.06517152e-01 4.22168986e-01 0.00000000e+00 2.57578609e+02] [-4.22168986e-01 9.06517152e-01 0.00000000e+00 -6.28242218e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.86808890e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.60, Y:-62.83, Z:-0.00 [[ 9.06396099e-01 4.22428824e-01 0.00000000e+00 2.57604227e+02] [-4.22428824e-01 9.06396099e-01 0.00000000e+00 -6.28323342e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.16847445e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.63, Y:-62.84, Z:-0.00 [[ 9.06091233e-01 4.23082353e-01 0.00000000e+00 2.57630904e+02] [-4.23082353e-01 9.06091233e-01 0.00000000e+00 -6.28407790e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.42540622e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.131400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:257.66, Y:-62.85, Z:-0.01 [[ 9.06004094e-01 4.23268924e-01 0.00000000e+00 2.57657395e+02] [-4.23268924e-01 9.06004094e-01 0.00000000e+00 -6.28485930e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.15240642e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.69, Y:-62.86, Z:-0.01 [[ 9.05118642e-01 4.25159081e-01 0.00000000e+00 2.57685359e+02] [-4.25159081e-01 9.05118642e-01 0.00000000e+00 -6.28560215e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.31115610e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.71, Y:-62.86, Z:-0.01 [[ 9.04838942e-01 4.25754024e-01 0.00000000e+00 2.57711725e+02] [-4.25754024e-01 9.04838942e-01 0.00000000e+00 -6.28646149e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.61363253e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.74, Y:-62.87, Z:-0.01 [[ 9.04705503e-01 4.26037502e-01 0.00000000e+00 2.57738443e+02] [-4.26037502e-01 9.04705503e-01 0.00000000e+00 -6.28728086e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06269807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.77, Y:-62.88, Z:-0.01 [[ 9.05022296e-01 4.25364130e-01 0.00000000e+00 2.57766240e+02] [-4.25364130e-01 9.05022296e-01 0.00000000e+00 -6.28780549e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25004278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.79, Y:-62.89, Z:-0.01 [[ 9.05699073e-01 4.23921206e-01 0.00000000e+00 2.57792298e+02] [-4.23921206e-01 9.05699073e-01 0.00000000e+00 -6.28853522e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20119688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.82, Y:-62.89, Z:-0.01 [[ 9.06521329e-01 4.22160017e-01 0.00000000e+00 2.57819682e+02] [-4.22160017e-01 9.06521329e-01 0.00000000e+00 -6.28926704e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03826279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.85, Y:-62.90, Z:-0.01 [[ 9.08531180e-01 4.17817059e-01 0.00000000e+00 2.57847465e+02] [-4.17817059e-01 9.08531180e-01 0.00000000e+00 -6.28962046e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.95496768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.87, Y:-62.90, Z:-0.01 [[ 9.09616847e-01 4.15448183e-01 0.00000000e+00 2.57873904e+02] [-4.15448183e-01 9.09616847e-01 0.00000000e+00 -6.29044501e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.66383660e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.90, Y:-62.91, Z:-0.01 [[ 9.10501786e-01 4.13505136e-01 0.00000000e+00 2.57899820e+02] [-4.13505136e-01 9.10501786e-01 0.00000000e+00 -6.29132601e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05092098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.93, Y:-62.92, Z:-0.01 [[ 9.11222204e-01 4.11915154e-01 0.00000000e+00 2.57925733e+02] [-4.11915154e-01 9.11222204e-01 0.00000000e+00 -6.29226757e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13218604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.95, Y:-62.93, Z:-0.01 [[ 9.11947569e-01 4.10306753e-01 0.00000000e+00 2.57951946e+02] [-4.10306753e-01 9.11947569e-01 0.00000000e+00 -6.29304709e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11732406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.98, Y:-62.94, Z:-0.01 [[ 9.12088203e-01 4.09994036e-01 0.00000000e+00 2.57978796e+02] [-4.09994036e-01 9.12088203e-01 0.00000000e+00 -6.29397205e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04979767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.01, Y:-62.94, Z:-0.01 [[ 9.11241445e-01 4.11872587e-01 0.00000000e+00 2.58006595e+02] [-4.11872587e-01 9.11241445e-01 0.00000000e+00 -6.29447601e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08512323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.03, Y:-62.95, Z:-0.01 [[ 9.10902406e-01 4.12621868e-01 0.00000000e+00 2.58034565e+02] [-4.12621868e-01 9.10902406e-01 0.00000000e+00 -6.29528936e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15059903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.06, Y:-62.96, Z:-0.01 [[ 9.10536766e-01 4.13428106e-01 0.00000000e+00 2.58061228e+02] [-4.13428106e-01 9.10536766e-01 0.00000000e+00 -6.29613413e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10005511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.09, Y:-62.97, Z:-0.01 [[ 9.10634669e-01 4.13212416e-01 0.00000000e+00 2.58089543e+02] [-4.13212416e-01 9.10634669e-01 0.00000000e+00 -6.29660710e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15288887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.12, Y:-62.97, Z:-0.01 [[ 9.11000425e-01 4.12405414e-01 0.00000000e+00 2.58115525e+02] [-4.12405414e-01 9.11000425e-01 0.00000000e+00 -6.29736946e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24931084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.14, Y:-62.98, Z:-0.01 [[ 9.11448382e-01 4.11414446e-01 0.00000000e+00 2.58141361e+02] [-4.11414446e-01 9.11448382e-01 0.00000000e+00 -6.29817611e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34428894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.17, Y:-62.99, Z:-0.01 [[ 9.12292550e-01 4.09539136e-01 0.00000000e+00 2.58168607e+02] [-4.09539136e-01 9.12292550e-01 0.00000000e+00 -6.29899420e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45645461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.73140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.19, Y:-63.00, Z:-0.02 [[ 9.12238496e-01 4.09659526e-01 0.00000000e+00 2.58194063e+02] [-4.09659526e-01 9.12238496e-01 0.00000000e+00 -6.29989305e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61164819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.22, Y:-63.01, Z:-0.02 [[ 9.12425561e-01 4.09242711e-01 0.00000000e+00 2.58221906e+02] [-4.09242711e-01 9.12425561e-01 0.00000000e+00 -6.30079392e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61274491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.25, Y:-63.02, Z:-0.02 [[ 9.12286669e-01 4.09552236e-01 0.00000000e+00 2.58248436e+02] [-4.09552236e-01 9.12286669e-01 0.00000000e+00 -6.30156213e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77431267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.28, Y:-63.02, Z:-0.02 [[ 9.11487378e-01 4.11328045e-01 0.00000000e+00 2.58277051e+02] [-4.11328045e-01 9.11487378e-01 0.00000000e+00 -6.30219362e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95858565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.30, Y:-63.03, Z:-0.02 [[ 9.11566336e-01 4.11153032e-01 0.00000000e+00 2.58303258e+02] [-4.11153032e-01 9.11566336e-01 0.00000000e+00 -6.30331394e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95858565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.33, Y:-63.04, Z:-0.02 [[ 9.11110832e-01 4.12161439e-01 0.00000000e+00 2.58329218e+02] [-4.12161439e-01 9.11110832e-01 0.00000000e+00 -6.30420061e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12446669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.36, Y:-63.05, Z:-0.02 [[ 9.10751712e-01 4.12954380e-01 0.00000000e+00 2.58355868e+02] [-4.12954380e-01 9.10751712e-01 0.00000000e+00 -6.30516255e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08306383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.38, Y:-63.06, Z:-0.02 [[ 9.10388244e-01 4.13755054e-01 0.00000000e+00 2.58380808e+02] [-4.13755054e-01 9.10388244e-01 0.00000000e+00 -6.30614075e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.20246288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.41, Y:-63.07, Z:-0.02 [[ 9.09624666e-01 4.15431061e-01 0.00000000e+00 2.58407393e+02] [-4.15431061e-01 9.09624666e-01 0.00000000e+00 -6.30728685e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27231346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.43, Y:-63.08, Z:-0.02 [[ 9.09158658e-01 4.16449918e-01 0.00000000e+00 2.58432639e+02] [-4.16449918e-01 9.09158658e-01 0.00000000e+00 -6.30835183e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.37077528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.031400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:258.46, Y:-63.09, Z:-0.02 [[ 9.08841566e-01 4.17141473e-01 0.00000000e+00 2.58458842e+02] [-4.17141473e-01 9.08841566e-01 0.00000000e+00 -6.30941034e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42348782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.49, Y:-63.11, Z:-0.03 [[ 9.08267307e-01 4.18390367e-01 0.00000000e+00 2.58485386e+02] [-4.18390367e-01 9.08267307e-01 0.00000000e+00 -6.31064955e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.60183161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.091400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:258.51, Y:-63.12, Z:-0.03 [[ 9.08356233e-01 4.18197266e-01 0.00000000e+00 2.58511679e+02] [-4.18197266e-01 9.08356233e-01 0.00000000e+00 -6.31179660e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.77301971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.54, Y:-63.13, Z:-0.03 [[ 9.07748063e-01 4.19515737e-01 0.00000000e+00 2.58535988e+02] [-4.19515737e-01 9.07748063e-01 0.00000000e+00 -6.31288932e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.90762437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.56, Y:-63.14, Z:-0.03 [[ 9.07087110e-01 4.20942958e-01 0.00000000e+00 2.58561823e+02] [-4.20942958e-01 9.07087110e-01 0.00000000e+00 -6.31386655e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.81270353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.59, Y:-63.15, Z:-0.03 [[ 9.04357074e-01 4.26776620e-01 0.00000000e+00 2.58589631e+02] [-4.26776620e-01 9.04357074e-01 0.00000000e+00 -6.31454674e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.66698818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.62, Y:-63.15, Z:-0.03 [[ 9.02765915e-01 4.30132192e-01 0.00000000e+00 2.58616974e+02] [-4.30132192e-01 9.02765915e-01 0.00000000e+00 -6.31537663e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.97581557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.65, Y:-63.16, Z:-0.04 [[ 8.99781875e-01 4.36339979e-01 0.00000000e+00 2.58646993e+02] [-4.36339979e-01 8.99781875e-01 0.00000000e+00 -6.31584389e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.89361463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.68, Y:-63.17, Z:-0.04 [[ 8.98839400e-01 4.38278145e-01 0.00000000e+00 2.58675041e+02] [-4.38278145e-01 8.98839400e-01 0.00000000e+00 -6.31670050e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.08901464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.70, Y:-63.18, Z:-0.04 [[ 8.98482305e-01 4.39009736e-01 0.00000000e+00 2.58701171e+02] [-4.39009736e-01 8.98482305e-01 0.00000000e+00 -6.31754747e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.96265488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.331400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:258.73, Y:-63.18, Z:-0.04 [[ 8.99201092e-01 4.37535594e-01 0.00000000e+00 2.58728441e+02] [-4.37535594e-01 8.99201092e-01 0.00000000e+00 -6.31848566e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.73834693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36140051300004 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:258.76, Y:-63.19, Z:-0.04 [[ 8.99883952e-01 4.36129422e-01 0.00000000e+00 2.58755297e+02] [-4.36129422e-01 8.99883952e-01 0.00000000e+00 -6.31935063e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.73751165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.78, Y:-63.20, Z:-0.04 [[ 9.00357738e-01 4.35150483e-01 0.00000000e+00 2.58783501e+02] [-4.35150483e-01 9.00357738e-01 0.00000000e+00 -6.32021109e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.74111181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.81, Y:-63.21, Z:-0.04 [[ 9.01004063e-01 4.33810648e-01 0.00000000e+00 2.58810997e+02] [-4.33810648e-01 9.01004063e-01 0.00000000e+00 -6.32077957e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.36897657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.84, Y:-63.22, Z:-0.04 [[ 9.01015695e-01 4.33786489e-01 0.00000000e+00 2.58838184e+02] [-4.33786489e-01 9.01015695e-01 0.00000000e+00 -6.32187775e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.49235465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.86, Y:-63.23, Z:-0.04 [[ 9.00864409e-01 4.34100583e-01 0.00000000e+00 2.58864921e+02] [-4.34100583e-01 9.00864409e-01 0.00000000e+00 -6.32294638e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.39846028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.89, Y:-63.24, Z:-0.04 [[ 9.00608125e-01 4.34632034e-01 0.00000000e+00 2.58890125e+02] [-4.34632034e-01 9.00608125e-01 0.00000000e+00 -6.32388257e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.45855126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.92, Y:-63.25, Z:-0.04 [[ 8.99868852e-01 4.36160576e-01 0.00000000e+00 2.58917326e+02] [-4.36160576e-01 8.99868852e-01 0.00000000e+00 -6.32475621e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.48323674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.94, Y:-63.26, Z:-0.04 [[ 8.99500224e-01 4.36920298e-01 0.00000000e+00 2.58944276e+02] [-4.36920298e-01 8.99500224e-01 0.00000000e+00 -6.32584978e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.49513107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.97, Y:-63.27, Z:-0.05 [[ 8.98267956e-01 4.39448154e-01 0.00000000e+00 2.58969272e+02] [-4.39448154e-01 8.98267956e-01 0.00000000e+00 -6.32702241e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.80294627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.99, Y:-63.28, Z:-0.05 [[ 8.97432628e-01 4.41151538e-01 0.00000000e+00 2.58994896e+02] [-4.41151538e-01 8.97432628e-01 0.00000000e+00 -6.32813762e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.59622819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.02, Y:-63.29, Z:-0.05 [[ 8.96544828e-01 4.42953014e-01 0.00000000e+00 2.59021206e+02] [-4.42953014e-01 8.96544828e-01 0.00000000e+00 -6.32920112e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.57425764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.691400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:259.05, Y:-63.30, Z:-0.05 [[ 8.95320313e-01 4.45422874e-01 0.00000000e+00 2.59047119e+02] [-4.45422874e-01 8.95320313e-01 0.00000000e+00 -6.33016506e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.59967856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.721400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:259.07, Y:-63.31, Z:-0.04 [[ 8.95036917e-01 4.45992059e-01 0.00000000e+00 2.59073773e+02] [-4.45992059e-01 8.95036917e-01 0.00000000e+00 -6.33131583e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.06014238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.10, Y:-63.33, Z:-0.04 [[ 8.94749976e-01 4.46567442e-01 0.00000000e+00 2.59097968e+02] [-4.46567442e-01 8.94749976e-01 0.00000000e+00 -6.33267025e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.98529530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.12, Y:-63.34, Z:-0.04 [[ 8.94580938e-01 4.46905969e-01 0.00000000e+00 2.59123164e+02] [-4.46905969e-01 8.94580938e-01 0.00000000e+00 -6.33385928e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.89956980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.811400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:259.15, Y:-63.35, Z:-0.03 [[ 8.94150541e-01 4.47766468e-01 0.00000000e+00 2.59148208e+02] [-4.47766468e-01 8.94150541e-01 0.00000000e+00 -6.33494051e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.43241683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.17, Y:-63.36, Z:-0.03 [[ 8.93444062e-01 4.49174474e-01 0.00000000e+00 2.59174386e+02] [-4.49174474e-01 8.93444062e-01 0.00000000e+00 -6.33619922e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.44121626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.20, Y:-63.37, Z:-0.03 [[ 8.92453352e-01 4.51139684e-01 0.00000000e+00 2.59199234e+02] [-4.51139684e-01 8.92453352e-01 0.00000000e+00 -6.33734086e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.29627410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.23, Y:-63.38, Z:-0.03 [[ 8.89821635e-01 4.56308512e-01 0.00000000e+00 2.59226146e+02] [-4.56308512e-01 8.89821635e-01 0.00000000e+00 -6.33835652e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.80029094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.25, Y:-63.39, Z:-0.03 [[ 8.88380317e-01 4.59108279e-01 0.00000000e+00 2.59252259e+02] [-4.59108279e-01 8.88380317e-01 0.00000000e+00 -6.33929122e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.85285227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.28, Y:-63.40, Z:-0.03 [[ 8.85512701e-01 4.64615169e-01 0.00000000e+00 2.59280006e+02] [-4.64615169e-01 8.85512701e-01 0.00000000e+00 -6.34003026e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.98737552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.31, Y:-63.41, Z:-0.03 [[ 8.84652457e-01 4.66251038e-01 0.00000000e+00 2.59306689e+02] [-4.66251038e-01 8.84652457e-01 0.00000000e+00 -6.34099110e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.06623539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.33, Y:-63.42, Z:-0.03 [[ 8.85334373e-01 4.64954887e-01 0.00000000e+00 2.59332562e+02] [-4.64954887e-01 8.85334373e-01 0.00000000e+00 -6.34172146e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53972756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.36, Y:-63.43, Z:-0.02 [[ 8.87279368e-01 4.61232396e-01 0.00000000e+00 2.59360179e+02] [-4.61232396e-01 8.87279368e-01 0.00000000e+00 -6.34286237e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43419368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.39, Y:-63.44, Z:-0.02 [[ 8.89481833e-01 4.56970533e-01 0.00000000e+00 2.59385998e+02] [-4.56970533e-01 8.89481833e-01 0.00000000e+00 -6.34397458e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35236294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.41, Y:-63.45, Z:-0.02 [[ 8.91827398e-01 4.52375831e-01 0.00000000e+00 2.59411039e+02] [-4.52375831e-01 8.91827398e-01 0.00000000e+00 -6.34518315e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.36143579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.44, Y:-63.47, Z:-0.03 [[ 8.95506687e-01 4.45048058e-01 0.00000000e+00 2.59436159e+02] [-4.45048058e-01 8.95506687e-01 0.00000000e+00 -6.34671553e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.54114763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.46, Y:-63.48, Z:-0.03 [[ 8.96424780e-01 4.43195910e-01 0.00000000e+00 2.59461874e+02] [-4.43195910e-01 8.96424780e-01 0.00000000e+00 -6.34803922e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.50528594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.49, Y:-63.49, Z:-0.03 [[ 8.96481926e-01 4.43080304e-01 0.00000000e+00 2.59487212e+02] [-4.43080304e-01 8.96481926e-01 0.00000000e+00 -6.34927761e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.50791009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.23140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.51, Y:-63.50, Z:-0.02 [[ 8.95664950e-01 4.44729465e-01 0.00000000e+00 2.59511020e+02] [-4.44729465e-01 8.95664950e-01 0.00000000e+00 -6.35040084e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17139830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.54, Y:-63.52, Z:-0.02 [[ 8.93487374e-01 4.49088313e-01 0.00000000e+00 2.59536680e+02] [-4.49088313e-01 8.93487374e-01 0.00000000e+00 -6.35205114e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19241110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.291400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:259.56, Y:-63.53, Z:-0.02 [[ 8.92594803e-01 4.50859754e-01 0.00000000e+00 2.59561374e+02] [-4.50859754e-01 8.92594803e-01 0.00000000e+00 -6.35335826e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.18471424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.58, Y:-63.55, Z:-0.02 [[ 8.91060524e-01 4.53884503e-01 0.00000000e+00 2.59584728e+02] [-4.53884503e-01 8.91060524e-01 0.00000000e+00 -6.35493695e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16622050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.61, Y:-63.56, Z:-0.02 [[ 8.90574231e-01 4.54837926e-01 0.00000000e+00 2.59609627e+02] [-4.54837926e-01 8.90574231e-01 0.00000000e+00 -6.35622689e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09644641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.64, Y:-63.57, Z:-0.02 [[ 8.90254344e-01 4.55463723e-01 0.00000000e+00 2.59635943e+02] [-4.55463723e-01 8.90254344e-01 0.00000000e+00 -6.35749891e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90248715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.66, Y:-63.59, Z:-0.02 [[ 8.89268637e-01 4.57385277e-01 0.00000000e+00 2.59662153e+02] [-4.57385277e-01 8.89268637e-01 0.00000000e+00 -6.35873603e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04192051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.69, Y:-63.60, Z:-0.02 [[ 8.88535009e-01 4.58808825e-01 0.00000000e+00 2.59688582e+02] [-4.58808825e-01 8.88535009e-01 0.00000000e+00 -6.35980593e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.26715011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.71, Y:-63.61, Z:-0.03 [[ 8.87725095e-01 4.60373930e-01 0.00000000e+00 2.59714554e+02] [-4.60373930e-01 8.87725095e-01 0.00000000e+00 -6.36083641e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.51543854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.74, Y:-63.62, Z:-0.02 [[ 8.86565183e-01 4.62603692e-01 0.00000000e+00 2.59741325e+02] [-4.62603692e-01 8.86565183e-01 0.00000000e+00 -6.36187796e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.94267482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.531400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:259.77, Y:-63.63, Z:-0.02 [[ 8.86574128e-01 4.62586550e-01 0.00000000e+00 2.59768136e+02] [-4.62586550e-01 8.86574128e-01 0.00000000e+00 -6.36292557e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70840175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.79, Y:-63.64, Z:-0.02 [[ 8.86797884e-01 4.62157454e-01 0.00000000e+00 2.59793358e+02] [-4.62157454e-01 8.86797884e-01 0.00000000e+00 -6.36402779e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67634616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.82, Y:-63.65, Z:-0.02 [[ 8.88332490e-01 4.59200814e-01 0.00000000e+00 2.59819514e+02] [-4.59200814e-01 8.88332490e-01 0.00000000e+00 -6.36525518e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89410567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.621400513 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:259.84, Y:-63.66, Z:-0.02 [[ 8.89386822e-01 4.57155423e-01 0.00000000e+00 2.59844700e+02] [-4.57155423e-01 8.89386822e-01 0.00000000e+00 -6.36640542e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02224813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.87, Y:-63.68, Z:-0.02 [[ 8.90562591e-01 4.54860716e-01 0.00000000e+00 2.59871151e+02] [-4.54860716e-01 8.90562591e-01 0.00000000e+00 -6.36761801e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74164062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.681400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:259.90, Y:-63.69, Z:-0.02 [[ 8.91540184e-01 4.52941609e-01 0.00000000e+00 2.59897042e+02] [-4.52941609e-01 8.91540184e-01 0.00000000e+00 -6.36868907e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63277513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.711400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:259.92, Y:-63.70, Z:-0.02 [[ 8.91621072e-01 4.52782358e-01 0.00000000e+00 2.59923332e+02] [-4.52782358e-01 8.91621072e-01 0.00000000e+00 -6.36978830e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63277513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.95, Y:-63.71, Z:-0.01 [[ 8.92666259e-01 4.50718261e-01 0.00000000e+00 2.59950184e+02] [-4.50718261e-01 8.92666259e-01 0.00000000e+00 -6.37088633e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01797896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.98, Y:-63.72, Z:-0.01 [[ 8.92679154e-01 4.50692720e-01 0.00000000e+00 2.59976016e+02] [-4.50692720e-01 8.92679154e-01 0.00000000e+00 -6.37199240e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01467701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.00, Y:-63.73, Z:-0.01 [[ 8.92526973e-01 4.50994015e-01 0.00000000e+00 2.60000563e+02] [-4.50994015e-01 8.92526973e-01 0.00000000e+00 -6.37314144e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16533861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.02, Y:-63.74, Z:-0.01 [[ 8.91596928e-01 4.52829899e-01 0.00000000e+00 2.60022563e+02] [-4.52829899e-01 8.91596928e-01 0.00000000e+00 -6.37437470e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.66492067e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.05, Y:-63.76, Z:-0.01 [[ 8.91829520e-01 4.52371647e-01 0.00000000e+00 2.60051030e+02] [-4.52371647e-01 8.91829520e-01 0.00000000e+00 -6.37583106e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.88035754e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.08, Y:-63.77, Z:-0.00 [[ 8.91990538e-01 4.52054068e-01 0.00000000e+00 2.60076090e+02] [-4.52054068e-01 8.91990538e-01 0.00000000e+00 -6.37719615e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90925864e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.10, Y:-63.78, Z:-0.00 [[ 8.91358230e-01 4.53299577e-01 0.00000000e+00 2.60096316e+02] [-4.53299577e-01 8.91358230e-01 0.00000000e+00 -6.37819831e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91552577e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.13, Y:-63.80, Z:-0.00 [[ 8.91474920e-01 4.53070046e-01 0.00000000e+00 2.60126016e+02] [-4.53070046e-01 8.91474920e-01 0.00000000e+00 -6.37970222e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.12502362e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.15, Y:-63.81, Z:-0.01 [[ 8.89893581e-01 4.56168186e-01 0.00000000e+00 2.60150448e+02] [-4.56168186e-01 8.89893581e-01 0.00000000e+00 -6.38103362e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.22437977e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.18, Y:-63.82, Z:-0.01 [[ 8.88888780e-01 4.58123059e-01 0.00000000e+00 2.60176012e+02] [-4.58123059e-01 8.88888780e-01 0.00000000e+00 -6.38209450e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.02283168e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.20, Y:-63.83, Z:-0.01 [[ 8.87758433e-01 4.60309641e-01 0.00000000e+00 2.60200897e+02] [-4.60309641e-01 8.87758433e-01 0.00000000e+00 -6.38315705e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.79155264e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.23, Y:-63.84, Z:-0.00 [[ 8.86718664e-01 4.62309432e-01 0.00000000e+00 2.60226621e+02] [-4.62309432e-01 8.86718664e-01 0.00000000e+00 -6.38433813e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.66938877e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.25, Y:-63.86, Z:-0.01 [[ 8.86280156e-01 4.63149528e-01 0.00000000e+00 2.60251451e+02] [-4.63149528e-01 8.86280156e-01 0.00000000e+00 -6.38553891e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.26156987e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.28, Y:-63.87, Z:-0.01 [[ 8.86902036e-01 4.61957550e-01 0.00000000e+00 2.60275578e+02] [-4.61957550e-01 8.86902036e-01 0.00000000e+00 -6.38694906e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03355823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.30, Y:-63.88, Z:-0.01 [[ 8.87995218e-01 4.59852686e-01 0.00000000e+00 2.60300195e+02] [-4.59852686e-01 8.87995218e-01 0.00000000e+00 -6.38821255e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19275044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.32, Y:-63.90, Z:-0.01 [[ 8.90646545e-01 4.54696307e-01 0.00000000e+00 2.60324388e+02] [-4.54696307e-01 8.90646545e-01 0.00000000e+00 -6.38970278e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20916847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:-63.91, Z:-0.01 [[ 8.91824227e-01 4.52382082e-01 0.00000000e+00 2.60349665e+02] [-4.52382082e-01 8.91824227e-01 0.00000000e+00 -6.39089005e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21261898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.38, Y:-63.92, Z:-0.01 [[ 8.92963623e-01 4.50128835e-01 0.00000000e+00 2.60375489e+02] [-4.50128835e-01 8.92963623e-01 0.00000000e+00 -6.39198110e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02943970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.40, Y:-63.93, Z:-0.01 [[ 8.93004993e-01 4.50046757e-01 0.00000000e+00 2.60401681e+02] [-4.50046757e-01 8.93004993e-01 0.00000000e+00 -6.39301831e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.42126578e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.43, Y:-63.94, Z:-0.01 [[ 8.92845957e-01 4.50362184e-01 0.00000000e+00 2.60426757e+02] [-4.50362184e-01 8.92845957e-01 0.00000000e+00 -6.39405413e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.74762502e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.45, Y:-63.95, Z:-0.01 [[ 8.92385864e-01 4.51273166e-01 0.00000000e+00 2.60452181e+02] [-4.51273166e-01 8.92385864e-01 0.00000000e+00 -6.39519575e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.67526052e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.48, Y:-63.96, Z:-0.01 [[ 8.92332643e-01 4.51378393e-01 0.00000000e+00 2.60477282e+02] [-4.51378393e-01 8.92332643e-01 0.00000000e+00 -6.39624963e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.00050959e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.50, Y:-63.97, Z:-0.01 [[ 8.92471600e-01 4.51103583e-01 0.00000000e+00 2.60503156e+02] [-4.51103583e-01 8.92471600e-01 0.00000000e+00 -6.39726750e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.00485410e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.53, Y:-63.98, Z:-0.01 [[ 8.92955374e-01 4.50145200e-01 0.00000000e+00 2.60528289e+02] [-4.50145200e-01 8.92955374e-01 0.00000000e+00 -6.39829951e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.47537752e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.55, Y:-63.99, Z:-0.00 [[ 8.93220952e-01 4.49617983e-01 0.00000000e+00 2.60554246e+02] [-4.49617983e-01 8.93220952e-01 0.00000000e+00 -6.39940864e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.97457753e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.58, Y:-64.00, Z:-0.00 [[ 8.93004473e-01 4.50047787e-01 0.00000000e+00 2.60581053e+02] [-4.50047787e-01 8.93004473e-01 0.00000000e+00 -6.40030406e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29111599e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.61, Y:-64.01, Z:-0.00 [[ 8.92406338e-01 4.51232677e-01 0.00000000e+00 2.60606070e+02] [-4.51232677e-01 8.92406338e-01 0.00000000e+00 -6.40124662e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.94380392e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.63, Y:-64.02, Z:-0.00 [[ 8.91768324e-01 4.52492271e-01 0.00000000e+00 2.60631594e+02] [-4.52492271e-01 8.91768324e-01 0.00000000e+00 -6.40227836e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.25496799e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.66, Y:-64.03, Z:-0.00 [[ 8.90389836e-01 4.55198792e-01 0.00000000e+00 2.60656281e+02] [-4.55198792e-01 8.90389836e-01 0.00000000e+00 -6.40335447e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.09082721e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.68, Y:-64.04, Z:-0.00 [[ 8.89908422e-01 4.56139234e-01 0.00000000e+00 2.60681843e+02] [-4.56139234e-01 8.89908422e-01 0.00000000e+00 -6.40440824e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.18845286e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.71, Y:-64.05, Z:-0.00 [[ 8.89656112e-01 4.56631145e-01 0.00000000e+00 2.60707552e+02] [-4.56631145e-01 8.89656112e-01 0.00000000e+00 -6.40542721e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.49670320e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.73, Y:-64.06, Z:-0.00 [[ 8.89680073e-01 4.56584459e-01 0.00000000e+00 2.60733417e+02] [-4.56584459e-01 8.89680073e-01 0.00000000e+00 -6.40644253e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92849606e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.76, Y:-64.08, Z:0.00 [[ 8.90247681e-01 4.55476747e-01 0.00000000e+00 2.60757385e+02] [-4.55476747e-01 8.90247681e-01 0.00000000e+00 -6.40769662e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.13771423e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.73140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.78, Y:-64.09, Z:0.00 [[ 8.90700552e-01 4.54590504e-01 0.00000000e+00 2.60781991e+02] [-4.54590504e-01 8.90700552e-01 0.00000000e+00 -6.40897143e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08804999e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.81, Y:-64.10, Z:-0.00 [[ 8.91116955e-01 4.53773701e-01 0.00000000e+00 2.60805900e+02] [-4.53773701e-01 8.91116955e-01 0.00000000e+00 -6.41044516e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.89037592e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.83, Y:-64.12, Z:-0.00 [[ 8.91347044e-01 4.53321572e-01 0.00000000e+00 2.60830845e+02] [-4.53321572e-01 8.91347044e-01 0.00000000e+00 -6.41165217e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.24748922e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.86, Y:-64.13, Z:-0.01 [[ 8.91300326e-01 4.53413419e-01 0.00000000e+00 2.60855434e+02] [-4.53413419e-01 8.91300326e-01 0.00000000e+00 -6.41288732e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.54582097e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.851400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:260.88, Y:-64.14, Z:-0.00 [[ 8.91544187e-01 4.52933728e-01 0.00000000e+00 2.60879476e+02] [-4.52933728e-01 8.91544187e-01 0.00000000e+00 -6.41428383e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.57361655e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.91, Y:-64.16, Z:-0.00 [[ 8.91240091e-01 4.53531808e-01 0.00000000e+00 2.60905010e+02] [-4.53531808e-01 8.91240091e-01 0.00000000e+00 -6.41550743e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.39018286e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.93, Y:-64.17, Z:-0.00 [[ 8.90883653e-01 4.54231568e-01 0.00000000e+00 2.60929521e+02] [-4.54231568e-01 8.90883653e-01 0.00000000e+00 -6.41657854e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.20473798e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.95, Y:-64.18, Z:-0.00 [[ 8.90681680e-01 4.54627478e-01 0.00000000e+00 2.60954121e+02] [-4.54627478e-01 8.90681680e-01 0.00000000e+00 -6.41765448e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.60456147e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.98, Y:-64.19, Z:-0.01 [[ 8.90427285e-01 4.55125532e-01 0.00000000e+00 2.60977751e+02] [-4.55125532e-01 8.90427285e-01 0.00000000e+00 -6.41892049e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.34354720e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.00, Y:-64.20, Z:-0.01 [[ 8.90362451e-01 4.55252354e-01 0.00000000e+00 2.61003903e+02] [-4.55252354e-01 8.90362451e-01 0.00000000e+00 -6.42022799e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.82534076e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.03, Y:-64.21, Z:-0.00 [[ 8.90880898e-01 4.54236970e-01 0.00000000e+00 2.61029113e+02] [-4.54236970e-01 8.90880898e-01 0.00000000e+00 -6.42135613e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.80972785e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.05, Y:-64.22, Z:-0.01 [[ 8.91123013e-01 4.53761805e-01 0.00000000e+00 2.61054462e+02] [-4.53761805e-01 8.91123013e-01 0.00000000e+00 -6.42241232e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.22143083e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.08, Y:-64.23, Z:-0.01 [[ 8.91446763e-01 4.53125444e-01 0.00000000e+00 2.61080103e+02] [-4.53125444e-01 8.91446763e-01 0.00000000e+00 -6.42347232e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.47374660e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.121400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:261.11, Y:-64.24, Z:-0.01 [[ 8.92235685e-01 4.51570020e-01 0.00000000e+00 2.61107098e+02] [-4.51570020e-01 8.92235685e-01 0.00000000e+00 -6.42440678e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.79041578e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.13, Y:-64.25, Z:-0.01 [[ 8.92559333e-01 4.50929970e-01 0.00000000e+00 2.61132663e+02] [-4.50929970e-01 8.92559333e-01 0.00000000e+00 -6.42537827e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05954439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.16, Y:-64.26, Z:-0.01 [[ 8.94059158e-01 4.47948906e-01 0.00000000e+00 2.61159950e+02] [-4.47948906e-01 8.94059158e-01 0.00000000e+00 -6.42637546e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.82910921e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.19, Y:-64.27, Z:-0.01 [[ 8.94797284e-01 4.46472642e-01 0.00000000e+00 2.61185949e+02] [-4.46472642e-01 8.94797284e-01 0.00000000e+00 -6.42737045e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.91957405e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.21, Y:-64.28, Z:-0.01 [[ 8.95431356e-01 4.45199604e-01 0.00000000e+00 2.61211641e+02] [-4.45199604e-01 8.95431356e-01 0.00000000e+00 -6.42834185e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.52314700e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.24, Y:-64.29, Z:-0.00 [[ 8.96081852e-01 4.43888854e-01 0.00000000e+00 2.61237603e+02] [-4.43888854e-01 8.96081852e-01 0.00000000e+00 -6.42932999e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.64314506e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.26, Y:-64.30, Z:0.00 [[ 8.97133845e-01 4.41758831e-01 0.00000000e+00 2.61263686e+02] [-4.41758831e-01 8.97133845e-01 0.00000000e+00 -6.43025512e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.84603954e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.29, Y:-64.31, Z:0.00 [[ 8.97811734e-01 4.40379484e-01 0.00000000e+00 2.61289474e+02] [-4.40379484e-01 8.97811734e-01 0.00000000e+00 -6.43125220e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18207213e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.31, Y:-64.32, Z:0.00 [[ 8.98282866e-01 4.39417674e-01 0.00000000e+00 2.61314224e+02] [-4.39417674e-01 8.98282866e-01 0.00000000e+00 -6.43231304e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79554902e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.34, Y:-64.34, Z:-0.00 [[ 8.99765615e-01 4.36373508e-01 0.00000000e+00 2.61338797e+02] [-4.36373508e-01 8.99765615e-01 0.00000000e+00 -6.43366531e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.34112990e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.36, Y:-64.35, Z:0.00 [[ 9.00433133e-01 4.34994452e-01 0.00000000e+00 2.61363531e+02] [-4.34994452e-01 9.00433133e-01 0.00000000e+00 -6.43491701e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.05208654e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.39, Y:-64.36, Z:0.00 [[ 9.00776442e-01 4.34283090e-01 0.00000000e+00 2.61387897e+02] [-4.34283090e-01 9.00776442e-01 0.00000000e+00 -6.43612813e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38963145e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.41, Y:-64.37, Z:0.01 [[ 9.00430102e-01 4.35000727e-01 0.00000000e+00 2.61412564e+02] [-4.35000727e-01 9.00430102e-01 0.00000000e+00 -6.43724582e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.33024532e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.44, Y:-64.38, Z:0.01 [[ 8.99546064e-01 4.36825913e-01 0.00000000e+00 2.61436878e+02] [-4.36825913e-01 8.99546064e-01 0.00000000e+00 -6.43819879e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.25779179e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.46, Y:-64.39, Z:0.01 [[ 8.98823423e-01 4.38310911e-01 0.00000000e+00 2.61464137e+02] [-4.38310911e-01 8.98823423e-01 0.00000000e+00 -6.43940021e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.29157934e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.49, Y:-64.41, Z:0.00 [[ 8.96827882e-01 4.42379645e-01 0.00000000e+00 2.61489879e+02] [-4.42379645e-01 8.96827882e-01 0.00000000e+00 -6.44057132e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97651039e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.601400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:261.52, Y:-64.42, Z:0.00 [[ 8.95949964e-01 4.44154997e-01 0.00000000e+00 2.61516330e+02] [-4.44154997e-01 8.95949964e-01 0.00000000e+00 -6.44163291e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34014522e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.54, Y:-64.43, Z:0.00 [[ 8.94337529e-01 4.47392874e-01 0.00000000e+00 2.61540882e+02] [-4.47392874e-01 8.94337529e-01 0.00000000e+00 -6.44264898e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.25872535e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.57, Y:-64.44, Z:0.00 [[ 8.94417002e-01 4.47233974e-01 0.00000000e+00 2.61567274e+02] [-4.47233974e-01 8.94417002e-01 0.00000000e+00 -6.44372631e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.25872535e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.59, Y:-64.45, Z:0.00 [[ 8.92185128e-01 4.51669899e-01 0.00000000e+00 2.61592952e+02] [-4.51669899e-01 8.92185128e-01 0.00000000e+00 -6.44478164e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01672566e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.62, Y:-64.46, Z:0.00 [[ 8.91398761e-01 4.53219869e-01 0.00000000e+00 2.61619207e+02] [-4.53219869e-01 8.91398761e-01 0.00000000e+00 -6.44587380e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58003764e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.65, Y:-64.47, Z:-0.00 [[ 8.90201843e-01 4.55566327e-01 0.00000000e+00 2.61645028e+02] [-4.55566327e-01 8.90201843e-01 0.00000000e+00 -6.44680043e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.21071196e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.67, Y:-64.48, Z:-0.00 [[ 8.89729067e-01 4.56488977e-01 0.00000000e+00 2.61670502e+02] [-4.56488977e-01 8.89729067e-01 0.00000000e+00 -6.44776362e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.99476804e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.70, Y:-64.49, Z:-0.00 [[ 8.89490114e-01 4.56954415e-01 0.00000000e+00 2.61696654e+02] [-4.56954415e-01 8.89490114e-01 0.00000000e+00 -6.44883347e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85065043e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.72, Y:-64.50, Z:-0.00 [[ 8.89427785e-01 4.57075721e-01 0.00000000e+00 2.61721879e+02] [-4.57075721e-01 8.89427785e-01 0.00000000e+00 -6.44977570e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.49513347e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.75, Y:-64.51, Z:-0.00 [[ 8.89893561e-01 4.56168226e-01 0.00000000e+00 2.61748155e+02] [-4.56168226e-01 8.89893561e-01 0.00000000e+00 -6.45064252e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74578700e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.77, Y:-64.51, Z:-0.00 [[ 8.90319242e-01 4.55336851e-01 0.00000000e+00 2.61773807e+02] [-4.55336851e-01 8.90319242e-01 0.00000000e+00 -6.45143400e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.21148643e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.80, Y:-64.52, Z:-0.01 [[ 8.90961152e-01 4.54079537e-01 0.00000000e+00 2.61799910e+02] [-4.54079537e-01 8.90961152e-01 0.00000000e+00 -6.45232451e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.74025847e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.83, Y:-64.53, Z:-0.01 [[ 8.92172133e-01 4.51695566e-01 0.00000000e+00 2.61826562e+02] [-4.51695566e-01 8.92172133e-01 0.00000000e+00 -6.45317224e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.38259342e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.85, Y:-64.54, Z:-0.01 [[ 8.92933982e-01 4.50187631e-01 0.00000000e+00 2.61853269e+02] [-4.50187631e-01 8.92933982e-01 0.00000000e+00 -6.45391679e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.86593645e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.88, Y:-64.54, Z:-0.01 [[ 8.94531181e-01 4.47005554e-01 0.00000000e+00 2.61881256e+02] [-4.47005554e-01 8.94531181e-01 0.00000000e+00 -6.45435170e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.61178321e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.91, Y:-64.55, Z:-0.01 [[ 8.95369261e-01 4.45324473e-01 0.00000000e+00 2.61908388e+02] [-4.45324473e-01 8.95369261e-01 0.00000000e+00 -6.45519879e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.70548250e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.93, Y:-64.56, Z:-0.01 [[ 8.96008609e-01 4.44036680e-01 0.00000000e+00 2.61934215e+02] [-4.44036680e-01 8.96008609e-01 0.00000000e+00 -6.45600709e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.64077269e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.96, Y:-64.57, Z:-0.00 [[ 8.96773631e-01 4.42489610e-01 0.00000000e+00 2.61962815e+02] [-4.42489610e-01 8.96773631e-01 0.00000000e+00 -6.45651639e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.85469855e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.99, Y:-64.57, Z:-0.00 [[ 8.97201703e-01 4.41620997e-01 0.00000000e+00 2.61989527e+02] [-4.41620997e-01 8.97201703e-01 0.00000000e+00 -6.45722910e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69913037e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.02, Y:-64.58, Z:0.00 [[ 8.97847750e-01 4.40306051e-01 0.00000000e+00 2.62016434e+02] [-4.40306051e-01 8.97847750e-01 0.00000000e+00 -6.45796479e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.47421089e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.04, Y:-64.58, Z:0.00 [[ 8.98929735e-01 4.38092834e-01 0.00000000e+00 2.62044183e+02] [-4.38092834e-01 8.98929735e-01 0.00000000e+00 -6.45845997e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89338146e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.23140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.07, Y:-64.59, Z:0.00 [[ 8.99462458e-01 4.36998041e-01 0.00000000e+00 2.62069737e+02] [-4.36998041e-01 8.99462458e-01 0.00000000e+00 -6.45932495e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47381398e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.10, Y:-64.60, Z:0.00 [[ 9.00414199e-01 4.35033644e-01 0.00000000e+00 2.62095981e+02] [-4.35033644e-01 9.00414199e-01 0.00000000e+00 -6.46035510e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36302580e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.12, Y:-64.61, Z:0.00 [[ 9.00712758e-01 4.34415155e-01 0.00000000e+00 2.62121746e+02] [-4.34415155e-01 9.00712758e-01 0.00000000e+00 -6.46148071e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58996482e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.15, Y:-64.63, Z:0.01 [[ 9.00828711e-01 4.34174658e-01 0.00000000e+00 2.62146873e+02] [-4.34174658e-01 9.00828711e-01 0.00000000e+00 -6.46262333e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.02408428e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.17, Y:-64.64, Z:0.01 [[ 9.00263506e-01 4.35345403e-01 0.00000000e+00 2.62170631e+02] [-4.35345403e-01 9.00263506e-01 0.00000000e+00 -6.46384651e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.26631861e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.20, Y:-64.65, Z:0.00 [[ 8.99869571e-01 4.36159093e-01 0.00000000e+00 2.62196388e+02] [-4.36159093e-01 8.99869571e-01 0.00000000e+00 -6.46492865e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36288144e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.22, Y:-64.66, Z:0.00 [[ 8.99315810e-01 4.37299753e-01 0.00000000e+00 2.62222698e+02] [-4.37299753e-01 8.99315810e-01 0.00000000e+00 -6.46602340e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45764239e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.25, Y:-64.67, Z:0.00 [[ 8.97858686e-01 4.40283749e-01 0.00000000e+00 2.62248101e+02] [-4.40283749e-01 8.97858686e-01 0.00000000e+00 -6.46705787e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45984514e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.27, Y:-64.68, Z:0.00 [[ 8.97177753e-01 4.41669650e-01 0.00000000e+00 2.62273689e+02] [-4.41669650e-01 8.97177753e-01 0.00000000e+00 -6.46811765e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50123722e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.30, Y:-64.69, Z:0.01 [[ 8.96467885e-01 4.43108712e-01 0.00000000e+00 2.62299590e+02] [-4.43108712e-01 8.96467885e-01 0.00000000e+00 -6.46930242e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.42547410e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.32, Y:-64.70, Z:0.01 [[ 8.96423771e-01 4.43197949e-01 0.00000000e+00 2.62324754e+02] [-4.43197949e-01 8.96423771e-01 0.00000000e+00 -6.47040518e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.36209578e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.35, Y:-64.72, Z:0.01 [[ 8.96762621e-01 4.42511923e-01 0.00000000e+00 2.62350415e+02] [-4.42511923e-01 8.96762621e-01 0.00000000e+00 -6.47156771e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.94084876e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.37, Y:-64.73, Z:0.01 [[ 8.97953981e-01 4.40089365e-01 0.00000000e+00 2.62373268e+02] [-4.40089365e-01 8.97953981e-01 0.00000000e+00 -6.47305692e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.84153817e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.40, Y:-64.74, Z:0.00 [[ 8.98831352e-01 4.38294650e-01 0.00000000e+00 2.62397958e+02] [-4.38294650e-01 8.98831352e-01 0.00000000e+00 -6.47442552e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.74812527e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.42, Y:-64.76, Z:0.00 [[ 8.99671366e-01 4.36567787e-01 0.00000000e+00 2.62421428e+02] [-4.36567787e-01 8.99671366e-01 0.00000000e+00 -6.47572079e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74617309e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.45, Y:-64.77, Z:0.00 [[ 9.00552101e-01 4.34748103e-01 0.00000000e+00 2.62446507e+02] [-4.34748103e-01 9.00552101e-01 0.00000000e+00 -6.47705513e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83821237e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.711400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:262.47, Y:-64.79, Z:0.00 [[ 9.01890645e-01 4.31964425e-01 0.00000000e+00 2.62468900e+02] [-4.31964425e-01 9.01890645e-01 0.00000000e+00 -6.47859928e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.76170989e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.49, Y:-64.80, Z:0.01 [[ 9.01922705e-01 4.31897480e-01 0.00000000e+00 2.62493413e+02] [-4.31897480e-01 9.01922705e-01 0.00000000e+00 -6.47995440e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.77584306e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.52, Y:-64.82, Z:0.01 [[ 9.01240495e-01 4.33319247e-01 0.00000000e+00 2.62516525e+02] [-4.33319247e-01 9.01240495e-01 0.00000000e+00 -6.48152745e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.96067787e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.54, Y:-64.83, Z:0.01 [[ 9.00836725e-01 4.34158031e-01 0.00000000e+00 2.62540950e+02] [-4.34158031e-01 9.00836725e-01 0.00000000e+00 -6.48289492e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.41778939e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.56, Y:-64.84, Z:0.01 [[ 9.00585898e-01 4.34678089e-01 0.00000000e+00 2.62564933e+02] [-4.34678089e-01 9.00585898e-01 0.00000000e+00 -6.48431273e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.25186384e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.59, Y:-64.86, Z:0.01 [[ 9.00074331e-01 4.35736387e-01 0.00000000e+00 2.62587061e+02] [-4.35736387e-01 9.00074331e-01 0.00000000e+00 -6.48624565e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.94506422e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.61, Y:-64.88, Z:0.01 [[ 8.99853081e-01 4.36193114e-01 0.00000000e+00 2.62610236e+02] [-4.36193114e-01 8.99853081e-01 0.00000000e+00 -6.48760399e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.98109424e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92140051300004 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:262.63, Y:-64.89, Z:0.01 [[ 8.99430609e-01 4.37063587e-01 0.00000000e+00 2.62634046e+02] [-4.37063587e-01 8.99430609e-01 0.00000000e+00 -6.48890619e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.73580119e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.66, Y:-64.91, Z:0.00 [[ 8.97960006e-01 4.40077070e-01 0.00000000e+00 2.62658743e+02] [-4.40077070e-01 8.97960006e-01 0.00000000e+00 -6.49069549e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.99749423e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.68, Y:-64.92, Z:0.00 [[ 8.96935137e-01 4.42162143e-01 0.00000000e+00 2.62682431e+02] [-4.42162143e-01 8.96935137e-01 0.00000000e+00 -6.49209166e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.76849599e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.71, Y:-64.94, Z:0.01 [[ 8.95987052e-01 4.44080176e-01 0.00000000e+00 2.62706996e+02] [-4.44080176e-01 8.95987052e-01 0.00000000e+00 -6.49350433e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.35306269e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.73, Y:-64.95, Z:0.01 [[ 8.94222300e-01 4.47623144e-01 0.00000000e+00 2.62730824e+02] [-4.47623144e-01 8.94222300e-01 0.00000000e+00 -6.49518415e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.93354130e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.76, Y:-64.97, Z:0.01 [[ 8.93535308e-01 4.48992932e-01 0.00000000e+00 2.62755720e+02] [-4.48992932e-01 8.93535308e-01 0.00000000e+00 -6.49660034e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.56421514e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.78, Y:-64.98, Z:0.01 [[ 8.92453240e-01 4.51139906e-01 0.00000000e+00 2.62778078e+02] [-4.51139906e-01 8.92453240e-01 0.00000000e+00 -6.49827116e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.50547866e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.80, Y:-64.99, Z:0.01 [[ 8.92063211e-01 4.51910641e-01 0.00000000e+00 2.62802111e+02] [-4.51910641e-01 8.92063211e-01 0.00000000e+00 -6.49946963e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.90458794e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.83, Y:-65.01, Z:0.01 [[ 8.91808816e-01 4.52412463e-01 0.00000000e+00 2.62827946e+02] [-4.52412463e-01 8.91808816e-01 0.00000000e+00 -6.50064522e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.49152567e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.85, Y:-65.02, Z:0.00 [[ 8.91562928e-01 4.52896837e-01 0.00000000e+00 2.62851381e+02] [-4.52896837e-01 8.91562928e-01 0.00000000e+00 -6.50202231e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.96500014e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.88, Y:-65.03, Z:0.00 [[ 8.91825130e-01 4.52380302e-01 0.00000000e+00 2.62876598e+02] [-4.52380302e-01 8.91825130e-01 0.00000000e+00 -6.50330367e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.98387207e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.90, Y:-65.05, Z:0.01 [[ 8.92037095e-01 4.51962189e-01 0.00000000e+00 2.62901955e+02] [-4.51962189e-01 8.92037095e-01 0.00000000e+00 -6.50456652e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.00382999e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.93, Y:-65.06, Z:0.01 [[ 8.92668883e-01 4.50713063e-01 0.00000000e+00 2.62926779e+02] [-4.50713063e-01 8.92668883e-01 0.00000000e+00 -6.50571503e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.30471715e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.95, Y:-65.07, Z:0.01 [[ 8.93020920e-01 4.50015152e-01 0.00000000e+00 2.62953085e+02] [-4.50015152e-01 8.93020920e-01 0.00000000e+00 -6.50673045e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.96260417e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.98, Y:-65.08, Z:0.00 [[ 8.93294190e-01 4.49472457e-01 0.00000000e+00 2.62979058e+02] [-4.49472457e-01 8.93294190e-01 0.00000000e+00 -6.50773173e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.07262970e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.01, Y:-65.09, Z:0.00 [[ 8.93919470e-01 4.48227600e-01 0.00000000e+00 2.63005219e+02] [-4.48227600e-01 8.93919470e-01 0.00000000e+00 -6.50855908e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18788243e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.03, Y:-65.09, Z:0.00 [[ 8.94329588e-01 4.47408747e-01 0.00000000e+00 2.63031791e+02] [-4.47408747e-01 8.94329588e-01 0.00000000e+00 -6.50948966e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77322464e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.06, Y:-65.10, Z:0.00 [[ 8.94814808e-01 4.46437520e-01 0.00000000e+00 2.63058073e+02] [-4.46437520e-01 8.94814808e-01 0.00000000e+00 -6.51040418e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99971516e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.08, Y:-65.11, Z:0.00 [[ 8.96252757e-01 4.43543679e-01 0.00000000e+00 2.63083691e+02] [-4.43543679e-01 8.96252757e-01 0.00000000e+00 -6.51129078e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28749353e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.11, Y:-65.12, Z:0.00 [[ 8.97267043e-01 4.41488227e-01 0.00000000e+00 2.63109965e+02] [-4.41488227e-01 8.97267043e-01 0.00000000e+00 -6.51231146e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89412288e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.14, Y:-65.13, Z:0.00 [[ 8.97345454e-01 4.41328831e-01 0.00000000e+00 2.63136456e+02] [-4.41328831e-01 8.97345454e-01 0.00000000e+00 -6.51336703e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89412288e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.16, Y:-65.14, Z:0.01 [[ 8.99446218e-01 4.37031465e-01 0.00000000e+00 2.63162682e+02] [-4.37031465e-01 8.99446218e-01 0.00000000e+00 -6.51439522e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.23498186e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.19, Y:-65.15, Z:0.01 [[ 9.00508399e-01 4.34838617e-01 0.00000000e+00 2.63188677e+02] [-4.34838617e-01 9.00508399e-01 0.00000000e+00 -6.51545180e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.17181515e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.21, Y:-65.17, Z:0.01 [[ 9.01383754e-01 4.33021163e-01 0.00000000e+00 2.63213583e+02] [-4.33021163e-01 9.01383754e-01 0.00000000e+00 -6.51652192e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.75888377e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.24, Y:-65.18, Z:0.01 [[ 9.02529260e-01 4.30628535e-01 0.00000000e+00 2.63239437e+02] [-4.30628535e-01 9.02529260e-01 0.00000000e+00 -6.51786166e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.43990655e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.26, Y:-65.19, Z:0.01 [[ 9.03025401e-01 4.29587157e-01 0.00000000e+00 2.63264362e+02] [-4.29587157e-01 9.03025401e-01 0.00000000e+00 -6.51906258e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.67590452e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.29, Y:-65.20, Z:0.00 [[ 9.03360111e-01 4.28882863e-01 0.00000000e+00 2.63289962e+02] [-4.28882863e-01 9.03360111e-01 0.00000000e+00 -6.52029766e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95246392e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.73140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.31, Y:-65.22, Z:0.00 [[ 9.03653514e-01 4.28264318e-01 0.00000000e+00 2.63314244e+02] [-4.28264318e-01 9.03653514e-01 0.00000000e+00 -6.52163750e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27012232e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.34, Y:-65.23, Z:0.00 [[ 9.03523012e-01 4.28539573e-01 0.00000000e+00 2.63340175e+02] [-4.28539573e-01 9.03523012e-01 0.00000000e+00 -6.52289784e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52154528e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.37, Y:-65.24, Z:0.00 [[ 9.03153946e-01 4.29316840e-01 0.00000000e+00 2.63366619e+02] [-4.29316840e-01 9.03153946e-01 0.00000000e+00 -6.52414184e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74886289e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.39, Y:-65.25, Z:0.00 [[ 9.02625560e-01 4.30426646e-01 0.00000000e+00 2.63391752e+02] [-4.30426646e-01 9.02625560e-01 0.00000000e+00 -6.52524494e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42479769e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.42, Y:-65.26, Z:0.01 [[ 9.00866709e-01 4.34095810e-01 0.00000000e+00 2.63418279e+02] [-4.34095810e-01 9.00866709e-01 0.00000000e+00 -6.52644873e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.04981352e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.45, Y:-65.28, Z:0.01 [[ 9.00077657e-01 4.35729515e-01 0.00000000e+00 2.63445107e+02] [-4.35729515e-01 9.00077657e-01 0.00000000e+00 -6.52760726e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.12404523e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.911400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:263.47, Y:-65.29, Z:0.01 [[ 8.99773531e-01 4.36357186e-01 0.00000000e+00 2.63470831e+02] [-4.36357186e-01 8.99773531e-01 0.00000000e+00 -6.52871995e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.54769344e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.50, Y:-65.30, Z:0.01 [[ 8.99844120e-01 4.36211601e-01 0.00000000e+00 2.63496916e+02] [-4.36211601e-01 8.99844120e-01 0.00000000e+00 -6.52987292e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.14774000e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.52, Y:-65.31, Z:0.00 [[ 9.01073352e-01 4.33666708e-01 0.00000000e+00 2.63522690e+02] [-4.33666708e-01 9.01073352e-01 0.00000000e+00 -6.53100698e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22281397e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.55, Y:-65.32, Z:0.00 [[ 9.02113559e-01 4.31498699e-01 0.00000000e+00 2.63549293e+02] [-4.31498699e-01 9.02113559e-01 0.00000000e+00 -6.53224100e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23544807e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.58, Y:-65.34, Z:0.00 [[ 9.03465200e-01 4.28661442e-01 0.00000000e+00 2.63575225e+02] [-4.28661442e-01 9.03465200e-01 0.00000000e+00 -6.53354181e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.34873043e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.60, Y:-65.35, Z:0.00 [[ 9.05980204e-01 4.23320056e-01 0.00000000e+00 2.63598911e+02] [-4.23320056e-01 9.05980204e-01 0.00000000e+00 -6.53493569e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.53460274e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.63, Y:-65.36, Z:0.00 [[ 9.06691524e-01 4.21794358e-01 0.00000000e+00 2.63625685e+02] [-4.21794358e-01 9.06691524e-01 0.00000000e+00 -6.53606475e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86231411e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.65, Y:-65.37, Z:0.00 [[ 9.06826252e-01 4.21504625e-01 0.00000000e+00 2.63651994e+02] [-4.21504625e-01 9.06826252e-01 0.00000000e+00 -6.53713095e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96876850e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.68, Y:-65.38, Z:0.00 [[ 9.06255576e-01 4.22730210e-01 0.00000000e+00 2.63677746e+02] [-4.22730210e-01 9.06255576e-01 0.00000000e+00 -6.53824802e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93366331e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.70, Y:-65.39, Z:0.00 [[ 9.03830411e-01 4.27890860e-01 0.00000000e+00 2.63702797e+02] [-4.27890860e-01 9.03830411e-01 0.00000000e+00 -6.53947527e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79134813e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.73, Y:-65.40, Z:0.00 [[ 9.02677216e-01 4.30318305e-01 0.00000000e+00 2.63728498e+02] [-4.30318305e-01 9.02677216e-01 0.00000000e+00 -6.54047647e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57145421e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.76, Y:-65.41, Z:0.00 [[ 9.01892502e-01 4.31960547e-01 0.00000000e+00 2.63755992e+02] [-4.31960547e-01 9.01892502e-01 0.00000000e+00 -6.54147927e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25848941e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.78, Y:-65.42, Z:0.00 [[ 9.01559939e-01 4.32654223e-01 0.00000000e+00 2.63782160e+02] [-4.32654223e-01 9.01559939e-01 0.00000000e+00 -6.54242538e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02560659e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.81, Y:-65.43, Z:-0.00 [[ 9.01615370e-01 4.32538697e-01 0.00000000e+00 2.63808646e+02] [-4.32538697e-01 9.01615370e-01 0.00000000e+00 -6.54345266e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.66114880e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.83, Y:-65.45, Z:-0.00 [[ 9.01881236e-01 4.31984069e-01 0.00000000e+00 2.63834560e+02] [-4.31984069e-01 9.01881236e-01 0.00000000e+00 -6.54450671e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.65344865e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.86, Y:-65.45, Z:-0.01 [[ 9.01959302e-01 4.31821049e-01 0.00000000e+00 2.63860105e+02] [-4.31821049e-01 9.01959302e-01 0.00000000e+00 -6.54549844e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.17904826e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.89, Y:-65.46, Z:-0.01 [[ 9.02123365e-01 4.31478197e-01 0.00000000e+00 2.63886472e+02] [-4.31478197e-01 9.02123365e-01 0.00000000e+00 -6.54635964e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.53870325e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.91, Y:-65.47, Z:-0.01 [[ 9.02307652e-01 4.31092683e-01 0.00000000e+00 2.63912218e+02] [-4.31092683e-01 9.02307652e-01 0.00000000e+00 -6.54716158e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.69942102e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.94, Y:-65.48, Z:-0.01 [[ 9.02874661e-01 4.29903880e-01 0.00000000e+00 2.63938889e+02] [-4.29903880e-01 9.02874661e-01 0.00000000e+00 -6.54793771e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.71857399e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.96, Y:-65.49, Z:-0.01 [[ 9.03493326e-01 4.28602158e-01 0.00000000e+00 2.63964342e+02] [-4.28602158e-01 9.03493326e-01 0.00000000e+00 -6.54890242e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.37056893e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.99, Y:-65.50, Z:-0.01 [[ 9.04317693e-01 4.26860059e-01 0.00000000e+00 2.63990575e+02] [-4.26860059e-01 9.04317693e-01 0.00000000e+00 -6.54990825e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.45307961e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.02, Y:-65.51, Z:-0.01 [[ 9.05085226e-01 4.25230213e-01 0.00000000e+00 2.64016955e+02] [-4.25230213e-01 9.05085226e-01 0.00000000e+00 -6.55089483e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.04348459e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.04, Y:-65.52, Z:-0.01 [[ 9.06082730e-01 4.23100562e-01 0.00000000e+00 2.64043484e+02] [-4.23100562e-01 9.06082730e-01 0.00000000e+00 -6.55175553e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.56858103e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.07, Y:-65.53, Z:-0.01 [[ 9.06442305e-01 4.22329668e-01 0.00000000e+00 2.64069460e+02] [-4.22329668e-01 9.06442305e-01 0.00000000e+00 -6.55267653e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.81106715e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.09, Y:-65.54, Z:-0.01 [[ 9.06660906e-01 4.21860167e-01 0.00000000e+00 2.64094972e+02] [-4.21860167e-01 9.06660906e-01 0.00000000e+00 -6.55356992e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.96067980e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.12, Y:-65.54, Z:-0.01 [[ 9.06848856e-01 4.21455991e-01 0.00000000e+00 2.64121214e+02] [-4.21455991e-01 9.06848856e-01 0.00000000e+00 -6.55437000e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.23612444e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.15, Y:-65.55, Z:-0.01 [[ 9.06842582e-01 4.21469490e-01 0.00000000e+00 2.64147236e+02] [-4.21469490e-01 9.06842582e-01 0.00000000e+00 -6.55531644e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.03973190e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.17, Y:-65.56, Z:-0.01 [[ 9.06966558e-01 4.21202639e-01 0.00000000e+00 2.64173732e+02] [-4.21202639e-01 9.06966558e-01 0.00000000e+00 -6.55629178e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09798143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.20, Y:-65.57, Z:-0.01 [[ 9.07344779e-01 4.20387265e-01 0.00000000e+00 2.64199200e+02] [-4.20387265e-01 9.07344779e-01 0.00000000e+00 -6.55721584e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33693114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.23, Y:-65.58, Z:-0.02 [[ 9.07755064e-01 4.19500589e-01 0.00000000e+00 2.64225469e+02] [-4.19500589e-01 9.07755064e-01 0.00000000e+00 -6.55806414e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52073569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.25, Y:-65.59, Z:-0.02 [[ 9.08615401e-01 4.17633875e-01 0.00000000e+00 2.64252437e+02] [-4.17633875e-01 9.08615401e-01 0.00000000e+00 -6.55867535e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70226162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.28, Y:-65.60, Z:-0.02 [[ 9.09116683e-01 4.16541542e-01 0.00000000e+00 2.64279040e+02] [-4.16541542e-01 9.09116683e-01 0.00000000e+00 -6.55958235e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70788152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.31, Y:-65.60, Z:-0.02 [[ 9.09391878e-01 4.15940395e-01 0.00000000e+00 2.64305187e+02] [-4.15940395e-01 9.09391878e-01 0.00000000e+00 -6.56046707e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72247748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.33, Y:-65.61, Z:-0.02 [[ 9.09383228e-01 4.15959308e-01 0.00000000e+00 2.64331461e+02] [-4.15959308e-01 9.09383228e-01 0.00000000e+00 -6.56131656e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93639210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.36, Y:-65.62, Z:-0.02 [[ 9.09131924e-01 4.16508277e-01 0.00000000e+00 2.64358829e+02] [-4.16508277e-01 9.09131924e-01 0.00000000e+00 -6.56220010e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03266296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.39, Y:-65.63, Z:-0.02 [[ 9.08071288e-01 4.18815635e-01 0.00000000e+00 2.64386592e+02] [-4.18815635e-01 9.08071288e-01 0.00000000e+00 -6.56291779e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89508643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.41, Y:-65.64, Z:-0.02 [[ 9.07377645e-01 4.20316320e-01 0.00000000e+00 2.64413979e+02] [-4.20316320e-01 9.07377645e-01 0.00000000e+00 -6.56383162e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68977653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.44, Y:-65.65, Z:-0.02 [[ 9.06601352e-01 4.21988137e-01 0.00000000e+00 2.64439827e+02] [-4.21988137e-01 9.06601352e-01 0.00000000e+00 -6.56463992e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60553041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.47, Y:-65.65, Z:-0.02 [[ 9.05082609e-01 4.25235784e-01 0.00000000e+00 2.64468486e+02] [-4.25235784e-01 9.05082609e-01 0.00000000e+00 -6.56494542e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08705340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.50, Y:-65.66, Z:-0.02 [[ 9.04314013e-01 4.26867854e-01 0.00000000e+00 2.64496275e+02] [-4.26867854e-01 9.04314013e-01 0.00000000e+00 -6.56551674e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43657089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.52, Y:-65.66, Z:-0.03 [[ 9.03667981e-01 4.28233792e-01 0.00000000e+00 2.64523209e+02] [-4.28233792e-01 9.03667981e-01 0.00000000e+00 -6.56609871e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61380014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.55, Y:-65.67, Z:-0.03 [[ 9.03351261e-01 4.28901504e-01 0.00000000e+00 2.64549490e+02] [-4.28901504e-01 9.03351261e-01 0.00000000e+00 -6.56674314e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.68663419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.58, Y:-65.68, Z:-0.02 [[ 9.03322222e-01 4.28962659e-01 0.00000000e+00 2.64576251e+02] [-4.28962659e-01 9.03322222e-01 0.00000000e+00 -6.56750779e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47505395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.60, Y:-65.68, Z:-0.03 [[ 9.04091188e-01 4.27339589e-01 0.00000000e+00 2.64603783e+02] [-4.27339589e-01 9.04091188e-01 0.00000000e+00 -6.56823314e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.75380828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.23140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.63, Y:-65.69, Z:-0.03 [[ 9.05012078e-01 4.25385870e-01 0.00000000e+00 2.64630771e+02] [-4.25385870e-01 9.05012078e-01 0.00000000e+00 -6.56924479e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.81997939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.66, Y:-65.70, Z:-0.03 [[ 9.05902942e-01 4.23485372e-01 0.00000000e+00 2.64655993e+02] [-4.23485372e-01 9.05902942e-01 0.00000000e+00 -6.57034961e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.02368386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.68, Y:-65.72, Z:-0.03 [[ 9.06859904e-01 4.21432219e-01 0.00000000e+00 2.64681510e+02] [-4.21432219e-01 9.06859904e-01 0.00000000e+00 -6.57150315e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.92429739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.71, Y:-65.73, Z:-0.03 [[ 9.08057125e-01 4.18846342e-01 0.00000000e+00 2.64706810e+02] [-4.18846342e-01 9.08057125e-01 0.00000000e+00 -6.57276624e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.73347210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.73, Y:-65.74, Z:-0.03 [[ 9.08238163e-01 4.18453628e-01 0.00000000e+00 2.64732210e+02] [-4.18453628e-01 9.08238163e-01 0.00000000e+00 -6.57385991e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.64017076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.76, Y:-65.75, Z:-0.03 [[ 9.07867364e-01 4.19257497e-01 0.00000000e+00 2.64756948e+02] [-4.19257497e-01 9.07867364e-01 0.00000000e+00 -6.57490562e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.76126324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.78, Y:-65.76, Z:-0.03 [[ 9.07178150e-01 4.20746723e-01 0.00000000e+00 2.64783494e+02] [-4.20746723e-01 9.07178150e-01 0.00000000e+00 -6.57598053e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.99705919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.81, Y:-65.77, Z:-0.03 [[ 9.06237955e-01 4.22767985e-01 0.00000000e+00 2.64810236e+02] [-4.22767985e-01 9.06237955e-01 0.00000000e+00 -6.57700216e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.05727259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.84, Y:-65.78, Z:-0.03 [[ 9.06316688e-01 4.22599172e-01 0.00000000e+00 2.64836776e+02] [-4.22599172e-01 9.06316688e-01 0.00000000e+00 -6.57804388e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.05727259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.86, Y:-65.79, Z:-0.03 [[ 9.05268409e-01 4.24840097e-01 0.00000000e+00 2.64863403e+02] [-4.24840097e-01 9.05268409e-01 0.00000000e+00 -6.57898250e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.26482836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.89, Y:-65.80, Z:-0.03 [[ 9.03547398e-01 4.28488156e-01 0.00000000e+00 2.64890190e+02] [-4.28488156e-01 9.03547398e-01 0.00000000e+00 -6.57966476e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.32967907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.92, Y:-65.81, Z:-0.03 [[ 9.03175378e-01 4.29271752e-01 0.00000000e+00 2.64917393e+02] [-4.29271752e-01 9.03175378e-01 0.00000000e+00 -6.58054748e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.39272666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.94, Y:-65.81, Z:-0.04 [[ 9.03238522e-01 4.29138872e-01 0.00000000e+00 2.64943261e+02] [-4.29138872e-01 9.03238522e-01 0.00000000e+00 -6.58149105e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.53699883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.97, Y:-65.83, Z:-0.04 [[ 9.03829406e-01 4.27892982e-01 0.00000000e+00 2.64969897e+02] [-4.27892982e-01 9.03829406e-01 0.00000000e+00 -6.58254774e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.65496436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.00, Y:-65.84, Z:-0.03 [[ 9.06096512e-01 4.23071047e-01 0.00000000e+00 2.64995788e+02] [-4.23071047e-01 9.06096512e-01 0.00000000e+00 -6.58372314e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.41982007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.02, Y:-65.85, Z:-0.03 [[ 9.07665758e-01 4.19693783e-01 0.00000000e+00 2.65020701e+02] [-4.19693783e-01 9.07665758e-01 0.00000000e+00 -6.58483118e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.46069266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.711400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:265.05, Y:-65.86, Z:-0.03 [[ 9.09377409e-01 4.15972027e-01 0.00000000e+00 2.65046865e+02] [-4.15972027e-01 9.09377409e-01 0.00000000e+00 -6.58607063e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.30007923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.07, Y:-65.87, Z:-0.04 [[ 9.10893959e-01 4.12640517e-01 0.00000000e+00 2.65071551e+02] [-4.12640517e-01 9.10893959e-01 0.00000000e+00 -6.58732557e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.57052827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.771400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:265.10, Y:-65.89, Z:-0.04 [[ 9.11865877e-01 4.10488274e-01 0.00000000e+00 2.65095828e+02] [-4.10488274e-01 9.11865877e-01 0.00000000e+00 -6.58865867e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.52676274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.12, Y:-65.90, Z:-0.03 [[ 9.13035332e-01 4.07880475e-01 0.00000000e+00 2.65120008e+02] [-4.07880475e-01 9.13035332e-01 0.00000000e+00 -6.59005694e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.36037803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.15, Y:-65.91, Z:-0.03 [[ 9.12932405e-01 4.08110798e-01 0.00000000e+00 2.65145911e+02] [-4.08110798e-01 9.12932405e-01 0.00000000e+00 -6.59133250e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.22042329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86140051300004 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:265.17, Y:-65.93, Z:-0.03 [[ 9.12402605e-01 4.09293888e-01 0.00000000e+00 2.65170606e+02] [-4.09293888e-01 9.12402605e-01 0.00000000e+00 -6.59250556e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.07680188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.20, Y:-65.94, Z:-0.04 [[ 9.11893209e-01 4.10427552e-01 0.00000000e+00 2.65196456e+02] [-4.10427552e-01 9.11893209e-01 0.00000000e+00 -6.59372570e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.56195661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.22, Y:-65.95, Z:-0.04 [[ 9.11187938e-01 4.11990948e-01 0.00000000e+00 2.65222675e+02] [-4.11990948e-01 9.11187938e-01 0.00000000e+00 -6.59491033e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.63108540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.25, Y:-65.96, Z:-0.04 [[ 9.10321573e-01 4.13901720e-01 0.00000000e+00 2.65249068e+02] [-4.13901720e-01 9.10321573e-01 0.00000000e+00 -6.59608937e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.57329482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.28, Y:-65.97, Z:-0.03 [[ 9.08447075e-01 4.17999895e-01 0.00000000e+00 2.65275282e+02] [-4.17999895e-01 9.08447075e-01 0.00000000e+00 -6.59749877e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.81501030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.30, Y:-65.99, Z:-0.03 [[ 9.07868104e-01 4.19255896e-01 0.00000000e+00 2.65301196e+02] [-4.19255896e-01 9.07868104e-01 0.00000000e+00 -6.59875841e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.56494737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.33, Y:-66.00, Z:-0.03 [[ 9.07469727e-01 4.20117478e-01 0.00000000e+00 2.65326296e+02] [-4.20117478e-01 9.07469727e-01 0.00000000e+00 -6.59993423e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.86696253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.35, Y:-66.01, Z:-0.03 [[ 9.07219684e-01 4.20657159e-01 0.00000000e+00 2.65353174e+02] [-4.20657159e-01 9.07219684e-01 0.00000000e+00 -6.60108970e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.95052159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.38, Y:-66.02, Z:-0.03 [[ 9.07410417e-01 4.20245566e-01 0.00000000e+00 2.65377766e+02] [-4.20245566e-01 9.07410417e-01 0.00000000e+00 -6.60217277e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.17760465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.40, Y:-66.03, Z:-0.03 [[ 9.07755354e-01 4.19499961e-01 0.00000000e+00 2.65404388e+02] [-4.19499961e-01 9.07755354e-01 0.00000000e+00 -6.60326766e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.88796734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.43, Y:-66.04, Z:-0.03 [[ 9.07861475e-01 4.19270249e-01 0.00000000e+00 2.65430525e+02] [-4.19270249e-01 9.07861475e-01 0.00000000e+00 -6.60443686e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61762072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.46, Y:-66.06, Z:-0.03 [[ 9.07919883e-01 4.19143753e-01 0.00000000e+00 2.65455330e+02] [-4.19143753e-01 9.07919883e-01 0.00000000e+00 -6.60559881e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.65617794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.48, Y:-66.07, Z:-0.02 [[ 9.07925285e-01 4.19132051e-01 0.00000000e+00 2.65481838e+02] [-4.19132051e-01 9.07925285e-01 0.00000000e+00 -6.60684512e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47049283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.51, Y:-66.08, Z:-0.03 [[ 9.07852889e-01 4.19288841e-01 0.00000000e+00 2.65507315e+02] [-4.19288841e-01 9.07852889e-01 0.00000000e+00 -6.60800642e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.67097730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.53, Y:-66.09, Z:-0.03 [[ 9.07305284e-01 4.20472497e-01 0.00000000e+00 2.65533129e+02] [-4.20472497e-01 9.07305284e-01 0.00000000e+00 -6.60927150e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61824418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.56, Y:-66.10, Z:-0.02 [[ 9.06871477e-01 4.21407313e-01 0.00000000e+00 2.65559380e+02] [-4.21407313e-01 9.06871477e-01 0.00000000e+00 -6.61039650e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.45359585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.58, Y:-66.11, Z:-0.02 [[ 9.06332316e-01 4.22565655e-01 0.00000000e+00 2.65584633e+02] [-4.22565655e-01 9.06332316e-01 0.00000000e+00 -6.61146952e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.34317665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.61, Y:-66.13, Z:-0.02 [[ 9.05497661e-01 4.24351252e-01 0.00000000e+00 2.65610831e+02] [-4.24351252e-01 9.05497661e-01 0.00000000e+00 -6.61252269e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.25458156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.64, Y:-66.14, Z:-0.02 [[ 9.04437138e-01 4.26606919e-01 0.00000000e+00 2.65637144e+02] [-4.26606919e-01 9.04437138e-01 0.00000000e+00 -6.61354617e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04718302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.66, Y:-66.15, Z:-0.02 [[ 9.03362714e-01 4.28877379e-01 0.00000000e+00 2.65663470e+02] [-4.28877379e-01 9.03362714e-01 0.00000000e+00 -6.61456835e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09617686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.69, Y:-66.16, Z:-0.02 [[ 9.01935367e-01 4.31871038e-01 0.00000000e+00 2.65689818e+02] [-4.31871038e-01 9.01935367e-01 0.00000000e+00 -6.61570148e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23269211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.72, Y:-66.17, Z:-0.02 [[ 9.01924816e-01 4.31893073e-01 0.00000000e+00 2.65715276e+02] [-4.31893073e-01 9.01924816e-01 0.00000000e+00 -6.61673537e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22264734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.74, Y:-66.18, Z:-0.02 [[ 9.02164795e-01 4.31391566e-01 0.00000000e+00 2.65742075e+02] [-4.31391566e-01 9.02164795e-01 0.00000000e+00 -6.61774970e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09558377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.77, Y:-66.19, Z:-0.02 [[ 9.03184903e-01 4.29251710e-01 0.00000000e+00 2.65768241e+02] [-4.29251710e-01 9.03184903e-01 0.00000000e+00 -6.61873116e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06589091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.79, Y:-66.20, Z:-0.02 [[ 9.03574263e-01 4.28431502e-01 0.00000000e+00 2.65793841e+02] [-4.28431502e-01 9.03574263e-01 0.00000000e+00 -6.61979227e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90425568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.82, Y:-66.21, Z:-0.02 [[ 9.03486303e-01 4.28616962e-01 0.00000000e+00 2.65819281e+02] [-4.28616962e-01 9.03486303e-01 0.00000000e+00 -6.62079041e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.94390618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.85, Y:-66.22, Z:-0.02 [[ 9.02791223e-01 4.30079072e-01 0.00000000e+00 2.65845929e+02] [-4.30079072e-01 9.02791223e-01 0.00000000e+00 -6.62176768e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86017633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.87, Y:-66.23, Z:-0.02 [[ 9.01791816e-01 4.32170707e-01 0.00000000e+00 2.65872525e+02] [-4.32170707e-01 9.01791816e-01 0.00000000e+00 -6.62268377e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85515576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.90, Y:-66.24, Z:-0.02 [[ 9.00782771e-01 4.34269961e-01 0.00000000e+00 2.65899280e+02] [-4.34269961e-01 9.00782771e-01 0.00000000e+00 -6.62361555e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90225645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.73140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.93, Y:-66.25, Z:-0.02 [[ 8.98913435e-01 4.38126280e-01 0.00000000e+00 2.65925959e+02] [-4.38126280e-01 8.98913435e-01 0.00000000e+00 -6.62453990e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19696751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.95, Y:-66.25, Z:-0.02 [[ 8.98332063e-01 4.39317088e-01 0.00000000e+00 2.65952221e+02] [-4.39317088e-01 8.98332063e-01 0.00000000e+00 -6.62546874e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11669047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.98, Y:-66.26, Z:-0.02 [[ 8.98051109e-01 4.39891129e-01 0.00000000e+00 2.65978956e+02] [-4.39891129e-01 8.98051109e-01 0.00000000e+00 -6.62634885e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21588337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.01, Y:-66.27, Z:-0.02 [[ 8.98012489e-01 4.39969965e-01 0.00000000e+00 2.66006322e+02] [-4.39969965e-01 8.98012489e-01 0.00000000e+00 -6.62713154e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04180624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.03, Y:-66.28, Z:-0.02 [[ 8.98347955e-01 4.39284591e-01 0.00000000e+00 2.66032325e+02] [-4.39284591e-01 8.98347955e-01 0.00000000e+00 -6.62802388e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95697286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.06, Y:-66.29, Z:-0.02 [[ 8.98755603e-01 4.38449959e-01 0.00000000e+00 2.66059755e+02] [-4.38449959e-01 8.98755603e-01 0.00000000e+00 -6.62898677e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50125818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.09, Y:-66.30, Z:-0.01 [[ 8.99204080e-01 4.37529453e-01 0.00000000e+00 2.66085830e+02] [-4.37529453e-01 8.99204080e-01 0.00000000e+00 -6.62989812e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34224570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.11, Y:-66.31, Z:-0.01 [[ 9.00111937e-01 4.35658697e-01 0.00000000e+00 2.66111577e+02] [-4.35658697e-01 9.00111937e-01 0.00000000e+00 -6.63090395e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39719761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.14, Y:-66.32, Z:-0.02 [[ 9.00723508e-01 4.34392866e-01 0.00000000e+00 2.66137112e+02] [-4.34392866e-01 9.00723508e-01 0.00000000e+00 -6.63199636e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57650736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.16, Y:-66.33, Z:-0.02 [[ 9.01265579e-01 4.33267072e-01 0.00000000e+00 2.66163651e+02] [-4.33267072e-01 9.01265579e-01 0.00000000e+00 -6.63314818e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56082885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.19, Y:-66.34, Z:-0.01 [[ 9.01716704e-01 4.32327405e-01 0.00000000e+00 2.66189864e+02] [-4.32327405e-01 9.01716704e-01 0.00000000e+00 -6.63426737e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49268471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.22, Y:-66.35, Z:-0.01 [[ 9.02059762e-01 4.31611152e-01 0.00000000e+00 2.66216642e+02] [-4.31611152e-01 9.02059762e-01 0.00000000e+00 -6.63543794e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31815490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.24, Y:-66.37, Z:-0.01 [[ 9.02441940e-01 4.30811497e-01 0.00000000e+00 2.66241648e+02] [-4.30811497e-01 9.02441940e-01 0.00000000e+00 -6.63664145e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26204170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.27, Y:-66.38, Z:-0.01 [[ 9.03186997e-01 4.29247305e-01 0.00000000e+00 2.66267217e+02] [-4.29247305e-01 9.03186997e-01 0.00000000e+00 -6.63808475e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.68380440e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.29, Y:-66.39, Z:-0.01 [[ 9.03534191e-01 4.28516004e-01 0.00000000e+00 2.66292589e+02] [-4.28516004e-01 9.03534191e-01 0.00000000e+00 -6.63908004e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03654483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.32, Y:-66.40, Z:-0.01 [[ 9.03611702e-01 4.28352533e-01 0.00000000e+00 2.66318604e+02] [-4.28352533e-01 9.03611702e-01 0.00000000e+00 -6.63998513e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20150445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.35, Y:-66.41, Z:-0.01 [[ 9.02570466e-01 4.30542162e-01 0.00000000e+00 2.66346073e+02] [-4.30542162e-01 9.02570466e-01 0.00000000e+00 -6.64096079e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37337538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.37, Y:-66.42, Z:-0.01 [[ 9.01474160e-01 4.32832922e-01 0.00000000e+00 2.66372340e+02] [-4.32832922e-01 9.01474160e-01 0.00000000e+00 -6.64199309e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30722683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.40, Y:-66.43, Z:-0.01 [[ 9.00264320e-01 4.35343719e-01 0.00000000e+00 2.66398280e+02] [-4.35343719e-01 9.00264320e-01 0.00000000e+00 -6.64293577e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29502670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.42, Y:-66.44, Z:-0.01 [[ 8.99057203e-01 4.37831185e-01 0.00000000e+00 2.66424477e+02] [-4.37831185e-01 8.99057203e-01 0.00000000e+00 -6.64380268e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22495310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.45, Y:-66.45, Z:-0.01 [[ 8.99087600e-01 4.37768760e-01 0.00000000e+00 2.66451059e+02] [-4.37768760e-01 8.99087600e-01 0.00000000e+00 -6.64483244e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22495310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.48, Y:-66.46, Z:-0.01 [[ 8.97966588e-01 4.40063639e-01 0.00000000e+00 2.66477407e+02] [-4.40063639e-01 8.97966588e-01 0.00000000e+00 -6.64569236e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43211841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.50, Y:-66.47, Z:-0.01 [[ 8.97411416e-01 4.41194686e-01 0.00000000e+00 2.66504996e+02] [-4.41194686e-01 8.97411416e-01 0.00000000e+00 -6.64667646e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49877337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.53, Y:-66.48, Z:-0.02 [[ 8.98308704e-01 4.39364851e-01 0.00000000e+00 2.66528890e+02] [-4.39364851e-01 8.98308704e-01 0.00000000e+00 -6.64786896e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65854516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.56, Y:-66.49, Z:-0.01 [[ 8.99552837e-01 4.36811967e-01 0.00000000e+00 2.66555433e+02] [-4.36811967e-01 8.99552837e-01 0.00000000e+00 -6.64908332e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37254283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.58, Y:-66.50, Z:-0.01 [[ 9.00880021e-01 4.34068184e-01 0.00000000e+00 2.66582278e+02] [-4.34068184e-01 9.00880021e-01 0.00000000e+00 -6.65023666e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11958904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.61, Y:-66.51, Z:-0.01 [[ 9.02539317e-01 4.30607455e-01 0.00000000e+00 2.66607465e+02] [-4.30607455e-01 9.02539317e-01 0.00000000e+00 -6.65149322e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03155316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.63, Y:-66.53, Z:-0.01 [[ 9.02879066e-01 4.29894628e-01 0.00000000e+00 2.66633345e+02] [-4.29894628e-01 9.02879066e-01 0.00000000e+00 -6.65268773e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09694481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.66, Y:-66.54, Z:-0.01 [[ 9.02971987e-01 4.29699419e-01 0.00000000e+00 2.66658106e+02] [-4.29699419e-01 9.02971987e-01 0.00000000e+00 -6.65384086e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19075081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.68, Y:-66.55, Z:-0.01 [[ 9.02817668e-01 4.30023556e-01 0.00000000e+00 2.66684740e+02] [-4.30023556e-01 9.02817668e-01 0.00000000e+00 -6.65505967e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14122762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.71, Y:-66.56, Z:-0.01 [[ 9.02655570e-01 4.30363709e-01 0.00000000e+00 2.66710169e+02] [-4.30363709e-01 9.02655570e-01 0.00000000e+00 -6.65620512e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07672488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.74, Y:-66.57, Z:-0.01 [[ 9.02419889e-01 4.30857683e-01 0.00000000e+00 2.66736547e+02] [-4.30857683e-01 9.02419889e-01 0.00000000e+00 -6.65741653e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.76085900e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.76, Y:-66.59, Z:-0.01 [[ 9.01704146e-01 4.32353597e-01 0.00000000e+00 2.66761436e+02] [-4.32353597e-01 9.01704146e-01 0.00000000e+00 -6.65872550e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17267569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.79, Y:-66.60, Z:-0.01 [[ 9.01182625e-01 4.33439588e-01 0.00000000e+00 2.66787908e+02] [-4.33439588e-01 9.01182625e-01 0.00000000e+00 -6.65998779e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.89732104e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.81, Y:-66.61, Z:-0.01 [[ 9.00649220e-01 4.34546870e-01 0.00000000e+00 2.66812726e+02] [-4.34546870e-01 9.00649220e-01 0.00000000e+00 -6.66121606e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.47830174e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.84, Y:-66.62, Z:-0.00 [[ 9.00410851e-01 4.35040573e-01 0.00000000e+00 2.66839080e+02] [-4.35040573e-01 9.00410851e-01 0.00000000e+00 -6.66237764e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.79287099e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.86, Y:-66.63, Z:-0.00 [[ 9.00292712e-01 4.35285003e-01 0.00000000e+00 2.66864879e+02] [-4.35285003e-01 9.00292712e-01 0.00000000e+00 -6.66337726e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.50054314e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.89, Y:-66.64, Z:-0.00 [[ 8.99714456e-01 4.36478977e-01 0.00000000e+00 2.66891482e+02] [-4.36478977e-01 8.99714456e-01 0.00000000e+00 -6.66416120e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.09482309e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.92, Y:-66.65, Z:-0.01 [[ 8.99365797e-01 4.37196938e-01 0.00000000e+00 2.66916466e+02] [-4.37196938e-01 8.99365797e-01 0.00000000e+00 -6.66508851e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.07362284e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.94, Y:-66.66, Z:-0.00 [[ 8.99199900e-01 4.37538045e-01 0.00000000e+00 2.66942978e+02] [-4.37538045e-01 8.99199900e-01 0.00000000e+00 -6.66609889e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.39184271e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.97, Y:-66.67, Z:-0.00 [[ 8.98909428e-01 4.38134501e-01 0.00000000e+00 2.66969813e+02] [-4.38134501e-01 8.98909428e-01 0.00000000e+00 -6.66711715e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.58837943e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.00, Y:-66.68, Z:-0.00 [[ 8.98624996e-01 4.38717582e-01 0.00000000e+00 2.66995304e+02] [-4.38717582e-01 8.98624996e-01 0.00000000e+00 -6.66804393e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.18805998e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.02, Y:-66.69, Z:-0.00 [[ 8.98160604e-01 4.39667522e-01 0.00000000e+00 2.67023025e+02] [-4.39667522e-01 8.98160604e-01 0.00000000e+00 -6.66899904e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.55788690e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.05, Y:-66.70, Z:-0.00 [[ 8.98268778e-01 4.39446473e-01 0.00000000e+00 2.67048111e+02] [-4.39446473e-01 8.98268778e-01 0.00000000e+00 -6.66989271e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.42624633e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.07, Y:-66.71, Z:-0.00 [[ 8.98637289e-01 4.38692402e-01 0.00000000e+00 2.67073572e+02] [-4.38692402e-01 8.98637289e-01 0.00000000e+00 -6.67076768e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.30219605e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.10, Y:-66.72, Z:-0.00 [[ 8.99213924e-01 4.37509221e-01 0.00000000e+00 2.67100763e+02] [-4.37509221e-01 8.99213924e-01 0.00000000e+00 -6.67172697e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49269933e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.13, Y:-66.73, Z:-0.00 [[ 8.99459291e-01 4.37004559e-01 0.00000000e+00 2.67126226e+02] [-4.37004559e-01 8.99459291e-01 0.00000000e+00 -6.67275419e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45172526e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.15, Y:-66.74, Z:-0.00 [[ 8.99745752e-01 4.36414460e-01 0.00000000e+00 2.67152295e+02] [-4.36414460e-01 8.99745752e-01 0.00000000e+00 -6.67379967e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49640122e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.18, Y:-66.75, Z:-0.00 [[ 8.99842732e-01 4.36214463e-01 0.00000000e+00 2.67178499e+02] [-4.36214463e-01 8.99842732e-01 0.00000000e+00 -6.67481419e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53553494e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.20, Y:-66.76, Z:-0.00 [[ 8.99972370e-01 4.35946939e-01 0.00000000e+00 2.67204486e+02] [-4.35946939e-01 8.99972370e-01 0.00000000e+00 -6.67572641e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13479144e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.23140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.23, Y:-66.77, Z:-0.00 [[ 9.00093743e-01 4.35696285e-01 0.00000000e+00 2.67230416e+02] [-4.35696285e-01 9.00093743e-01 0.00000000e+00 -6.67661104e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.09094049e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.26, Y:-66.77, Z:-0.00 [[ 9.00514903e-01 4.34825147e-01 0.00000000e+00 2.67257657e+02] [-4.34825147e-01 9.00514903e-01 0.00000000e+00 -6.67745952e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.78079439e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.28, Y:-66.78, Z:-0.01 [[ 9.00843764e-01 4.34143425e-01 0.00000000e+00 2.67284539e+02] [-4.34143425e-01 9.00843764e-01 0.00000000e+00 -6.67845775e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.13578409e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.31, Y:-66.79, Z:-0.01 [[ 9.01334446e-01 4.33123789e-01 0.00000000e+00 2.67311186e+02] [-4.33123789e-01 9.01334446e-01 0.00000000e+00 -6.67949778e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.94745597e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.34, Y:-66.81, Z:-0.00 [[ 9.02113868e-01 4.31498052e-01 0.00000000e+00 2.67336441e+02] [-4.31498052e-01 9.02113868e-01 0.00000000e+00 -6.68060238e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.85173029e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.36, Y:-66.82, Z:-0.00 [[ 9.02473070e-01 4.30746281e-01 0.00000000e+00 2.67363402e+02] [-4.30746281e-01 9.02473070e-01 0.00000000e+00 -6.68172228e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39646453e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.39, Y:-66.83, Z:-0.00 [[ 9.02776476e-01 4.30110026e-01 0.00000000e+00 2.67388758e+02] [-4.30110026e-01 9.02776476e-01 0.00000000e+00 -6.68276493e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51756107e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.41, Y:-66.84, Z:-0.00 [[ 9.02981961e-01 4.29678459e-01 0.00000000e+00 2.67414644e+02] [-4.29678459e-01 9.02981961e-01 0.00000000e+00 -6.68370930e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75280278e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.44, Y:-66.84, Z:-0.00 [[ 9.02875956e-01 4.29901162e-01 0.00000000e+00 2.67442495e+02] [-4.29901162e-01 9.02875956e-01 0.00000000e+00 -6.68437469e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28436075e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.47, Y:-66.85, Z:-0.00 [[ 9.02545762e-01 4.30593948e-01 0.00000000e+00 2.67469960e+02] [-4.30593948e-01 9.02545762e-01 0.00000000e+00 -6.68518963e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.13026242e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.50, Y:-66.86, Z:-0.00 [[ 9.02153342e-01 4.31415516e-01 0.00000000e+00 2.67495820e+02] [-4.31415516e-01 9.02153342e-01 0.00000000e+00 -6.68603414e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.85635324e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.52, Y:-66.87, Z:0.00 [[ 9.01950991e-01 4.31838407e-01 0.00000000e+00 2.67521565e+02] [-4.31838407e-01 9.01950991e-01 0.00000000e+00 -6.68689000e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10381537e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.55, Y:-66.88, Z:0.00 [[ 9.01772089e-01 4.32211868e-01 0.00000000e+00 2.67548610e+02] [-4.32211868e-01 9.01772089e-01 0.00000000e+00 -6.68772344e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03961066e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.58, Y:-66.88, Z:0.01 [[ 9.01137078e-01 4.33534274e-01 0.00000000e+00 2.67576248e+02] [-4.33534274e-01 9.01137078e-01 0.00000000e+00 -6.68819523e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.96784858e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.60, Y:-66.89, Z:0.01 [[ 9.00967781e-01 4.33885995e-01 0.00000000e+00 2.67603391e+02] [-4.33885995e-01 9.00967781e-01 0.00000000e+00 -6.68903527e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.37414264e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.63, Y:-66.90, Z:0.01 [[ 9.01009100e-01 4.33800186e-01 0.00000000e+00 2.67629966e+02] [-4.33800186e-01 9.01009100e-01 0.00000000e+00 -6.68993980e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.40656949e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.66, Y:-66.91, Z:0.01 [[ 9.01269988e-01 4.33257900e-01 0.00000000e+00 2.67655965e+02] [-4.33257900e-01 9.01269988e-01 0.00000000e+00 -6.69085524e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.65675553e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.68, Y:-66.92, Z:0.00 [[ 9.01908869e-01 4.31926372e-01 0.00000000e+00 2.67681080e+02] [-4.31926372e-01 9.01908869e-01 0.00000000e+00 -6.69175779e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47424570e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.71, Y:-66.93, Z:0.00 [[ 9.03684524e-01 4.28198879e-01 0.00000000e+00 2.67706708e+02] [-4.28198879e-01 9.03684524e-01 0.00000000e+00 -6.69285177e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56074142e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.73, Y:-66.94, Z:0.00 [[ 9.04451408e-01 4.26576663e-01 0.00000000e+00 2.67732866e+02] [-4.26576663e-01 9.04451408e-01 0.00000000e+00 -6.69394625e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70635082e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.76, Y:-66.95, Z:0.00 [[ 9.04629779e-01 4.26198266e-01 0.00000000e+00 2.67758877e+02] [-4.26198266e-01 9.04629779e-01 0.00000000e+00 -6.69532713e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.52471703e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.78, Y:-66.96, Z:0.00 [[ 9.04111193e-01 4.27297263e-01 0.00000000e+00 2.67784417e+02] [-4.27297263e-01 9.04111193e-01 0.00000000e+00 -6.69647730e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15349087e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.81, Y:-66.97, Z:0.00 [[ 9.03216499e-01 4.29185223e-01 0.00000000e+00 2.67809130e+02] [-4.29185223e-01 9.03216499e-01 0.00000000e+00 -6.69745414e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68190160e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.84, Y:-66.98, Z:0.00 [[ 9.01936936e-01 4.31867763e-01 0.00000000e+00 2.67835044e+02] [-4.31867763e-01 9.01936936e-01 0.00000000e+00 -6.69830794e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63016502e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.86, Y:-66.99, Z:0.00 [[ 9.00574433e-01 4.34701842e-01 0.00000000e+00 2.67861557e+02] [-4.34701842e-01 9.00574433e-01 0.00000000e+00 -6.69910722e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41062818e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.89, Y:-67.00, Z:0.00 [[ 8.99417515e-01 4.37090532e-01 0.00000000e+00 2.67888369e+02] [-4.37090532e-01 8.99417515e-01 0.00000000e+00 -6.69997365e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.43283770e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.91, Y:-67.01, Z:-0.00 [[ 8.98495127e-01 4.38983493e-01 0.00000000e+00 2.67914778e+02] [-4.38983493e-01 8.98495127e-01 0.00000000e+00 -6.70079435e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.94918428e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.94, Y:-67.02, Z:-0.00 [[ 8.98845386e-01 4.38265869e-01 0.00000000e+00 2.67941554e+02] [-4.38265869e-01 8.98845386e-01 0.00000000e+00 -6.70169460e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.39861904e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.97, Y:-67.03, Z:-0.00 [[ 8.99458716e-01 4.37005741e-01 0.00000000e+00 2.67969257e+02] [-4.37005741e-01 8.99458716e-01 0.00000000e+00 -6.70260584e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.00040690e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.00, Y:-67.04, Z:-0.00 [[ 9.00371833e-01 4.35121320e-01 0.00000000e+00 2.67995551e+02] [-4.35121320e-01 9.00371833e-01 0.00000000e+00 -6.70351742e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01675473e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.02, Y:-67.05, Z:-0.00 [[ 9.01482164e-01 4.32816252e-01 0.00000000e+00 2.68021742e+02] [-4.32816252e-01 9.01482164e-01 0.00000000e+00 -6.70452676e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.95342740e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.05, Y:-67.06, Z:-0.00 [[ 9.04409200e-01 4.26666144e-01 0.00000000e+00 2.68047995e+02] [-4.26666144e-01 9.04409200e-01 0.00000000e+00 -6.70557808e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.86098144e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.08, Y:-67.07, Z:-0.00 [[ 9.05912149e-01 4.23465675e-01 0.00000000e+00 2.68075339e+02] [-4.23465675e-01 9.05912149e-01 0.00000000e+00 -6.70657087e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00117353e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.10, Y:-67.08, Z:-0.00 [[ 9.07352174e-01 4.20371303e-01 0.00000000e+00 2.68100390e+02] [-4.20371303e-01 9.07352174e-01 0.00000000e+00 -6.70758165e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.29275236e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.13, Y:-67.09, Z:-0.00 [[ 9.10145728e-01 4.14288249e-01 0.00000000e+00 2.68125640e+02] [-4.14288249e-01 9.10145728e-01 0.00000000e+00 -6.70912034e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96229340e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.15, Y:-67.10, Z:-0.00 [[ 9.10174585e-01 4.14224848e-01 0.00000000e+00 2.68152272e+02] [-4.14224848e-01 9.10174585e-01 0.00000000e+00 -6.71013728e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96229340e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.18, Y:-67.12, Z:-0.00 [[ 9.11495930e-01 4.11309094e-01 0.00000000e+00 2.68177403e+02] [-4.11309094e-01 9.11495930e-01 0.00000000e+00 -6.71150924e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25256688e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.20, Y:-67.13, Z:-0.00 [[ 9.12682772e-01 4.08668762e-01 0.00000000e+00 2.68202336e+02] [-4.08668762e-01 9.12682772e-01 0.00000000e+00 -6.71290218e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86275787e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.23, Y:-67.14, Z:-0.00 [[ 9.13706890e-01 4.06373867e-01 0.00000000e+00 2.68227666e+02] [-4.06373867e-01 9.13706890e-01 0.00000000e+00 -6.71429303e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55063593e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.25, Y:-67.16, Z:0.00 [[ 9.14408605e-01 4.04792421e-01 0.00000000e+00 2.68252216e+02] [-4.04792421e-01 9.14408605e-01 0.00000000e+00 -6.71563917e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57435751e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.28, Y:-67.17, Z:0.00 [[ 9.14559583e-01 4.04451194e-01 0.00000000e+00 2.68278096e+02] [-4.04451194e-01 9.14559583e-01 0.00000000e+00 -6.71706840e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75191050e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.30, Y:-67.19, Z:0.01 [[ 9.13799432e-01 4.06165727e-01 0.00000000e+00 2.68301063e+02] [-4.06165727e-01 9.13799432e-01 0.00000000e+00 -6.71882344e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.99454917e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.33, Y:-67.20, Z:0.01 [[ 9.12983524e-01 4.07996427e-01 0.00000000e+00 2.68327204e+02] [-4.07996427e-01 9.12983524e-01 0.00000000e+00 -6.72018520e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.15289667e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.35, Y:-67.21, Z:0.00 [[ 9.11906070e-01 4.10398977e-01 0.00000000e+00 2.68352160e+02] [-4.10398977e-01 9.11906070e-01 0.00000000e+00 -6.72139324e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.98779712e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.38, Y:-67.23, Z:0.00 [[ 9.10642563e-01 4.13195018e-01 0.00000000e+00 2.68377591e+02] [-4.13195018e-01 9.10642563e-01 0.00000000e+00 -6.72257583e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48054887e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.40, Y:-67.24, Z:-0.00 [[ 9.08196072e-01 4.18544974e-01 0.00000000e+00 2.68403037e+02] [-4.18544974e-01 9.08196072e-01 0.00000000e+00 -6.72405803e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.42924261e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.43, Y:-67.25, Z:-0.00 [[ 9.07429574e-01 4.20204199e-01 0.00000000e+00 2.68429347e+02] [-4.20204199e-01 9.07429574e-01 0.00000000e+00 -6.72537232e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.79646912e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.46, Y:-67.27, Z:0.00 [[ 9.07057070e-01 4.21007687e-01 0.00000000e+00 2.68455391e+02] [-4.21007687e-01 9.07057070e-01 0.00000000e+00 -6.72669320e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62349697e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.48, Y:-67.28, Z:0.00 [[ 9.07498260e-01 4.20055840e-01 0.00000000e+00 2.68481053e+02] [-4.20055840e-01 9.07498260e-01 0.00000000e+00 -6.72839410e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63698481e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.701400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:268.51, Y:-67.30, Z:0.00 [[ 9.08259066e-01 4.18408255e-01 0.00000000e+00 2.68507723e+02] [-4.18408255e-01 9.08259066e-01 0.00000000e+00 -6.72976459e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.69316294e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.73140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.54, Y:-67.31, Z:-0.00 [[ 9.09043113e-01 4.16702074e-01 0.00000000e+00 2.68537384e+02] [-4.16702074e-01 9.09043113e-01 0.00000000e+00 -6.73128690e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.36021657e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.57, Y:-67.33, Z:-0.00 [[ 9.09836488e-01 4.14966945e-01 0.00000000e+00 2.68567211e+02] [-4.14966945e-01 9.09836488e-01 0.00000000e+00 -6.73282119e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64560074e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.60, Y:-67.34, Z:-0.00 [[ 9.10394755e-01 4.13740729e-01 0.00000000e+00 2.68595673e+02] [-4.13740729e-01 9.10394755e-01 0.00000000e+00 -6.73431831e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10384053e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.63, Y:-67.36, Z:-0.00 [[ 9.10679829e-01 4.13112876e-01 0.00000000e+00 2.68625320e+02] [-4.13112876e-01 9.10679829e-01 0.00000000e+00 -6.73588155e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.19802519e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.65, Y:-67.38, Z:-0.00 [[ 9.10491141e-01 4.13528575e-01 0.00000000e+00 2.68652399e+02] [-4.13528575e-01 9.10491141e-01 0.00000000e+00 -6.73763660e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.67034133e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.68, Y:-67.39, Z:-0.00 [[ 9.09973645e-01 4.14666090e-01 0.00000000e+00 2.68682387e+02] [-4.14666090e-01 9.09973645e-01 0.00000000e+00 -6.73899492e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74407576e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.71, Y:-67.40, Z:-0.00 [[ 9.09346302e-01 4.16040025e-01 0.00000000e+00 2.68711603e+02] [-4.16040025e-01 9.09346302e-01 0.00000000e+00 -6.74032185e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.62376085e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.941400513 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:268.74, Y:-67.42, Z:-0.00 [[ 9.07488687e-01 4.20076520e-01 0.00000000e+00 2.68742259e+02] [-4.20076520e-01 9.07488687e-01 0.00000000e+00 -6.74194391e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.01863753e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.77, Y:-67.43, Z:-0.00 [[ 9.06769253e-01 4.21627231e-01 0.00000000e+00 2.68769910e+02] [-4.21627231e-01 9.06769253e-01 0.00000000e+00 -6.74301437e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.50634510e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.80, Y:-67.44, Z:-0.01 [[ 9.06022532e-01 4.23229455e-01 0.00000000e+00 2.68799347e+02] [-4.23229455e-01 9.06022532e-01 0.00000000e+00 -6.74426946e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.40035486e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.83, Y:-67.45, Z:-0.01 [[ 9.05595231e-01 4.24142992e-01 0.00000000e+00 2.68827593e+02] [-4.24142992e-01 9.05595231e-01 0.00000000e+00 -6.74547188e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.22501851e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.86, Y:-67.47, Z:-0.00 [[ 9.05441213e-01 4.24471684e-01 0.00000000e+00 2.68856973e+02] [-4.24471684e-01 9.05441213e-01 0.00000000e+00 -6.74690319e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.65320038e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.89, Y:-67.48, Z:-0.00 [[ 9.05758572e-01 4.23794064e-01 0.00000000e+00 2.68886111e+02] [-4.23794064e-01 9.05758572e-01 0.00000000e+00 -6.74815374e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62909886e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.92, Y:-67.49, Z:-0.00 [[ 9.06090443e-01 4.23084045e-01 0.00000000e+00 2.68916752e+02] [-4.23084045e-01 9.06090443e-01 0.00000000e+00 -6.74936372e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.14097320e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.95, Y:-67.50, Z:-0.00 [[ 9.06254787e-01 4.22731902e-01 0.00000000e+00 2.68946811e+02] [-4.22731902e-01 9.06254787e-01 0.00000000e+00 -6.75049252e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.00057345e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.98, Y:-67.52, Z:-0.00 [[ 9.06249633e-01 4.22742952e-01 0.00000000e+00 2.68977609e+02] [-4.22742952e-01 9.06249633e-01 0.00000000e+00 -6.75170964e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.03660523e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.01, Y:-67.53, Z:-0.00 [[ 9.06211323e-01 4.22825069e-01 0.00000000e+00 2.69007353e+02] [-4.22825069e-01 9.06211323e-01 0.00000000e+00 -6.75307379e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.38631931e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.24140051300003 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:269.04, Y:-67.54, Z:-0.00 [[ 9.06173225e-01 4.22906711e-01 0.00000000e+00 2.69036023e+02] [-4.22906711e-01 9.06173225e-01 0.00000000e+00 -6.75440494e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.35450969e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.07, Y:-67.56, Z:-0.00 [[ 9.05975514e-01 4.23330094e-01 0.00000000e+00 2.69065687e+02] [-4.23330094e-01 9.05975514e-01 0.00000000e+00 -6.75569760e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.44322128e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.10, Y:-67.57, Z:0.00 [[ 9.04376776e-01 4.26734867e-01 0.00000000e+00 2.69095960e+02] [-4.26734867e-01 9.04376776e-01 0.00000000e+00 -6.75687340e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41181597e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.13, Y:-67.58, Z:0.00 [[ 9.02753718e-01 4.30157790e-01 0.00000000e+00 2.69125946e+02] [-4.30157790e-01 9.02753718e-01 0.00000000e+00 -6.75802378e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.89367939e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.16, Y:-67.59, Z:0.00 [[ 9.00994973e-01 4.33829527e-01 0.00000000e+00 2.69157056e+02] [-4.33829527e-01 9.00994973e-01 0.00000000e+00 -6.75918823e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93709717e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.19, Y:-67.60, Z:0.00 [[ 8.99242983e-01 4.37449491e-01 0.00000000e+00 2.69187090e+02] [-4.37449491e-01 8.99242983e-01 0.00000000e+00 -6.76032155e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45070867e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.21, Y:-67.61, Z:0.00 [[ 8.97593681e-01 4.40823757e-01 0.00000000e+00 2.69214634e+02] [-4.40823757e-01 8.97593681e-01 0.00000000e+00 -6.76137763e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33626295e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.24, Y:-67.63, Z:0.00 [[ 8.94990953e-01 4.46084289e-01 0.00000000e+00 2.69241400e+02] [-4.46084289e-01 8.94990953e-01 0.00000000e+00 -6.76255958e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80180332e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.27, Y:-67.64, Z:0.00 [[ 8.94342260e-01 4.47383418e-01 0.00000000e+00 2.69272012e+02] [-4.47383418e-01 8.94342260e-01 0.00000000e+00 -6.76383345e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.21706967e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.30, Y:-67.65, Z:0.00 [[ 8.94261972e-01 4.47543881e-01 0.00000000e+00 2.69302823e+02] [-4.47543881e-01 8.94261972e-01 0.00000000e+00 -6.76501766e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.59355590e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.33, Y:-67.66, Z:-0.00 [[ 8.94825973e-01 4.46415141e-01 0.00000000e+00 2.69332800e+02] [-4.46415141e-01 8.94825973e-01 0.00000000e+00 -6.76606996e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17055962e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.36, Y:-67.67, Z:-0.00 [[ 8.95414039e-01 4.45234432e-01 0.00000000e+00 2.69361849e+02] [-4.45234432e-01 8.95414039e-01 0.00000000e+00 -6.76725732e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.95943826e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.39, Y:-67.68, Z:-0.01 [[ 8.95847606e-01 4.44361415e-01 0.00000000e+00 2.69391899e+02] [-4.44361415e-01 8.95847606e-01 0.00000000e+00 -6.76848282e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.09341479e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.42, Y:-67.70, Z:-0.01 [[ 8.96024424e-01 4.44004765e-01 0.00000000e+00 2.69422550e+02] [-4.44004765e-01 8.96024424e-01 0.00000000e+00 -6.76965661e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.99591184e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.45, Y:-67.71, Z:-0.00 [[ 8.96309524e-01 4.43428954e-01 0.00000000e+00 2.69452807e+02] [-4.43428954e-01 8.96309524e-01 0.00000000e+00 -6.77065806e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.75022812e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.48, Y:-67.72, Z:-0.00 [[ 8.96307481e-01 4.43433084e-01 0.00000000e+00 2.69483082e+02] [-4.43433084e-01 8.96307481e-01 0.00000000e+00 -6.77170847e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.37331535e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.51, Y:-67.73, Z:-0.00 [[ 8.96326205e-01 4.43395234e-01 0.00000000e+00 2.69514443e+02] [-4.43395234e-01 8.96326205e-01 0.00000000e+00 -6.77280421e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.38720975e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.55, Y:-67.74, Z:-0.00 [[ 8.96571042e-01 4.42899952e-01 0.00000000e+00 2.69545892e+02] [-4.42899952e-01 8.96571042e-01 0.00000000e+00 -6.77388168e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.25334715e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.58, Y:-67.75, Z:-0.00 [[ 8.96935743e-01 4.42160913e-01 0.00000000e+00 2.69575751e+02] [-4.42160913e-01 8.96935743e-01 0.00000000e+00 -6.77497474e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.34220442e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.811400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:269.61, Y:-67.76, Z:-0.00 [[ 8.97526676e-01 4.40960164e-01 0.00000000e+00 2.69606338e+02] [-4.40960164e-01 8.97526676e-01 0.00000000e+00 -6.77615462e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.62862483e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.64, Y:-67.77, Z:-0.00 [[ 8.98896805e-01 4.38160397e-01 0.00000000e+00 2.69636532e+02] [-4.38160397e-01 8.98896805e-01 0.00000000e+00 -6.77715754e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42096957e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.67, Y:-67.78, Z:-0.00 [[ 8.99409164e-01 4.37107717e-01 0.00000000e+00 2.69667344e+02] [-4.37107717e-01 8.99409164e-01 0.00000000e+00 -6.77808533e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.25256742e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.70, Y:-67.79, Z:-0.00 [[ 8.99771780e-01 4.36360796e-01 0.00000000e+00 2.69696535e+02] [-4.36360796e-01 8.99771780e-01 0.00000000e+00 -6.77891451e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47109994e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.931400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:269.73, Y:-67.80, Z:-0.00 [[ 9.00097111e-01 4.35689328e-01 0.00000000e+00 2.69729146e+02] [-4.35689328e-01 9.00097111e-01 0.00000000e+00 -6.77965051e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73417129e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.76, Y:-67.81, Z:-0.00 [[ 9.00200667e-01 4.35475326e-01 0.00000000e+00 2.69759969e+02] [-4.35475326e-01 9.00200667e-01 0.00000000e+00 -6.78053343e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.93839252e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.79, Y:-67.81, Z:0.00 [[ 9.00422203e-01 4.35017077e-01 0.00000000e+00 2.69789536e+02] [-4.35017077e-01 9.00422203e-01 0.00000000e+00 -6.78128304e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44026240e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.82, Y:-67.82, Z:0.00 [[ 9.00788635e-01 4.34257799e-01 0.00000000e+00 2.69818405e+02] [-4.34257799e-01 9.00788635e-01 0.00000000e+00 -6.78204298e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12284568e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.85, Y:-67.83, Z:-0.00 [[ 9.02303246e-01 4.31101904e-01 0.00000000e+00 2.69847242e+02] [-4.31101904e-01 9.02303246e-01 0.00000000e+00 -6.78275639e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.91807446e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.87, Y:-67.84, Z:-0.00 [[ 9.03647270e-01 4.28277493e-01 0.00000000e+00 2.69874249e+02] [-4.28277493e-01 9.03647270e-01 0.00000000e+00 -6.78362525e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79211204e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.90, Y:-67.84, Z:0.00 [[ 9.05271940e-01 4.24832573e-01 0.00000000e+00 2.69901637e+02] [-4.24832573e-01 9.05271940e-01 0.00000000e+00 -6.78446189e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70189962e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.93, Y:-67.86, Z:0.00 [[ 9.05290677e-01 4.24792644e-01 0.00000000e+00 2.69928974e+02] [-4.24792644e-01 9.05290677e-01 0.00000000e+00 -6.78552736e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70189962e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.96, Y:-67.86, Z:0.01 [[ 9.07707781e-01 4.19602889e-01 0.00000000e+00 2.69958028e+02] [-4.19602889e-01 9.07707781e-01 0.00000000e+00 -6.78638846e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.77809969e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.98, Y:-67.88, Z:0.01 [[ 9.08312549e-01 4.18292139e-01 0.00000000e+00 2.69984833e+02] [-4.18292139e-01 9.08312549e-01 0.00000000e+00 -6.78750184e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00804670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.01, Y:-67.89, Z:0.01 [[ 9.08555611e-01 4.17763930e-01 0.00000000e+00 2.70011473e+02] [-4.17763930e-01 9.08555611e-01 0.00000000e+00 -6.78857994e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22512844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.04, Y:-67.90, Z:0.01 [[ 9.08387314e-01 4.18129751e-01 0.00000000e+00 2.70038119e+02] [-4.18129751e-01 9.08387314e-01 0.00000000e+00 -6.78952159e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23679276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.07, Y:-67.90, Z:0.01 [[ 9.07697785e-01 4.19624513e-01 0.00000000e+00 2.70065257e+02] [-4.19624513e-01 9.07697785e-01 0.00000000e+00 -6.79037780e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.94854870e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.09, Y:-67.91, Z:0.00 [[ 9.05162715e-01 4.25065241e-01 0.00000000e+00 2.70093517e+02] [-4.25065241e-01 9.05162715e-01 0.00000000e+00 -6.79118480e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.63030575e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.12, Y:-67.92, Z:0.00 [[ 9.03848393e-01 4.27852875e-01 0.00000000e+00 2.70120773e+02] [-4.27852875e-01 9.03848393e-01 0.00000000e+00 -6.79218974e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.29582868e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.15, Y:-67.93, Z:0.00 [[ 9.02750091e-01 4.30165401e-01 0.00000000e+00 2.70147170e+02] [-4.30165401e-01 9.02750091e-01 0.00000000e+00 -6.79314436e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.88935118e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.17, Y:-67.94, Z:0.01 [[ 9.02059138e-01 4.31612455e-01 0.00000000e+00 2.70174195e+02] [-4.31612455e-01 9.02059138e-01 0.00000000e+00 -6.79400538e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.40194927e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.20, Y:-67.95, Z:0.01 [[ 9.01043267e-01 4.33729214e-01 0.00000000e+00 2.70203023e+02] [-4.33729214e-01 9.01043267e-01 0.00000000e+00 -6.79462000e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.20693594e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.23, Y:-67.96, Z:0.00 [[ 9.00774353e-01 4.34287422e-01 0.00000000e+00 2.70229669e+02] [-4.34287422e-01 9.00774353e-01 0.00000000e+00 -6.79556743e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14153521e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.26, Y:-67.97, Z:0.00 [[ 9.00659540e-01 4.34525480e-01 0.00000000e+00 2.70255972e+02] [-4.34525480e-01 9.00659540e-01 0.00000000e+00 -6.79666355e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96250975e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.28, Y:-67.98, Z:0.00 [[ 9.00525216e-01 4.34803790e-01 0.00000000e+00 2.70281992e+02] [-4.34803790e-01 9.00525216e-01 0.00000000e+00 -6.79782889e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13612775e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.31, Y:-67.99, Z:0.00 [[ 9.00105505e-01 4.35671987e-01 0.00000000e+00 2.70307954e+02] [-4.35671987e-01 9.00105505e-01 0.00000000e+00 -6.79879072e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70218575e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.33, Y:-68.00, Z:-0.00 [[ 8.99823890e-01 4.36253329e-01 0.00000000e+00 2.70334575e+02] [-4.36253329e-01 8.99823890e-01 0.00000000e+00 -6.79961943e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.85384302e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.36, Y:-68.01, Z:-0.00 [[ 8.99319046e-01 4.37293098e-01 0.00000000e+00 2.70360582e+02] [-4.37293098e-01 8.99319046e-01 0.00000000e+00 -6.80054104e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.18338109e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.39, Y:-68.02, Z:-0.00 [[ 8.98554200e-01 4.38862564e-01 0.00000000e+00 2.70385692e+02] [-4.38862564e-01 8.98554200e-01 0.00000000e+00 -6.80159903e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18636065e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.41, Y:-68.03, Z:-0.00 [[ 8.96492351e-01 4.43059212e-01 0.00000000e+00 2.70410947e+02] [-4.43059212e-01 8.96492351e-01 0.00000000e+00 -6.80269685e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.69516666e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.44, Y:-68.04, Z:-0.01 [[ 8.95423534e-01 4.45215335e-01 0.00000000e+00 2.70438970e+02] [-4.45215335e-01 8.95423534e-01 0.00000000e+00 -6.80357471e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.25538807e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.47, Y:-68.04, Z:-0.01 [[ 8.94498760e-01 4.47070428e-01 0.00000000e+00 2.70467126e+02] [-4.47070428e-01 8.94498760e-01 0.00000000e+00 -6.80441940e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.50251167e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.49, Y:-68.05, Z:-0.01 [[ 8.93899119e-01 4.48268184e-01 0.00000000e+00 2.70492523e+02] [-4.48268184e-01 8.93899119e-01 0.00000000e+00 -6.80529654e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.49167485e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.52, Y:-68.06, Z:-0.00 [[ 8.93743130e-01 4.48579109e-01 0.00000000e+00 2.70519254e+02] [-4.48579109e-01 8.93743130e-01 0.00000000e+00 -6.80618999e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.21432965e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.55, Y:-68.07, Z:-0.00 [[ 8.94133846e-01 4.47799805e-01 0.00000000e+00 2.70547573e+02] [-4.47799805e-01 8.94133846e-01 0.00000000e+00 -6.80699515e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.29166382e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.58, Y:-68.08, Z:0.00 [[ 8.94607424e-01 4.46852947e-01 0.00000000e+00 2.70575571e+02] [-4.46852947e-01 8.94607424e-01 0.00000000e+00 -6.80780162e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00399665e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.60, Y:-68.09, Z:0.00 [[ 8.95637360e-01 4.44785027e-01 0.00000000e+00 2.70602719e+02] [-4.44785027e-01 8.95637360e-01 0.00000000e+00 -6.80852766e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59187248e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92140051300004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:270.63, Y:-68.09, Z:0.00 [[ 8.96216373e-01 4.43617191e-01 0.00000000e+00 2.70628896e+02] [-4.43617191e-01 8.96216373e-01 0.00000000e+00 -6.80938567e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.27791093e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.66, Y:-68.10, Z:0.00 [[ 8.96940980e-01 4.42150290e-01 0.00000000e+00 2.70655944e+02] [-4.42150290e-01 8.96940980e-01 0.00000000e+00 -6.81024771e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.09761187e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.68, Y:-68.11, Z:0.00 [[ 8.98578857e-01 4.38812076e-01 0.00000000e+00 2.70682622e+02] [-4.38812076e-01 8.98578857e-01 0.00000000e+00 -6.81101329e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81856721e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.71, Y:-68.12, Z:-0.00 [[ 8.99517841e-01 4.36884029e-01 0.00000000e+00 2.70708841e+02] [-4.36884029e-01 8.99517841e-01 0.00000000e+00 -6.81206850e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.37507426e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.73, Y:-68.13, Z:-0.00 [[ 9.00348846e-01 4.35168881e-01 0.00000000e+00 2.70733868e+02] [-4.35168881e-01 9.00348846e-01 0.00000000e+00 -6.81309396e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29435573e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.76, Y:-68.14, Z:-0.00 [[ 9.01016104e-01 4.33785639e-01 0.00000000e+00 2.70760585e+02] [-4.33785639e-01 9.01016104e-01 0.00000000e+00 -6.81408391e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35929690e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.79, Y:-68.15, Z:-0.00 [[ 9.01458173e-01 4.32866217e-01 0.00000000e+00 2.70786581e+02] [-4.32866217e-01 9.01458173e-01 0.00000000e+00 -6.81495277e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65041587e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.81, Y:-68.16, Z:0.00 [[ 9.01930046e-01 4.31882150e-01 0.00000000e+00 2.70814403e+02] [-4.31882150e-01 9.01930046e-01 0.00000000e+00 -6.81578376e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.66256853e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.84, Y:-68.17, Z:0.00 [[ 9.02088096e-01 4.31551929e-01 0.00000000e+00 2.70840222e+02] [-4.31551929e-01 9.02088096e-01 0.00000000e+00 -6.81671063e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72964492e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.191400513 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:270.87, Y:-68.18, Z:0.00 [[ 9.02224853e-01 4.31265944e-01 0.00000000e+00 2.70866661e+02] [-4.31265944e-01 9.02224853e-01 0.00000000e+00 -6.81771049e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15020486e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.89, Y:-68.19, Z:0.00 [[ 9.02406425e-01 4.30885882e-01 0.00000000e+00 2.70892999e+02] [-4.30885882e-01 9.02406425e-01 0.00000000e+00 -6.81872448e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37196372e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.92, Y:-68.20, Z:0.00 [[ 9.02734524e-01 4.30198069e-01 0.00000000e+00 2.70918041e+02] [-4.30198069e-01 9.02734524e-01 0.00000000e+00 -6.81965493e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.18136911e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.95, Y:-68.21, Z:-0.00 [[ 9.03693228e-01 4.28180510e-01 0.00000000e+00 2.70945307e+02] [-4.28180510e-01 9.03693228e-01 0.00000000e+00 -6.82060154e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02491116e-06] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.97, Y:-68.21, Z:0.00 [[ 9.04171172e-01 4.27170331e-01 0.00000000e+00 2.70970691e+02] [-4.27170331e-01 9.04171172e-01 0.00000000e+00 -6.82149701e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.90635558e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.00, Y:-68.23, Z:0.00 [[ 9.04380614e-01 4.26726733e-01 0.00000000e+00 2.70998186e+02] [-4.26726733e-01 9.04380614e-01 0.00000000e+00 -6.82250121e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90098022e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.02, Y:-68.23, Z:0.01 [[ 9.04085704e-01 4.27351191e-01 0.00000000e+00 2.71024721e+02] [-4.27351191e-01 9.04085704e-01 0.00000000e+00 -6.82328936e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.55138579e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.05, Y:-68.24, Z:0.01 [[ 9.03572355e-01 4.28435525e-01 0.00000000e+00 2.71050287e+02] [-4.28435525e-01 9.03572355e-01 0.00000000e+00 -6.82414814e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.05607721e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.08, Y:-68.25, Z:0.00 [[ 9.03004984e-01 4.29630072e-01 0.00000000e+00 2.71077187e+02] [-4.29630072e-01 9.03004984e-01 0.00000000e+00 -6.82506173e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25364407e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.10, Y:-68.26, Z:-0.00 [[ 9.02578674e-01 4.30524955e-01 0.00000000e+00 2.71104622e+02] [-4.30524955e-01 9.02578674e-01 0.00000000e+00 -6.82602551e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47903366e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.13, Y:-68.27, Z:-0.01 [[ 9.02361923e-01 4.30979071e-01 0.00000000e+00 2.71130715e+02] [-4.30979071e-01 9.02361923e-01 0.00000000e+00 -6.82693743e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.74697707e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.16, Y:-68.28, Z:-0.01 [[ 9.02669977e-01 4.30333489e-01 0.00000000e+00 2.71157069e+02] [-4.30333489e-01 9.02669977e-01 0.00000000e+00 -6.82795216e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.31049449e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.18, Y:-68.29, Z:-0.01 [[ 9.03254367e-01 4.29105521e-01 0.00000000e+00 2.71183708e+02] [-4.29105521e-01 9.03254367e-01 0.00000000e+00 -6.82897894e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.48423552e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.21, Y:-68.30, Z:-0.00 [[ 9.04014190e-01 4.27502449e-01 0.00000000e+00 2.71210706e+02] [-4.27502449e-01 9.04014190e-01 0.00000000e+00 -6.83004506e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.50642857e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.24, Y:-68.31, Z:-0.00 [[ 9.05236564e-01 4.24907948e-01 0.00000000e+00 2.71237502e+02] [-4.24907948e-01 9.05236564e-01 0.00000000e+00 -6.83092517e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30876712e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.27, Y:-68.32, Z:0.00 [[ 9.05147882e-01 4.25096825e-01 0.00000000e+00 2.71265387e+02] [-4.25096825e-01 9.05147882e-01 0.00000000e+00 -6.83178928e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04736773e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.29, Y:-68.33, Z:0.00 [[ 9.04547546e-01 4.26372768e-01 0.00000000e+00 2.71292654e+02] [-4.26372768e-01 9.04547546e-01 0.00000000e+00 -6.83254338e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.12546284e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.701400513 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:271.32, Y:-68.33, Z:0.00 [[ 9.02089303e-01 4.31549407e-01 0.00000000e+00 2.71320688e+02] [-4.31549407e-01 9.02089303e-01 0.00000000e+00 -6.83318746e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54769019e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.35, Y:-68.34, Z:0.00 [[ 9.00818148e-01 4.34196572e-01 0.00000000e+00 2.71346697e+02] [-4.34196572e-01 9.00818148e-01 0.00000000e+00 -6.83398495e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35620257e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.37, Y:-68.35, Z:0.00 [[ 8.99728050e-01 4.36450954e-01 0.00000000e+00 2.71373946e+02] [-4.36450954e-01 8.99728050e-01 0.00000000e+00 -6.83471332e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.78017673e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.40, Y:-68.35, Z:-0.00 [[ 8.98859373e-01 4.38237181e-01 0.00000000e+00 2.71402287e+02] [-4.38237181e-01 8.98859373e-01 0.00000000e+00 -6.83502403e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10425555e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.43, Y:-68.36, Z:-0.00 [[ 8.99242302e-01 4.37450891e-01 0.00000000e+00 2.71429143e+02] [-4.37450891e-01 8.99242302e-01 0.00000000e+00 -6.83578834e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.19272592e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.46, Y:-68.37, Z:-0.00 [[ 9.00058218e-01 4.35769669e-01 0.00000000e+00 2.71456196e+02] [-4.35769669e-01 9.00058218e-01 0.00000000e+00 -6.83661092e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.53475187e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.48, Y:-68.37, Z:0.00 [[ 9.01266300e-01 4.33265574e-01 0.00000000e+00 2.71482663e+02] [-4.33265574e-01 9.01266300e-01 0.00000000e+00 -6.83744436e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06338335e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.51, Y:-68.38, Z:0.00 [[ 9.03260786e-01 4.29092010e-01 0.00000000e+00 2.71510070e+02] [-4.29092010e-01 9.03260786e-01 0.00000000e+00 -6.83822862e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43605199e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.54, Y:-68.39, Z:0.00 [[ 9.03793147e-01 4.27969563e-01 0.00000000e+00 2.71536392e+02] [-4.27969563e-01 9.03793147e-01 0.00000000e+00 -6.83924599e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27096979e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.56, Y:-68.40, Z:0.00 [[ 9.04057770e-01 4.27410282e-01 0.00000000e+00 2.71561923e+02] [-4.27410282e-01 9.04057770e-01 0.00000000e+00 -6.84022207e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70637687e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.59, Y:-68.41, Z:0.00 [[ 9.04125660e-01 4.27266652e-01 0.00000000e+00 2.71588735e+02] [-4.27266652e-01 9.04125660e-01 0.00000000e+00 -6.84117268e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.80442434e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.62, Y:-68.42, Z:0.00 [[ 9.03429968e-01 4.28735692e-01 0.00000000e+00 2.71615538e+02] [-4.28735692e-01 9.03429968e-01 0.00000000e+00 -6.84203623e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50752845e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.061400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:271.64, Y:-68.43, Z:0.00 [[ 9.02894442e-01 4.29862336e-01 0.00000000e+00 2.71642012e+02] [-4.29862336e-01 9.02894442e-01 0.00000000e+00 -6.84306991e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04019174e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.091400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:271.67, Y:-68.44, Z:0.00 [[ 9.02971934e-01 4.29699530e-01 0.00000000e+00 2.71668653e+02] [-4.29699530e-01 9.02971934e-01 0.00000000e+00 -6.84408609e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04019174e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.69, Y:-68.45, Z:0.00 [[ 9.02363375e-01 4.30976032e-01 0.00000000e+00 2.71694535e+02] [-4.30976032e-01 9.02363375e-01 0.00000000e+00 -6.84501002e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.16210303e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.72, Y:-68.46, Z:-0.00 [[ 9.01690606e-01 4.32381835e-01 0.00000000e+00 2.71721258e+02] [-4.32381835e-01 9.01690606e-01 0.00000000e+00 -6.84590678e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44770180e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.75, Y:-68.47, Z:-0.00 [[ 9.00767690e-01 4.34301241e-01 0.00000000e+00 2.71748804e+02] [-4.34301241e-01 9.00767690e-01 0.00000000e+00 -6.84660542e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.04434125e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.78, Y:-68.48, Z:-0.00 [[ 9.00642754e-01 4.34560272e-01 0.00000000e+00 2.71775437e+02] [-4.34560272e-01 9.00642754e-01 0.00000000e+00 -6.84759903e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.78164125e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.80, Y:-68.49, Z:-0.00 [[ 9.00688076e-01 4.34466327e-01 0.00000000e+00 2.71800573e+02] [-4.34466327e-01 9.00688076e-01 0.00000000e+00 -6.84859801e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.05241952e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.83, Y:-68.49, Z:-0.00 [[ 9.01999924e-01 4.31736189e-01 0.00000000e+00 2.71827376e+02] [-4.31736189e-01 9.01999924e-01 0.00000000e+00 -6.84942254e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.70286327e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.85, Y:-68.50, Z:-0.00 [[ 9.02820740e-01 4.30017105e-01 0.00000000e+00 2.71853172e+02] [-4.30017105e-01 9.02820740e-01 0.00000000e+00 -6.85020314e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.32845342e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.88, Y:-68.51, Z:-0.00 [[ 9.03572885e-01 4.28434407e-01 0.00000000e+00 2.71880242e+02] [-4.28434407e-01 9.03572885e-01 0.00000000e+00 -6.85103317e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.74066951e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.91, Y:-68.52, Z:-0.01 [[ 9.03957713e-01 4.27621857e-01 0.00000000e+00 2.71905414e+02] [-4.27621857e-01 9.03957713e-01 0.00000000e+00 -6.85187880e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.00754194e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.93, Y:-68.53, Z:-0.00 [[ 9.03864187e-01 4.27819508e-01 0.00000000e+00 2.71932361e+02] [-4.27819508e-01 9.03864187e-01 0.00000000e+00 -6.85263264e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.69995909e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.96, Y:-68.53, Z:-0.00 [[ 9.03771127e-01 4.28016064e-01 0.00000000e+00 2.71959936e+02] [-4.28016064e-01 9.03771127e-01 0.00000000e+00 -6.85334428e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10651156e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.99, Y:-68.54, Z:-0.00 [[ 9.03819606e-01 4.27913683e-01 0.00000000e+00 2.71987115e+02] [-4.27913683e-01 9.03819606e-01 0.00000000e+00 -6.85387441e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.33073301e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.02, Y:-68.54, Z:-0.00 [[ 9.04206898e-01 4.27094703e-01 0.00000000e+00 2.72015433e+02] [-4.27094703e-01 9.04206898e-01 0.00000000e+00 -6.85448974e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.32308377e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.04, Y:-68.55, Z:-0.01 [[ 9.04942841e-01 4.25533142e-01 0.00000000e+00 2.72042216e+02] [-4.25533142e-01 9.04942841e-01 0.00000000e+00 -6.85522863e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.07252337e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.541400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:272.07, Y:-68.56, Z:-0.00 [[ 9.07903404e-01 4.19179448e-01 0.00000000e+00 2.72070176e+02] [-4.19179448e-01 9.07903404e-01 0.00000000e+00 -6.85600858e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.90612222e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.10, Y:-68.57, Z:-0.00 [[ 9.09682760e-01 4.15303836e-01 0.00000000e+00 2.72096861e+02] [-4.15303836e-01 9.09682760e-01 0.00000000e+00 -6.85686316e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.03210843e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.12, Y:-68.58, Z:-0.00 [[ 9.11417242e-01 4.11483426e-01 0.00000000e+00 2.72122795e+02] [-4.11483426e-01 9.11417242e-01 0.00000000e+00 -6.85775153e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29812330e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.15, Y:-68.59, Z:0.00 [[ 9.14047631e-01 4.05606864e-01 0.00000000e+00 2.72148708e+02] [-4.05606864e-01 9.14047631e-01 0.00000000e+00 -6.85877434e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.97638959e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.17, Y:-68.60, Z:0.00 [[ 9.14570843e-01 4.04425733e-01 0.00000000e+00 2.72174585e+02] [-4.04425733e-01 9.14570843e-01 0.00000000e+00 -6.85973194e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43827396e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.20, Y:-68.61, Z:0.00 [[ 9.14374938e-01 4.04868464e-01 0.00000000e+00 2.72200746e+02] [-4.04868464e-01 9.14374938e-01 0.00000000e+00 -6.86058451e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05111798e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.23, Y:-68.61, Z:0.00 [[ 9.13483490e-01 4.06875796e-01 0.00000000e+00 2.72228087e+02] [-4.06875796e-01 9.13483490e-01 0.00000000e+00 -6.86137175e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02440161e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.26, Y:-68.62, Z:0.00 [[ 9.12089086e-01 4.09992071e-01 0.00000000e+00 2.72255216e+02] [-4.09992071e-01 9.12089086e-01 0.00000000e+00 -6.86217295e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47913165e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.28, Y:-68.63, Z:-0.00 [[ 9.08702709e-01 4.17443873e-01 0.00000000e+00 2.72281375e+02] [-4.17443873e-01 9.08702709e-01 0.00000000e+00 -6.86301307e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50204646e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.31, Y:-68.64, Z:-0.00 [[ 9.07318255e-01 4.20444507e-01 0.00000000e+00 2.72308322e+02] [-4.20444507e-01 9.07318255e-01 0.00000000e+00 -6.86394460e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01443900e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.34, Y:-68.64, Z:-0.00 [[ 9.05683712e-01 4.23954023e-01 0.00000000e+00 2.72335616e+02] [-4.23954023e-01 9.05683712e-01 0.00000000e+00 -6.86434589e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.53284340e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.36, Y:-68.65, Z:-0.00 [[ 9.05588064e-01 4.24158294e-01 0.00000000e+00 2.72363000e+02] [-4.24158294e-01 9.05588064e-01 0.00000000e+00 -6.86508584e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.37125190e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.39, Y:-68.66, Z:-0.00 [[ 9.05691704e-01 4.23936950e-01 0.00000000e+00 2.72389912e+02] [-4.23936950e-01 9.05691704e-01 0.00000000e+00 -6.86594869e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59905682e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.41, Y:-68.67, Z:-0.00 [[ 9.05846585e-01 4.23605906e-01 0.00000000e+00 2.72414865e+02] [-4.23605906e-01 9.05846585e-01 0.00000000e+00 -6.86693180e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.89257046e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.44, Y:-68.68, Z:-0.00 [[ 9.06163397e-01 4.22927769e-01 0.00000000e+00 2.72439861e+02] [-4.22927769e-01 9.06163397e-01 0.00000000e+00 -6.86791443e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19190512e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.47, Y:-68.69, Z:-0.00 [[ 9.06780600e-01 4.21602827e-01 0.00000000e+00 2.72466617e+02] [-4.21602827e-01 9.06780600e-01 0.00000000e+00 -6.86885085e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42322657e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.49, Y:-68.70, Z:0.00 [[ 9.08375761e-01 4.18154847e-01 0.00000000e+00 2.72493500e+02] [-4.18154847e-01 9.08375761e-01 0.00000000e+00 -6.86957869e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74935048e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.52, Y:-68.70, Z:0.00 [[ 9.09167819e-01 4.16429918e-01 0.00000000e+00 2.72518933e+02] [-4.16429918e-01 9.09167819e-01 0.00000000e+00 -6.87048683e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18786376e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.081400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:272.55, Y:-68.71, Z:0.00 [[ 9.09760007e-01 4.15134592e-01 0.00000000e+00 2.72545536e+02] [-4.15134592e-01 9.09760007e-01 0.00000000e+00 -6.87148803e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63945388e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.57, Y:-68.72, Z:0.00 [[ 9.10270764e-01 4.14013449e-01 0.00000000e+00 2.72571530e+02] [-4.14013449e-01 9.10270764e-01 0.00000000e+00 -6.87239653e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43353737e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.60, Y:-68.73, Z:-0.00 [[ 9.10545960e-01 4.13407855e-01 0.00000000e+00 2.72598378e+02] [-4.13407855e-01 9.10545960e-01 0.00000000e+00 -6.87317607e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44643784e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.62, Y:-68.74, Z:-0.00 [[ 9.10456299e-01 4.13605279e-01 0.00000000e+00 2.72624204e+02] [-4.13605279e-01 9.10456299e-01 0.00000000e+00 -6.87412785e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16915148e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.65, Y:-68.75, Z:-0.00 [[ 9.10251713e-01 4.14055332e-01 0.00000000e+00 2.72649723e+02] [-4.14055332e-01 9.10251713e-01 0.00000000e+00 -6.87514454e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.60928131e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.231400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:272.68, Y:-68.76, Z:-0.00 [[ 9.09871682e-01 4.14889771e-01 0.00000000e+00 2.72675384e+02] [-4.14889771e-01 9.09871682e-01 0.00000000e+00 -6.87615827e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00478432e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.70, Y:-68.77, Z:-0.00 [[ 9.09179604e-01 4.16404187e-01 0.00000000e+00 2.72703065e+02] [-4.16404187e-01 9.09179604e-01 0.00000000e+00 -6.87701191e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.80774831e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.73, Y:-68.78, Z:-0.00 [[ 9.08751068e-01 4.17338587e-01 0.00000000e+00 2.72729797e+02] [-4.17338587e-01 9.08751068e-01 0.00000000e+00 -6.87788134e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83104358e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.76, Y:-68.79, Z:-0.00 [[ 9.08236112e-01 4.18458081e-01 0.00000000e+00 2.72755141e+02] [-4.18458081e-01 9.08236112e-01 0.00000000e+00 -6.87879169e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.91479656e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.78, Y:-68.80, Z:-0.00 [[ 9.07684736e-01 4.19652737e-01 0.00000000e+00 2.72780951e+02] [-4.19652737e-01 9.07684736e-01 0.00000000e+00 -6.87982621e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50703934e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.81, Y:-68.81, Z:-0.00 [[ 9.07112648e-01 4.20887923e-01 0.00000000e+00 2.72806232e+02] [-4.20887923e-01 9.07112648e-01 0.00000000e+00 -6.88093300e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.78911245e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.83, Y:-68.82, Z:-0.00 [[ 9.06623509e-01 4.21940532e-01 0.00000000e+00 2.72831870e+02] [-4.21940532e-01 9.06623509e-01 0.00000000e+00 -6.88200729e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.98978077e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.86, Y:-68.83, Z:-0.00 [[ 9.05895561e-01 4.23501160e-01 0.00000000e+00 2.72858283e+02] [-4.23501160e-01 9.05895561e-01 0.00000000e+00 -6.88291697e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.45931436e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.88, Y:-68.84, Z:-0.00 [[ 9.05486059e-01 4.24376009e-01 0.00000000e+00 2.72883695e+02] [-4.24376009e-01 9.05486059e-01 0.00000000e+00 -6.88384678e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.42449474e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.91, Y:-68.85, Z:-0.00 [[ 9.05017042e-01 4.25375309e-01 0.00000000e+00 2.72909743e+02] [-4.25375309e-01 9.05017042e-01 0.00000000e+00 -6.88494652e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.91884888e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.94, Y:-68.86, Z:0.00 [[ 9.04063616e-01 4.27397916e-01 0.00000000e+00 2.72935607e+02] [-4.27397916e-01 9.04063616e-01 0.00000000e+00 -6.88620120e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.87164507e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.96, Y:-68.87, Z:0.00 [[ 9.03749860e-01 4.28060966e-01 0.00000000e+00 2.72961423e+02] [-4.28060966e-01 9.03749860e-01 0.00000000e+00 -6.88710173e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88975741e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.99, Y:-68.88, Z:0.00 [[ 9.03680727e-01 4.28206894e-01 0.00000000e+00 2.72988351e+02] [-4.28206894e-01 9.03680727e-01 0.00000000e+00 -6.88792802e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59302531e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.02, Y:-68.89, Z:0.00 [[ 9.03827100e-01 4.27897853e-01 0.00000000e+00 2.73015427e+02] [-4.27897853e-01 9.03827100e-01 0.00000000e+00 -6.88880404e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.63919950e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.04, Y:-68.90, Z:-0.00 [[ 9.04667852e-01 4.26117445e-01 0.00000000e+00 2.73041664e+02] [-4.26117445e-01 9.04667852e-01 0.00000000e+00 -6.88984286e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.29251067e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.07, Y:-68.91, Z:0.00 [[ 9.05368253e-01 4.24627280e-01 0.00000000e+00 2.73067882e+02] [-4.24627280e-01 9.05368253e-01 0.00000000e+00 -6.89088101e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60099266e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.09, Y:-68.92, Z:0.00 [[ 9.06135578e-01 4.22987370e-01 0.00000000e+00 2.73093709e+02] [-4.22987370e-01 9.06135578e-01 0.00000000e+00 -6.89179439e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89997399e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.12, Y:-68.93, Z:0.00 [[ 9.07002957e-01 4.21124252e-01 0.00000000e+00 2.73120082e+02] [-4.21124252e-01 9.07002957e-01 0.00000000e+00 -6.89263115e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.91795662e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.15, Y:-68.93, Z:0.00 [[ 9.07819635e-01 4.19360835e-01 0.00000000e+00 2.73146646e+02] [-4.19360835e-01 9.07819635e-01 0.00000000e+00 -6.89347003e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72452014e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.17, Y:-68.94, Z:-0.00 [[ 9.08542098e-01 4.17793317e-01 0.00000000e+00 2.73172532e+02] [-4.17793317e-01 9.08542098e-01 0.00000000e+00 -6.89443024e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.81159982e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.20, Y:-68.95, Z:-0.00 [[ 9.08820959e-01 4.17186367e-01 0.00000000e+00 2.73198895e+02] [-4.17186367e-01 9.08820959e-01 0.00000000e+00 -6.89547873e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80037969e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.22, Y:-68.96, Z:-0.00 [[ 9.09024932e-01 4.16741734e-01 0.00000000e+00 2.73224546e+02] [-4.16741734e-01 9.09024932e-01 0.00000000e+00 -6.89648220e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.57720378e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.25, Y:-68.97, Z:-0.00 [[ 9.09128627e-01 4.16515472e-01 0.00000000e+00 2.73250065e+02] [-4.16515472e-01 9.09128627e-01 0.00000000e+00 -6.89736982e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.84602830e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92140051300004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:273.28, Y:-68.98, Z:0.00 [[ 9.08787973e-01 4.17258218e-01 0.00000000e+00 2.73277966e+02] [-4.17258218e-01 9.08787973e-01 0.00000000e+00 -6.89804360e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.41110316e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.951400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:273.30, Y:-68.99, Z:0.00 [[ 9.08863924e-01 4.17092757e-01 0.00000000e+00 2.73304683e+02] [-4.17092757e-01 9.08863924e-01 0.00000000e+00 -6.89903645e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.41110316e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.981400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:273.33, Y:-69.00, Z:0.00 [[ 9.08449829e-01 4.17993909e-01 0.00000000e+00 2.73330466e+02] [-4.17993909e-01 9.08449829e-01 0.00000000e+00 -6.89980743e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88642705e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.36, Y:-69.01, Z:0.00 [[ 9.08077181e-01 4.18802858e-01 0.00000000e+00 2.73357375e+02] [-4.18802858e-01 9.08077181e-01 0.00000000e+00 -6.90061049e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.55937395e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.38, Y:-69.01, Z:0.00 [[ 9.07587766e-01 4.19862414e-01 0.00000000e+00 2.73384203e+02] [-4.19862414e-01 9.07587766e-01 0.00000000e+00 -6.90137934e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.56117296e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.41, Y:-69.02, Z:-0.00 [[ 9.07087085e-01 4.20943012e-01 0.00000000e+00 2.73412287e+02] [-4.20943012e-01 9.07087085e-01 0.00000000e+00 -6.90184394e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.15550843e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.44, Y:-69.03, Z:-0.00 [[ 9.07167786e-01 4.20769067e-01 0.00000000e+00 2.73439150e+02] [-4.20769067e-01 9.07167786e-01 0.00000000e+00 -6.90256638e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.01215657e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.47, Y:-69.03, Z:-0.00 [[ 9.07368687e-01 4.20335659e-01 0.00000000e+00 2.73467201e+02] [-4.20335659e-01 9.07368687e-01 0.00000000e+00 -6.90336800e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.87941424e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.49, Y:-69.04, Z:-0.00 [[ 9.07594829e-01 4.19847146e-01 0.00000000e+00 2.73494232e+02] [-4.19847146e-01 9.07594829e-01 0.00000000e+00 -6.90418898e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.85484325e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.52, Y:-69.05, Z:-0.01 [[ 9.08026657e-01 4.18912390e-01 0.00000000e+00 2.73521431e+02] [-4.18912390e-01 9.08026657e-01 0.00000000e+00 -6.90500355e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.20323584e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.55, Y:-69.05, Z:-0.01 [[ 9.09381533e-01 4.15963012e-01 0.00000000e+00 2.73549941e+02] [-4.15963012e-01 9.09381533e-01 0.00000000e+00 -6.90548770e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.04605588e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.251400513 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:273.58, Y:-69.06, Z:-0.01 [[ 9.10164153e-01 4.14247770e-01 0.00000000e+00 2.73576171e+02] [-4.14247770e-01 9.10164153e-01 0.00000000e+00 -6.90611921e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.66524739e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.60, Y:-69.07, Z:-0.01 [[ 9.10898394e-01 4.12630725e-01 0.00000000e+00 2.73603052e+02] [-4.12630725e-01 9.10898394e-01 0.00000000e+00 -6.90686002e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.64532203e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.63, Y:-69.08, Z:-0.01 [[ 9.11449123e-01 4.11412805e-01 0.00000000e+00 2.73630051e+02] [-4.11412805e-01 9.11449123e-01 0.00000000e+00 -6.90768906e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.41127299e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.66, Y:-69.09, Z:-0.01 [[ 9.11706568e-01 4.10841983e-01 0.00000000e+00 2.73656128e+02] [-4.10841983e-01 9.11706568e-01 0.00000000e+00 -6.90859962e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.60894081e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.68, Y:-69.09, Z:-0.00 [[ 9.11716668e-01 4.10819568e-01 0.00000000e+00 2.73683517e+02] [-4.10819568e-01 9.11716668e-01 0.00000000e+00 -6.90930933e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.36909874e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.71, Y:-69.10, Z:-0.00 [[ 9.11464622e-01 4.11378467e-01 0.00000000e+00 2.73710201e+02] [-4.11378467e-01 9.11464622e-01 0.00000000e+00 -6.90991757e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.81346385e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.74, Y:-69.11, Z:-0.00 [[ 9.11142474e-01 4.12091485e-01 0.00000000e+00 2.73738314e+02] [-4.12091485e-01 9.11142474e-01 0.00000000e+00 -6.91052780e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.77205829e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.77, Y:-69.11, Z:-0.00 [[ 9.10720520e-01 4.13023164e-01 0.00000000e+00 2.73765501e+02] [-4.13023164e-01 9.10720520e-01 0.00000000e+00 -6.91118534e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.34448259e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.79, Y:-69.12, Z:-0.00 [[ 9.10238549e-01 4.14084270e-01 0.00000000e+00 2.73792817e+02] [-4.14084270e-01 9.10238549e-01 0.00000000e+00 -6.91198393e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06311240e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.82, Y:-69.13, Z:0.00 [[ 9.09148379e-01 4.16472357e-01 0.00000000e+00 2.73821267e+02] [-4.16472357e-01 9.09148379e-01 0.00000000e+00 -6.91265795e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28607682e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.85, Y:-69.13, Z:0.00 [[ 9.08807107e-01 4.17216542e-01 0.00000000e+00 2.73848243e+02] [-4.17216542e-01 9.08807107e-01 0.00000000e+00 -6.91340346e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39390521e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.581400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:273.88, Y:-69.14, Z:0.01 [[ 9.08700455e-01 4.17448780e-01 0.00000000e+00 2.73875482e+02] [-4.17448780e-01 9.08700455e-01 0.00000000e+00 -6.91420605e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.46838721e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.90, Y:-69.15, Z:0.01 [[ 9.08792827e-01 4.17247646e-01 0.00000000e+00 2.73901049e+02] [-4.17247646e-01 9.08792827e-01 0.00000000e+00 -6.91508330e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.11180874e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.93, Y:-69.16, Z:0.01 [[ 9.09166188e-01 4.16433479e-01 0.00000000e+00 2.73927064e+02] [-4.16433479e-01 9.09166188e-01 0.00000000e+00 -6.91610043e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.59235271e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.95, Y:-69.17, Z:0.01 [[ 9.09311565e-01 4.16115942e-01 0.00000000e+00 2.73953245e+02] [-4.16115942e-01 9.09311565e-01 0.00000000e+00 -6.91706116e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.15077899e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.98, Y:-69.18, Z:0.01 [[ 9.09414213e-01 4.15891559e-01 0.00000000e+00 2.73978699e+02] [-4.15891559e-01 9.09414213e-01 0.00000000e+00 -6.91799688e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.90744468e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.01, Y:-69.19, Z:0.01 [[ 9.09547380e-01 4.15600246e-01 0.00000000e+00 2.74005109e+02] [-4.15600246e-01 9.09547380e-01 0.00000000e+00 -6.91899845e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.34874367e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.03, Y:-69.20, Z:0.00 [[ 9.09622813e-01 4.15435119e-01 0.00000000e+00 2.74030483e+02] [-4.15435119e-01 9.09622813e-01 0.00000000e+00 -6.92003178e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48031784e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.06, Y:-69.21, Z:0.00 [[ 9.09993800e-01 4.14621856e-01 0.00000000e+00 2.74056092e+02] [-4.14621856e-01 9.09993800e-01 0.00000000e+00 -6.92115816e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.86534712e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.08, Y:-69.22, Z:0.00 [[ 9.10251091e-01 4.14056700e-01 0.00000000e+00 2.74082414e+02] [-4.14056700e-01 9.10251091e-01 0.00000000e+00 -6.92221010e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92953810e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.11, Y:-69.23, Z:0.00 [[ 9.10422840e-01 4.13678925e-01 0.00000000e+00 2.74108441e+02] [-4.13678925e-01 9.10422840e-01 0.00000000e+00 -6.92333733e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98225744e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.13, Y:-69.25, Z:0.00 [[ 9.10430893e-01 4.13661201e-01 0.00000000e+00 2.74132008e+02] [-4.13661201e-01 9.10430893e-01 0.00000000e+00 -6.92494583e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75553859e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.16, Y:-69.26, Z:0.00 [[ 9.10382454e-01 4.13767795e-01 0.00000000e+00 2.74156324e+02] [-4.13767795e-01 9.10382454e-01 0.00000000e+00 -6.92619229e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06298509e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.18, Y:-69.27, Z:0.00 [[ 9.10306486e-01 4.13934901e-01 0.00000000e+00 2.74181912e+02] [-4.13934901e-01 9.10306486e-01 0.00000000e+00 -6.92735243e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30789586e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.21, Y:-69.28, Z:0.00 [[ 9.10253497e-01 4.14051411e-01 0.00000000e+00 2.74207565e+02] [-4.14051411e-01 9.10253497e-01 0.00000000e+00 -6.92845273e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.00315620e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.23, Y:-69.30, Z:-0.00 [[ 9.09608631e-01 4.15466169e-01 0.00000000e+00 2.74232068e+02] [-4.15466169e-01 9.09608631e-01 0.00000000e+00 -6.92994521e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.52917061e-06] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.26, Y:-69.31, Z:0.00 [[ 9.09051350e-01 4.16684104e-01 0.00000000e+00 2.74256815e+02] [-4.16684104e-01 9.09051350e-01 0.00000000e+00 -6.93114943e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.45321042e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.28, Y:-69.32, Z:0.00 [[ 9.08476108e-01 4.17936791e-01 0.00000000e+00 2.74282427e+02] [-4.17936791e-01 9.08476108e-01 0.00000000e+00 -6.93216804e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.93742320e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.31, Y:-69.33, Z:-0.00 [[ 9.07675762e-01 4.19672147e-01 0.00000000e+00 2.74309183e+02] [-4.19672147e-01 9.07675762e-01 0.00000000e+00 -6.93308983e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38417755e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.121400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:274.34, Y:-69.34, Z:-0.00 [[ 9.06765555e-01 4.21635183e-01 0.00000000e+00 2.74335215e+02] [-4.21635183e-01 9.06765555e-01 0.00000000e+00 -6.93400732e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.44484371e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.36, Y:-69.35, Z:-0.00 [[ 9.06178966e-01 4.22894410e-01 0.00000000e+00 2.74361281e+02] [-4.22894410e-01 9.06178966e-01 0.00000000e+00 -6.93496772e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.60921480e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.39, Y:-69.36, Z:-0.00 [[ 9.05565363e-01 4.24206758e-01 0.00000000e+00 2.74386578e+02] [-4.24206758e-01 9.05565363e-01 0.00000000e+00 -6.93601412e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53898803e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.41, Y:-69.37, Z:-0.00 [[ 9.05704269e-01 4.23910104e-01 0.00000000e+00 2.74413924e+02] [-4.23910104e-01 9.05704269e-01 0.00000000e+00 -6.93694025e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.83653474e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.44, Y:-69.38, Z:0.00 [[ 9.06070585e-01 4.23126571e-01 0.00000000e+00 2.74440699e+02] [-4.23126571e-01 9.06070585e-01 0.00000000e+00 -6.93780112e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08282757e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.47, Y:-69.39, Z:-0.00 [[ 9.06609052e-01 4.21971594e-01 0.00000000e+00 2.74467028e+02] [-4.21971594e-01 9.06609052e-01 0.00000000e+00 -6.93869929e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.25120574e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.49, Y:-69.40, Z:-0.00 [[ 9.07535917e-01 4.19974474e-01 0.00000000e+00 2.74493088e+02] [-4.19974474e-01 9.07535917e-01 0.00000000e+00 -6.93975850e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43139936e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.52, Y:-69.41, Z:-0.00 [[ 9.07946601e-01 4.19085873e-01 0.00000000e+00 2.74518877e+02] [-4.19085873e-01 9.07946601e-01 0.00000000e+00 -6.94073024e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.47411821e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.55, Y:-69.42, Z:0.00 [[ 9.08337825e-01 4.18237248e-01 0.00000000e+00 2.74545814e+02] [-4.18237248e-01 9.08337825e-01 0.00000000e+00 -6.94165590e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85586624e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.57, Y:-69.43, Z:0.00 [[ 9.08676561e-01 4.17500787e-01 0.00000000e+00 2.74571397e+02] [-4.17500787e-01 9.08676561e-01 0.00000000e+00 -6.94252576e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65767782e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.60, Y:-69.43, Z:0.00 [[ 9.09438594e-01 4.15838242e-01 0.00000000e+00 2.74598341e+02] [-4.15838242e-01 9.09438594e-01 0.00000000e+00 -6.94345044e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00264054e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.62, Y:-69.44, Z:0.00 [[ 9.09841949e-01 4.14954972e-01 0.00000000e+00 2.74623114e+02] [-4.14954972e-01 9.09841949e-01 0.00000000e+00 -6.94441953e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.30293566e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.65, Y:-69.45, Z:0.00 [[ 9.10347952e-01 4.13843698e-01 0.00000000e+00 2.74648905e+02] [-4.13843698e-01 9.10347952e-01 0.00000000e+00 -6.94542635e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41608374e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.67, Y:-69.46, Z:0.00 [[ 9.10871468e-01 4.12690160e-01 0.00000000e+00 2.74674783e+02] [-4.12690160e-01 9.10871468e-01 0.00000000e+00 -6.94649795e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02754586e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.70, Y:-69.48, Z:0.01 [[ 9.12188538e-01 4.09770754e-01 0.00000000e+00 2.74699545e+02] [-4.09770754e-01 9.12188538e-01 0.00000000e+00 -6.94786089e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.29412923e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.72, Y:-69.49, Z:0.00 [[ 9.12751537e-01 4.08515156e-01 0.00000000e+00 2.74724556e+02] [-4.08515156e-01 9.12751537e-01 0.00000000e+00 -6.94906397e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07587242e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.75, Y:-69.50, Z:0.00 [[ 9.13260724e-01 4.07375564e-01 0.00000000e+00 2.74751226e+02] [-4.07375564e-01 9.13260724e-01 0.00000000e+00 -6.95030786e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61282151e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.78, Y:-69.52, Z:0.00 [[ 9.13863727e-01 4.06021043e-01 0.00000000e+00 2.74776877e+02] [-4.06021043e-01 9.13863727e-01 0.00000000e+00 -6.95150400e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34152699e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.80, Y:-69.53, Z:0.01 [[ 9.15145236e-01 4.03124294e-01 0.00000000e+00 2.74800458e+02] [-4.03124294e-01 9.15145236e-01 0.00000000e+00 -6.95311279e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.79131078e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.82, Y:-69.54, Z:0.01 [[ 9.15732444e-01 4.01788614e-01 0.00000000e+00 2.74824164e+02] [-4.01788614e-01 9.15732444e-01 0.00000000e+00 -6.95437287e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.21118720e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.85, Y:-69.56, Z:0.01 [[ 9.15976395e-01 4.01232156e-01 0.00000000e+00 2.74849398e+02] [-4.01232156e-01 9.15976395e-01 0.00000000e+00 -6.95556482e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.36677378e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.88, Y:-69.57, Z:0.00 [[ 9.15789765e-01 4.01657947e-01 0.00000000e+00 2.74876169e+02] [-4.01657947e-01 9.15789765e-01 0.00000000e+00 -6.95668236e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.91714971e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.90, Y:-69.58, Z:0.00 [[ 9.15216463e-01 4.02962562e-01 0.00000000e+00 2.74901723e+02] [-4.02962562e-01 9.15216463e-01 0.00000000e+00 -6.95770067e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40517468e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.93, Y:-69.59, Z:0.00 [[ 9.13243359e-01 4.07414490e-01 0.00000000e+00 2.74926463e+02] [-4.07414490e-01 9.13243359e-01 0.00000000e+00 -6.95902091e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01442320e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.95, Y:-69.60, Z:0.00 [[ 9.12323534e-01 4.09470108e-01 0.00000000e+00 2.74952045e+02] [-4.09470108e-01 9.12323534e-01 0.00000000e+00 -6.96028463e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89913373e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.98, Y:-69.62, Z:0.00 [[ 9.11413682e-01 4.11491313e-01 0.00000000e+00 2.74976746e+02] [-4.11491313e-01 9.11413682e-01 0.00000000e+00 -6.96152311e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61770103e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.00, Y:-69.62, Z:0.00 [[ 9.11483124e-01 4.11337471e-01 0.00000000e+00 2.75003555e+02] [-4.11337471e-01 9.11483124e-01 0.00000000e+00 -6.96249060e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61770103e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.03, Y:-69.64, Z:-0.00 [[ 9.10701695e-01 4.13064671e-01 0.00000000e+00 2.75030166e+02] [-4.13064671e-01 9.10701695e-01 0.00000000e+00 -6.96368971e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.58297954e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.06, Y:-69.65, Z:0.00 [[ 9.09831017e-01 4.14978940e-01 0.00000000e+00 2.75056566e+02] [-4.14978940e-01 9.09831017e-01 0.00000000e+00 -6.96472743e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02666074e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.08, Y:-69.66, Z:0.00 [[ 9.07615704e-01 4.19802018e-01 0.00000000e+00 2.75083380e+02] [-4.19802018e-01 9.07615704e-01 0.00000000e+00 -6.96556072e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.51865555e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.11, Y:-69.66, Z:0.01 [[ 9.06526155e-01 4.22149655e-01 0.00000000e+00 2.75110864e+02] [-4.22149655e-01 9.06526155e-01 0.00000000e+00 -6.96645255e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.39459494e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.14, Y:-69.67, Z:0.01 [[ 9.05605667e-01 4.24120710e-01 0.00000000e+00 2.75137621e+02] [-4.24120710e-01 9.05605667e-01 0.00000000e+00 -6.96732620e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.00287860e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.16, Y:-69.68, Z:0.01 [[ 9.05021522e-01 4.25365778e-01 0.00000000e+00 2.75163926e+02] [-4.25365778e-01 9.05021522e-01 0.00000000e+00 -6.96822648e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.95886203e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.19, Y:-69.69, Z:0.00 [[ 9.04908899e-01 4.25605314e-01 0.00000000e+00 2.75190154e+02] [-4.25605314e-01 9.04908899e-01 0.00000000e+00 -6.96919897e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.92467230e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.22, Y:-69.70, Z:0.00 [[ 9.05436772e-01 4.24481157e-01 0.00000000e+00 2.75216522e+02] [-4.24481157e-01 9.05436772e-01 0.00000000e+00 -6.97022682e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46225601e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.24, Y:-69.71, Z:0.00 [[ 9.08170780e-01 4.18599851e-01 0.00000000e+00 2.75242361e+02] [-4.18599851e-01 9.08170780e-01 0.00000000e+00 -6.97135077e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51278728e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.27, Y:-69.72, Z:0.00 [[ 9.10003431e-01 4.14600718e-01 0.00000000e+00 2.75267715e+02] [-4.14600718e-01 9.10003431e-01 0.00000000e+00 -6.97240368e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89216052e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.29, Y:-69.74, Z:0.01 [[ 9.11819193e-01 4.10591961e-01 0.00000000e+00 2.75293532e+02] [-4.10591961e-01 9.11819193e-01 0.00000000e+00 -6.97358496e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.39168848e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.32, Y:-69.75, Z:0.01 [[ 9.14505505e-01 4.04573455e-01 0.00000000e+00 2.75317470e+02] [-4.04573455e-01 9.14505505e-01 0.00000000e+00 -6.97526508e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.54975735e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.34, Y:-69.76, Z:0.01 [[ 9.15267603e-01 4.02846391e-01 0.00000000e+00 2.75342366e+02] [-4.02846391e-01 9.15267603e-01 0.00000000e+00 -6.97646126e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.12994473e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.37, Y:-69.78, Z:0.01 [[ 9.15790100e-01 4.01657183e-01 0.00000000e+00 2.75368487e+02] [-4.01657183e-01 9.15790100e-01 0.00000000e+00 -6.97755119e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.36484976e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.39, Y:-69.79, Z:0.01 [[ 9.16015455e-01 4.01142975e-01 0.00000000e+00 2.75393780e+02] [-4.01142975e-01 9.16015455e-01 0.00000000e+00 -6.97855961e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.38978797e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.42, Y:-69.80, Z:0.01 [[ 9.16031059e-01 4.01107340e-01 0.00000000e+00 2.75418989e+02] [-4.01107340e-01 9.16031059e-01 0.00000000e+00 -6.97969736e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.25975993e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.44, Y:-69.81, Z:0.00 [[ 9.15983118e-01 4.01216809e-01 0.00000000e+00 2.75443219e+02] [-4.01216809e-01 9.15983118e-01 0.00000000e+00 -6.98089105e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.54967808e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.47, Y:-69.82, Z:0.01 [[ 9.15765929e-01 4.01712290e-01 0.00000000e+00 2.75467358e+02] [-4.01712290e-01 9.15765929e-01 0.00000000e+00 -6.98233031e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.65093872e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.49, Y:-69.83, Z:0.01 [[ 9.15540616e-01 4.02225533e-01 0.00000000e+00 2.75492741e+02] [-4.02225533e-01 9.15540616e-01 0.00000000e+00 -6.98335373e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.07208474e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.52, Y:-69.84, Z:0.01 [[ 9.15168286e-01 4.03071964e-01 0.00000000e+00 2.75519339e+02] [-4.03071964e-01 9.15168286e-01 0.00000000e+00 -6.98434866e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.47668925e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.54, Y:-69.85, Z:0.01 [[ 9.14662095e-01 4.04219311e-01 0.00000000e+00 2.75544763e+02] [-4.04219311e-01 9.14662095e-01 0.00000000e+00 -6.98533512e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.54642519e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.57, Y:-69.86, Z:0.00 [[ 9.13650038e-01 4.06501670e-01 0.00000000e+00 2.75570523e+02] [-4.06501670e-01 9.13650038e-01 0.00000000e+00 -6.98640236e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.47703848e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.60, Y:-69.87, Z:0.00 [[ 9.13436759e-01 4.06980697e-01 0.00000000e+00 2.75596232e+02] [-4.06980697e-01 9.13436759e-01 0.00000000e+00 -6.98736414e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53227732e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.62, Y:-69.88, Z:0.00 [[ 9.13452070e-01 4.06946331e-01 0.00000000e+00 2.75622279e+02] [-4.06946331e-01 9.13452070e-01 0.00000000e+00 -6.98835282e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90910447e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.65, Y:-69.89, Z:0.00 [[ 9.13564093e-01 4.06694786e-01 0.00000000e+00 2.75648605e+02] [-4.06694786e-01 9.13564093e-01 0.00000000e+00 -6.98939585e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22250439e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.67, Y:-69.90, Z:0.00 [[ 9.13815808e-01 4.06128881e-01 0.00000000e+00 2.75674289e+02] [-4.06128881e-01 9.13815808e-01 0.00000000e+00 -6.99047440e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.41319402e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.70, Y:-69.92, Z:-0.00 [[ 9.14639631e-01 4.04270139e-01 0.00000000e+00 2.75699571e+02] [-4.04270139e-01 9.14639631e-01 0.00000000e+00 -6.99157692e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.64005034e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.73, Y:-69.93, Z:0.00 [[ 9.14895889e-01 4.03689870e-01 0.00000000e+00 2.75725806e+02] [-4.03689870e-01 9.14895889e-01 0.00000000e+00 -6.99255086e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.18456752e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.771400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:275.75, Y:-69.94, Z:0.00 [[ 9.14702664e-01 4.04127500e-01 0.00000000e+00 2.75752322e+02] [-4.04127500e-01 9.14702664e-01 0.00000000e+00 -6.99358626e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00074247e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.78, Y:-69.95, Z:0.00 [[ 9.14562467e-01 4.04444675e-01 0.00000000e+00 2.75779101e+02] [-4.04444675e-01 9.14562467e-01 0.00000000e+00 -6.99467066e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.32786995e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.80, Y:-69.96, Z:0.00 [[ 9.12930542e-01 4.08114967e-01 0.00000000e+00 2.75804958e+02] [-4.08114967e-01 9.12930542e-01 0.00000000e+00 -6.99557816e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60045725e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.83, Y:-69.96, Z:0.00 [[ 9.11846262e-01 4.10531842e-01 0.00000000e+00 2.75831695e+02] [-4.10531842e-01 9.11846262e-01 0.00000000e+00 -6.99635534e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77402257e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.86, Y:-69.97, Z:0.00 [[ 9.10674381e-01 4.13124887e-01 0.00000000e+00 2.75859006e+02] [-4.13124887e-01 9.10674381e-01 0.00000000e+00 -6.99705034e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36369072e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.89, Y:-69.98, Z:0.00 [[ 9.09450698e-01 4.15811770e-01 0.00000000e+00 2.75885682e+02] [-4.15811770e-01 9.09450698e-01 0.00000000e+00 -6.99770383e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11475135e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.91, Y:-69.98, Z:0.00 [[ 9.08420107e-01 4.18058500e-01 0.00000000e+00 2.75912626e+02] [-4.18058500e-01 9.08420107e-01 0.00000000e+00 -6.99838862e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40880171e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.94, Y:-69.99, Z:0.00 [[ 9.07875402e-01 4.19240092e-01 0.00000000e+00 2.75940615e+02] [-4.19240092e-01 9.07875402e-01 0.00000000e+00 -6.99882606e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28396135e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.97, Y:-69.99, Z:0.00 [[ 9.08475399e-01 4.17938333e-01 0.00000000e+00 2.75967065e+02] [-4.17938333e-01 9.08475399e-01 0.00000000e+00 -6.99931743e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07222240e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.99, Y:-70.00, Z:-0.00 [[ 9.09693877e-01 4.15279485e-01 0.00000000e+00 2.75994828e+02] [-4.15279485e-01 9.09693877e-01 0.00000000e+00 -6.99989300e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71051560e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.02, Y:-70.01, Z:-0.00 [[ 9.11351188e-01 4.11629703e-01 0.00000000e+00 2.76021205e+02] [-4.11629703e-01 9.11351188e-01 0.00000000e+00 -7.00058418e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01075613e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.05, Y:-70.01, Z:0.00 [[ 9.13231175e-01 4.07441801e-01 0.00000000e+00 2.76047511e+02] [-4.07441801e-01 9.13231175e-01 0.00000000e+00 -7.00141488e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.35712815e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.07, Y:-70.02, Z:0.00 [[ 9.16351920e-01 4.00373773e-01 0.00000000e+00 2.76074961e+02] [-4.00373773e-01 9.16351920e-01 0.00000000e+00 -7.00208561e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99774112e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.161400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:276.10, Y:-70.03, Z:0.00 [[ 9.17410752e-01 3.97941594e-01 0.00000000e+00 2.76102530e+02] [-3.97941594e-01 9.17410752e-01 0.00000000e+00 -7.00281353e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.54956516e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.13, Y:-70.04, Z:0.01 [[ 9.18831137e-01 3.94650910e-01 0.00000000e+00 2.76130005e+02] [-3.94650910e-01 9.18831137e-01 0.00000000e+00 -7.00357120e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.19716991e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.16, Y:-70.05, Z:0.01 [[ 9.19166810e-01 3.93868474e-01 0.00000000e+00 2.76155706e+02] [-3.93868474e-01 9.19166810e-01 0.00000000e+00 -7.00467311e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.33303093e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.18, Y:-70.06, Z:0.01 [[ 9.19296762e-01 3.93565070e-01 0.00000000e+00 2.76181624e+02] [-3.93565070e-01 9.19296762e-01 0.00000000e+00 -7.00580772e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.07882277e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.21, Y:-70.07, Z:0.00 [[ 9.19276267e-01 3.93612938e-01 0.00000000e+00 2.76206405e+02] [-3.93612938e-01 9.19276267e-01 0.00000000e+00 -7.00686206e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.79323559e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.23, Y:-70.08, Z:0.00 [[ 9.19273569e-01 3.93619238e-01 0.00000000e+00 2.76231216e+02] [-3.93619238e-01 9.19273569e-01 0.00000000e+00 -7.00781022e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51296023e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.26, Y:-70.09, Z:0.00 [[ 9.19422867e-01 3.93270380e-01 0.00000000e+00 2.76257099e+02] [-3.93270380e-01 9.19422867e-01 0.00000000e+00 -7.00874691e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54097910e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.371400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:276.28, Y:-70.10, Z:-0.00 [[ 9.19187146e-01 3.93821013e-01 0.00000000e+00 2.76282958e+02] [-3.93821013e-01 9.19187146e-01 0.00000000e+00 -7.00995410e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.79181702e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.31, Y:-70.11, Z:0.00 [[ 9.19022517e-01 3.94205039e-01 0.00000000e+00 2.76308710e+02] [-3.94205039e-01 9.19022517e-01 0.00000000e+00 -7.01102994e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29707017e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.33, Y:-70.12, Z:0.00 [[ 9.18350583e-01 3.95767870e-01 0.00000000e+00 2.76334826e+02] [-3.95767870e-01 9.18350583e-01 0.00000000e+00 -7.01214919e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88766551e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.36, Y:-70.13, Z:0.00 [[ 9.17497894e-01 3.97740637e-01 0.00000000e+00 2.76360439e+02] [-3.97740637e-01 9.17497894e-01 0.00000000e+00 -7.01319708e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72968534e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.38, Y:-70.14, Z:0.00 [[ 9.15125380e-01 4.03169369e-01 0.00000000e+00 2.76384405e+02] [-4.03169369e-01 9.15125380e-01 0.00000000e+00 -7.01436743e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.92621787e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.41, Y:-70.15, Z:0.00 [[ 9.14082108e-01 4.05529159e-01 0.00000000e+00 2.76410215e+02] [-4.05529159e-01 9.14082108e-01 0.00000000e+00 -7.01541351e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.68419604e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.44, Y:-70.16, Z:0.00 [[ 9.13194682e-01 4.07523586e-01 0.00000000e+00 2.76435659e+02] [-4.07523586e-01 9.13194682e-01 0.00000000e+00 -7.01633214e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.48094585e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.46, Y:-70.17, Z:0.00 [[ 9.12464160e-01 4.09156641e-01 0.00000000e+00 2.76461805e+02] [-4.09156641e-01 9.12464160e-01 0.00000000e+00 -7.01712120e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89504005e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.49, Y:-70.18, Z:0.00 [[ 9.11974739e-01 4.10246359e-01 0.00000000e+00 2.76489368e+02] [-4.10246359e-01 9.11974739e-01 0.00000000e+00 -7.01785362e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96163532e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.52, Y:-70.19, Z:0.01 [[ 9.11860007e-01 4.10501314e-01 0.00000000e+00 2.76516757e+02] [-4.10501314e-01 9.11860007e-01 0.00000000e+00 -7.01864166e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.12045176e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.54, Y:-70.20, Z:0.01 [[ 9.12616720e-01 4.08816246e-01 0.00000000e+00 2.76542641e+02] [-4.08816246e-01 9.12616720e-01 0.00000000e+00 -7.01970958e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.41467647e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.57, Y:-70.21, Z:0.01 [[ 9.13468870e-01 4.06908618e-01 0.00000000e+00 2.76567744e+02] [-4.06908618e-01 9.13468870e-01 0.00000000e+00 -7.02078708e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.34600730e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.59, Y:-70.22, Z:0.01 [[ 9.14507790e-01 4.04568291e-01 0.00000000e+00 2.76592938e+02] [-4.04568291e-01 9.14507790e-01 0.00000000e+00 -7.02181790e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.94535738e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.62, Y:-70.23, Z:0.01 [[ 9.15727055e-01 4.01800897e-01 0.00000000e+00 2.76619202e+02] [-4.01800897e-01 9.15727055e-01 0.00000000e+00 -7.02282440e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.02461433e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.65, Y:-70.24, Z:0.01 [[ 9.15800974e-01 4.01632388e-01 0.00000000e+00 2.76646092e+02] [-4.01632388e-01 9.15800974e-01 0.00000000e+00 -7.02377146e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.02461433e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.821400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:276.67, Y:-70.25, Z:0.01 [[ 9.17845210e-01 3.96938497e-01 0.00000000e+00 2.76671879e+02] [-3.96938497e-01 9.17845210e-01 0.00000000e+00 -7.02499518e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.07244978e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.70, Y:-70.26, Z:0.00 [[ 9.18887693e-01 3.94519210e-01 0.00000000e+00 2.76696148e+02] [-3.94519210e-01 9.18887693e-01 0.00000000e+00 -7.02617674e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.76781599e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.72, Y:-70.27, Z:0.00 [[ 9.19765763e-01 3.92467759e-01 0.00000000e+00 2.76722062e+02] [-3.92467759e-01 9.19765763e-01 0.00000000e+00 -7.02741641e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96781723e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.911400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:276.75, Y:-70.29, Z:0.00 [[ 9.20312937e-01 3.91182946e-01 0.00000000e+00 2.76747862e+02] [-3.91182946e-01 9.20312937e-01 0.00000000e+00 -7.02860634e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28855355e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.77, Y:-70.30, Z:0.00 [[ 9.20685830e-01 3.90304500e-01 0.00000000e+00 2.76774425e+02] [-3.90304500e-01 9.20685830e-01 0.00000000e+00 -7.02978770e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84881159e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.80, Y:-70.31, Z:0.00 [[ 9.20086906e-01 3.91714291e-01 0.00000000e+00 2.76799822e+02] [-3.91714291e-01 9.20086906e-01 0.00000000e+00 -7.03110266e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79531485e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.83, Y:-70.32, Z:0.00 [[ 9.19352173e-01 3.93435613e-01 0.00000000e+00 2.76825908e+02] [-3.93435613e-01 9.19352173e-01 0.00000000e+00 -7.03215879e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51694929e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.85, Y:-70.33, Z:0.00 [[ 9.18578223e-01 3.95239229e-01 0.00000000e+00 2.76852797e+02] [-3.95239229e-01 9.18578223e-01 0.00000000e+00 -7.03314774e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.97282310e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.88, Y:-70.34, Z:0.01 [[ 9.17820977e-01 3.96994526e-01 0.00000000e+00 2.76879101e+02] [-3.96994526e-01 9.17820977e-01 0.00000000e+00 -7.03407027e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.77568697e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.91, Y:-70.35, Z:0.00 [[ 9.16752774e-01 3.99455068e-01 0.00000000e+00 2.76905231e+02] [-3.99455068e-01 9.16752774e-01 0.00000000e+00 -7.03505587e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.59822273e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.93, Y:-70.36, Z:0.00 [[ 9.16785724e-01 3.99379438e-01 0.00000000e+00 2.76929632e+02] [-3.99379438e-01 9.16785724e-01 0.00000000e+00 -7.03612607e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44741346e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.95, Y:-70.37, Z:0.00 [[ 9.17327711e-01 3.98132982e-01 0.00000000e+00 2.76953804e+02] [-3.98132982e-01 9.17327711e-01 0.00000000e+00 -7.03725106e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30541907e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.98, Y:-70.38, Z:0.00 [[ 9.18410129e-01 3.95629670e-01 0.00000000e+00 2.76979104e+02] [-3.95629670e-01 9.18410129e-01 0.00000000e+00 -7.03846149e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86777493e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.00, Y:-70.40, Z:0.00 [[ 9.20064211e-01 3.91767594e-01 0.00000000e+00 2.77004653e+02] [-3.91767594e-01 9.20064211e-01 0.00000000e+00 -7.03969472e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.62823523e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.03, Y:-70.41, Z:0.00 [[ 9.22082155e-01 3.86994185e-01 0.00000000e+00 2.77028901e+02] [-3.86994185e-01 9.22082155e-01 0.00000000e+00 -7.04092680e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86166465e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.05, Y:-70.43, Z:0.00 [[ 9.25515756e-01 3.78709103e-01 0.00000000e+00 2.77051698e+02] [-3.78709103e-01 9.25515756e-01 0.00000000e+00 -7.04276072e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.48825920e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.30140051300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:277.08, Y:-70.44, Z:0.00 [[ 9.26609587e-01 3.76024830e-01 0.00000000e+00 2.77076478e+02] [-3.76024830e-01 9.26609587e-01 0.00000000e+00 -7.04426547e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.29786404e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.331400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:277.10, Y:-70.46, Z:0.00 [[ 9.27461257e-01 3.73919266e-01 0.00000000e+00 2.77101675e+02] [-3.73919266e-01 9.27461257e-01 0.00000000e+00 -7.04569376e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22343387e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.13, Y:-70.47, Z:0.01 [[ 9.27817544e-01 3.73034322e-01 0.00000000e+00 2.77126755e+02] [-3.73034322e-01 9.27817544e-01 0.00000000e+00 -7.04693700e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.20492375e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.15, Y:-70.48, Z:0.01 [[ 9.26848346e-01 3.75435938e-01 0.00000000e+00 2.77153723e+02] [-3.75435938e-01 9.26848346e-01 0.00000000e+00 -7.04821446e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.04659038e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.18, Y:-70.49, Z:0.01 [[ 9.26118482e-01 3.77232762e-01 0.00000000e+00 2.77179051e+02] [-3.77232762e-01 9.26118482e-01 0.00000000e+00 -7.04931947e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.09813170e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.20, Y:-70.50, Z:0.00 [[ 9.25649444e-01 3.78382222e-01 0.00000000e+00 2.77204816e+02] [-3.78382222e-01 9.25649444e-01 0.00000000e+00 -7.05048260e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99844806e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.23, Y:-70.52, Z:0.00 [[ 9.25501854e-01 3.78743077e-01 0.00000000e+00 2.77230956e+02] [-3.78743077e-01 9.25501854e-01 0.00000000e+00 -7.05159421e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99499544e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.26, Y:-70.52, Z:0.00 [[ 9.26497346e-01 3.76301299e-01 0.00000000e+00 2.77258415e+02] [-3.76301299e-01 9.26497346e-01 0.00000000e+00 -7.05249145e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70337634e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.541400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:277.29, Y:-70.53, Z:0.00 [[ 9.27552333e-01 3.73693282e-01 0.00000000e+00 2.77286200e+02] [-3.73693282e-01 9.27552333e-01 0.00000000e+00 -7.05343166e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86396173e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.31, Y:-70.55, Z:0.00 [[ 9.28921762e-01 3.70276059e-01 0.00000000e+00 2.77313800e+02] [-3.70276059e-01 9.28921762e-01 0.00000000e+00 -7.05455460e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50742875e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.34, Y:-70.56, Z:0.00 [[ 9.30275702e-01 3.66861170e-01 0.00000000e+00 2.77341694e+02] [-3.66861170e-01 9.30275702e-01 0.00000000e+00 -7.05567551e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.66165541e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.37, Y:-70.57, Z:0.00 [[ 9.31457912e-01 3.63849086e-01 0.00000000e+00 2.77369456e+02] [-3.63849086e-01 9.31457912e-01 0.00000000e+00 -7.05671548e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.39062048e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.40, Y:-70.58, Z:-0.00 [[ 9.33469381e-01 3.58657099e-01 0.00000000e+00 2.77399574e+02] [-3.58657099e-01 9.33469381e-01 0.00000000e+00 -7.05770428e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23947282e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.43, Y:-70.59, Z:-0.00 [[ 9.34160774e-01 3.56852418e-01 0.00000000e+00 2.77427954e+02] [-3.56852418e-01 9.34160774e-01 0.00000000e+00 -7.05875028e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.50743337e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.46, Y:-70.60, Z:-0.00 [[ 9.34612175e-01 3.55668500e-01 0.00000000e+00 2.77457598e+02] [-3.55668500e-01 9.34612175e-01 0.00000000e+00 -7.05986950e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.47499732e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.49, Y:-70.61, Z:-0.00 [[ 9.34834763e-01 3.55083040e-01 0.00000000e+00 2.77485380e+02] [-3.55083040e-01 9.34834763e-01 0.00000000e+00 -7.06088010e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22135073e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.51, Y:-70.62, Z:-0.00 [[ 9.34970582e-01 3.54725260e-01 0.00000000e+00 2.77513034e+02] [-3.54725260e-01 9.34970582e-01 0.00000000e+00 -7.06178227e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.55509917e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.54, Y:-70.63, Z:-0.00 [[ 9.35036513e-01 3.54551434e-01 0.00000000e+00 2.77541575e+02] [-3.54551434e-01 9.35036513e-01 0.00000000e+00 -7.06269495e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.55480703e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.57, Y:-70.64, Z:-0.00 [[ 9.35450233e-01 3.53458431e-01 0.00000000e+00 2.77570250e+02] [-3.53458431e-01 9.35450233e-01 0.00000000e+00 -7.06360207e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.56020766e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.60, Y:-70.65, Z:-0.00 [[ 9.35923481e-01 3.52203404e-01 0.00000000e+00 2.77597398e+02] [-3.52203404e-01 9.35923481e-01 0.00000000e+00 -7.06456214e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05985022e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.901400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:277.63, Y:-70.66, Z:-0.00 [[ 9.36582052e-01 3.50448370e-01 0.00000000e+00 2.77626032e+02] [-3.50448370e-01 9.36582052e-01 0.00000000e+00 -7.06555316e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.58561815e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.931400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:277.65, Y:-70.67, Z:0.00 [[ 9.37372001e-01 3.48329918e-01 0.00000000e+00 2.77653615e+02] [-3.48329918e-01 9.37372001e-01 0.00000000e+00 -7.06654447e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20504524e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.961400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:277.68, Y:-70.68, Z:-0.00 [[ 9.39158167e-01 3.43484989e-01 0.00000000e+00 2.77680431e+02] [-3.43484989e-01 9.39158167e-01 0.00000000e+00 -7.06766847e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14176755e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.99140051300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:277.71, Y:-70.69, Z:-0.00 [[ 9.39884802e-01 3.41491668e-01 0.00000000e+00 2.77709999e+02] [-3.41491668e-01 9.39884802e-01 0.00000000e+00 -7.06882099e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.97203296e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.021400513 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:277.74, Y:-70.70, Z:0.00 [[ 9.40551803e-01 3.39650270e-01 0.00000000e+00 2.77740100e+02] [-3.39650270e-01 9.40551803e-01 0.00000000e+00 -7.06996536e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.28361369e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.05140051300003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:277.77, Y:-70.71, Z:0.00 [[ 9.41135204e-01 3.38030366e-01 0.00000000e+00 2.77771095e+02] [-3.38030366e-01 9.41135204e-01 0.00000000e+00 -7.07113318e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23976127e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.081400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:277.80, Y:-70.72, Z:0.00 [[ 9.41762440e-01 3.36278911e-01 0.00000000e+00 2.77800592e+02] [-3.36278911e-01 9.41762440e-01 0.00000000e+00 -7.07225388e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.76919670e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.11140051300004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:277.83, Y:-70.73, Z:0.00 [[ 9.41981137e-01 3.35665812e-01 0.00000000e+00 2.77828509e+02] [-3.35665812e-01 9.41981137e-01 0.00000000e+00 -7.07327356e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.97056127e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.86, Y:-70.74, Z:0.01 [[ 9.42163803e-01 3.35152753e-01 0.00000000e+00 2.77859576e+02] [-3.35152753e-01 9.42163803e-01 0.00000000e+00 -7.07445335e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.93343670e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.17140051300004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:277.89, Y:-70.75, Z:0.01 [[ 9.42495627e-01 3.34218481e-01 0.00000000e+00 2.77890973e+02] [-3.34218481e-01 9.42495627e-01 0.00000000e+00 -7.07545544e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.70375325e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.201400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:277.92, Y:-70.76, Z:0.00 [[ 9.42820538e-01 3.33300814e-01 0.00000000e+00 2.77921099e+02] [-3.33300814e-01 9.42820538e-01 0.00000000e+00 -7.07642611e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.93438066e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.95, Y:-70.77, Z:0.01 [[ 9.43223980e-01 3.32157378e-01 0.00000000e+00 2.77951254e+02] [-3.32157378e-01 9.43223980e-01 0.00000000e+00 -7.07746509e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.05566072e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.261400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:277.98, Y:-70.79, Z:0.01 [[ 9.44082398e-01 3.29709608e-01 0.00000000e+00 2.77982239e+02] [-3.29709608e-01 9.44082398e-01 0.00000000e+00 -7.07863019e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.09525395e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.291400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:278.01, Y:-70.80, Z:0.00 [[ 9.44390679e-01 3.28825555e-01 0.00000000e+00 2.78011270e+02] [-3.28825555e-01 9.44390679e-01 0.00000000e+00 -7.07962432e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36353025e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.321400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:278.04, Y:-70.80, Z:0.00 [[ 9.45105741e-01 3.26764653e-01 0.00000000e+00 2.78040795e+02] [-3.26764653e-01 9.45105741e-01 0.00000000e+00 -7.08042613e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.51921718e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.351400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:278.07, Y:-70.81, Z:0.00 [[ 9.45640315e-01 3.25214382e-01 0.00000000e+00 2.78069262e+02] [-3.25214382e-01 9.45640315e-01 0.00000000e+00 -7.08123025e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.19412872e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.381400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:278.10, Y:-70.82, Z:0.01 [[ 9.46503240e-01 3.22694307e-01 0.00000000e+00 2.78100192e+02] [-3.22694307e-01 9.46503240e-01 0.00000000e+00 -7.08216610e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.02249490e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.411400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:278.13, Y:-70.83, Z:0.00 [[ 9.47515648e-01 3.19709393e-01 0.00000000e+00 2.78129644e+02] [-3.19709393e-01 9.47515648e-01 0.00000000e+00 -7.08307634e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.93821117e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.441400513 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:278.16, Y:-70.84, Z:0.00 [[ 9.49241065e-01 3.14549519e-01 0.00000000e+00 2.78160329e+02] [-3.14549519e-01 9.49241065e-01 0.00000000e+00 -7.08388305e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43625100e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.471400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:278.19, Y:-70.85, Z:0.00 [[ 9.49846596e-01 3.12716236e-01 0.00000000e+00 2.78189809e+02] [-3.12716236e-01 9.49846596e-01 0.00000000e+00 -7.08471492e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30755005e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.501400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:278.22, Y:-70.86, Z:0.00 [[ 9.50225330e-01 3.11563513e-01 0.00000000e+00 2.78219429e+02] [-3.11563513e-01 9.50225330e-01 0.00000000e+00 -7.08558848e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83270817e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.531400513 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:278.25, Y:-70.87, Z:0.00 [[ 9.50270623e-01 3.11425341e-01 0.00000000e+00 2.78250136e+02] [-3.11425341e-01 9.50270623e-01 0.00000000e+00 -7.08662893e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58896006e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.561400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:278.28, Y:-70.88, Z:0.00 [[ 9.50139240e-01 3.11825952e-01 0.00000000e+00 2.78279318e+02] [-3.11825952e-01 9.50139240e-01 0.00000000e+00 -7.08766980e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22289388e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.591400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:278.31, Y:-70.89, Z:0.00 [[ 9.50051703e-01 3.12092553e-01 0.00000000e+00 2.78308996e+02] [-3.12092553e-01 9.50051703e-01 0.00000000e+00 -7.08871021e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.62037068e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.621400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:278.34, Y:-70.89, Z:-0.00 [[ 9.50142329e-01 3.11816539e-01 0.00000000e+00 2.78338364e+02] [-3.11816539e-01 9.50142329e-01 0.00000000e+00 -7.08943709e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.49113121e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.651400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:278.37, Y:-70.90, Z:-0.00 [[ 9.49909559e-01 3.12524927e-01 0.00000000e+00 2.78367231e+02] [-3.12524927e-01 9.49909559e-01 0.00000000e+00 -7.09029754e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.88762468e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.681400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:278.40, Y:-70.91, Z:-0.00 [[ 9.49500243e-01 3.13766295e-01 0.00000000e+00 2.78395894e+02] [-3.13766295e-01 9.49500243e-01 0.00000000e+00 -7.09118380e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18438227e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.711400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:278.42, Y:-70.92, Z:-0.00 [[ 9.49514913e-01 3.13721898e-01 0.00000000e+00 2.78423541e+02] [-3.13721898e-01 9.49514913e-01 0.00000000e+00 -7.09216547e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18438227e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.74140051300003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:278.45, Y:-70.93, Z:-0.00 [[ 9.48874995e-01 3.15652093e-01 0.00000000e+00 2.78451581e+02] [-3.15652093e-01 9.48874995e-01 0.00000000e+00 -7.09304045e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11435983e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.771400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:278.48, Y:-70.94, Z:-0.00 [[ 9.48378667e-01 3.17140196e-01 0.00000000e+00 2.78480404e+02] [-3.17140196e-01 9.48378667e-01 0.00000000e+00 -7.09383963e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.78605582e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.80140051300003 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:278.51, Y:-70.95, Z:-0.00 [[ 9.47760893e-01 3.18981645e-01 0.00000000e+00 2.78508741e+02] [-3.18981645e-01 9.47760893e-01 0.00000000e+00 -7.09458355e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71998000e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.54, Y:-70.95, Z:0.00 [[ 9.46896288e-01 3.21539141e-01 0.00000000e+00 2.78537888e+02] [-3.21539141e-01 9.46896288e-01 0.00000000e+00 -7.09509811e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94542657e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86140051300004 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:278.57, Y:-70.96, Z:0.00 [[ 9.46661423e-01 3.22229966e-01 0.00000000e+00 2.78566014e+02] [-3.22229966e-01 9.46661423e-01 0.00000000e+00 -7.09579064e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79215032e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.891400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:278.59, Y:-70.96, Z:0.00 [[ 9.46640154e-01 3.22292444e-01 0.00000000e+00 2.78594545e+02] [-3.22292444e-01 9.46640154e-01 0.00000000e+00 -7.09648315e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50270873e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.62, Y:-70.97, Z:0.00 [[ 9.46956563e-01 3.21361586e-01 0.00000000e+00 2.78621785e+02] [-3.21361586e-01 9.46956563e-01 0.00000000e+00 -7.09707742e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71951544e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.951400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:278.65, Y:-70.98, Z:0.00 [[ 9.47504941e-01 3.19741125e-01 0.00000000e+00 2.78650729e+02] [-3.19741125e-01 9.47504941e-01 0.00000000e+00 -7.09766358e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19438663e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.981400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:278.68, Y:-70.98, Z:0.00 [[ 9.48406993e-01 3.17055476e-01 0.00000000e+00 2.78677960e+02] [-3.17055476e-01 9.48406993e-01 0.00000000e+00 -7.09822279e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.39224601e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.011400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:278.71, Y:-70.99, Z:0.01 [[ 9.50618551e-01 3.10361677e-01 0.00000000e+00 2.78705833e+02] [-3.10361677e-01 9.50618551e-01 0.00000000e+00 -7.09885526e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.59775999e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.041400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:278.73, Y:-71.00, Z:0.01 [[ 9.51569883e-01 3.07432526e-01 0.00000000e+00 2.78732073e+02] [-3.07432526e-01 9.51569883e-01 0.00000000e+00 -7.09978031e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.77240451e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.071400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:278.76, Y:-71.01, Z:0.01 [[ 9.52472104e-01 3.04625822e-01 0.00000000e+00 2.78758609e+02] [-3.04625822e-01 9.52472104e-01 0.00000000e+00 -7.10067607e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.54677931e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.101400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:278.79, Y:-71.02, Z:0.01 [[ 9.53268940e-01 3.02123035e-01 0.00000000e+00 2.78785875e+02] [-3.02123035e-01 9.53268940e-01 0.00000000e+00 -7.10155669e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.50317595e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.131400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:278.81, Y:-71.02, Z:0.01 [[ 9.53961567e-01 2.99928871e-01 0.00000000e+00 2.78812744e+02] [-2.99928871e-01 9.53961567e-01 0.00000000e+00 -7.10238276e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.06343619e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.161400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:278.84, Y:-71.03, Z:0.01 [[ 9.55121532e-01 2.96214212e-01 0.00000000e+00 2.78840148e+02] [-2.96214212e-01 9.55121532e-01 0.00000000e+00 -7.10300081e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.97537073e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.191400513 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:278.87, Y:-71.04, Z:0.01 [[ 9.55443622e-01 2.95173653e-01 0.00000000e+00 2.78868235e+02] [-2.95173653e-01 9.55443622e-01 0.00000000e+00 -7.10378770e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.21343448e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.90, Y:-71.05, Z:0.01 [[ 9.55625631e-01 2.94583864e-01 0.00000000e+00 2.78897101e+02] [-2.94583864e-01 9.55625631e-01 0.00000000e+00 -7.10467345e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.81220415e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.251400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:278.93, Y:-71.05, Z:0.01 [[ 9.55600772e-01 2.94664495e-01 0.00000000e+00 2.78925097e+02] [-2.94664495e-01 9.55600772e-01 0.00000000e+00 -7.10539291e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.67066340e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.95, Y:-71.06, Z:0.01 [[ 9.55439011e-01 2.95188579e-01 0.00000000e+00 2.78952227e+02] [-2.95188579e-01 9.55439011e-01 0.00000000e+00 -7.10621522e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.73115115e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.311400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:278.98, Y:-71.07, Z:0.01 [[ 9.55220956e-01 2.95893435e-01 0.00000000e+00 2.78980092e+02] [-2.95893435e-01 9.55220956e-01 0.00000000e+00 -7.10687953e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.11455302e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.341400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:279.01, Y:-71.08, Z:0.00 [[ 9.54970702e-01 2.96700115e-01 0.00000000e+00 2.79008360e+02] [-2.96700115e-01 9.54970702e-01 0.00000000e+00 -7.10751819e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.73250930e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.371400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:279.04, Y:-71.08, Z:0.00 [[ 9.54626474e-01 2.97805801e-01 0.00000000e+00 2.79036200e+02] [-2.97805801e-01 9.54626474e-01 0.00000000e+00 -7.10808517e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35625883e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.401400513 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:279.06, Y:-71.09, Z:-0.00 [[ 9.54217784e-01 2.99112721e-01 0.00000000e+00 2.79064657e+02] [-2.99112721e-01 9.54217784e-01 0.00000000e+00 -7.10871080e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.14304626e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.431400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:279.09, Y:-71.09, Z:-0.00 [[ 9.53897715e-01 3.00131885e-01 0.00000000e+00 2.79091205e+02] [-3.00131885e-01 9.53897715e-01 0.00000000e+00 -7.10931261e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.53292493e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.461400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:279.12, Y:-71.10, Z:0.00 [[ 9.54106240e-01 2.99468333e-01 0.00000000e+00 2.79119182e+02] [-2.99468333e-01 9.54106240e-01 0.00000000e+00 -7.10964636e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18036446e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.15, Y:-71.10, Z:0.01 [[ 9.54530239e-01 2.98114109e-01 0.00000000e+00 2.79147686e+02] [-2.98114109e-01 9.54530239e-01 0.00000000e+00 -7.11035326e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.56013708e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.521400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:279.17, Y:-71.11, Z:0.00 [[ 9.54994628e-01 2.96623096e-01 0.00000000e+00 2.79174946e+02] [-2.96623096e-01 9.54994628e-01 0.00000000e+00 -7.11096626e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.54113729e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.55140051300003 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:279.20, Y:-71.12, Z:0.00 [[ 9.55638870e-01 2.94540915e-01 0.00000000e+00 2.79202086e+02] [-2.94540915e-01 9.55638870e-01 0.00000000e+00 -7.11160296e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57343454e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.581400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:279.23, Y:-71.12, Z:0.00 [[ 9.56441555e-01 2.91923879e-01 0.00000000e+00 2.79229415e+02] [-2.91923879e-01 9.56441555e-01 0.00000000e+00 -7.11234670e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30315845e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.61140051300004 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:279.26, Y:-71.13, Z:0.00 [[ 9.57398833e-01 2.88768894e-01 0.00000000e+00 2.79256457e+02] [-2.88768894e-01 9.57398833e-01 0.00000000e+00 -7.11311164e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11652299e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.641400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:279.28, Y:-71.14, Z:0.00 [[ 9.59514722e-01 2.81658476e-01 0.00000000e+00 2.79282786e+02] [-2.81658476e-01 9.59514722e-01 0.00000000e+00 -7.11374848e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46901924e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.31, Y:-71.15, Z:0.00 [[ 9.60359743e-01 2.78763633e-01 0.00000000e+00 2.79309496e+02] [-2.78763633e-01 9.60359743e-01 0.00000000e+00 -7.11457254e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71981535e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.701400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:279.34, Y:-71.15, Z:0.01 [[ 9.60766805e-01 2.77357436e-01 0.00000000e+00 2.79337105e+02] [-2.77357436e-01 9.60766805e-01 0.00000000e+00 -7.11537143e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.04088925e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.731400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:279.36, Y:-71.16, Z:0.01 [[ 9.60743506e-01 2.77438131e-01 0.00000000e+00 2.79364450e+02] [-2.77438131e-01 9.60743506e-01 0.00000000e+00 -7.11613385e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.14909618e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.761400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:279.39, Y:-71.17, Z:0.01 [[ 9.60457080e-01 2.78428084e-01 0.00000000e+00 2.79391549e+02] [-2.78428084e-01 9.60457080e-01 0.00000000e+00 -7.11684218e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.90768420e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.791400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:279.42, Y:-71.18, Z:0.01 [[ 9.60006793e-01 2.79976709e-01 0.00000000e+00 2.79418438e+02] [-2.79976709e-01 9.60006793e-01 0.00000000e+00 -7.11752706e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.75383177e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.821400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:279.44, Y:-71.18, Z:0.01 [[ 9.59253290e-01 2.82547564e-01 0.00000000e+00 2.79444986e+02] [-2.82547564e-01 9.59253290e-01 0.00000000e+00 -7.11800797e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.26473688e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.851400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:279.47, Y:-71.19, Z:0.00 [[ 9.59172472e-01 2.82821797e-01 0.00000000e+00 2.79472029e+02] [-2.82821797e-01 9.59172472e-01 0.00000000e+00 -7.11879335e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.26322321e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.881400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:279.50, Y:-71.20, Z:0.00 [[ 9.59296976e-01 2.82399206e-01 0.00000000e+00 2.79498086e+02] [-2.82399206e-01 9.59296976e-01 0.00000000e+00 -7.11956164e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90748742e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.911400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:279.52, Y:-71.20, Z:0.00 [[ 9.59514085e-01 2.81660649e-01 0.00000000e+00 2.79524839e+02] [-2.81660649e-01 9.59514085e-01 0.00000000e+00 -7.12044478e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31357479e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.941400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:279.55, Y:-71.21, Z:0.00 [[ 9.59804631e-01 2.80668970e-01 0.00000000e+00 2.79550656e+02] [-2.80668970e-01 9.59804631e-01 0.00000000e+00 -7.12133395e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69197607e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.971400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:279.58, Y:-71.22, Z:0.00 [[ 9.60027303e-01 2.79906373e-01 0.00000000e+00 2.79577099e+02] [-2.79906373e-01 9.60027303e-01 0.00000000e+00 -7.12228184e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31878842e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.60, Y:-71.23, Z:0.00 [[ 9.60468941e-01 2.78387165e-01 0.00000000e+00 2.79604261e+02] [-2.78387165e-01 9.60468941e-01 0.00000000e+00 -7.12301556e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.09593996e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.031400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:279.63, Y:-71.24, Z:0.00 [[ 9.60510662e-01 2.78243183e-01 0.00000000e+00 2.79630298e+02] [-2.78243183e-01 9.60510662e-01 0.00000000e+00 -7.12367812e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.32541263e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.061400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:279.66, Y:-71.24, Z:0.00 [[ 9.60472243e-01 2.78375771e-01 0.00000000e+00 2.79657511e+02] [-2.78375771e-01 9.60472243e-01 0.00000000e+00 -7.12442873e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.87529005e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.091400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:279.68, Y:-71.25, Z:0.00 [[ 9.60394518e-01 2.78643805e-01 0.00000000e+00 2.79683484e+02] [-2.78643805e-01 9.60394518e-01 0.00000000e+00 -7.12517949e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84273278e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.121400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:279.71, Y:-71.26, Z:0.00 [[ 9.60401269e-01 2.78620534e-01 0.00000000e+00 2.79710439e+02] [-2.78620534e-01 9.60401269e-01 0.00000000e+00 -7.12596934e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74582321e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.151400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:279.74, Y:-71.27, Z:0.00 [[ 9.60702703e-01 2.77579389e-01 0.00000000e+00 2.79737723e+02] [-2.77579389e-01 9.60702703e-01 0.00000000e+00 -7.12654904e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00566293e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.181400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:279.76, Y:-71.27, Z:0.00 [[ 9.60711917e-01 2.77547496e-01 0.00000000e+00 2.79763007e+02] [-2.77547496e-01 9.60711917e-01 0.00000000e+00 -7.12727004e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64032558e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.211400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:279.79, Y:-71.28, Z:-0.00 [[ 9.61049207e-01 2.76377316e-01 0.00000000e+00 2.79790194e+02] [-2.76377316e-01 9.61049207e-01 0.00000000e+00 -7.12808805e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53190305e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.24140051300003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:279.82, Y:-71.29, Z:-0.00 [[ 9.61234750e-01 2.75731310e-01 0.00000000e+00 2.79815498e+02] [-2.75731310e-01 9.61234750e-01 0.00000000e+00 -7.12892839e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25373739e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.271400513 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:279.84, Y:-71.30, Z:0.00 [[ 9.61671369e-01 2.74204629e-01 0.00000000e+00 2.79842330e+02] [-2.74204629e-01 9.61671369e-01 0.00000000e+00 -7.12975461e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.05488708e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.30140051300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:279.87, Y:-71.31, Z:0.00 [[ 9.62127149e-01 2.72601082e-01 0.00000000e+00 2.79867898e+02] [-2.72601082e-01 9.62127149e-01 0.00000000e+00 -7.13051616e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.81104020e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.331400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:279.90, Y:-71.31, Z:0.00 [[ 9.62513981e-01 2.71232071e-01 0.00000000e+00 2.79895631e+02] [-2.71232071e-01 9.62513981e-01 0.00000000e+00 -7.13111424e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72881226e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36140051300004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:279.92, Y:-71.32, Z:0.00 [[ 9.62443496e-01 2.71482074e-01 0.00000000e+00 2.79922451e+02] [-2.71482074e-01 9.62443496e-01 0.00000000e+00 -7.13181677e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91984871e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.391400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:279.95, Y:-71.33, Z:0.00 [[ 9.62291767e-01 2.72019403e-01 0.00000000e+00 2.79950788e+02] [-2.72019403e-01 9.62291767e-01 0.00000000e+00 -7.13258117e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18804992e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42140051300004 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:279.98, Y:-71.33, Z:0.01 [[ 9.62161331e-01 2.72480410e-01 0.00000000e+00 2.79977744e+02] [-2.72480410e-01 9.62161331e-01 0.00000000e+00 -7.13326476e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.73824253e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.451400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:280.00, Y:-71.34, Z:0.01 [[ 9.62318062e-01 2.71926365e-01 0.00000000e+00 2.80004892e+02] [-2.71926365e-01 9.62318062e-01 0.00000000e+00 -7.13370019e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.54559927e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.481400513 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:280.03, Y:-71.35, Z:0.00 [[ 9.62660467e-01 2.70711702e-01 0.00000000e+00 2.80033007e+02] [-2.70711702e-01 9.62660467e-01 0.00000000e+00 -7.13451907e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.09616319e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.511400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:280.06, Y:-71.35, Z:0.00 [[ 9.63066445e-01 2.69263854e-01 0.00000000e+00 2.80059607e+02] [-2.69263854e-01 9.63066445e-01 0.00000000e+00 -7.13534621e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.66598893e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.541400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:280.09, Y:-71.36, Z:0.00 [[ 9.63503287e-01 2.67696500e-01 0.00000000e+00 2.80087067e+02] [-2.67696500e-01 9.63503287e-01 0.00000000e+00 -7.13626636e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.59698751e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.571400513 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:280.11, Y:-71.37, Z:0.00 [[ 9.63853859e-01 2.66431491e-01 0.00000000e+00 2.80113658e+02] [-2.66431491e-01 9.63853859e-01 0.00000000e+00 -7.13713692e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93506725e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.601400513 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:280.14, Y:-71.38, Z:0.00 [[ 9.63872786e-01 2.66363008e-01 0.00000000e+00 2.80140559e+02] [-2.66363008e-01 9.63872786e-01 0.00000000e+00 -7.13807734e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93506725e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.631400513 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:280.17, Y:-71.39, Z:0.00 [[ 9.63967265e-01 2.66020888e-01 0.00000000e+00 2.80167485e+02] [-2.66020888e-01 9.63967265e-01 0.00000000e+00 -7.13884931e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.61041884e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.661400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:280.19, Y:-71.40, Z:0.01 [[ 9.63675197e-01 2.67076981e-01 0.00000000e+00 2.80194180e+02] [-2.67076981e-01 9.63675197e-01 0.00000000e+00 -7.13962016e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.14012326e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.691400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:280.22, Y:-71.40, Z:0.00 [[ 9.63139829e-01 2.69001246e-01 0.00000000e+00 2.80221849e+02] [-2.69001246e-01 9.63139829e-01 0.00000000e+00 -7.14034139e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.69113188e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.721400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:280.25, Y:-71.41, Z:0.00 [[ 9.62350632e-01 2.71811074e-01 0.00000000e+00 2.80249266e+02] [-2.71811074e-01 9.62350632e-01 0.00000000e+00 -7.14100970e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99244432e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.751400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:280.28, Y:-71.42, Z:0.00 [[ 9.61430292e-01 2.75048711e-01 0.00000000e+00 2.80277025e+02] [-2.75048711e-01 9.61430292e-01 0.00000000e+00 -7.14168482e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51532813e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.781400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:280.31, Y:-71.42, Z:0.00 [[ 9.60603962e-01 2.77920903e-01 0.00000000e+00 2.80305243e+02] [-2.77920903e-01 9.60603962e-01 0.00000000e+00 -7.14236379e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88187616e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.811400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:280.33, Y:-71.43, Z:0.01 [[ 9.59471903e-01 2.81804306e-01 0.00000000e+00 2.80333627e+02] [-2.81804306e-01 9.59471903e-01 0.00000000e+00 -7.14252951e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.28876386e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.841400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:280.36, Y:-71.43, Z:0.01 [[ 9.59278252e-01 2.82462803e-01 0.00000000e+00 2.80361548e+02] [-2.82462803e-01 9.59278252e-01 0.00000000e+00 -7.14298377e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.99644074e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.871400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:280.39, Y:-71.43, Z:0.01 [[ 9.59253178e-01 2.82547942e-01 0.00000000e+00 2.80388571e+02] [-2.82547942e-01 9.59253178e-01 0.00000000e+00 -7.14340253e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.47982215e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.42, Y:-71.44, Z:0.01 [[ 9.59440245e-01 2.81912071e-01 0.00000000e+00 2.80416580e+02] [-2.81912071e-01 9.59440245e-01 0.00000000e+00 -7.14384047e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.14013780e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.45, Y:-71.44, Z:0.00 [[ 9.59854907e-01 2.80496983e-01 0.00000000e+00 2.80446497e+02] [-2.80496983e-01 9.59854907e-01 0.00000000e+00 -7.14364220e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.50713459e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.47, Y:-71.44, Z:0.00 [[ 9.60095882e-01 2.79671052e-01 0.00000000e+00 2.80474128e+02] [-2.79671052e-01 9.60095882e-01 0.00000000e+00 -7.14391595e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.86312470e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.99140051300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:280.50, Y:-71.44, Z:0.01 [[ 9.60243035e-01 2.79165388e-01 0.00000000e+00 2.80502035e+02] [-2.79165388e-01 9.60243035e-01 0.00000000e+00 -7.14417672e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.05709576e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.53, Y:-71.45, Z:0.01 [[ 9.60625051e-01 2.77848001e-01 0.00000000e+00 2.80531452e+02] [-2.77848001e-01 9.60625051e-01 0.00000000e+00 -7.14458981e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.17665033e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.56, Y:-71.45, Z:0.00 [[ 9.60924023e-01 2.76812251e-01 0.00000000e+00 2.80559857e+02] [-2.76812251e-01 9.60924023e-01 0.00000000e+00 -7.14494200e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.59995664e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.081400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:280.59, Y:-71.45, Z:0.00 [[ 9.61168573e-01 2.75961909e-01 0.00000000e+00 2.80587857e+02] [-2.75961909e-01 9.61168573e-01 0.00000000e+00 -7.14539902e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40242601e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.11140051300004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:280.62, Y:-71.46, Z:0.00 [[ 9.62104761e-01 2.72680087e-01 0.00000000e+00 2.80617084e+02] [-2.72680087e-01 9.62104761e-01 0.00000000e+00 -7.14562143e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97830898e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.64, Y:-71.46, Z:0.00 [[ 9.62754293e-01 2.70377831e-01 0.00000000e+00 2.80644384e+02] [-2.70377831e-01 9.62754293e-01 0.00000000e+00 -7.14619115e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06608014e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.67, Y:-71.47, Z:0.00 [[ 9.63404530e-01 2.68051694e-01 0.00000000e+00 2.80671761e+02] [-2.68051694e-01 9.63404530e-01 0.00000000e+00 -7.14680252e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61200959e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.201400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:280.70, Y:-71.48, Z:0.00 [[ 9.63855419e-01 2.66425845e-01 0.00000000e+00 2.80697569e+02] [-2.66425845e-01 9.63855419e-01 0.00000000e+00 -7.14750215e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.99523272e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.72, Y:-71.48, Z:0.00 [[ 9.64217445e-01 2.65112654e-01 0.00000000e+00 2.80724680e+02] [-2.65112654e-01 9.64217445e-01 0.00000000e+00 -7.14834492e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.75023192e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.261400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:280.75, Y:-71.49, Z:0.00 [[ 9.64296280e-01 2.64825762e-01 0.00000000e+00 2.80750029e+02] [-2.64825762e-01 9.64296280e-01 0.00000000e+00 -7.14912529e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06600378e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.291400513 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:280.78, Y:-71.50, Z:0.00 [[ 9.63985807e-01 2.65953687e-01 0.00000000e+00 2.80777165e+02] [-2.65953687e-01 9.63985807e-01 0.00000000e+00 -7.14972885e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93045433e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.321400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:280.80, Y:-71.51, Z:0.00 [[ 9.63706035e-01 2.66965686e-01 0.00000000e+00 2.80804439e+02] [-2.66965686e-01 9.63706035e-01 0.00000000e+00 -7.15050490e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38189940e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.351400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:280.83, Y:-71.51, Z:0.00 [[ 9.63462033e-01 2.67844940e-01 0.00000000e+00 2.80831494e+02] [-2.67844940e-01 9.63462033e-01 0.00000000e+00 -7.15130899e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80066008e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.381400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:280.86, Y:-71.52, Z:0.00 [[ 9.63466874e-01 2.67827525e-01 0.00000000e+00 2.80858075e+02] [-2.67827525e-01 9.63466874e-01 0.00000000e+00 -7.15211572e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.92244733e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.411400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:280.88, Y:-71.53, Z:0.00 [[ 9.63850541e-01 2.66443493e-01 0.00000000e+00 2.80883789e+02] [-2.66443493e-01 9.63850541e-01 0.00000000e+00 -7.15297038e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18941071e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.91, Y:-71.54, Z:0.00 [[ 9.65351631e-01 2.60952541e-01 0.00000000e+00 2.80909415e+02] [-2.60952541e-01 9.65351631e-01 0.00000000e+00 -7.15408057e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30142505e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.471400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:280.93, Y:-71.55, Z:0.00 [[ 9.66190212e-01 2.57830321e-01 0.00000000e+00 2.80934370e+02] [-2.57830321e-01 9.66190212e-01 0.00000000e+00 -7.15512373e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80974138e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.501400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:280.96, Y:-71.56, Z:0.00 [[ 9.67009453e-01 2.54740491e-01 0.00000000e+00 2.80959765e+02] [-2.54740491e-01 9.67009453e-01 0.00000000e+00 -7.15621231e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.84099921e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.99, Y:-71.57, Z:0.01 [[ 9.67697598e-01 2.52113782e-01 0.00000000e+00 2.80985939e+02] [-2.52113782e-01 9.67697598e-01 0.00000000e+00 -7.15731321e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.98277152e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.01, Y:-71.58, Z:0.00 [[ 9.67955643e-01 2.51121231e-01 0.00000000e+00 2.81011001e+02] [-2.51121231e-01 9.67955643e-01 0.00000000e+00 -7.15840141e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.49871047e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.591400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:281.04, Y:-71.59, Z:0.00 [[ 9.67968731e-01 2.51070777e-01 0.00000000e+00 2.81038144e+02] [-2.51070777e-01 9.67968731e-01 0.00000000e+00 -7.15949558e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33420066e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.06, Y:-71.61, Z:-0.00 [[ 9.67337777e-01 2.53490880e-01 0.00000000e+00 2.81064704e+02] [-2.53490880e-01 9.67337777e-01 0.00000000e+00 -7.16073633e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.89484395e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.09, Y:-71.62, Z:-0.00 [[ 9.66941891e-01 2.54996824e-01 0.00000000e+00 2.81089703e+02] [-2.54996824e-01 9.66941891e-01 0.00000000e+00 -7.16175639e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.90700169e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.12, Y:-71.63, Z:-0.00 [[ 9.66639099e-01 2.56142250e-01 0.00000000e+00 2.81116340e+02] [-2.56142250e-01 9.66639099e-01 0.00000000e+00 -7.16281017e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57456498e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.711400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:281.14, Y:-71.64, Z:0.00 [[ 9.66324839e-01 2.57325291e-01 0.00000000e+00 2.81143493e+02] [-2.57325291e-01 9.66324839e-01 0.00000000e+00 -7.16382203e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01497137e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.17, Y:-71.65, Z:0.00 [[ 9.66019389e-01 2.58469611e-01 0.00000000e+00 2.81169119e+02] [-2.58469611e-01 9.66019389e-01 0.00000000e+00 -7.16477068e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04422221e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.771400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:281.19, Y:-71.66, Z:0.00 [[ 9.65784060e-01 2.59347547e-01 0.00000000e+00 2.81194140e+02] [-2.59347547e-01 9.65784060e-01 0.00000000e+00 -7.16574344e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21102311e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.80140051300003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:281.22, Y:-71.67, Z:-0.00 [[ 9.66146912e-01 2.57992526e-01 0.00000000e+00 2.81220047e+02] [-2.57992526e-01 9.66146912e-01 0.00000000e+00 -7.16717119e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53178223e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.831400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:281.25, Y:-71.68, Z:-0.00 [[ 9.66564776e-01 2.56422569e-01 0.00000000e+00 2.81246151e+02] [-2.56422569e-01 9.66564776e-01 0.00000000e+00 -7.16830195e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.38629388e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86140051300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:281.27, Y:-71.69, Z:0.00 [[ 9.66897424e-01 2.55165382e-01 0.00000000e+00 2.81272567e+02] [-2.55165382e-01 9.66897424e-01 0.00000000e+00 -7.16931063e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.17549135e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.891400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:281.30, Y:-71.70, Z:0.00 [[ 9.67208247e-01 2.53984660e-01 0.00000000e+00 2.81299740e+02] [-2.53984660e-01 9.67208247e-01 0.00000000e+00 -7.17029364e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37966607e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92140051300004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:281.33, Y:-71.71, Z:0.01 [[ 9.67546017e-01 2.52694887e-01 0.00000000e+00 2.81325423e+02] [-2.52694887e-01 9.67546017e-01 0.00000000e+00 -7.17142849e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.48307874e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.35, Y:-71.73, Z:0.00 [[ 9.67508312e-01 2.52839209e-01 0.00000000e+00 2.81351000e+02] [-2.52839209e-01 9.67508312e-01 0.00000000e+00 -7.17251825e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.76356961e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.38, Y:-71.73, Z:0.00 [[ 9.67226274e-01 2.53915998e-01 0.00000000e+00 2.81377060e+02] [-2.53915998e-01 9.67226274e-01 0.00000000e+00 -7.17349806e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79515763e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.40, Y:-71.74, Z:0.00 [[ 9.66838315e-01 2.55389258e-01 0.00000000e+00 2.81403627e+02] [-2.55389258e-01 9.66838315e-01 0.00000000e+00 -7.17441358e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87614432e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.041400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:281.43, Y:-71.75, Z:0.00 [[ 9.66550309e-01 2.56477094e-01 0.00000000e+00 2.81430689e+02] [-2.56477094e-01 9.66550309e-01 0.00000000e+00 -7.17529300e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58808505e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.46, Y:-71.76, Z:0.00 [[ 9.66434934e-01 2.56911499e-01 0.00000000e+00 2.81456288e+02] [-2.56911499e-01 9.66434934e-01 0.00000000e+00 -7.17633573e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85141920e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.101400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:281.48, Y:-71.77, Z:0.00 [[ 9.66609203e-01 2.56255048e-01 0.00000000e+00 2.81482038e+02] [-2.56255048e-01 9.66609203e-01 0.00000000e+00 -7.17736324e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11719248e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.131400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:281.51, Y:-71.78, Z:0.00 [[ 9.66771959e-01 2.55640332e-01 0.00000000e+00 2.81506792e+02] [-2.55640332e-01 9.66771959e-01 0.00000000e+00 -7.17834034e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76464245e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.53, Y:-71.79, Z:0.00 [[ 9.66845916e-01 2.55360478e-01 0.00000000e+00 2.81533023e+02] [-2.55360478e-01 9.66845916e-01 0.00000000e+00 -7.17932771e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38734894e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.191400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:281.56, Y:-71.80, Z:0.00 [[ 9.66672138e-01 2.56017535e-01 0.00000000e+00 2.81559046e+02] [-2.56017535e-01 9.66672138e-01 0.00000000e+00 -7.18028273e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59943793e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.221400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:281.59, Y:-71.81, Z:0.00 [[ 9.65652327e-01 2.59837609e-01 0.00000000e+00 2.81585565e+02] [-2.59837609e-01 9.65652327e-01 0.00000000e+00 -7.18129763e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.37261495e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.61, Y:-71.82, Z:0.00 [[ 9.64849126e-01 2.62804422e-01 0.00000000e+00 2.81612486e+02] [-2.62804422e-01 9.64849126e-01 0.00000000e+00 -7.18220150e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.75752477e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.64, Y:-71.83, Z:0.00 [[ 9.63995069e-01 2.65920112e-01 0.00000000e+00 2.81639731e+02] [-2.65920112e-01 9.63995069e-01 0.00000000e+00 -7.18295583e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97340624e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.311400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:281.67, Y:-71.84, Z:-0.00 [[ 9.63120085e-01 2.69071926e-01 0.00000000e+00 2.81666891e+02] [-2.69071926e-01 9.63120085e-01 0.00000000e+00 -7.18359652e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09788189e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.69, Y:-71.84, Z:-0.00 [[ 9.61708064e-01 2.74075903e-01 0.00000000e+00 2.81694528e+02] [-2.74075903e-01 9.61708064e-01 0.00000000e+00 -7.18423539e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17172100e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.371400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:281.72, Y:-71.85, Z:-0.00 [[ 9.61253274e-01 2.75666724e-01 0.00000000e+00 2.81720809e+02] [-2.75666724e-01 9.61253274e-01 0.00000000e+00 -7.18506384e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43793782e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.401400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:281.75, Y:-71.86, Z:0.00 [[ 9.61055003e-01 2.76357162e-01 0.00000000e+00 2.81748491e+02] [-2.76357162e-01 9.61055003e-01 0.00000000e+00 -7.18589746e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.41806019e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.431400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:281.78, Y:-71.87, Z:0.00 [[ 9.61006750e-01 2.76524910e-01 0.00000000e+00 2.81776063e+02] [-2.76524910e-01 9.61006750e-01 0.00000000e+00 -7.18662682e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91406664e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.80, Y:-71.87, Z:0.00 [[ 9.60874287e-01 2.76984845e-01 0.00000000e+00 2.81801921e+02] [-2.76984845e-01 9.60874287e-01 0.00000000e+00 -7.18726798e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70412625e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.49140051300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:281.83, Y:-71.88, Z:0.00 [[ 9.60752981e-01 2.77405317e-01 0.00000000e+00 2.81828344e+02] [-2.77405317e-01 9.60752981e-01 0.00000000e+00 -7.18789030e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39298141e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.521400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:281.86, Y:-71.89, Z:0.00 [[ 9.60803573e-01 2.77230037e-01 0.00000000e+00 2.81855321e+02] [-2.77230037e-01 9.60803573e-01 0.00000000e+00 -7.18880231e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39298141e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.55140051300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:281.88, Y:-71.89, Z:0.00 [[ 9.60686487e-01 2.77635507e-01 0.00000000e+00 2.81883259e+02] [-2.77635507e-01 9.60686487e-01 0.00000000e+00 -7.18923710e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.03836004e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.581400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:281.91, Y:-71.90, Z:0.00 [[ 9.60579665e-01 2.78004870e-01 0.00000000e+00 2.81911022e+02] [-2.78004870e-01 9.60579665e-01 0.00000000e+00 -7.18983571e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36712346e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.61140051300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:281.94, Y:-71.90, Z:0.00 [[ 9.60498989e-01 2.78283475e-01 0.00000000e+00 2.81939174e+02] [-2.78283475e-01 9.60498989e-01 0.00000000e+00 -7.19034764e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97470448e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.97, Y:-71.91, Z:0.00 [[ 9.60369667e-01 2.78729444e-01 0.00000000e+00 2.81966563e+02] [-2.78729444e-01 9.60369667e-01 0.00000000e+00 -7.19082489e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.57110892e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.99, Y:-71.91, Z:0.01 [[ 9.60246862e-01 2.79152224e-01 0.00000000e+00 2.81994398e+02] [-2.79152224e-01 9.60246862e-01 0.00000000e+00 -7.19130250e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.72355920e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.02, Y:-71.92, Z:0.01 [[ 9.60175304e-01 2.79398256e-01 0.00000000e+00 2.82021490e+02] [-2.79398256e-01 9.60175304e-01 0.00000000e+00 -7.19171869e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.24647344e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.05, Y:-71.92, Z:0.01 [[ 9.60705763e-01 2.77568798e-01 0.00000000e+00 2.82051986e+02] [-2.77568798e-01 9.60705763e-01 0.00000000e+00 -7.19158894e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.15423165e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.08, Y:-71.92, Z:0.01 [[ 9.61384220e-01 2.75209705e-01 0.00000000e+00 2.82080188e+02] [-2.75209705e-01 9.61384220e-01 0.00000000e+00 -7.19192276e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.47816822e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.11, Y:-71.92, Z:0.01 [[ 9.62365718e-01 2.71757657e-01 0.00000000e+00 2.82108512e+02] [-2.71757657e-01 9.62365718e-01 0.00000000e+00 -7.19234329e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.22312216e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.14, Y:-71.93, Z:0.01 [[ 9.63508451e-01 2.67677912e-01 0.00000000e+00 2.82135684e+02] [-2.67677912e-01 9.63508451e-01 0.00000000e+00 -7.19281976e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.14509197e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.16, Y:-71.93, Z:0.00 [[ 9.65965359e-01 2.58671462e-01 0.00000000e+00 2.82163206e+02] [-2.58671462e-01 9.65965359e-01 0.00000000e+00 -7.19306258e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59994462e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.19, Y:-71.94, Z:0.00 [[ 9.67109263e-01 2.54361306e-01 0.00000000e+00 2.82190662e+02] [-2.54361306e-01 9.67109263e-01 0.00000000e+00 -7.19366316e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22287468e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.22, Y:-71.94, Z:-0.00 [[ 9.68209010e-01 2.50142585e-01 0.00000000e+00 2.82218977e+02] [-2.50142585e-01 9.68209010e-01 0.00000000e+00 -7.19427281e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69825892e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.25, Y:-71.95, Z:-0.01 [[ 9.69043104e-01 2.46891602e-01 0.00000000e+00 2.82246441e+02] [-2.46891602e-01 9.69043104e-01 0.00000000e+00 -7.19496504e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.92203306e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.971400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:282.27, Y:-71.96, Z:-0.01 [[ 9.69823094e-01 2.43809694e-01 0.00000000e+00 2.82274067e+02] [-2.43809694e-01 9.69823094e-01 0.00000000e+00 -7.19572250e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.30529210e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.001400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:282.30, Y:-71.96, Z:-0.01 [[ 9.70474389e-01 2.41204190e-01 0.00000000e+00 2.82300188e+02] [-2.41204190e-01 9.70474389e-01 0.00000000e+00 -7.19646397e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.83083744e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.33, Y:-71.97, Z:-0.00 [[ 9.71401332e-01 2.37443576e-01 0.00000000e+00 2.82328197e+02] [-2.37443576e-01 9.71401332e-01 0.00000000e+00 -7.19716999e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.46917917e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.36, Y:-71.98, Z:0.00 [[ 9.71710397e-01 2.36175581e-01 0.00000000e+00 2.82355064e+02] [-2.36175581e-01 9.71710397e-01 0.00000000e+00 -7.19796844e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.92569949e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.38, Y:-71.99, Z:0.00 [[ 9.71909903e-01 2.35353223e-01 0.00000000e+00 2.82380480e+02] [-2.35353223e-01 9.71909903e-01 0.00000000e+00 -7.19876309e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95519294e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.41, Y:-72.00, Z:-0.00 [[ 9.72011766e-01 2.34932175e-01 0.00000000e+00 2.82406356e+02] [-2.34932175e-01 9.72011766e-01 0.00000000e+00 -7.19966369e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38448666e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.43, Y:-72.01, Z:-0.00 [[ 9.72021880e-01 2.34890324e-01 0.00000000e+00 2.82433671e+02] [-2.34890324e-01 9.72021880e-01 0.00000000e+00 -7.20066626e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.69034324e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.181400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:282.46, Y:-72.02, Z:-0.01 [[ 9.72001133e-01 2.34976163e-01 0.00000000e+00 2.82459895e+02] [-2.34976163e-01 9.72001133e-01 0.00000000e+00 -7.20159617e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.51436332e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.49, Y:-72.03, Z:-0.01 [[ 9.71810912e-01 2.35761642e-01 0.00000000e+00 2.82486762e+02] [-2.35761642e-01 9.71810912e-01 0.00000000e+00 -7.20266529e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.43287537e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.51, Y:-72.04, Z:-0.00 [[ 9.71604240e-01 2.36611919e-01 0.00000000e+00 2.82513881e+02] [-2.36611919e-01 9.71604240e-01 0.00000000e+00 -7.20367371e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.72246612e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.54, Y:-72.05, Z:-0.00 [[ 9.71308057e-01 2.37824849e-01 0.00000000e+00 2.82540128e+02] [-2.37824849e-01 9.71308057e-01 0.00000000e+00 -7.20466680e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43663993e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.57, Y:-72.06, Z:-0.00 [[ 9.70991048e-01 2.39115841e-01 0.00000000e+00 2.82566801e+02] [-2.39115841e-01 9.70991048e-01 0.00000000e+00 -7.20559490e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90217264e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.59, Y:-72.07, Z:-0.00 [[ 9.70693054e-01 2.40322688e-01 0.00000000e+00 2.82593381e+02] [-2.40322688e-01 9.70693054e-01 0.00000000e+00 -7.20650217e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.25750259e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.62, Y:-72.08, Z:-0.00 [[ 9.70149390e-01 2.42508063e-01 0.00000000e+00 2.82619667e+02] [-2.42508063e-01 9.70149390e-01 0.00000000e+00 -7.20753706e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.46348085e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.65, Y:-72.08, Z:-0.00 [[ 9.69950880e-01 2.43300824e-01 0.00000000e+00 2.82646007e+02] [-2.43300824e-01 9.69950880e-01 0.00000000e+00 -7.20849595e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.44310468e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.67, Y:-72.09, Z:-0.00 [[ 9.69854689e-01 2.43683982e-01 0.00000000e+00 2.82672384e+02] [-2.43683982e-01 9.69854689e-01 0.00000000e+00 -7.20938766e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.36960489e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.70, Y:-72.10, Z:-0.00 [[ 9.69754949e-01 2.44080599e-01 0.00000000e+00 2.82697663e+02] [-2.44080599e-01 9.69754949e-01 0.00000000e+00 -7.21023647e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.32377392e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.72, Y:-72.11, Z:-0.00 [[ 9.69107450e-01 2.46638908e-01 0.00000000e+00 2.82723570e+02] [-2.46638908e-01 9.69107450e-01 0.00000000e+00 -7.21133952e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.89625384e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.75, Y:-72.12, Z:-0.00 [[ 9.68569530e-01 2.48742970e-01 0.00000000e+00 2.82750227e+02] [-2.48742970e-01 9.68569530e-01 0.00000000e+00 -7.21230109e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02377629e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.78, Y:-72.13, Z:0.00 [[ 9.67912544e-01 2.51287301e-01 0.00000000e+00 2.82776939e+02] [-2.51287301e-01 9.67912544e-01 0.00000000e+00 -7.21305232e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04946576e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.81, Y:-72.14, Z:0.00 [[ 9.67058403e-01 2.54554602e-01 0.00000000e+00 2.82805052e+02] [-2.54554602e-01 9.67058403e-01 0.00000000e+00 -7.21361091e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06165645e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.83, Y:-72.14, Z:0.00 [[ 9.66019745e-01 2.58468281e-01 0.00000000e+00 2.82832376e+02] [-2.58468281e-01 9.66019745e-01 0.00000000e+00 -7.21407732e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32127755e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.86, Y:-72.15, Z:0.00 [[ 9.65063583e-01 2.62015802e-01 0.00000000e+00 2.82859820e+02] [-2.62015802e-01 9.65063583e-01 0.00000000e+00 -7.21459457e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63424553e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.661400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:282.89, Y:-72.15, Z:0.01 [[ 9.63398711e-01 2.68072608e-01 0.00000000e+00 2.82888861e+02] [-2.68072608e-01 9.63398711e-01 0.00000000e+00 -7.21487421e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.45641453e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.92, Y:-72.15, Z:0.01 [[ 9.62895926e-01 2.69873001e-01 0.00000000e+00 2.82915531e+02] [-2.69873001e-01 9.62895926e-01 0.00000000e+00 -7.21529175e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.13177764e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.721400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:282.94, Y:-72.16, Z:0.01 [[ 9.62672665e-01 2.70668321e-01 0.00000000e+00 2.82943940e+02] [-2.70668321e-01 9.62672665e-01 0.00000000e+00 -7.21568767e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.54792347e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.97, Y:-72.16, Z:0.01 [[ 9.62744000e-01 2.70414478e-01 0.00000000e+00 2.82971699e+02] [-2.70414478e-01 9.62744000e-01 0.00000000e+00 -7.21614403e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.99212878e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.00, Y:-72.17, Z:0.01 [[ 9.63094683e-01 2.69162833e-01 0.00000000e+00 2.82998031e+02] [-2.69162833e-01 9.63094683e-01 0.00000000e+00 -7.21662512e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.52937126e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.03, Y:-72.17, Z:0.01 [[ 9.63730499e-01 2.66877360e-01 0.00000000e+00 2.83025248e+02] [-2.66877360e-01 9.63730499e-01 0.00000000e+00 -7.21723262e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.57278566e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.05, Y:-72.17, Z:0.01 [[ 9.65403561e-01 2.60760359e-01 0.00000000e+00 2.83054328e+02] [-2.60760359e-01 9.65403561e-01 0.00000000e+00 -7.21747748e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00666183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.871400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:283.08, Y:-72.18, Z:0.01 [[ 9.66233632e-01 2.57667556e-01 0.00000000e+00 2.83081085e+02] [-2.57667556e-01 9.66233632e-01 0.00000000e+00 -7.21785202e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.68359142e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.11, Y:-72.18, Z:0.01 [[ 9.66956657e-01 2.54940823e-01 0.00000000e+00 2.83109226e+02] [-2.54940823e-01 9.66956657e-01 0.00000000e+00 -7.21826628e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.10527415e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.14, Y:-72.18, Z:0.01 [[ 9.67856570e-01 2.51502804e-01 0.00000000e+00 2.83139204e+02] [-2.51502804e-01 9.67856570e-01 0.00000000e+00 -7.21843329e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.69318514e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.17, Y:-72.19, Z:0.00 [[ 9.68159280e-01 2.50334992e-01 0.00000000e+00 2.83166164e+02] [-2.50334992e-01 9.68159280e-01 0.00000000e+00 -7.21894283e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.72178539e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.19, Y:-72.19, Z:0.01 [[ 9.68364906e-01 2.49538390e-01 0.00000000e+00 2.83194024e+02] [-2.49538390e-01 9.68364906e-01 0.00000000e+00 -7.21947560e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.44765227e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.22, Y:-72.20, Z:0.01 [[ 9.68564375e-01 2.48763041e-01 0.00000000e+00 2.83221764e+02] [-2.48763041e-01 9.68564375e-01 0.00000000e+00 -7.21999938e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.68356263e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.05140051300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:283.25, Y:-72.21, Z:0.01 [[ 9.68869024e-01 2.47573858e-01 0.00000000e+00 2.83249036e+02] [-2.47573858e-01 9.68869024e-01 0.00000000e+00 -7.22051880e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.88454393e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.081400513 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:283.28, Y:-72.21, Z:0.01 [[ 9.69768424e-01 2.44027056e-01 0.00000000e+00 2.83276301e+02] [-2.44027056e-01 9.69768424e-01 0.00000000e+00 -7.22102753e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.67845632e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.11140051300004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:283.30, Y:-72.22, Z:0.01 [[ 9.70456546e-01 2.41275968e-01 0.00000000e+00 2.83302830e+02] [-2.41275968e-01 9.70456546e-01 0.00000000e+00 -7.22178741e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.60295486e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.33, Y:-72.23, Z:0.00 [[ 9.71134900e-01 2.38530933e-01 0.00000000e+00 2.83329807e+02] [-2.38530933e-01 9.71134900e-01 0.00000000e+00 -7.22255400e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10291825e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.36, Y:-72.23, Z:0.00 [[ 9.71778978e-01 2.35893236e-01 0.00000000e+00 2.83357383e+02] [-2.35893236e-01 9.71778978e-01 0.00000000e+00 -7.22327162e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39121750e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.38, Y:-72.24, Z:0.00 [[ 9.72277355e-01 2.33830592e-01 0.00000000e+00 2.83383518e+02] [-2.33830592e-01 9.72277355e-01 0.00000000e+00 -7.22398043e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49826365e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.41, Y:-72.25, Z:0.00 [[ 9.72661821e-01 2.32226145e-01 0.00000000e+00 2.83410091e+02] [-2.32226145e-01 9.72661821e-01 0.00000000e+00 -7.22479973e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19360893e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.44, Y:-72.26, Z:0.00 [[ 9.72972891e-01 2.30919365e-01 0.00000000e+00 2.83436978e+02] [-2.30919365e-01 9.72972891e-01 0.00000000e+00 -7.22562951e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35311658e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.46, Y:-72.26, Z:0.00 [[ 9.73190038e-01 2.30002501e-01 0.00000000e+00 2.83464520e+02] [-2.30002501e-01 9.73190038e-01 0.00000000e+00 -7.22635076e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00661967e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.49, Y:-72.27, Z:0.00 [[ 9.73205263e-01 2.29938068e-01 0.00000000e+00 2.83491328e+02] [-2.29938068e-01 9.73205263e-01 0.00000000e+00 -7.22713290e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84489012e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.52, Y:-72.28, Z:0.00 [[ 9.73157407e-01 2.30140523e-01 0.00000000e+00 2.83517183e+02] [-2.30140523e-01 9.73157407e-01 0.00000000e+00 -7.22783655e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10829678e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.381400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:283.54, Y:-72.29, Z:0.00 [[ 9.73177752e-01 2.30054480e-01 0.00000000e+00 2.83544784e+02] [-2.30054480e-01 9.73177752e-01 0.00000000e+00 -7.22853300e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08022460e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.411400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:283.57, Y:-72.29, Z:0.00 [[ 9.73219029e-01 2.29879797e-01 0.00000000e+00 2.83571799e+02] [-2.29879797e-01 9.73219029e-01 0.00000000e+00 -7.22942465e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08022460e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.60, Y:-72.30, Z:0.00 [[ 9.72826589e-01 2.31534939e-01 0.00000000e+00 2.83600123e+02] [-2.31534939e-01 9.72826589e-01 0.00000000e+00 -7.22995795e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15299520e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.63, Y:-72.31, Z:0.00 [[ 9.72346537e-01 2.33542740e-01 0.00000000e+00 2.83626819e+02] [-2.33542740e-01 9.72346537e-01 0.00000000e+00 -7.23073289e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04607039e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.501400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:283.65, Y:-72.32, Z:0.00 [[ 9.71737518e-01 2.36063967e-01 0.00000000e+00 2.83653445e+02] [-2.36063967e-01 9.71737518e-01 0.00000000e+00 -7.23156558e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.58701198e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.531400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:283.68, Y:-72.32, Z:0.00 [[ 9.71138184e-01 2.38517563e-01 0.00000000e+00 2.83680593e+02] [-2.38517563e-01 9.71138184e-01 0.00000000e+00 -7.23237666e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05606536e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.561400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.71, Y:-72.33, Z:0.00 [[ 9.70529737e-01 2.40981387e-01 0.00000000e+00 2.83707808e+02] [-2.40981387e-01 9.70529737e-01 0.00000000e+00 -7.23299135e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95256718e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.591400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:283.74, Y:-72.33, Z:-0.00 [[ 9.69986847e-01 2.43157391e-01 0.00000000e+00 2.83735513e+02] [-2.43157391e-01 9.69986847e-01 0.00000000e+00 -7.23347378e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.54579708e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.621400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:283.76, Y:-72.34, Z:-0.00 [[ 9.68991065e-01 2.47095763e-01 0.00000000e+00 2.83764960e+02] [-2.47095763e-01 9.68991065e-01 0.00000000e+00 -7.23371726e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.78795679e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.651400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:283.79, Y:-72.34, Z:-0.01 [[ 9.68611512e-01 2.48579440e-01 0.00000000e+00 2.83792132e+02] [-2.48579440e-01 9.68611512e-01 0.00000000e+00 -7.23428580e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.27035741e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.681400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:283.82, Y:-72.35, Z:-0.00 [[ 9.68390401e-01 2.49439434e-01 0.00000000e+00 2.83820835e+02] [-2.49439434e-01 9.68390401e-01 0.00000000e+00 -7.23479465e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03017464e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.711400513 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:283.85, Y:-72.35, Z:0.00 [[ 9.68258964e-01 2.49949152e-01 0.00000000e+00 2.83850221e+02] [-2.49949152e-01 9.68258964e-01 0.00000000e+00 -7.23518281e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58682700e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.74140051300003 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:283.88, Y:-72.36, Z:0.01 [[ 9.68129665e-01 2.50449498e-01 0.00000000e+00 2.83878401e+02] [-2.50449498e-01 9.68129665e-01 0.00000000e+00 -7.23557481e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.17457217e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.771400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:283.91, Y:-72.36, Z:0.01 [[ 9.68149725e-01 2.50371945e-01 0.00000000e+00 2.83907612e+02] [-2.50371945e-01 9.68149725e-01 0.00000000e+00 -7.23594723e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.83991144e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.80140051300003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:283.93, Y:-72.37, Z:0.01 [[ 9.68422715e-01 2.49313948e-01 0.00000000e+00 2.83933208e+02] [-2.49313948e-01 9.68422715e-01 0.00000000e+00 -7.23664959e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.42958093e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.831400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.96, Y:-72.37, Z:0.01 [[ 9.68929400e-01 2.47337459e-01 0.00000000e+00 2.83959900e+02] [-2.47337459e-01 9.68929400e-01 0.00000000e+00 -7.23732136e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.97263671e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86140051300004 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:283.99, Y:-72.38, Z:0.01 [[ 9.69483193e-01 2.45157782e-01 0.00000000e+00 2.83987110e+02] [-2.45157782e-01 9.69483193e-01 0.00000000e+00 -7.23793508e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.07015404e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.891400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:284.01, Y:-72.39, Z:0.01 [[ 9.69937840e-01 2.43352803e-01 0.00000000e+00 2.84014130e+02] [-2.43352803e-01 9.69937840e-01 0.00000000e+00 -7.23858524e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03951462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92140051300004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:284.04, Y:-72.39, Z:0.01 [[ 9.70259660e-01 2.42066503e-01 0.00000000e+00 2.84040584e+02] [-2.42066503e-01 9.70259660e-01 0.00000000e+00 -7.23924470e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07912296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.951400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:284.07, Y:-72.40, Z:0.01 [[ 9.70507510e-01 2.41070887e-01 0.00000000e+00 2.84068713e+02] [-2.41070887e-01 9.70507510e-01 0.00000000e+00 -7.23963536e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.37912733e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.981400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:284.10, Y:-72.40, Z:0.01 [[ 9.70460337e-01 2.41260718e-01 0.00000000e+00 2.84096898e+02] [-2.41260718e-01 9.70460337e-01 0.00000000e+00 -7.24013360e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.89607862e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.011400513 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:284.12, Y:-72.41, Z:0.01 [[ 9.70285605e-01 2.41962487e-01 0.00000000e+00 2.84124251e+02] [-2.41962487e-01 9.70285605e-01 0.00000000e+00 -7.24065849e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.16548634e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.041400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:284.15, Y:-72.41, Z:0.01 [[ 9.70092783e-01 2.42734408e-01 0.00000000e+00 2.84150564e+02] [-2.42734408e-01 9.70092783e-01 0.00000000e+00 -7.24126135e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.33551028e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.18, Y:-72.42, Z:0.01 [[ 9.69914726e-01 2.43444909e-01 0.00000000e+00 2.84177032e+02] [-2.43444909e-01 9.69914726e-01 0.00000000e+00 -7.24201787e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.59593834e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.101400513 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:284.20, Y:-72.43, Z:0.01 [[ 9.69912381e-01 2.43454255e-01 0.00000000e+00 2.84204075e+02] [-2.43454255e-01 9.69912381e-01 0.00000000e+00 -7.24278948e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.10066896e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.131400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:284.23, Y:-72.43, Z:0.01 [[ 9.70442934e-01 2.41330712e-01 0.00000000e+00 2.84230484e+02] [-2.41330712e-01 9.70442934e-01 0.00000000e+00 -7.24338708e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.84527064e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.161400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:284.26, Y:-72.44, Z:0.01 [[ 9.70909105e-01 2.39448346e-01 0.00000000e+00 2.84257523e+02] [-2.39448346e-01 9.70909105e-01 0.00000000e+00 -7.24420927e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.74892994e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.191400513 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:284.28, Y:-72.45, Z:0.01 [[ 9.71380190e-01 2.37530055e-01 0.00000000e+00 2.84283131e+02] [-2.37530055e-01 9.71380190e-01 0.00000000e+00 -7.24504822e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.59666168e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.221400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:284.31, Y:-72.46, Z:0.01 [[ 9.72210254e-01 2.34109422e-01 0.00000000e+00 2.84308624e+02] [-2.34109422e-01 9.72210254e-01 0.00000000e+00 -7.24596095e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.18419815e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.251400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:284.34, Y:-72.47, Z:0.01 [[ 9.72437389e-01 2.33164159e-01 0.00000000e+00 2.84335551e+02] [-2.33164159e-01 9.72437389e-01 0.00000000e+00 -7.24682983e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.65115617e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.281400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:284.36, Y:-72.48, Z:0.00 [[ 9.72413921e-01 2.33262010e-01 0.00000000e+00 2.84362405e+02] [-2.33262010e-01 9.72413921e-01 0.00000000e+00 -7.24767356e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97592260e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.311400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:284.39, Y:-72.48, Z:0.00 [[ 9.72223119e-01 2.34055993e-01 0.00000000e+00 2.84390007e+02] [-2.34055993e-01 9.72223119e-01 0.00000000e+00 -7.24849334e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48743555e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.341400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:284.42, Y:-72.49, Z:0.00 [[ 9.71938098e-01 2.35236762e-01 0.00000000e+00 2.84415642e+02] [-2.35236762e-01 9.71938098e-01 0.00000000e+00 -7.24925480e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80982704e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.371400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:284.44, Y:-72.50, Z:0.00 [[ 9.71619443e-01 2.36549484e-01 0.00000000e+00 2.84441953e+02] [-2.36549484e-01 9.71619443e-01 0.00000000e+00 -7.25009900e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17554101e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.401400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:284.47, Y:-72.51, Z:0.00 [[ 9.70895599e-01 2.39503103e-01 0.00000000e+00 2.84467731e+02] [-2.39503103e-01 9.70895599e-01 0.00000000e+00 -7.25099370e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.16187962e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.431400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:284.49, Y:-72.52, Z:0.01 [[ 9.70626641e-01 2.40590782e-01 0.00000000e+00 2.84494622e+02] [-2.40590782e-01 9.70626641e-01 0.00000000e+00 -7.25179551e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.75166123e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.461400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:284.52, Y:-72.53, Z:0.01 [[ 9.70371604e-01 2.41617363e-01 0.00000000e+00 2.84520766e+02] [-2.41617363e-01 9.70371604e-01 0.00000000e+00 -7.25256418e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.31107074e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.49140051300003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:284.55, Y:-72.53, Z:0.00 [[ 9.70224503e-01 2.42207377e-01 0.00000000e+00 2.84547191e+02] [-2.42207377e-01 9.70224503e-01 0.00000000e+00 -7.25340082e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89437404e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.521400513 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:284.57, Y:-72.54, Z:0.00 [[ 9.70170655e-01 2.42422977e-01 0.00000000e+00 2.84573301e+02] [-2.42422977e-01 9.70170655e-01 0.00000000e+00 -7.25427424e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63573006e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.55140051300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:284.60, Y:-72.55, Z:0.00 [[ 9.70043759e-01 2.42930250e-01 0.00000000e+00 2.84600662e+02] [-2.42930250e-01 9.70043759e-01 0.00000000e+00 -7.25517811e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24611825e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.581400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:284.63, Y:-72.56, Z:0.00 [[ 9.69495317e-01 2.45109835e-01 0.00000000e+00 2.84628363e+02] [-2.45109835e-01 9.69495317e-01 0.00000000e+00 -7.25592638e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.86504298e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.61140051300004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:284.66, Y:-72.57, Z:0.00 [[ 9.69044064e-01 2.46887833e-01 0.00000000e+00 2.84656368e+02] [-2.46887833e-01 9.69044064e-01 0.00000000e+00 -7.25674178e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49326367e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.68, Y:-72.58, Z:0.01 [[ 9.67880351e-01 2.51411268e-01 0.00000000e+00 2.84683335e+02] [-2.51411268e-01 9.67880351e-01 0.00000000e+00 -7.25760081e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.34100194e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.67140051300004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:284.71, Y:-72.58, Z:0.01 [[ 9.67618593e-01 2.52416836e-01 0.00000000e+00 2.84710480e+02] [-2.52416836e-01 9.67618593e-01 0.00000000e+00 -7.25841812e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.94074192e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.701400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:284.74, Y:-72.59, Z:0.01 [[ 9.67478845e-01 2.52951941e-01 0.00000000e+00 2.84736223e+02] [-2.52951941e-01 9.67478845e-01 0.00000000e+00 -7.25914192e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.68772580e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.76, Y:-72.60, Z:0.01 [[ 9.67379900e-01 2.53330078e-01 0.00000000e+00 2.84762742e+02] [-2.53330078e-01 9.67379900e-01 0.00000000e+00 -7.25992686e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.63333066e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.761400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:284.79, Y:-72.61, Z:0.01 [[ 9.67218365e-01 2.53946126e-01 0.00000000e+00 2.84788859e+02] [-2.53946126e-01 9.67218365e-01 0.00000000e+00 -7.26073987e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.52829563e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.82, Y:-72.62, Z:0.01 [[ 9.66926246e-01 2.55056140e-01 0.00000000e+00 2.84815132e+02] [-2.55056140e-01 9.66926246e-01 0.00000000e+00 -7.26161437e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.09270405e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.821400513 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:284.84, Y:-72.62, Z:0.01 [[ 9.66569040e-01 2.56406497e-01 0.00000000e+00 2.84841541e+02] [-2.56406497e-01 9.66569040e-01 0.00000000e+00 -7.26235716e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.21504661e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.851400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:284.87, Y:-72.63, Z:0.01 [[ 9.66049861e-01 2.58355698e-01 0.00000000e+00 2.84869751e+02] [-2.58355698e-01 9.66049861e-01 0.00000000e+00 -7.26269946e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12876201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.881400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:284.90, Y:-72.63, Z:0.01 [[ 9.65704130e-01 2.59645015e-01 0.00000000e+00 2.84896885e+02] [-2.59645015e-01 9.65704130e-01 0.00000000e+00 -7.26322733e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10764461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.911400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:284.92, Y:-72.64, Z:0.01 [[ 9.65384345e-01 2.60831489e-01 0.00000000e+00 2.84924902e+02] [-2.60831489e-01 9.65384345e-01 0.00000000e+00 -7.26375412e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06144115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.95, Y:-72.64, Z:0.01 [[ 9.65083691e-01 2.61941729e-01 0.00000000e+00 2.84952766e+02] [-2.61941729e-01 9.65083691e-01 0.00000000e+00 -7.26424379e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12267227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.98, Y:-72.65, Z:0.01 [[ 9.65027303e-01 2.62149393e-01 0.00000000e+00 2.84981332e+02] [-2.62149393e-01 9.65027303e-01 0.00000000e+00 -7.26465225e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20915292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.001400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:285.01, Y:-72.65, Z:0.01 [[ 9.65154843e-01 2.61679440e-01 0.00000000e+00 2.85008759e+02] [-2.61679440e-01 9.65154843e-01 0.00000000e+00 -7.26499862e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21554733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.031400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:285.04, Y:-72.65, Z:0.01 [[ 9.66119240e-01 2.58096133e-01 0.00000000e+00 2.85038028e+02] [-2.58096133e-01 9.66119240e-01 0.00000000e+00 -7.26515781e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14139237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.061400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:285.06, Y:-72.66, Z:0.01 [[ 9.66874186e-01 2.55253418e-01 0.00000000e+00 2.85064001e+02] [-2.55253418e-01 9.66874186e-01 0.00000000e+00 -7.26575983e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08518712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.09, Y:-72.66, Z:0.01 [[ 9.67744490e-01 2.51933725e-01 0.00000000e+00 2.85090726e+02] [-2.51933725e-01 9.67744490e-01 0.00000000e+00 -7.26641774e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11466276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.12, Y:-72.67, Z:0.01 [[ 9.68723655e-01 2.48142058e-01 0.00000000e+00 2.85117776e+02] [-2.48142058e-01 9.68723655e-01 0.00000000e+00 -7.26705919e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11207460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.14, Y:-72.68, Z:0.01 [[ 9.70566727e-01 2.40832366e-01 0.00000000e+00 2.85143915e+02] [-2.40832366e-01 9.70566727e-01 0.00000000e+00 -7.26766705e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.73957862e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.181400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:285.17, Y:-72.69, Z:0.01 [[ 9.71415949e-01 2.37383769e-01 0.00000000e+00 2.85169946e+02] [-2.37383769e-01 9.71415949e-01 0.00000000e+00 -7.26859245e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.17268294e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.20, Y:-72.70, Z:0.01 [[ 9.72183499e-01 2.34220502e-01 0.00000000e+00 2.85196910e+02] [-2.34220502e-01 9.72183499e-01 0.00000000e+00 -7.26961427e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.19915368e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.24140051300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:285.22, Y:-72.71, Z:0.00 [[ 9.72675930e-01 2.32167040e-01 0.00000000e+00 2.85223475e+02] [-2.32167040e-01 9.72675930e-01 0.00000000e+00 -7.27058581e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48927226e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.271400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:285.25, Y:-72.71, Z:0.00 [[ 9.72957514e-01 2.30984146e-01 0.00000000e+00 2.85250141e+02] [-2.30984146e-01 9.72957514e-01 0.00000000e+00 -7.27148794e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.07953485e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.28, Y:-72.72, Z:0.01 [[ 9.72954807e-01 2.30995548e-01 0.00000000e+00 2.85277380e+02] [-2.30995548e-01 9.72954807e-01 0.00000000e+00 -7.27247521e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.54663334e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.30, Y:-72.73, Z:0.01 [[ 9.72996490e-01 2.30819907e-01 0.00000000e+00 2.85304446e+02] [-2.30819907e-01 9.72996490e-01 0.00000000e+00 -7.27334382e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.54663334e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36140051300004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:285.33, Y:-72.75, Z:0.01 [[ 9.72509197e-01 2.32864472e-01 0.00000000e+00 2.85329512e+02] [-2.32864472e-01 9.72509197e-01 0.00000000e+00 -7.27470739e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.67275546e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.391400513 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:285.36, Y:-72.76, Z:0.01 [[ 9.72144929e-01 2.34380540e-01 0.00000000e+00 2.85355371e+02] [-2.34380540e-01 9.72144929e-01 0.00000000e+00 -7.27588324e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.02926470e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42140051300004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:285.38, Y:-72.77, Z:0.01 [[ 9.71812221e-01 2.35756245e-01 0.00000000e+00 2.85381071e+02] [-2.35756245e-01 9.71812221e-01 0.00000000e+00 -7.27694869e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.13862972e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.451400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:285.41, Y:-72.78, Z:0.01 [[ 9.71246104e-01 2.38077728e-01 0.00000000e+00 2.85406772e+02] [-2.38077728e-01 9.71246104e-01 0.00000000e+00 -7.27797969e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.06376045e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.481400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:285.43, Y:-72.79, Z:0.01 [[ 9.70474090e-01 2.41205392e-01 0.00000000e+00 2.85431531e+02] [-2.41205392e-01 9.70474090e-01 0.00000000e+00 -7.27893725e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09341278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.511400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:285.46, Y:-72.80, Z:0.01 [[ 9.69078536e-01 2.46752488e-01 0.00000000e+00 2.85458599e+02] [-2.46752488e-01 9.69078536e-01 0.00000000e+00 -7.27993251e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28845018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.541400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:285.49, Y:-72.81, Z:0.01 [[ 9.68607273e-01 2.48595960e-01 0.00000000e+00 2.85485490e+02] [-2.48595960e-01 9.68607273e-01 0.00000000e+00 -7.28074045e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.63801884e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.571400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:285.51, Y:-72.82, Z:0.01 [[ 9.68173394e-01 2.50280402e-01 0.00000000e+00 2.85513312e+02] [-2.50280402e-01 9.68173394e-01 0.00000000e+00 -7.28161676e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.12602651e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.601400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:285.54, Y:-72.82, Z:0.01 [[ 9.67824124e-01 2.51627631e-01 0.00000000e+00 2.85539118e+02] [-2.51627631e-01 9.67824124e-01 0.00000000e+00 -7.28249962e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.13062519e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.631400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:285.57, Y:-72.83, Z:0.01 [[ 9.67615545e-01 2.52428517e-01 0.00000000e+00 2.85566305e+02] [-2.52428517e-01 9.67615545e-01 0.00000000e+00 -7.28347840e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.54448465e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.59, Y:-72.84, Z:0.01 [[ 9.67449907e-01 2.53062594e-01 0.00000000e+00 2.85593451e+02] [-2.53062594e-01 9.67449907e-01 0.00000000e+00 -7.28443610e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21700426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.691400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:285.62, Y:-72.85, Z:0.02 [[ 9.67645893e-01 2.52312161e-01 0.00000000e+00 2.85620659e+02] [-2.52312161e-01 9.67645893e-01 0.00000000e+00 -7.28507643e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50309532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.65, Y:-72.86, Z:0.01 [[ 9.67732510e-01 2.51979739e-01 0.00000000e+00 2.85648176e+02] [-2.51979739e-01 9.67732510e-01 0.00000000e+00 -7.28571067e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40741300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.751400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:285.67, Y:-72.86, Z:0.01 [[ 9.67798891e-01 2.51724665e-01 0.00000000e+00 2.85674297e+02] [-2.51724665e-01 9.67798891e-01 0.00000000e+00 -7.28632693e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08451078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.781400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:285.70, Y:-72.87, Z:0.01 [[ 9.67778999e-01 2.51801128e-01 0.00000000e+00 2.85701473e+02] [-2.51801128e-01 9.67778999e-01 0.00000000e+00 -7.28707806e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.87550883e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.73, Y:-72.88, Z:0.01 [[ 9.67452668e-01 2.53052040e-01 0.00000000e+00 2.85728232e+02] [-2.53052040e-01 9.67452668e-01 0.00000000e+00 -7.28767723e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.25816595e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.841400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:285.76, Y:-72.88, Z:0.01 [[ 9.67362315e-01 2.53397219e-01 0.00000000e+00 2.85755603e+02] [-2.53397219e-01 9.67362315e-01 0.00000000e+00 -7.28827957e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.65406042e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.78, Y:-72.89, Z:0.01 [[ 9.67342135e-01 2.53474247e-01 0.00000000e+00 2.85782879e+02] [-2.53474247e-01 9.67342135e-01 0.00000000e+00 -7.28879759e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18701204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.901400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:285.81, Y:-72.89, Z:0.01 [[ 9.67459359e-01 2.53026459e-01 0.00000000e+00 2.85809567e+02] [-2.53026459e-01 9.67459359e-01 0.00000000e+00 -7.28925887e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24375860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.84, Y:-72.90, Z:0.01 [[ 9.67637135e-01 2.52345745e-01 0.00000000e+00 2.85836970e+02] [-2.52345745e-01 9.67637135e-01 0.00000000e+00 -7.28970413e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39711075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.961400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:285.86, Y:-72.90, Z:0.01 [[ 9.67841671e-01 2.51560133e-01 0.00000000e+00 2.85864414e+02] [-2.51560133e-01 9.67841671e-01 0.00000000e+00 -7.29012849e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36980783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.99140051300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:285.89, Y:-72.90, Z:0.01 [[ 9.68224842e-01 2.50081298e-01 0.00000000e+00 2.85893244e+02] [-2.50081298e-01 9.68224842e-01 0.00000000e+00 -7.29041262e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11672499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.021400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:285.92, Y:-72.91, Z:0.01 [[ 9.68540771e-01 2.48854928e-01 0.00000000e+00 2.85920011e+02] [-2.48854928e-01 9.68540771e-01 0.00000000e+00 -7.29106068e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00452504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.05140051300003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:285.95, Y:-72.92, Z:0.01 [[ 9.68984400e-01 2.47121897e-01 0.00000000e+00 2.85947149e+02] [-2.47121897e-01 9.68984400e-01 0.00000000e+00 -7.29171442e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.88310528e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.081400513 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:285.97, Y:-72.92, Z:0.01 [[ 9.69515308e-01 2.45030746e-01 0.00000000e+00 2.85974813e+02] [-2.45030746e-01 9.69515308e-01 0.00000000e+00 -7.29236392e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.27263954e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.11140051300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:286.00, Y:-72.93, Z:0.01 [[ 9.70005866e-01 2.43081510e-01 0.00000000e+00 2.86002021e+02] [-2.43081510e-01 9.70005866e-01 0.00000000e+00 -7.29296262e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.02473621e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.141400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:286.03, Y:-72.94, Z:0.01 [[ 9.70423596e-01 2.41408458e-01 0.00000000e+00 2.86028926e+02] [-2.41408458e-01 9.70423596e-01 0.00000000e+00 -7.29361634e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.40774524e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.06, Y:-72.94, Z:0.01 [[ 9.70861056e-01 2.39643087e-01 0.00000000e+00 2.86056632e+02] [-2.39643087e-01 9.70861056e-01 0.00000000e+00 -7.29405411e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.92408483e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.08, Y:-72.95, Z:0.01 [[ 9.70920756e-01 2.39401098e-01 0.00000000e+00 2.86082848e+02] [-2.39401098e-01 9.70920756e-01 0.00000000e+00 -7.29456693e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.59793229e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.231400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:286.11, Y:-72.95, Z:0.01 [[ 9.70828240e-01 2.39775998e-01 0.00000000e+00 2.86110072e+02] [-2.39775998e-01 9.70828240e-01 0.00000000e+00 -7.29514761e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.66320385e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.14, Y:-72.96, Z:0.01 [[ 9.70676843e-01 2.40388157e-01 0.00000000e+00 2.86137635e+02] [-2.40388157e-01 9.70676843e-01 0.00000000e+00 -7.29577172e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16658370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.291400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:286.16, Y:-72.96, Z:0.01 [[ 9.70443739e-01 2.41327474e-01 0.00000000e+00 2.86164290e+02] [-2.41327474e-01 9.70443739e-01 0.00000000e+00 -7.29643891e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11602532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.19, Y:-72.97, Z:0.01 [[ 9.70212058e-01 2.42257223e-01 0.00000000e+00 2.86191932e+02] [-2.42257223e-01 9.70212058e-01 0.00000000e+00 -7.29690580e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29466674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.351400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:286.22, Y:-72.97, Z:0.01 [[ 9.70161688e-01 2.42458862e-01 0.00000000e+00 2.86218404e+02] [-2.42458862e-01 9.70161688e-01 0.00000000e+00 -7.29747759e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24705563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.381400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:286.25, Y:-72.98, Z:0.01 [[ 9.70185587e-01 2.42363211e-01 0.00000000e+00 2.86245572e+02] [-2.42363211e-01 9.70185587e-01 0.00000000e+00 -7.29808499e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28984856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.411400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:286.27, Y:-72.99, Z:0.01 [[ 9.70268141e-01 2.42032509e-01 0.00000000e+00 2.86272511e+02] [-2.42032509e-01 9.70268141e-01 0.00000000e+00 -7.29880219e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28220012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.30, Y:-73.00, Z:0.01 [[ 9.70437223e-01 2.41353676e-01 0.00000000e+00 2.86299810e+02] [-2.41353676e-01 9.70437223e-01 0.00000000e+00 -7.29957727e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25108571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.33, Y:-73.00, Z:0.01 [[ 9.70605172e-01 2.40677378e-01 0.00000000e+00 2.86325808e+02] [-2.40677378e-01 9.70605172e-01 0.00000000e+00 -7.30036348e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10238040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.35, Y:-73.01, Z:0.01 [[ 9.70922455e-01 2.39394208e-01 0.00000000e+00 2.86352407e+02] [-2.39394208e-01 9.70922455e-01 0.00000000e+00 -7.30111473e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26354592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.38, Y:-73.02, Z:0.01 [[ 9.71057965e-01 2.38843941e-01 0.00000000e+00 2.86377907e+02] [-2.38843941e-01 9.71057965e-01 0.00000000e+00 -7.30195492e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46953072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.40, Y:-73.03, Z:0.02 [[ 9.71220593e-01 2.38181778e-01 0.00000000e+00 2.86403881e+02] [-2.38181778e-01 9.71220593e-01 0.00000000e+00 -7.30297051e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60848978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.43, Y:-73.04, Z:0.02 [[ 9.71325030e-01 2.37755519e-01 0.00000000e+00 2.86428792e+02] [-2.37755519e-01 9.71325030e-01 0.00000000e+00 -7.30403282e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64956510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.621400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:286.45, Y:-73.05, Z:0.02 [[ 9.71403334e-01 2.37435388e-01 0.00000000e+00 2.86454915e+02] [-2.37435388e-01 9.71403334e-01 0.00000000e+00 -7.30509663e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55108431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.48, Y:-73.06, Z:0.02 [[ 9.71386545e-01 2.37504064e-01 0.00000000e+00 2.86480864e+02] [-2.37504064e-01 9.71386545e-01 0.00000000e+00 -7.30599704e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54341667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.51, Y:-73.07, Z:0.01 [[ 9.70903408e-01 2.39471445e-01 0.00000000e+00 2.86506130e+02] [-2.39471445e-01 9.70903408e-01 0.00000000e+00 -7.30697187e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39826394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.53, Y:-73.08, Z:0.01 [[ 9.70410547e-01 2.41460908e-01 0.00000000e+00 2.86532283e+02] [-2.41460908e-01 9.70410547e-01 0.00000000e+00 -7.30799559e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37309106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.56, Y:-73.09, Z:0.01 [[ 9.69912343e-01 2.43454404e-01 0.00000000e+00 2.86557660e+02] [-2.43454404e-01 9.69912343e-01 0.00000000e+00 -7.30892912e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35649356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.771400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:286.58, Y:-73.10, Z:0.01 [[ 9.69313285e-01 2.45828712e-01 0.00000000e+00 2.86584749e+02] [-2.45828712e-01 9.69313285e-01 0.00000000e+00 -7.30975485e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13075427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.61, Y:-73.10, Z:0.01 [[ 9.69206543e-01 2.46249219e-01 0.00000000e+00 2.86612086e+02] [-2.46249219e-01 9.69206543e-01 0.00000000e+00 -7.31047198e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.58254446e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.64, Y:-73.11, Z:0.01 [[ 9.69304978e-01 2.45861465e-01 0.00000000e+00 2.86638512e+02] [-2.45861465e-01 9.69304978e-01 0.00000000e+00 -7.31123244e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.89458694e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86140051300004 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:286.66, Y:-73.12, Z:0.01 [[ 9.69660339e-01 2.44456185e-01 0.00000000e+00 2.86664616e+02] [-2.44456185e-01 9.69660339e-01 0.00000000e+00 -7.31215566e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.27034525e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.69, Y:-73.13, Z:0.01 [[ 9.70242501e-01 2.42135270e-01 0.00000000e+00 2.86691160e+02] [-2.42135270e-01 9.70242501e-01 0.00000000e+00 -7.31313090e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.68007370e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.72, Y:-73.14, Z:0.01 [[ 9.70937098e-01 2.39334812e-01 0.00000000e+00 2.86717483e+02] [-2.39334812e-01 9.70937098e-01 0.00000000e+00 -7.31406502e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00802813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.74, Y:-73.15, Z:0.01 [[ 9.72145951e-01 2.34376302e-01 0.00000000e+00 2.86743924e+02] [-2.34376302e-01 9.72145951e-01 0.00000000e+00 -7.31501419e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05129557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.981400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:286.77, Y:-73.16, Z:0.01 [[ 9.72516521e-01 2.32833883e-01 0.00000000e+00 2.86768728e+02] [-2.32833883e-01 9.72516521e-01 0.00000000e+00 -7.31598873e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.20328207e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.79, Y:-73.17, Z:0.01 [[ 9.72890155e-01 2.31267693e-01 0.00000000e+00 2.86794587e+02] [-2.31267693e-01 9.72890155e-01 0.00000000e+00 -7.31700085e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11381079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.041400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:286.82, Y:-73.18, Z:0.01 [[ 9.73280936e-01 2.29617551e-01 0.00000000e+00 2.86820220e+02] [-2.29617551e-01 9.73280936e-01 0.00000000e+00 -7.31795468e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05651984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.85, Y:-73.19, Z:0.01 [[ 9.73664113e-01 2.27987270e-01 0.00000000e+00 2.86847025e+02] [-2.27987270e-01 9.73664113e-01 0.00000000e+00 -7.31888519e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08938335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.87, Y:-73.20, Z:0.01 [[ 9.74007889e-01 2.26514088e-01 0.00000000e+00 2.86873259e+02] [-2.26514088e-01 9.74007889e-01 0.00000000e+00 -7.31975023e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11107855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.90, Y:-73.21, Z:0.01 [[ 9.74342092e-01 2.25072183e-01 0.00000000e+00 2.86898046e+02] [-2.25072183e-01 9.74342092e-01 0.00000000e+00 -7.32092813e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14499974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.92, Y:-73.22, Z:0.01 [[ 9.74403463e-01 2.24806340e-01 0.00000000e+00 2.86923993e+02] [-2.24806340e-01 9.74403463e-01 0.00000000e+00 -7.32201099e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17212468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.95, Y:-73.23, Z:0.01 [[ 9.74361134e-01 2.24989732e-01 0.00000000e+00 2.86949105e+02] [-2.24989732e-01 9.74361134e-01 0.00000000e+00 -7.32294026e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05409664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.98, Y:-73.24, Z:0.01 [[ 9.74398823e-01 2.24826453e-01 0.00000000e+00 2.86976255e+02] [-2.24826453e-01 9.74398823e-01 0.00000000e+00 -7.32378278e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05409664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.251400513 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:287.00, Y:-73.25, Z:0.01 [[ 9.74358446e-01 2.25001376e-01 0.00000000e+00 2.87002654e+02] [-2.25001376e-01 9.74358446e-01 0.00000000e+00 -7.32458362e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13836410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.03, Y:-73.25, Z:0.01 [[ 9.74136215e-01 2.25961579e-01 0.00000000e+00 2.87029035e+02] [-2.25961579e-01 9.74136215e-01 0.00000000e+00 -7.32535254e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29235178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.05, Y:-73.26, Z:0.01 [[ 9.73874523e-01 2.27086795e-01 0.00000000e+00 2.87054542e+02] [-2.27086795e-01 9.73874523e-01 0.00000000e+00 -7.32610933e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41676245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.08, Y:-73.27, Z:0.01 [[ 9.73200063e-01 2.29960076e-01 0.00000000e+00 2.87080301e+02] [-2.29960076e-01 9.73200063e-01 0.00000000e+00 -7.32693189e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46301899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.371400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:287.11, Y:-73.28, Z:0.01 [[ 9.72845866e-01 2.31453927e-01 0.00000000e+00 2.87105806e+02] [-2.31453927e-01 9.72845866e-01 0.00000000e+00 -7.32767736e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34433356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.401400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:287.13, Y:-73.28, Z:0.01 [[ 9.72512973e-01 2.32848700e-01 0.00000000e+00 2.87133087e+02] [-2.32848700e-01 9.72512973e-01 0.00000000e+00 -7.32846152e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26533316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.431400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:287.16, Y:-73.29, Z:0.01 [[ 9.71653363e-01 2.36410113e-01 0.00000000e+00 2.87160416e+02] [-2.36410113e-01 9.71653363e-01 0.00000000e+00 -7.32913953e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27778981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.19, Y:-73.30, Z:0.01 [[ 9.71247387e-01 2.38072497e-01 0.00000000e+00 2.87187085e+02] [-2.38072497e-01 9.71247387e-01 0.00000000e+00 -7.32983722e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43992710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.49140051300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:287.21, Y:-73.30, Z:0.01 [[ 9.70837754e-01 2.39737473e-01 0.00000000e+00 2.87212787e+02] [-2.39737473e-01 9.70837754e-01 0.00000000e+00 -7.33048799e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47846966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.24, Y:-73.31, Z:0.02 [[ 9.70470189e-01 2.41221085e-01 0.00000000e+00 2.87239508e+02] [-2.41221085e-01 9.70470189e-01 0.00000000e+00 -7.33118395e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59365851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.27, Y:-73.32, Z:0.02 [[ 9.70134844e-01 2.42566247e-01 0.00000000e+00 2.87266880e+02] [-2.42566247e-01 9.70134844e-01 0.00000000e+00 -7.33195542e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50080350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.29, Y:-73.33, Z:0.01 [[ 9.69487748e-01 2.45139767e-01 0.00000000e+00 2.87293797e+02] [-2.45139767e-01 9.69487748e-01 0.00000000e+00 -7.33272737e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22842841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.32, Y:-73.33, Z:0.01 [[ 9.69236737e-01 2.46130346e-01 0.00000000e+00 2.87320608e+02] [-2.46130346e-01 9.69236737e-01 0.00000000e+00 -7.33337047e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23929700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.35, Y:-73.34, Z:0.01 [[ 9.69014373e-01 2.47004342e-01 0.00000000e+00 2.87348223e+02] [-2.47004342e-01 9.69014373e-01 0.00000000e+00 -7.33396028e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28751658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.38, Y:-73.35, Z:0.01 [[ 9.68944818e-01 2.47277049e-01 0.00000000e+00 2.87375716e+02] [-2.47277049e-01 9.68944818e-01 0.00000000e+00 -7.33453959e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35928320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.40, Y:-73.35, Z:0.01 [[ 9.69003441e-01 2.47047224e-01 0.00000000e+00 2.87401791e+02] [-2.47047224e-01 9.69003441e-01 0.00000000e+00 -7.33511326e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29499960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.731400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:287.43, Y:-73.36, Z:0.01 [[ 9.69269479e-01 2.46001377e-01 0.00000000e+00 2.87428940e+02] [-2.46001377e-01 9.69269479e-01 0.00000000e+00 -7.33573015e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13633100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.761400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:287.46, Y:-73.36, Z:0.01 [[ 9.70367405e-01 2.41634225e-01 0.00000000e+00 2.87456770e+02] [-2.41634225e-01 9.70367405e-01 0.00000000e+00 -7.33625846e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.97895736e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.791400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:287.48, Y:-73.37, Z:0.01 [[ 9.71202894e-01 2.38253939e-01 0.00000000e+00 2.87483251e+02] [-2.38253939e-01 9.71202894e-01 0.00000000e+00 -7.33698464e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.20641139e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.51, Y:-73.38, Z:0.01 [[ 9.72094202e-01 2.34590839e-01 0.00000000e+00 2.87509050e+02] [-2.34590839e-01 9.72094202e-01 0.00000000e+00 -7.33775320e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.07379917e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.53, Y:-73.39, Z:0.01 [[ 9.72960540e-01 2.30971400e-01 0.00000000e+00 2.87534478e+02] [-2.30971400e-01 9.72960540e-01 0.00000000e+00 -7.33858323e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.24436287e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.881400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:287.56, Y:-73.40, Z:0.01 [[ 9.73759700e-01 2.27578661e-01 0.00000000e+00 2.87560096e+02] [-2.27578661e-01 9.73759700e-01 0.00000000e+00 -7.33953377e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.82893275e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.59, Y:-73.41, Z:0.01 [[ 9.74835077e-01 2.22927283e-01 0.00000000e+00 2.87586036e+02] [-2.22927283e-01 9.74835077e-01 0.00000000e+00 -7.34062771e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.50123489e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.941400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:287.61, Y:-73.42, Z:0.01 [[ 9.74957572e-01 2.22390944e-01 0.00000000e+00 2.87612005e+02] [-2.22390944e-01 9.74957572e-01 0.00000000e+00 -7.34160386e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.74239141e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.971400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:287.64, Y:-73.43, Z:0.01 [[ 9.74846931e-01 2.22875439e-01 0.00000000e+00 2.87637517e+02] [-2.22875439e-01 9.74846931e-01 0.00000000e+00 -7.34256854e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.66232244e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.001400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:287.66, Y:-73.43, Z:0.01 [[ 9.74478630e-01 2.24480288e-01 0.00000000e+00 2.87663508e+02] [-2.24480288e-01 9.74478630e-01 0.00000000e+00 -7.34349635e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.86737257e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.69, Y:-73.44, Z:0.01 [[ 9.73868010e-01 2.27114725e-01 0.00000000e+00 2.87690362e+02] [-2.27114725e-01 9.73868010e-01 0.00000000e+00 -7.34431739e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.87242895e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.72, Y:-73.45, Z:0.01 [[ 9.73085248e-01 2.30445440e-01 0.00000000e+00 2.87717287e+02] [-2.30445440e-01 9.73085248e-01 0.00000000e+00 -7.34501052e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05404139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.091400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:287.75, Y:-73.46, Z:0.01 [[ 9.71369237e-01 2.37574840e-01 0.00000000e+00 2.87745704e+02] [-2.37574840e-01 9.71369237e-01 0.00000000e+00 -7.34564054e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.84652931e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.77, Y:-73.46, Z:0.01 [[ 9.70743026e-01 2.40120758e-01 0.00000000e+00 2.87771997e+02] [-2.40120758e-01 9.70743026e-01 0.00000000e+00 -7.34642710e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.93359336e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.151400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:287.80, Y:-73.47, Z:0.00 [[ 9.70408111e-01 2.41470699e-01 0.00000000e+00 2.87797645e+02] [-2.41470699e-01 9.70408111e-01 0.00000000e+00 -7.34716116e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.40522597e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.83, Y:-73.48, Z:0.01 [[ 9.70451699e-01 2.41295464e-01 0.00000000e+00 2.87825240e+02] [-2.41295464e-01 9.70451699e-01 0.00000000e+00 -7.34779368e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.05195041e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.211400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:287.85, Y:-73.48, Z:0.01 [[ 9.70779762e-01 2.39972194e-01 0.00000000e+00 2.87852437e+02] [-2.39972194e-01 9.70779762e-01 0.00000000e+00 -7.34833283e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.58752858e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.88, Y:-73.49, Z:0.01 [[ 9.71993866e-01 2.35006220e-01 0.00000000e+00 2.87881425e+02] [-2.35006220e-01 9.71993866e-01 0.00000000e+00 -7.34871679e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01100388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.271400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:287.91, Y:-73.49, Z:0.01 [[ 9.72721200e-01 2.31977300e-01 0.00000000e+00 2.87907588e+02] [-2.31977300e-01 9.72721200e-01 0.00000000e+00 -7.34937230e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.91409994e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.93, Y:-73.50, Z:0.01 [[ 9.73460957e-01 2.28853151e-01 0.00000000e+00 2.87934690e+02] [-2.28853151e-01 9.73460957e-01 0.00000000e+00 -7.34998833e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09213590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.96, Y:-73.51, Z:0.01 [[ 9.74038874e-01 2.26380811e-01 0.00000000e+00 2.87961511e+02] [-2.26380811e-01 9.74038874e-01 0.00000000e+00 -7.35054543e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05415617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.99, Y:-73.51, Z:0.01 [[ 9.74367698e-01 2.24961305e-01 0.00000000e+00 2.87988634e+02] [-2.24961305e-01 9.74367698e-01 0.00000000e+00 -7.35118272e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05336107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.391400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:288.02, Y:-73.52, Z:0.01 [[ 9.74560113e-01 2.24126274e-01 0.00000000e+00 2.88015930e+02] [-2.24126274e-01 9.74560113e-01 0.00000000e+00 -7.35196008e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05871532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42140051300004 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:288.04, Y:-73.53, Z:0.01 [[ 9.74765758e-01 2.23230190e-01 0.00000000e+00 2.88042551e+02] [-2.23230190e-01 9.74765758e-01 0.00000000e+00 -7.35273867e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10377498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.451400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:288.07, Y:-73.53, Z:0.01 [[ 9.74752198e-01 2.23289391e-01 0.00000000e+00 2.88068611e+02] [-2.23289391e-01 9.74752198e-01 0.00000000e+00 -7.35335564e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00389091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.481400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:288.10, Y:-73.54, Z:0.01 [[ 9.74671472e-01 2.23641502e-01 0.00000000e+00 2.88096288e+02] [-2.23641502e-01 9.74671472e-01 0.00000000e+00 -7.35392802e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.57763875e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.12, Y:-73.55, Z:0.01 [[ 9.74497981e-01 2.24396270e-01 0.00000000e+00 2.88123451e+02] [-2.24396270e-01 9.74497981e-01 0.00000000e+00 -7.35451643e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.73156421e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.541400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:288.15, Y:-73.55, Z:0.01 [[ 9.74248166e-01 2.25478404e-01 0.00000000e+00 2.88150012e+02] [-2.25478404e-01 9.74248166e-01 0.00000000e+00 -7.35523264e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.68953648e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.18, Y:-73.56, Z:0.01 [[ 9.74045761e-01 2.26351176e-01 0.00000000e+00 2.88176943e+02] [-2.26351176e-01 9.74045761e-01 0.00000000e+00 -7.35605042e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.08117521e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.20, Y:-73.57, Z:0.01 [[ 9.73765288e-01 2.27554751e-01 0.00000000e+00 2.88203836e+02] [-2.27554751e-01 9.73765288e-01 0.00000000e+00 -7.35665190e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.25572852e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.631400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:288.23, Y:-73.57, Z:0.01 [[ 9.73763555e-01 2.27562167e-01 0.00000000e+00 2.88232216e+02] [-2.27562167e-01 9.73763555e-01 0.00000000e+00 -7.35724680e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.85929916e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.661400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:288.26, Y:-73.58, Z:0.01 [[ 9.73791273e-01 2.27443524e-01 0.00000000e+00 2.88259227e+02] [-2.27443524e-01 9.73791273e-01 0.00000000e+00 -7.35782540e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00772185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.29, Y:-73.59, Z:0.01 [[ 9.73960602e-01 2.26717324e-01 0.00000000e+00 2.88285985e+02] [-2.26717324e-01 9.73960602e-01 0.00000000e+00 -7.35851121e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17762914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.31, Y:-73.59, Z:0.01 [[ 9.74112040e-01 2.26065773e-01 0.00000000e+00 2.88312748e+02] [-2.26065773e-01 9.74112040e-01 0.00000000e+00 -7.35927596e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12621413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.34, Y:-73.60, Z:0.01 [[ 9.73873112e-01 2.27092850e-01 0.00000000e+00 2.88340315e+02] [-2.27092850e-01 9.73873112e-01 0.00000000e+00 -7.35991536e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.34617435e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.781400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:288.37, Y:-73.61, Z:0.01 [[ 9.73652009e-01 2.28038954e-01 0.00000000e+00 2.88367410e+02] [-2.28038954e-01 9.73652009e-01 0.00000000e+00 -7.36054747e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.11213056e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.811400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:288.39, Y:-73.61, Z:0.01 [[ 9.73401242e-01 2.29107011e-01 0.00000000e+00 2.88394651e+02] [-2.29107011e-01 9.73401242e-01 0.00000000e+00 -7.36116151e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.29166749e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.841400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:288.42, Y:-73.62, Z:0.01 [[ 9.73232667e-01 2.29822051e-01 0.00000000e+00 2.88422261e+02] [-2.29822051e-01 9.73232667e-01 0.00000000e+00 -7.36182127e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.30565691e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.45, Y:-73.63, Z:0.01 [[ 9.73164322e-01 2.30111281e-01 0.00000000e+00 2.88450307e+02] [-2.30111281e-01 9.73164322e-01 0.00000000e+00 -7.36251342e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.09943516e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.901400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:288.48, Y:-73.63, Z:0.00 [[ 9.73079618e-01 2.30469212e-01 0.00000000e+00 2.88477728e+02] [-2.30469212e-01 9.73079618e-01 0.00000000e+00 -7.36318060e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10763834e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.931400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:288.51, Y:-73.64, Z:0.01 [[ 9.73032477e-01 2.30668158e-01 0.00000000e+00 2.88506421e+02] [-2.30668158e-01 9.73032477e-01 0.00000000e+00 -7.36366721e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.85181477e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.961400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:288.53, Y:-73.64, Z:0.01 [[ 9.73040003e-01 2.30636408e-01 0.00000000e+00 2.88533802e+02] [-2.30636408e-01 9.73040003e-01 0.00000000e+00 -7.36421292e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.57410960e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.99140051300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:288.56, Y:-73.65, Z:0.01 [[ 9.73043682e-01 2.30620886e-01 0.00000000e+00 2.88561424e+02] [-2.30620886e-01 9.73043682e-01 0.00000000e+00 -7.36475733e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.95633241e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.021400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:288.59, Y:-73.65, Z:0.01 [[ 9.73112949e-01 2.30328435e-01 0.00000000e+00 2.88589131e+02] [-2.30328435e-01 9.73112949e-01 0.00000000e+00 -7.36531499e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03375568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.62, Y:-73.66, Z:0.01 [[ 9.73330909e-01 2.29405627e-01 0.00000000e+00 2.88616637e+02] [-2.29405627e-01 9.73330909e-01 0.00000000e+00 -7.36584152e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15584185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.081400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:288.64, Y:-73.66, Z:0.01 [[ 9.73638822e-01 2.28095253e-01 0.00000000e+00 2.88643033e+02] [-2.28095253e-01 9.73638822e-01 0.00000000e+00 -7.36637736e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15036978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.67, Y:-73.67, Z:0.01 [[ 9.74471658e-01 2.24510550e-01 0.00000000e+00 2.88671343e+02] [-2.24510550e-01 9.74471658e-01 0.00000000e+00 -7.36676142e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27685613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.70, Y:-73.68, Z:0.01 [[ 9.74512101e-01 2.24334938e-01 0.00000000e+00 2.88698542e+02] [-2.24334938e-01 9.74512101e-01 0.00000000e+00 -7.36758130e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27685613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.17140051300004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:288.72, Y:-73.68, Z:0.01 [[ 9.74839615e-01 2.22907437e-01 0.00000000e+00 2.88724720e+02] [-2.22907437e-01 9.74839615e-01 0.00000000e+00 -7.36823954e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25800314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.75, Y:-73.69, Z:0.01 [[ 9.75141617e-01 2.21582550e-01 0.00000000e+00 2.88751219e+02] [-2.21582550e-01 9.75141617e-01 0.00000000e+00 -7.36888888e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29487460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.231400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:288.78, Y:-73.70, Z:0.01 [[ 9.75292739e-01 2.20916439e-01 0.00000000e+00 2.88778132e+02] [-2.20916439e-01 9.75292739e-01 0.00000000e+00 -7.36959933e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14372018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.81, Y:-73.70, Z:0.01 [[ 9.75481471e-01 2.20081576e-01 0.00000000e+00 2.88805387e+02] [-2.20081576e-01 9.75481471e-01 0.00000000e+00 -7.37024392e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.54250557e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.83, Y:-73.71, Z:0.01 [[ 9.75638913e-01 2.19382570e-01 0.00000000e+00 2.88832262e+02] [-2.19382570e-01 9.75638913e-01 0.00000000e+00 -7.37086276e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.95710832e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.86, Y:-73.71, Z:0.01 [[ 9.75842988e-01 2.18473025e-01 0.00000000e+00 2.88859715e+02] [-2.18473025e-01 9.75842988e-01 0.00000000e+00 -7.37127484e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.81483808e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.89, Y:-73.72, Z:0.01 [[ 9.75900628e-01 2.18215408e-01 0.00000000e+00 2.88887681e+02] [-2.18215408e-01 9.75900628e-01 0.00000000e+00 -7.37195813e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07149125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.381400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:288.91, Y:-73.73, Z:0.01 [[ 9.75904803e-01 2.18196738e-01 0.00000000e+00 2.88914541e+02] [-2.18196738e-01 9.75904803e-01 0.00000000e+00 -7.37269937e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29512974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.411400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:288.94, Y:-73.74, Z:0.01 [[ 9.75894629e-01 2.18242236e-01 0.00000000e+00 2.88941395e+02] [-2.18242236e-01 9.75894629e-01 0.00000000e+00 -7.37352309e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49198806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.97, Y:-73.74, Z:0.02 [[ 9.75837472e-01 2.18497664e-01 0.00000000e+00 2.88967347e+02] [-2.18497664e-01 9.75837472e-01 0.00000000e+00 -7.37434443e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53049347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.471400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:288.99, Y:-73.75, Z:0.01 [[ 9.75659965e-01 2.19288926e-01 0.00000000e+00 2.88993833e+02] [-2.19288926e-01 9.75659965e-01 0.00000000e+00 -7.37518665e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48049060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.02, Y:-73.76, Z:0.01 [[ 9.74803713e-01 2.23064387e-01 0.00000000e+00 2.89020940e+02] [-2.23064387e-01 9.74803713e-01 0.00000000e+00 -7.37593715e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34012662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.05, Y:-73.77, Z:0.01 [[ 9.74276101e-01 2.25357667e-01 0.00000000e+00 2.89047246e+02] [-2.25357667e-01 9.74276101e-01 0.00000000e+00 -7.37671114e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29579174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.561400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:289.07, Y:-73.78, Z:0.01 [[ 9.73763828e-01 2.27560997e-01 0.00000000e+00 2.89073557e+02] [-2.27560997e-01 9.73763828e-01 0.00000000e+00 -7.37751176e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33486898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.10, Y:-73.78, Z:0.01 [[ 9.73371719e-01 2.29232407e-01 0.00000000e+00 2.89099148e+02] [-2.29232407e-01 9.73371719e-01 0.00000000e+00 -7.37819451e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49237453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.13, Y:-73.79, Z:0.02 [[ 9.73096293e-01 2.30398793e-01 0.00000000e+00 2.89126183e+02] [-2.30398793e-01 9.73096293e-01 0.00000000e+00 -7.37894262e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61828675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.651400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:289.15, Y:-73.80, Z:0.02 [[ 9.72993954e-01 2.30830597e-01 0.00000000e+00 2.89153128e+02] [-2.30830597e-01 9.72993954e-01 0.00000000e+00 -7.37975646e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62176874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.681400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:289.18, Y:-73.81, Z:0.01 [[ 9.73209562e-01 2.29919875e-01 0.00000000e+00 2.89177764e+02] [-2.29919875e-01 9.73209562e-01 0.00000000e+00 -7.38081720e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48404066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.711400513 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:289.20, Y:-73.82, Z:0.01 [[ 9.73477119e-01 2.28784394e-01 0.00000000e+00 2.89203396e+02] [-2.28784394e-01 9.73477119e-01 0.00000000e+00 -7.38183849e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37005696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.74140051300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:289.23, Y:-73.83, Z:0.01 [[ 9.73947216e-01 2.26774823e-01 0.00000000e+00 2.89230323e+02] [-2.26774823e-01 9.73947216e-01 0.00000000e+00 -7.38281819e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44254762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.26, Y:-73.84, Z:0.01 [[ 9.74782922e-01 2.23155226e-01 0.00000000e+00 2.89256906e+02] [-2.23155226e-01 9.74782922e-01 0.00000000e+00 -7.38373705e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49276375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.80140051300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:289.28, Y:-73.85, Z:0.01 [[ 9.75105296e-01 2.21742332e-01 0.00000000e+00 2.89281830e+02] [-2.21742332e-01 9.75105296e-01 0.00000000e+00 -7.38465192e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33855467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.31, Y:-73.86, Z:0.01 [[ 9.75497928e-01 2.20008619e-01 0.00000000e+00 2.89308270e+02] [-2.20008619e-01 9.75497928e-01 0.00000000e+00 -7.38559662e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38263846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.33, Y:-73.87, Z:0.01 [[ 9.75742859e-01 2.18919786e-01 0.00000000e+00 2.89334816e+02] [-2.18919786e-01 9.75742859e-01 0.00000000e+00 -7.38659585e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41215196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.891400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:289.36, Y:-73.88, Z:0.01 [[ 9.75899571e-01 2.18220136e-01 0.00000000e+00 2.89360688e+02] [-2.18220136e-01 9.75899571e-01 0.00000000e+00 -7.38761304e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46010537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.38, Y:-73.89, Z:0.01 [[ 9.76026712e-01 2.17650770e-01 0.00000000e+00 2.89384633e+02] [-2.17650770e-01 9.76026712e-01 0.00000000e+00 -7.38892937e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41382973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.41, Y:-73.90, Z:0.01 [[ 9.76034799e-01 2.17614499e-01 0.00000000e+00 2.89410552e+02] [-2.17614499e-01 9.76034799e-01 0.00000000e+00 -7.38990841e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44685355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.981400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:289.44, Y:-73.91, Z:0.02 [[ 9.75975583e-01 2.17879925e-01 0.00000000e+00 2.89436456e+02] [-2.17879925e-01 9.75975583e-01 0.00000000e+00 -7.39079846e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51127187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.011400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:289.46, Y:-73.92, Z:0.02 [[ 9.75923271e-01 2.18114121e-01 0.00000000e+00 2.89463124e+02] [-2.18114121e-01 9.75923271e-01 0.00000000e+00 -7.39167011e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63004999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.49, Y:-73.93, Z:0.02 [[ 9.75810129e-01 2.18619744e-01 0.00000000e+00 2.89488741e+02] [-2.18619744e-01 9.75810129e-01 0.00000000e+00 -7.39262161e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62562738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.51, Y:-73.94, Z:0.02 [[ 9.75702013e-01 2.19101760e-01 0.00000000e+00 2.89514361e+02] [-2.19101760e-01 9.75702013e-01 0.00000000e+00 -7.39371051e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51821169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.54, Y:-73.95, Z:0.01 [[ 9.75569057e-01 2.19693000e-01 0.00000000e+00 2.89537947e+02] [-2.19693000e-01 9.75569057e-01 0.00000000e+00 -7.39517358e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29513421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.131400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:289.56, Y:-73.96, Z:0.01 [[ 9.75593764e-01 2.19583258e-01 0.00000000e+00 2.89562847e+02] [-2.19583258e-01 9.75593764e-01 0.00000000e+00 -7.39622448e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23655266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.161400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:289.59, Y:-73.97, Z:0.01 [[ 9.75699772e-01 2.19111740e-01 0.00000000e+00 2.89589070e+02] [-2.19111740e-01 9.75699772e-01 0.00000000e+00 -7.39725473e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39125602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.61, Y:-73.98, Z:0.01 [[ 9.75850616e-01 2.18438949e-01 0.00000000e+00 2.89614237e+02] [-2.18438949e-01 9.75850616e-01 0.00000000e+00 -7.39827894e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49356588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.221400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:289.64, Y:-73.99, Z:0.02 [[ 9.76037522e-01 2.17602287e-01 0.00000000e+00 2.89640433e+02] [-2.17602287e-01 9.76037522e-01 0.00000000e+00 -7.39929674e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57208337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.251400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:289.67, Y:-74.00, Z:0.02 [[ 9.76209859e-01 2.16827836e-01 0.00000000e+00 2.89665961e+02] [-2.16827836e-01 9.76209859e-01 0.00000000e+00 -7.40029132e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59729834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.281400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:289.69, Y:-74.02, Z:0.01 [[ 9.76671829e-01 2.14737369e-01 0.00000000e+00 2.89691819e+02] [-2.14737369e-01 9.76671829e-01 0.00000000e+00 -7.40152717e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44056510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.72, Y:-74.03, Z:0.01 [[ 9.76954588e-01 2.13447258e-01 0.00000000e+00 2.89716964e+02] [-2.13447258e-01 9.76954588e-01 0.00000000e+00 -7.40258450e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41978085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.74, Y:-74.04, Z:0.01 [[ 9.77292797e-01 2.11893344e-01 0.00000000e+00 2.89742647e+02] [-2.11893344e-01 9.77292797e-01 0.00000000e+00 -7.40369777e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49087058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.77, Y:-74.05, Z:0.02 [[ 9.77646327e-01 2.10256178e-01 0.00000000e+00 2.89767207e+02] [-2.10256178e-01 9.77646327e-01 0.00000000e+00 -7.40482157e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56181219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.401400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:289.79, Y:-74.06, Z:0.02 [[ 9.78010871e-01 2.08553917e-01 0.00000000e+00 2.89792196e+02] [-2.08553917e-01 9.78010871e-01 0.00000000e+00 -7.40597230e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56241813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-74.07, Z:0.02 [[ 9.78444613e-01 2.06509417e-01 0.00000000e+00 2.89818187e+02] [-2.06509417e-01 9.78444613e-01 0.00000000e+00 -7.40711983e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61187484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-74.09, Z:0.02 [[ 9.79028413e-01 2.03723749e-01 0.00000000e+00 2.89842346e+02] [-2.03723749e-01 9.79028413e-01 0.00000000e+00 -7.40870609e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52130030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.49140051300003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:289.87, Y:-74.10, Z:0.01 [[ 9.79171523e-01 2.03034794e-01 0.00000000e+00 2.89867170e+02] [-2.03034794e-01 9.79171523e-01 0.00000000e+00 -7.40987687e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39195630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.521400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:289.89, Y:-74.11, Z:0.01 [[ 9.79202553e-01 2.02885093e-01 0.00000000e+00 2.89893240e+02] [-2.02885093e-01 9.79202553e-01 0.00000000e+00 -7.41103300e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40409028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.92, Y:-74.12, Z:0.02 [[ 9.79020874e-01 2.03759979e-01 0.00000000e+00 2.89918499e+02] [-2.03759979e-01 9.79020874e-01 0.00000000e+00 -7.41210282e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51057712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.94, Y:-74.14, Z:0.02 [[ 9.77981952e-01 2.08689484e-01 0.00000000e+00 2.89944217e+02] [-2.08689484e-01 9.77981952e-01 0.00000000e+00 -7.41357703e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90900285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.61140051300004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:289.97, Y:-74.15, Z:0.02 [[ 9.77299809e-01 2.11861001e-01 0.00000000e+00 2.89969014e+02] [-2.11861001e-01 9.77299809e-01 0.00000000e+00 -7.41473600e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93358426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.00, Y:-74.16, Z:0.02 [[ 9.76750530e-01 2.14379107e-01 0.00000000e+00 2.89995100e+02] [-2.14379107e-01 9.76750530e-01 0.00000000e+00 -7.41584770e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95049642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.02, Y:-74.17, Z:0.02 [[ 9.76283486e-01 2.16496084e-01 0.00000000e+00 2.90020265e+02] [-2.16496084e-01 9.76283486e-01 0.00000000e+00 -7.41680620e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89624360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.05, Y:-74.18, Z:0.02 [[ 9.76003015e-01 2.17757009e-01 0.00000000e+00 2.90046878e+02] [-2.17757009e-01 9.76003015e-01 0.00000000e+00 -7.41768388e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90959791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.731400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:290.07, Y:-74.18, Z:0.02 [[ 9.75620426e-01 2.19464768e-01 0.00000000e+00 2.90072860e+02] [-2.19464768e-01 9.75620426e-01 0.00000000e+00 -7.41847083e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06073380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.10, Y:-74.19, Z:0.02 [[ 9.75711470e-01 2.19059641e-01 0.00000000e+00 2.90099642e+02] [-2.19059641e-01 9.75711470e-01 0.00000000e+00 -7.41920603e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16652911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.791400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:290.13, Y:-74.20, Z:0.02 [[ 9.75939009e-01 2.18043690e-01 0.00000000e+00 2.90125587e+02] [-2.18043690e-01 9.75939009e-01 0.00000000e+00 -7.41993216e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16335202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.15, Y:-74.21, Z:0.02 [[ 9.76356198e-01 2.16167930e-01 0.00000000e+00 2.90152441e+02] [-2.16167930e-01 9.76356198e-01 0.00000000e+00 -7.42071850e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07718776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.851400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:290.18, Y:-74.21, Z:0.02 [[ 9.76811075e-01 2.14103067e-01 0.00000000e+00 2.90177809e+02] [-2.14103067e-01 9.76811075e-01 0.00000000e+00 -7.42148276e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86887794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.20, Y:-74.22, Z:0.02 [[ 9.77402016e-01 2.11388976e-01 0.00000000e+00 2.90203277e+02] [-2.11388976e-01 9.77402016e-01 0.00000000e+00 -7.42230718e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70075305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.911400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:290.23, Y:-74.24, Z:0.01 [[ 9.78592108e-01 2.05809346e-01 0.00000000e+00 2.90228289e+02] [-2.05809346e-01 9.78592108e-01 0.00000000e+00 -7.42368586e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24387161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.25, Y:-74.25, Z:0.01 [[ 9.79070334e-01 2.03522189e-01 0.00000000e+00 2.90254209e+02] [-2.03522189e-01 9.79070334e-01 0.00000000e+00 -7.42476629e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25689558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.28, Y:-74.26, Z:0.01 [[ 9.79275184e-01 2.02534229e-01 0.00000000e+00 2.90279893e+02] [-2.02534229e-01 9.79275184e-01 0.00000000e+00 -7.42566829e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31692586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.31, Y:-74.26, Z:0.01 [[ 9.79186875e-01 2.02960743e-01 0.00000000e+00 2.90306889e+02] [-2.02960743e-01 9.79186875e-01 0.00000000e+00 -7.42641462e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43863403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.33, Y:-74.27, Z:0.01 [[ 9.79222267e-01 2.02789922e-01 0.00000000e+00 2.90334178e+02] [-2.02789922e-01 9.79222267e-01 0.00000000e+00 -7.42721123e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43863403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.36, Y:-74.28, Z:0.01 [[ 9.78850815e-01 2.04575371e-01 0.00000000e+00 2.90361160e+02] [-2.04575371e-01 9.78850815e-01 0.00000000e+00 -7.42793841e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46663253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.39, Y:-74.29, Z:0.01 [[ 9.78261004e-01 2.07377452e-01 0.00000000e+00 2.90387517e+02] [-2.07377452e-01 9.78261004e-01 0.00000000e+00 -7.42874541e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41373041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.41, Y:-74.30, Z:0.01 [[ 9.77148412e-01 2.12558180e-01 0.00000000e+00 2.90412404e+02] [-2.12558180e-01 9.77148412e-01 0.00000000e+00 -7.42981032e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12637413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.151400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:290.44, Y:-74.31, Z:0.01 [[ 9.76772152e-01 2.14280570e-01 0.00000000e+00 2.90438607e+02] [-2.14280570e-01 9.76772152e-01 0.00000000e+00 -7.43062238e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03732998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.47, Y:-74.31, Z:0.01 [[ 9.76599385e-01 2.15066599e-01 0.00000000e+00 2.90465668e+02] [-2.15066599e-01 9.76599385e-01 0.00000000e+00 -7.43142737e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13480563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.49, Y:-74.32, Z:0.01 [[ 9.76494221e-01 2.15543584e-01 0.00000000e+00 2.90492366e+02] [-2.15543584e-01 9.76494221e-01 0.00000000e+00 -7.43227561e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20851229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.52, Y:-74.33, Z:0.01 [[ 9.76562224e-01 2.15235275e-01 0.00000000e+00 2.90518639e+02] [-2.15235275e-01 9.76562224e-01 0.00000000e+00 -7.43321881e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30537397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.271400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:290.54, Y:-74.34, Z:0.01 [[ 9.76677290e-01 2.14712531e-01 0.00000000e+00 2.90543719e+02] [-2.14712531e-01 9.76677290e-01 0.00000000e+00 -7.43418574e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34232168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.57, Y:-74.35, Z:0.01 [[ 9.77138813e-01 2.12602305e-01 0.00000000e+00 2.90568916e+02] [-2.12602305e-01 9.77138813e-01 0.00000000e+00 -7.43527725e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30403884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.59, Y:-74.36, Z:0.01 [[ 9.77442755e-01 2.11200522e-01 0.00000000e+00 2.90593791e+02] [-2.11200522e-01 9.77442755e-01 0.00000000e+00 -7.43624343e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08691968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36140051300004 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:290.62, Y:-74.37, Z:0.01 [[ 9.77791700e-01 2.09579080e-01 0.00000000e+00 2.90618549e+02] [-2.09579080e-01 9.77791700e-01 0.00000000e+00 -7.43736522e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.16079561e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.64, Y:-74.39, Z:0.01 [[ 9.78207526e-01 2.07629563e-01 0.00000000e+00 2.90644512e+02] [-2.07629563e-01 9.78207526e-01 0.00000000e+00 -7.43862671e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08463198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.67, Y:-74.40, Z:0.01 [[ 9.78481702e-01 2.06333609e-01 0.00000000e+00 2.90670021e+02] [-2.06333609e-01 9.78481702e-01 0.00000000e+00 -7.43988224e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20143927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.70, Y:-74.41, Z:0.01 [[ 9.78627062e-01 2.05643074e-01 0.00000000e+00 2.90695331e+02] [-2.05643074e-01 9.78627062e-01 0.00000000e+00 -7.44129902e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33213290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.72, Y:-74.42, Z:0.01 [[ 9.78508887e-01 2.06204651e-01 0.00000000e+00 2.90721360e+02] [-2.06204651e-01 9.78508887e-01 0.00000000e+00 -7.44230863e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26721573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.75, Y:-74.43, Z:0.01 [[ 9.78245210e-01 2.07451943e-01 0.00000000e+00 2.90746851e+02] [-2.07451943e-01 9.78245210e-01 0.00000000e+00 -7.44334320e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26984357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.77, Y:-74.44, Z:0.01 [[ 9.77969359e-01 2.08748494e-01 0.00000000e+00 2.90773416e+02] [-2.08748494e-01 9.77969359e-01 0.00000000e+00 -7.44435545e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30655790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.80, Y:-74.45, Z:0.01 [[ 9.77633416e-01 2.10316200e-01 0.00000000e+00 2.90799767e+02] [-2.10316200e-01 9.77633416e-01 0.00000000e+00 -7.44525499e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34073946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.83, Y:-74.46, Z:0.01 [[ 9.76791609e-01 2.14191859e-01 0.00000000e+00 2.90825754e+02] [-2.14191859e-01 9.76791609e-01 0.00000000e+00 -7.44601760e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26657782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.85, Y:-74.47, Z:0.01 [[ 9.76321373e-01 2.16325165e-01 0.00000000e+00 2.90852467e+02] [-2.16325165e-01 9.76321373e-01 0.00000000e+00 -7.44686084e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28159951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.88, Y:-74.48, Z:0.01 [[ 9.75943805e-01 2.18022221e-01 0.00000000e+00 2.90878141e+02] [-2.18022221e-01 9.75943805e-01 0.00000000e+00 -7.44766096e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27058168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.90, Y:-74.48, Z:0.01 [[ 9.75772307e-01 2.18788493e-01 0.00000000e+00 2.90904465e+02] [-2.18788493e-01 9.75772307e-01 0.00000000e+00 -7.44844290e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29319293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.93, Y:-74.49, Z:0.01 [[ 9.75892900e-01 2.18249964e-01 0.00000000e+00 2.90931325e+02] [-2.18249964e-01 9.75892900e-01 0.00000000e+00 -7.44915545e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31389259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.96, Y:-74.50, Z:0.01 [[ 9.76192319e-01 2.16906790e-01 0.00000000e+00 2.90957291e+02] [-2.16906790e-01 9.76192319e-01 0.00000000e+00 -7.44985130e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25274461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.98, Y:-74.51, Z:0.01 [[ 9.77197961e-01 2.12330274e-01 0.00000000e+00 2.90983794e+02] [-2.12330274e-01 9.77197961e-01 0.00000000e+00 -7.45067054e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06301132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.01, Y:-74.51, Z:0.01 [[ 9.77960510e-01 2.08789942e-01 0.00000000e+00 2.91009262e+02] [-2.08789942e-01 9.77960510e-01 0.00000000e+00 -7.45145173e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.81401332e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.04, Y:-74.52, Z:0.01 [[ 9.78764835e-01 2.04986335e-01 0.00000000e+00 2.91035647e+02] [-2.04986335e-01 9.78764835e-01 0.00000000e+00 -7.45222562e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11952737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.06, Y:-74.53, Z:0.01 [[ 9.79462775e-01 2.01625078e-01 0.00000000e+00 2.91061871e+02] [-2.01625078e-01 9.79462775e-01 0.00000000e+00 -7.45299932e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22643421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.09, Y:-74.54, Z:0.01 [[ 9.80501332e-01 1.96512435e-01 0.00000000e+00 2.91088366e+02] [-1.96512435e-01 9.80501332e-01 0.00000000e+00 -7.45414895e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48173886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.11, Y:-74.55, Z:0.01 [[ 9.80819613e-01 1.94917642e-01 0.00000000e+00 2.91112938e+02] [-1.94917642e-01 9.80819613e-01 0.00000000e+00 -7.45524079e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41897720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.14, Y:-74.56, Z:0.01 [[ 9.81000840e-01 1.94003486e-01 0.00000000e+00 2.91138483e+02] [-1.94003486e-01 9.81000840e-01 0.00000000e+00 -7.45631994e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36469450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.16, Y:-74.57, Z:0.01 [[ 9.80921683e-01 1.94403325e-01 0.00000000e+00 2.91164229e+02] [-1.94403325e-01 9.80921683e-01 0.00000000e+00 -7.45727485e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36382849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.19, Y:-74.58, Z:0.02 [[ 9.80234603e-01 1.97838627e-01 0.00000000e+00 2.91190474e+02] [-1.97838627e-01 9.80234603e-01 0.00000000e+00 -7.45817146e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73787447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.22, Y:-74.59, Z:0.02 [[ 9.79742476e-01 2.00261529e-01 0.00000000e+00 2.91217262e+02] [-2.00261529e-01 9.79742476e-01 0.00000000e+00 -7.45912409e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89834781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.24, Y:-74.60, Z:0.02 [[ 9.79214805e-01 2.02825951e-01 0.00000000e+00 2.91243479e+02] [-2.02825951e-01 9.79214805e-01 0.00000000e+00 -7.46014573e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91041718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.27, Y:-74.61, Z:0.02 [[ 9.78565015e-01 2.05938124e-01 0.00000000e+00 2.91268723e+02] [-2.05938124e-01 9.78565015e-01 0.00000000e+00 -7.46114339e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78578024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.29, Y:-74.62, Z:0.02 [[ 9.77944296e-01 2.08865877e-01 0.00000000e+00 2.91293740e+02] [-2.08865877e-01 9.77944296e-01 0.00000000e+00 -7.46201229e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65536937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.32, Y:-74.63, Z:0.02 [[ 9.77399937e-01 2.11398587e-01 0.00000000e+00 2.91320574e+02] [-2.11398587e-01 9.77399937e-01 0.00000000e+00 -7.46278569e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62801964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.35, Y:-74.63, Z:0.02 [[ 9.77031438e-01 2.13095210e-01 0.00000000e+00 2.91347205e+02] [-2.13095210e-01 9.77031438e-01 0.00000000e+00 -7.46349816e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67324119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.231400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:291.37, Y:-74.64, Z:0.02 [[ 9.76510539e-01 2.15469643e-01 0.00000000e+00 2.91374561e+02] [-2.15469643e-01 9.76510539e-01 0.00000000e+00 -7.46424461e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88173712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.40, Y:-74.65, Z:0.02 [[ 9.76477713e-01 2.15618355e-01 0.00000000e+00 2.91401801e+02] [-2.15618355e-01 9.76477713e-01 0.00000000e+00 -7.46494887e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92045507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.43, Y:-74.66, Z:0.02 [[ 9.76555470e-01 2.15265913e-01 0.00000000e+00 2.91427770e+02] [-2.15265913e-01 9.76555470e-01 0.00000000e+00 -7.46561315e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77429729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.45, Y:-74.66, Z:0.02 [[ 9.76804253e-01 2.14134188e-01 0.00000000e+00 2.91454966e+02] [-2.14134188e-01 9.76804253e-01 0.00000000e+00 -7.46632157e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61053336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.48, Y:-74.67, Z:0.01 [[ 9.77148355e-01 2.12558442e-01 0.00000000e+00 2.91481917e+02] [-2.12558442e-01 9.77148355e-01 0.00000000e+00 -7.46707282e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46173822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.51, Y:-74.68, Z:0.01 [[ 9.77639814e-01 2.10286456e-01 0.00000000e+00 2.91508886e+02] [-2.10286456e-01 9.77639814e-01 0.00000000e+00 -7.46789153e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37193148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.53, Y:-74.69, Z:0.01 [[ 9.78883775e-01 2.04417601e-01 0.00000000e+00 2.91533872e+02] [-2.04417601e-01 9.78883775e-01 0.00000000e+00 -7.46879235e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36889526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.441400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:291.56, Y:-74.70, Z:0.01 [[ 9.79455010e-01 2.01662796e-01 0.00000000e+00 2.91559784e+02] [-2.01662796e-01 9.79455010e-01 0.00000000e+00 -7.46967388e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35743685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.59, Y:-74.71, Z:0.01 [[ 9.79985598e-01 1.99068400e-01 0.00000000e+00 2.91586021e+02] [-1.99068400e-01 9.79985598e-01 0.00000000e+00 -7.47054343e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43336148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.501400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:291.61, Y:-74.71, Z:0.01 [[ 9.80208748e-01 1.97966688e-01 0.00000000e+00 2.91611568e+02] [-1.97966688e-01 9.80208748e-01 0.00000000e+00 -7.47144756e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39700661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.531400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:291.64, Y:-74.72, Z:0.01 [[ 9.80298696e-01 1.97520801e-01 0.00000000e+00 2.91638102e+02] [-1.97520801e-01 9.80298696e-01 0.00000000e+00 -7.47236045e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34615844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.561400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:291.66, Y:-74.73, Z:0.01 [[ 9.80193252e-01 1.98043399e-01 0.00000000e+00 2.91663084e+02] [-1.98043399e-01 9.80193252e-01 0.00000000e+00 -7.47328411e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16188395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.69, Y:-74.74, Z:0.01 [[ 9.79689864e-01 2.00518752e-01 0.00000000e+00 2.91689821e+02] [-2.00518752e-01 9.79689864e-01 0.00000000e+00 -7.47434487e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42633971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.621400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:291.72, Y:-74.75, Z:0.02 [[ 9.79230152e-01 2.02751840e-01 0.00000000e+00 2.91716622e+02] [-2.02751840e-01 9.79230152e-01 0.00000000e+00 -7.47517889e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56551066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.651400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:291.74, Y:-74.76, Z:0.02 [[ 9.78754414e-01 2.05036087e-01 0.00000000e+00 2.91742295e+02] [-2.05036087e-01 9.78754414e-01 0.00000000e+00 -7.47590464e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63639278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.681400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:291.77, Y:-74.77, Z:0.02 [[ 9.78323127e-01 2.07084182e-01 0.00000000e+00 2.91769235e+02] [-2.07084182e-01 9.78323127e-01 0.00000000e+00 -7.47662453e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51836705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.711400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:291.80, Y:-74.77, Z:0.01 [[ 9.77904262e-01 2.09053232e-01 0.00000000e+00 2.91795375e+02] [-2.09053232e-01 9.77904262e-01 0.00000000e+00 -7.47743255e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28212205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.82, Y:-74.78, Z:0.01 [[ 9.77338988e-01 2.11680191e-01 0.00000000e+00 2.91821950e+02] [-2.11680191e-01 9.77338988e-01 0.00000000e+00 -7.47835127e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17101725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.771400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:291.85, Y:-74.79, Z:0.01 [[ 9.77106932e-01 2.12748778e-01 0.00000000e+00 2.91847723e+02] [-2.12748778e-01 9.77106932e-01 0.00000000e+00 -7.47909591e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26122448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.87, Y:-74.80, Z:0.01 [[ 9.77046097e-01 2.13027988e-01 0.00000000e+00 2.91874824e+02] [-2.13027988e-01 9.77046097e-01 0.00000000e+00 -7.47980053e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44810503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.90, Y:-74.80, Z:0.02 [[ 9.76956964e-01 2.13436387e-01 0.00000000e+00 2.91901756e+02] [-2.13436387e-01 9.76956964e-01 0.00000000e+00 -7.48046027e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65810216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.93, Y:-74.81, Z:0.02 [[ 9.77000994e-01 2.13234746e-01 0.00000000e+00 2.91927350e+02] [-2.13234746e-01 9.77000994e-01 0.00000000e+00 -7.48118336e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64309686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.95, Y:-74.82, Z:0.02 [[ 9.77125753e-01 2.12662319e-01 0.00000000e+00 2.91954487e+02] [-2.12662319e-01 9.77125753e-01 0.00000000e+00 -7.48194381e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58663074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92140051300004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:291.98, Y:-74.83, Z:0.01 [[ 9.77314046e-01 2.11795316e-01 0.00000000e+00 2.91981941e+02] [-2.11795316e-01 9.77314046e-01 0.00000000e+00 -7.48265363e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40355376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.951400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:292.01, Y:-74.83, Z:0.01 [[ 9.77353076e-01 2.11615132e-01 0.00000000e+00 2.92009315e+02] [-2.11615132e-01 9.77353076e-01 0.00000000e+00 -7.48342502e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40355376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.04, Y:-74.84, Z:0.01 [[ 9.77669254e-01 2.10149543e-01 0.00000000e+00 2.92035498e+02] [-2.10149543e-01 9.77669254e-01 0.00000000e+00 -7.48409754e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32167339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.011400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:292.06, Y:-74.85, Z:0.01 [[ 9.77949054e-01 2.08843598e-01 0.00000000e+00 2.92061838e+02] [-2.08843598e-01 9.77949054e-01 0.00000000e+00 -7.48483899e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20461420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.09, Y:-74.85, Z:0.01 [[ 9.78392328e-01 2.06756991e-01 0.00000000e+00 2.92088028e+02] [-2.06756991e-01 9.78392328e-01 0.00000000e+00 -7.48546277e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25758558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.11, Y:-74.86, Z:0.01 [[ 9.78527898e-01 2.06114419e-01 0.00000000e+00 2.92114939e+02] [-2.06114419e-01 9.78527898e-01 0.00000000e+00 -7.48606509e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28478212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.101400513 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:292.14, Y:-74.87, Z:0.01 [[ 9.78662894e-01 2.05472482e-01 0.00000000e+00 2.92142268e+02] [-2.05472482e-01 9.78662894e-01 0.00000000e+00 -7.48667475e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19550075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.131400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:292.17, Y:-74.87, Z:0.01 [[ 9.78812123e-01 2.04760415e-01 0.00000000e+00 2.92168382e+02] [-2.04760415e-01 9.78812123e-01 0.00000000e+00 -7.48726522e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04306794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.161400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:292.20, Y:-74.88, Z:0.01 [[ 9.78987281e-01 2.03921318e-01 0.00000000e+00 2.92195376e+02] [-2.03921318e-01 9.78987281e-01 0.00000000e+00 -7.48798117e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.73436153e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.22, Y:-74.89, Z:0.01 [[ 9.79235244e-01 2.02727249e-01 0.00000000e+00 2.92221878e+02] [-2.02727249e-01 9.79235244e-01 0.00000000e+00 -7.48870148e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.67926304e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.221400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.25, Y:-74.89, Z:0.01 [[ 9.79774635e-01 2.00104134e-01 0.00000000e+00 2.92249340e+02] [-2.00104134e-01 9.79774635e-01 0.00000000e+00 -7.48926292e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.59589820e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.251400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:292.28, Y:-74.90, Z:0.01 [[ 9.80096063e-01 1.98523819e-01 0.00000000e+00 2.92276419e+02] [-1.98523819e-01 9.80096063e-01 0.00000000e+00 -7.48998726e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02903365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.281400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:292.30, Y:-74.91, Z:0.01 [[ 9.80475864e-01 1.96639469e-01 0.00000000e+00 2.92302470e+02] [-1.96639469e-01 9.80475864e-01 0.00000000e+00 -7.49085190e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.28163138e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.311400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:292.33, Y:-74.92, Z:0.01 [[ 9.80807704e-01 1.94977557e-01 0.00000000e+00 2.92328922e+02] [-1.94977557e-01 9.80807704e-01 0.00000000e+00 -7.49186783e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.15636927e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.341400513 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:292.36, Y:-74.93, Z:0.01 [[ 9.81074230e-01 1.93632008e-01 0.00000000e+00 2.92355004e+02] [-1.93632008e-01 9.81074230e-01 0.00000000e+00 -7.49284204e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.82324483e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.38, Y:-74.94, Z:0.01 [[ 9.81209888e-01 1.92943399e-01 0.00000000e+00 2.92381401e+02] [-1.92943399e-01 9.81209888e-01 0.00000000e+00 -7.49371476e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00033100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.401400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:292.41, Y:-74.95, Z:0.01 [[ 9.80783484e-01 1.95099353e-01 0.00000000e+00 2.92406673e+02] [-1.95099353e-01 9.80783484e-01 0.00000000e+00 -7.49482010e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.66590285e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.431400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:292.43, Y:-74.96, Z:0.01 [[ 9.80328112e-01 1.97374753e-01 0.00000000e+00 2.92433300e+02] [-1.97374753e-01 9.80328112e-01 0.00000000e+00 -7.49584271e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.05100243e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.461400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:292.46, Y:-74.97, Z:0.01 [[ 9.79724410e-01 2.00349895e-01 0.00000000e+00 2.92459551e+02] [-2.00349895e-01 9.79724410e-01 0.00000000e+00 -7.49687131e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.29017941e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.49140051300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:292.49, Y:-74.98, Z:0.01 [[ 9.78049780e-01 2.08371372e-01 0.00000000e+00 2.92485123e+02] [-2.08371372e-01 9.78049780e-01 0.00000000e+00 -7.49797735e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.45308934e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.521400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:292.51, Y:-74.99, Z:0.01 [[ 9.77049055e-01 2.13014421e-01 0.00000000e+00 2.92511612e+02] [-2.13014421e-01 9.77049055e-01 0.00000000e+00 -7.49886747e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07905562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.55140051300003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:292.54, Y:-75.00, Z:0.01 [[ 9.76005062e-01 2.17747832e-01 0.00000000e+00 2.92538573e+02] [-2.17747832e-01 9.76005062e-01 0.00000000e+00 -7.49975310e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33600941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.56, Y:-75.01, Z:0.01 [[ 9.75108814e-01 2.21726862e-01 0.00000000e+00 2.92564237e+02] [-2.21726862e-01 9.75108814e-01 0.00000000e+00 -7.50050723e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49648809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.59, Y:-75.01, Z:0.02 [[ 9.74285516e-01 2.25316960e-01 0.00000000e+00 2.92591109e+02] [-2.25316960e-01 9.74285516e-01 0.00000000e+00 -7.50123924e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50001584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.62, Y:-75.02, Z:0.01 [[ 9.73538133e-01 2.28524622e-01 0.00000000e+00 2.92616939e+02] [-2.28524622e-01 9.73538133e-01 0.00000000e+00 -7.50196230e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43931446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.64, Y:-75.03, Z:0.01 [[ 9.72519899e-01 2.32819771e-01 0.00000000e+00 2.92643889e+02] [-2.32819771e-01 9.72519899e-01 0.00000000e+00 -7.50287821e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45484391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.701400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:292.67, Y:-75.04, Z:0.01 [[ 9.72085402e-01 2.34627304e-01 0.00000000e+00 2.92669257e+02] [-2.34627304e-01 9.72085402e-01 0.00000000e+00 -7.50368036e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48521172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.731400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:292.70, Y:-75.04, Z:0.02 [[ 9.71847538e-01 2.35610617e-01 0.00000000e+00 2.92696488e+02] [-2.35610617e-01 9.71847538e-01 0.00000000e+00 -7.50442246e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59252577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.761400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:292.72, Y:-75.05, Z:0.02 [[ 9.71623213e-01 2.36533998e-01 0.00000000e+00 2.92722798e+02] [-2.36533998e-01 9.71623213e-01 0.00000000e+00 -7.50507631e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57397841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.791400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:292.75, Y:-75.06, Z:0.01 [[ 9.71450632e-01 2.37241796e-01 0.00000000e+00 2.92750013e+02] [-2.37241796e-01 9.71450632e-01 0.00000000e+00 -7.50576059e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47359671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.78, Y:-75.06, Z:0.01 [[ 9.71277391e-01 2.37950057e-01 0.00000000e+00 2.92775680e+02] [-2.37950057e-01 9.71277391e-01 0.00000000e+00 -7.50647768e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41224976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.80, Y:-75.07, Z:0.01 [[ 9.70673394e-01 2.40402085e-01 0.00000000e+00 2.92801119e+02] [-2.40402085e-01 9.70673394e-01 0.00000000e+00 -7.50728355e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31199963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.83, Y:-75.08, Z:0.01 [[ 9.70243231e-01 2.42132344e-01 0.00000000e+00 2.92827117e+02] [-2.42132344e-01 9.70243231e-01 0.00000000e+00 -7.50802938e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28763804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.911400513 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:292.85, Y:-75.09, Z:0.01 [[ 9.69754751e-01 2.44081386e-01 0.00000000e+00 2.92853896e+02] [-2.44081386e-01 9.69754751e-01 0.00000000e+00 -7.50875822e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15581118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.88, Y:-75.09, Z:0.01 [[ 9.69334696e-01 2.45744270e-01 0.00000000e+00 2.92879868e+02] [-2.45744270e-01 9.69334696e-01 0.00000000e+00 -7.50946508e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15424832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.91, Y:-75.10, Z:0.01 [[ 9.68895715e-01 2.47469378e-01 0.00000000e+00 2.92906071e+02] [-2.47469378e-01 9.68895715e-01 0.00000000e+00 -7.51017331e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14547971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.001400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:292.93, Y:-75.11, Z:0.01 [[ 9.67962622e-01 2.51094330e-01 0.00000000e+00 2.92932680e+02] [-2.51094330e-01 9.67962622e-01 0.00000000e+00 -7.51087048e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20602552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.96, Y:-75.12, Z:0.01 [[ 9.67477858e-01 2.52955717e-01 0.00000000e+00 2.92958615e+02] [-2.52955717e-01 9.67477858e-01 0.00000000e+00 -7.51151314e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23854194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.99, Y:-75.12, Z:0.01 [[ 9.66903060e-01 2.55144023e-01 0.00000000e+00 2.92985469e+02] [-2.55144023e-01 9.66903060e-01 0.00000000e+00 -7.51215415e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20804232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.01, Y:-75.13, Z:0.01 [[ 9.66212888e-01 2.57745330e-01 0.00000000e+00 2.93011487e+02] [-2.57745330e-01 9.66212888e-01 0.00000000e+00 -7.51278798e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16122366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.04, Y:-75.13, Z:0.01 [[ 9.65532990e-01 2.60280705e-01 0.00000000e+00 2.93038797e+02] [-2.60280705e-01 9.65532990e-01 0.00000000e+00 -7.51344058e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15913071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.07, Y:-75.14, Z:0.01 [[ 9.63894847e-01 2.66283166e-01 0.00000000e+00 2.93065607e+02] [-2.66283166e-01 9.63894847e-01 0.00000000e+00 -7.51396174e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16052868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.09, Y:-75.15, Z:0.01 [[ 9.63135178e-01 2.69017897e-01 0.00000000e+00 2.93091801e+02] [-2.69017897e-01 9.63135178e-01 0.00000000e+00 -7.51450832e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12703231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.12, Y:-75.15, Z:0.01 [[ 9.62380429e-01 2.71705558e-01 0.00000000e+00 2.93118344e+02] [-2.71705558e-01 9.62380429e-01 0.00000000e+00 -7.51502060e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09183935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.24140051300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:293.15, Y:-75.16, Z:0.01 [[ 9.61550490e-01 2.74628213e-01 0.00000000e+00 2.93146296e+02] [-2.74628213e-01 9.61550490e-01 0.00000000e+00 -7.51557399e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01527601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.17, Y:-75.16, Z:0.01 [[ 9.60873086e-01 2.76989010e-01 0.00000000e+00 2.93172930e+02] [-2.76989010e-01 9.60873086e-01 0.00000000e+00 -7.51602637e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01455407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.30140051300003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:293.20, Y:-75.17, Z:0.01 [[ 9.60175123e-01 2.79398877e-01 0.00000000e+00 2.93199989e+02] [-2.79398877e-01 9.60175123e-01 0.00000000e+00 -7.51667050e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05530072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.331400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:293.23, Y:-75.18, Z:0.01 [[ 9.59417279e-01 2.81990222e-01 0.00000000e+00 2.93226783e+02] [-2.81990222e-01 9.59417279e-01 0.00000000e+00 -7.51752172e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17450634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.25, Y:-75.18, Z:0.01 [[ 9.59418945e-01 2.81984552e-01 0.00000000e+00 2.93253013e+02] [-2.81984552e-01 9.59418945e-01 0.00000000e+00 -7.51828982e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11032096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.28, Y:-75.19, Z:0.01 [[ 9.59424327e-01 2.81966240e-01 0.00000000e+00 2.93279423e+02] [-2.81966240e-01 9.59424327e-01 0.00000000e+00 -7.51904806e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.96456960e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.31, Y:-75.20, Z:0.01 [[ 9.59487063e-01 2.81752685e-01 0.00000000e+00 2.93306338e+02] [-2.81752685e-01 9.59487063e-01 0.00000000e+00 -7.51979618e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.62484623e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.33, Y:-75.21, Z:0.01 [[ 9.59512191e-01 2.81667101e-01 0.00000000e+00 2.93331847e+02] [-2.81667101e-01 9.59512191e-01 0.00000000e+00 -7.52057840e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.69388496e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.36, Y:-75.21, Z:0.01 [[ 9.59524910e-01 2.81623767e-01 0.00000000e+00 2.93357856e+02] [-2.81623767e-01 9.59524910e-01 0.00000000e+00 -7.52148158e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.05518898e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.38, Y:-75.23, Z:0.01 [[ 9.58936855e-01 2.83619656e-01 0.00000000e+00 2.93383218e+02] [-2.83619656e-01 9.58936855e-01 0.00000000e+00 -7.52262602e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.50695603e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.41, Y:-75.23, Z:0.01 [[ 9.58557843e-01 2.84897986e-01 0.00000000e+00 2.93409622e+02] [-2.84897986e-01 9.58557843e-01 0.00000000e+00 -7.52348715e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.82500328e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.44, Y:-75.24, Z:0.01 [[ 9.57659057e-01 2.87904725e-01 0.00000000e+00 2.93435064e+02] [-2.87904725e-01 9.57659057e-01 0.00000000e+00 -7.52441368e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07794263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.46, Y:-75.25, Z:0.01 [[ 9.57339433e-01 2.88965759e-01 0.00000000e+00 2.93461002e+02] [-2.88965759e-01 9.57339433e-01 0.00000000e+00 -7.52535570e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.93750928e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.49, Y:-75.26, Z:0.01 [[ 9.57093843e-01 2.89778148e-01 0.00000000e+00 2.93486035e+02] [-2.89778148e-01 9.57093843e-01 0.00000000e+00 -7.52633021e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01396847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.51, Y:-75.27, Z:0.01 [[ 9.56844155e-01 2.90601553e-01 0.00000000e+00 2.93511632e+02] [-2.90601553e-01 9.56844155e-01 0.00000000e+00 -7.52735333e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26714099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.54, Y:-75.28, Z:0.01 [[ 9.56906439e-01 2.90396395e-01 0.00000000e+00 2.93538166e+02] [-2.90396395e-01 9.56906439e-01 0.00000000e+00 -7.52837109e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24375417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.56, Y:-75.29, Z:0.01 [[ 9.57014661e-01 2.90039548e-01 0.00000000e+00 2.93564675e+02] [-2.90039548e-01 9.57014661e-01 0.00000000e+00 -7.52943350e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23006572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.59, Y:-75.31, Z:0.01 [[ 9.57294149e-01 2.89115743e-01 0.00000000e+00 2.93590070e+02] [-2.89115743e-01 9.57294149e-01 0.00000000e+00 -7.53090623e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.04009462e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.62, Y:-75.32, Z:0.01 [[ 9.57461835e-01 2.88559933e-01 0.00000000e+00 2.93615076e+02] [-2.88559933e-01 9.57461835e-01 0.00000000e+00 -7.53193790e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.85320405e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.64, Y:-75.33, Z:0.01 [[ 9.57676128e-01 2.87847934e-01 0.00000000e+00 2.93641016e+02] [-2.87847934e-01 9.57676128e-01 0.00000000e+00 -7.53294912e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09180593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.67, Y:-75.34, Z:0.01 [[ 9.57731057e-01 2.87665123e-01 0.00000000e+00 2.93668474e+02] [-2.87665123e-01 9.57731057e-01 0.00000000e+00 -7.53369259e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09180593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.69, Y:-75.35, Z:0.01 [[ 9.57928527e-01 2.87006860e-01 0.00000000e+00 2.93694264e+02] [-2.87006860e-01 9.57928527e-01 0.00000000e+00 -7.53470616e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31883512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.72, Y:-75.36, Z:0.01 [[ 9.58054592e-01 2.86585763e-01 0.00000000e+00 2.93720223e+02] [-2.86585763e-01 9.58054592e-01 0.00000000e+00 -7.53583934e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49960626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.74, Y:-75.37, Z:0.01 [[ 9.58166658e-01 2.86210858e-01 0.00000000e+00 2.93744508e+02] [-2.86210858e-01 9.58166658e-01 0.00000000e+00 -7.53728642e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43127018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.77, Y:-75.38, Z:0.01 [[ 9.58106210e-01 2.86413147e-01 0.00000000e+00 2.93770013e+02] [-2.86413147e-01 9.58106210e-01 0.00000000e+00 -7.53824500e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18246152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.80, Y:-75.39, Z:0.01 [[ 9.57921832e-01 2.87029205e-01 0.00000000e+00 2.93796353e+02] [-2.87029205e-01 9.57921832e-01 0.00000000e+00 -7.53922832e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.88658453e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.82, Y:-75.40, Z:0.00 [[ 9.57580887e-01 2.88164615e-01 0.00000000e+00 2.93822000e+02] [-2.88164615e-01 9.57580887e-01 0.00000000e+00 -7.54025889e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71574624e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.85, Y:-75.42, Z:-0.00 [[ 9.56684399e-01 2.91127053e-01 0.00000000e+00 2.93848370e+02] [-2.91127053e-01 9.56684399e-01 0.00000000e+00 -7.54165572e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24337130e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.081400513 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:293.87, Y:-75.43, Z:0.00 [[ 9.56151542e-01 2.92872378e-01 0.00000000e+00 2.93874642e+02] [-2.92872378e-01 9.56151542e-01 0.00000000e+00 -7.54264203e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12061404e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.90, Y:-75.44, Z:0.00 [[ 9.55616562e-01 2.94613283e-01 0.00000000e+00 2.93901437e+02] [-2.94613283e-01 9.55616562e-01 0.00000000e+00 -7.54350583e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12501467e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.93, Y:-75.44, Z:0.01 [[ 9.54844537e-01 2.97105890e-01 0.00000000e+00 2.93927998e+02] [-2.97105890e-01 9.54844537e-01 0.00000000e+00 -7.54432271e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.51274663e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.95, Y:-75.45, Z:0.01 [[ 9.53709286e-01 3.00730108e-01 0.00000000e+00 2.93953765e+02] [-3.00730108e-01 9.53709286e-01 0.00000000e+00 -7.54509612e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.19249451e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.98, Y:-75.46, Z:0.00 [[ 9.52517150e-01 3.04484939e-01 0.00000000e+00 2.93980440e+02] [-3.04484939e-01 9.52517150e-01 0.00000000e+00 -7.54581517e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.23242800e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.01, Y:-75.46, Z:0.00 [[ 9.50217729e-01 3.11586693e-01 0.00000000e+00 2.94007148e+02] [-3.11586693e-01 9.50217729e-01 0.00000000e+00 -7.54643912e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50363306e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.03, Y:-75.47, Z:0.00 [[ 9.49487001e-01 3.13806366e-01 0.00000000e+00 2.94033407e+02] [-3.13806366e-01 9.49487001e-01 0.00000000e+00 -7.54712776e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75080618e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.06, Y:-75.48, Z:0.00 [[ 9.49088352e-01 3.15010001e-01 0.00000000e+00 2.94059904e+02] [-3.15010001e-01 9.49088352e-01 0.00000000e+00 -7.54788930e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57816712e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.09, Y:-75.49, Z:0.01 [[ 9.49117471e-01 3.14922254e-01 0.00000000e+00 2.94086533e+02] [-3.14922254e-01 9.49117471e-01 0.00000000e+00 -7.54867141e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.27801498e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.11, Y:-75.49, Z:0.01 [[ 9.49303730e-01 3.14360348e-01 0.00000000e+00 2.94112847e+02] [-3.14360348e-01 9.49303730e-01 0.00000000e+00 -7.54947702e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.08474436e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.14, Y:-75.50, Z:0.00 [[ 9.49610413e-01 3.13432710e-01 0.00000000e+00 2.94139418e+02] [-3.13432710e-01 9.49610413e-01 0.00000000e+00 -7.55029696e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.90006024e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.17, Y:-75.51, Z:0.01 [[ 9.50132991e-01 3.11844992e-01 0.00000000e+00 2.94165501e+02] [-3.11844992e-01 9.50132991e-01 0.00000000e+00 -7.55120089e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.78954620e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.441400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:294.19, Y:-75.52, Z:0.01 [[ 9.50246301e-01 3.11499546e-01 0.00000000e+00 2.94192362e+02] [-3.11499546e-01 9.50246301e-01 0.00000000e+00 -7.55202300e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.96245297e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.471400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:294.22, Y:-75.53, Z:0.01 [[ 9.50459177e-01 3.10849405e-01 0.00000000e+00 2.94217898e+02] [-3.10849405e-01 9.50459177e-01 0.00000000e+00 -7.55275456e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.63138795e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.25, Y:-75.53, Z:0.01 [[ 9.51033822e-01 3.09086831e-01 0.00000000e+00 2.94245422e+02] [-3.09086831e-01 9.51033822e-01 0.00000000e+00 -7.55346893e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.89345824e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.27, Y:-75.54, Z:0.01 [[ 9.51536517e-01 3.07535780e-01 0.00000000e+00 2.94272303e+02] [-3.07535780e-01 9.51536517e-01 0.00000000e+00 -7.55430698e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.51941667e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.30, Y:-75.55, Z:0.01 [[ 9.52212777e-01 3.05435470e-01 0.00000000e+00 2.94297221e+02] [-3.05435470e-01 9.52212777e-01 0.00000000e+00 -7.55547861e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05134544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.32, Y:-75.56, Z:0.01 [[ 9.52591893e-01 3.04251024e-01 0.00000000e+00 2.94322970e+02] [-3.04251024e-01 9.52591893e-01 0.00000000e+00 -7.55649841e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.07098392e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.35, Y:-75.58, Z:0.01 [[ 9.52966636e-01 3.03075221e-01 0.00000000e+00 2.94348322e+02] [-3.03075221e-01 9.52966636e-01 0.00000000e+00 -7.55755706e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.27817298e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.37, Y:-75.59, Z:0.01 [[ 9.53411450e-01 3.01673014e-01 0.00000000e+00 2.94374204e+02] [-3.01673014e-01 9.53411450e-01 0.00000000e+00 -7.55867664e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.56856130e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.40, Y:-75.60, Z:0.01 [[ 9.53828340e-01 3.00352291e-01 0.00000000e+00 2.94400442e+02] [-3.00352291e-01 9.53828340e-01 0.00000000e+00 -7.55985656e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.42490896e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.42, Y:-75.61, Z:0.01 [[ 9.53672608e-01 3.00846401e-01 0.00000000e+00 2.94424262e+02] [-3.00846401e-01 9.53672608e-01 0.00000000e+00 -7.56141157e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.67995419e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.45, Y:-75.63, Z:0.00 [[ 9.53132158e-01 3.02554274e-01 0.00000000e+00 2.94450404e+02] [-3.02554274e-01 9.53132158e-01 0.00000000e+00 -7.56254799e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.71632199e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.48, Y:-75.64, Z:0.00 [[ 9.52304408e-01 3.05149658e-01 0.00000000e+00 2.94475434e+02] [-3.05149658e-01 9.52304408e-01 0.00000000e+00 -7.56364011e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61547749e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.50, Y:-75.65, Z:-0.00 [[ 9.51401546e-01 3.07953078e-01 0.00000000e+00 2.94502343e+02] [-3.07953078e-01 9.51401546e-01 0.00000000e+00 -7.56472193e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79392074e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.53, Y:-75.66, Z:-0.00 [[ 9.50359297e-01 3.11154635e-01 0.00000000e+00 2.94528111e+02] [-3.11154635e-01 9.50359297e-01 0.00000000e+00 -7.56581707e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.31874303e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.55, Y:-75.67, Z:-0.00 [[ 9.49241550e-01 3.14548057e-01 0.00000000e+00 2.94553993e+02] [-3.14548057e-01 9.49241550e-01 0.00000000e+00 -7.56691704e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.93425976e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.58, Y:-75.68, Z:-0.00 [[ 9.47031888e-01 3.21139538e-01 0.00000000e+00 2.94578691e+02] [-3.21139538e-01 9.47031888e-01 0.00000000e+00 -7.56837782e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57824514e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.60, Y:-75.69, Z:-0.00 [[ 9.46091234e-01 3.23900258e-01 0.00000000e+00 2.94604041e+02] [-3.23900258e-01 9.46091234e-01 0.00000000e+00 -7.56938251e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23309956e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.63, Y:-75.70, Z:-0.00 [[ 9.45327931e-01 3.26121302e-01 0.00000000e+00 2.94629991e+02] [-3.26121302e-01 9.45327931e-01 0.00000000e+00 -7.57037872e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.80032391e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.65, Y:-75.72, Z:-0.00 [[ 9.43485995e-01 3.31412397e-01 0.00000000e+00 2.94654138e+02] [-3.31412397e-01 9.43485995e-01 0.00000000e+00 -7.57166714e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.31854547e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.68, Y:-75.73, Z:-0.00 [[ 9.42379719e-01 3.34545160e-01 0.00000000e+00 2.94680709e+02] [-3.34545160e-01 9.42379719e-01 0.00000000e+00 -7.57251453e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.39730812e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.71, Y:-75.73, Z:-0.00 [[ 9.41180634e-01 3.37903853e-01 0.00000000e+00 2.94708101e+02] [-3.37903853e-01 9.41180634e-01 0.00000000e+00 -7.57310083e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27641714e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.74, Y:-75.73, Z:-0.00 [[ 9.40016453e-01 3.41129107e-01 0.00000000e+00 2.94735114e+02] [-3.41129107e-01 9.40016453e-01 0.00000000e+00 -7.57349233e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27461979e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.76, Y:-75.74, Z:-0.00 [[ 9.38986744e-01 3.43953332e-01 0.00000000e+00 2.94762812e+02] [-3.43953332e-01 9.38986744e-01 0.00000000e+00 -7.57391669e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.48176400e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.79, Y:-75.74, Z:0.00 [[ 9.38270396e-01 3.45902681e-01 0.00000000e+00 2.94790405e+02] [-3.45902681e-01 9.38270396e-01 0.00000000e+00 -7.57443019e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88365622e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.82, Y:-75.75, Z:0.00 [[ 9.38220926e-01 3.46036838e-01 0.00000000e+00 2.94818323e+02] [-3.46036838e-01 9.38220926e-01 0.00000000e+00 -7.57486275e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08597229e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.84, Y:-75.75, Z:0.00 [[ 9.38887786e-01 3.44223365e-01 0.00000000e+00 2.94844849e+02] [-3.44223365e-01 9.38887786e-01 0.00000000e+00 -7.57537528e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21703945e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.87, Y:-75.76, Z:0.00 [[ 9.39918564e-01 3.41398730e-01 0.00000000e+00 2.94872911e+02] [-3.41398730e-01 9.39918564e-01 0.00000000e+00 -7.57589753e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65200698e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.251400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:294.90, Y:-75.77, Z:0.00 [[ 9.40959595e-01 3.38518894e-01 0.00000000e+00 2.94899865e+02] [-3.38518894e-01 9.40959595e-01 0.00000000e+00 -7.57650895e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46466583e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.93, Y:-75.77, Z:0.00 [[ 9.42853513e-01 3.33207522e-01 0.00000000e+00 2.94925588e+02] [-3.33207522e-01 9.42853513e-01 0.00000000e+00 -7.57720316e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25997002e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.95, Y:-75.78, Z:0.00 [[ 9.43784860e-01 3.30560339e-01 0.00000000e+00 2.94952740e+02] [-3.30560339e-01 9.43784860e-01 0.00000000e+00 -7.57804962e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35348287e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.98, Y:-75.79, Z:0.00 [[ 9.44574357e-01 3.28297554e-01 0.00000000e+00 2.94978665e+02] [-3.28297554e-01 9.44574357e-01 0.00000000e+00 -7.57882748e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31404427e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.00, Y:-75.80, Z:0.00 [[ 9.45246493e-01 3.26357270e-01 0.00000000e+00 2.95004797e+02] [-3.26357270e-01 9.45246493e-01 0.00000000e+00 -7.57952296e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.61202705e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.03, Y:-75.80, Z:0.01 [[ 9.45696186e-01 3.25051878e-01 0.00000000e+00 2.95031761e+02] [-3.25051878e-01 9.45696186e-01 0.00000000e+00 -7.58022989e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.10132265e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.06, Y:-75.81, Z:0.01 [[ 9.45553148e-01 3.25467732e-01 0.00000000e+00 2.95057496e+02] [-3.25467732e-01 9.45553148e-01 0.00000000e+00 -7.58111447e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.01286735e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.08, Y:-75.82, Z:0.01 [[ 9.45232989e-01 3.26396378e-01 0.00000000e+00 2.95083463e+02] [-3.26396378e-01 9.45232989e-01 0.00000000e+00 -7.58197135e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.28277421e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.11, Y:-75.83, Z:0.00 [[ 9.44915293e-01 3.27314968e-01 0.00000000e+00 2.95109952e+02] [-3.27314968e-01 9.44915293e-01 0.00000000e+00 -7.58284169e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09117530e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.14, Y:-75.84, Z:0.00 [[ 9.44670001e-01 3.28022240e-01 0.00000000e+00 2.95135894e+02] [-3.28022240e-01 9.44670001e-01 0.00000000e+00 -7.58363953e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47289244e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.16, Y:-75.85, Z:0.00 [[ 9.44383806e-01 3.28845294e-01 0.00000000e+00 2.95161600e+02] [-3.28845294e-01 9.44383806e-01 0.00000000e+00 -7.58471145e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.26787213e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.19, Y:-75.86, Z:-0.00 [[ 9.44215882e-01 3.29327145e-01 0.00000000e+00 2.95186887e+02] [-3.29327145e-01 9.44215882e-01 0.00000000e+00 -7.58566383e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10254850e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.21, Y:-75.87, Z:0.00 [[ 9.44089424e-01 3.29689489e-01 0.00000000e+00 2.95212714e+02] [-3.29689489e-01 9.44089424e-01 0.00000000e+00 -7.58658985e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56914524e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.24, Y:-75.87, Z:0.00 [[ 9.44053039e-01 3.29793663e-01 0.00000000e+00 2.95239110e+02] [-3.29793663e-01 9.44053039e-01 0.00000000e+00 -7.58740184e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23185777e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.27, Y:-75.88, Z:0.00 [[ 9.43904871e-01 3.30217495e-01 0.00000000e+00 2.95265371e+02] [-3.30217495e-01 9.43904871e-01 0.00000000e+00 -7.58815210e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21483330e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.29, Y:-75.89, Z:-0.00 [[ 9.43780299e-01 3.30573360e-01 0.00000000e+00 2.95292360e+02] [-3.30573360e-01 9.43780299e-01 0.00000000e+00 -7.58896687e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10083265e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.32, Y:-75.90, Z:-0.00 [[ 9.43842701e-01 3.30395150e-01 0.00000000e+00 2.95319903e+02] [-3.30395150e-01 9.43842701e-01 0.00000000e+00 -7.58968683e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10083265e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.35, Y:-75.91, Z:-0.01 [[ 9.43548886e-01 3.31233302e-01 0.00000000e+00 2.95345576e+02] [-3.31233302e-01 9.43548886e-01 0.00000000e+00 -7.59070110e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.37141571e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.37, Y:-75.91, Z:-0.00 [[ 9.43519088e-01 3.31318171e-01 0.00000000e+00 2.95372460e+02] [-3.31318171e-01 9.43519088e-01 0.00000000e+00 -7.59149213e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.52624789e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.40, Y:-75.92, Z:-0.00 [[ 9.43385994e-01 3.31696950e-01 0.00000000e+00 2.95399258e+02] [-3.31696950e-01 9.43385994e-01 0.00000000e+00 -7.59230006e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.70519482e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.43, Y:-75.93, Z:0.00 [[ 9.43307822e-01 3.31919198e-01 0.00000000e+00 2.95426375e+02] [-3.31919198e-01 9.43307822e-01 0.00000000e+00 -7.59318181e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04841039e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.45, Y:-75.94, Z:0.00 [[ 9.43240015e-01 3.32111840e-01 0.00000000e+00 2.95451543e+02] [-3.32111840e-01 9.43240015e-01 0.00000000e+00 -7.59437645e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.61840857e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.48, Y:-75.95, Z:-0.00 [[ 9.43378929e-01 3.31717044e-01 0.00000000e+00 2.95478672e+02] [-3.31717044e-01 9.43378929e-01 0.00000000e+00 -7.59525026e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60147553e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.51, Y:-75.96, Z:-0.00 [[ 9.43490107e-01 3.31400690e-01 0.00000000e+00 2.95505514e+02] [-3.31400690e-01 9.43490107e-01 0.00000000e+00 -7.59595300e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28864224e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.53, Y:-75.97, Z:-0.00 [[ 9.43485895e-01 3.31412682e-01 0.00000000e+00 2.95531786e+02] [-3.31412682e-01 9.43485895e-01 0.00000000e+00 -7.59660527e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.76608854e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.56, Y:-75.97, Z:-0.00 [[ 9.43731509e-01 3.30712623e-01 0.00000000e+00 2.95558907e+02] [-3.30712623e-01 9.43731509e-01 0.00000000e+00 -7.59736236e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69466322e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.58, Y:-75.98, Z:-0.00 [[ 9.44153707e-01 3.29505353e-01 0.00000000e+00 2.95584863e+02] [-3.29505353e-01 9.44153707e-01 0.00000000e+00 -7.59823982e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.31403744e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.61, Y:-75.99, Z:0.00 [[ 9.45377766e-01 3.25976809e-01 0.00000000e+00 2.95611642e+02] [-3.25976809e-01 9.45377766e-01 0.00000000e+00 -7.59947288e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95182305e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.64, Y:-76.00, Z:0.00 [[ 9.45756402e-01 3.24876636e-01 0.00000000e+00 2.95638368e+02] [-3.24876636e-01 9.45756402e-01 0.00000000e+00 -7.60042872e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.81537984e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.66, Y:-76.01, Z:0.00 [[ 9.45981717e-01 3.24219974e-01 0.00000000e+00 2.95664883e+02] [-3.24219974e-01 9.45981717e-01 0.00000000e+00 -7.60140067e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.42858123e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.69, Y:-76.03, Z:0.00 [[ 9.45548790e-01 3.25480391e-01 0.00000000e+00 2.95690433e+02] [-3.25480391e-01 9.45548790e-01 0.00000000e+00 -7.60254382e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92845735e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.72, Y:-76.03, Z:0.00 [[ 9.44968182e-01 3.27162246e-01 0.00000000e+00 2.95716697e+02] [-3.27162246e-01 9.44968182e-01 0.00000000e+00 -7.60338635e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.43995598e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.74, Y:-76.04, Z:0.00 [[ 9.44169866e-01 3.29459046e-01 0.00000000e+00 2.95742812e+02] [-3.29459046e-01 9.44169866e-01 0.00000000e+00 -7.60413195e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.95439322e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.77, Y:-76.05, Z:0.00 [[ 9.43482731e-01 3.31421689e-01 0.00000000e+00 2.95769980e+02] [-3.31421689e-01 9.43482731e-01 0.00000000e+00 -7.60481593e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17328755e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.80, Y:-76.05, Z:0.00 [[ 9.42891147e-01 3.33101013e-01 0.00000000e+00 2.95796954e+02] [-3.33101013e-01 9.42891147e-01 0.00000000e+00 -7.60549917e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16878331e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.30140051300003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:295.82, Y:-76.06, Z:-0.00 [[ 9.42270051e-01 3.34853924e-01 0.00000000e+00 2.95824565e+02] [-3.34853924e-01 9.42270051e-01 0.00000000e+00 -7.60647646e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49711424e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.85, Y:-76.07, Z:-0.00 [[ 9.42568030e-01 3.34014235e-01 0.00000000e+00 2.95850223e+02] [-3.34014235e-01 9.42568030e-01 0.00000000e+00 -7.60734311e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.11797246e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36140051300004 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:295.88, Y:-76.08, Z:-0.00 [[ 9.43214115e-01 3.32185390e-01 0.00000000e+00 2.95876384e+02] [-3.32185390e-01 9.43214115e-01 0.00000000e+00 -7.60820986e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.08616877e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.90, Y:-76.09, Z:-0.00 [[ 9.44118673e-01 3.29605722e-01 0.00000000e+00 2.95902957e+02] [-3.29605722e-01 9.44118673e-01 0.00000000e+00 -7.60908147e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61212495e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.93, Y:-76.10, Z:0.00 [[ 9.46178676e-01 3.23644733e-01 0.00000000e+00 2.95929600e+02] [-3.23644733e-01 9.46178676e-01 0.00000000e+00 -7.61037836e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18647350e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.95, Y:-76.11, Z:0.00 [[ 9.47174895e-01 3.20717505e-01 0.00000000e+00 2.95954789e+02] [-3.20717505e-01 9.47174895e-01 0.00000000e+00 -7.61130707e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.89232061e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.98, Y:-76.12, Z:0.00 [[ 9.48172354e-01 3.17756489e-01 0.00000000e+00 2.95981221e+02] [-3.17756489e-01 9.48172354e-01 0.00000000e+00 -7.61218020e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.30945829e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.01, Y:-76.13, Z:0.00 [[ 9.49066153e-01 3.15076875e-01 0.00000000e+00 2.96006517e+02] [-3.15076875e-01 9.49066153e-01 0.00000000e+00 -7.61306431e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50389985e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.03, Y:-76.14, Z:0.00 [[ 9.49830601e-01 3.12764814e-01 0.00000000e+00 2.96032938e+02] [-3.12764814e-01 9.49830601e-01 0.00000000e+00 -7.61413014e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06078262e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.06, Y:-76.15, Z:-0.00 [[ 9.50171259e-01 3.11728372e-01 0.00000000e+00 2.96057777e+02] [-3.11728372e-01 9.50171259e-01 0.00000000e+00 -7.61524707e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.61653390e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.08, Y:-76.17, Z:-0.00 [[ 9.50330888e-01 3.11241391e-01 0.00000000e+00 2.96083625e+02] [-3.11241391e-01 9.50330888e-01 0.00000000e+00 -7.61651603e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41048070e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.11, Y:-76.17, Z:-0.00 [[ 9.50014319e-01 3.12206331e-01 0.00000000e+00 2.96110765e+02] [-3.12206331e-01 9.50014319e-01 0.00000000e+00 -7.61731630e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93571132e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.14, Y:-76.18, Z:-0.00 [[ 9.49414954e-01 3.14024275e-01 0.00000000e+00 2.96136977e+02] [-3.14024275e-01 9.49414954e-01 0.00000000e+00 -7.61811569e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.12780712e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.16, Y:-76.19, Z:-0.00 [[ 9.48778238e-01 3.15942803e-01 0.00000000e+00 2.96163422e+02] [-3.15942803e-01 9.48778238e-01 0.00000000e+00 -7.61900039e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.54189855e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.721400513 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:296.19, Y:-76.20, Z:-0.01 [[ 9.48068491e-01 3.18066246e-01 0.00000000e+00 2.96189361e+02] [-3.18066246e-01 9.48068491e-01 0.00000000e+00 -7.61993912e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.12155315e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.22, Y:-76.21, Z:-0.01 [[ 9.47553091e-01 3.19598405e-01 0.00000000e+00 2.96215581e+02] [-3.19598405e-01 9.47553091e-01 0.00000000e+00 -7.62076839e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.41194383e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.24, Y:-76.22, Z:-0.01 [[ 9.46763051e-01 3.21931242e-01 0.00000000e+00 2.96242044e+02] [-3.21931242e-01 9.46763051e-01 0.00000000e+00 -7.62153415e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.59090782e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.811400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:296.27, Y:-76.22, Z:-0.01 [[ 9.46264811e-01 3.23392806e-01 0.00000000e+00 2.96268739e+02] [-3.23392806e-01 9.46264811e-01 0.00000000e+00 -7.62234042e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.23605777e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.29, Y:-76.23, Z:-0.01 [[ 9.45914974e-01 3.24414645e-01 0.00000000e+00 2.96293951e+02] [-3.24414645e-01 9.45914974e-01 0.00000000e+00 -7.62320930e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.65891208e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.32, Y:-76.24, Z:-0.00 [[ 9.45355772e-01 3.26040588e-01 0.00000000e+00 2.96320777e+02] [-3.26040588e-01 9.45355772e-01 0.00000000e+00 -7.62439831e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09910197e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.35, Y:-76.25, Z:0.00 [[ 9.45205884e-01 3.26474865e-01 0.00000000e+00 2.96348170e+02] [-3.26474865e-01 9.45205884e-01 0.00000000e+00 -7.62521873e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40225191e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.931400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:296.38, Y:-76.26, Z:0.01 [[ 9.44948560e-01 3.27218917e-01 0.00000000e+00 2.96375064e+02] [-3.27218917e-01 9.44948560e-01 0.00000000e+00 -7.62598796e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.38741140e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.961400513 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:296.40, Y:-76.27, Z:0.01 [[ 9.44732242e-01 3.27842936e-01 0.00000000e+00 2.96400904e+02] [-3.27842936e-01 9.44732242e-01 0.00000000e+00 -7.62670659e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.56726875e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.43, Y:-76.27, Z:0.01 [[ 9.44473025e-01 3.28588961e-01 0.00000000e+00 2.96427581e+02] [-3.28588961e-01 9.44473025e-01 0.00000000e+00 -7.62741251e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.52501751e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.45, Y:-76.28, Z:0.01 [[ 9.44100860e-01 3.29656740e-01 0.00000000e+00 2.96453904e+02] [-3.29656740e-01 9.44100860e-01 0.00000000e+00 -7.62808814e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.58553873e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.48, Y:-76.29, Z:0.00 [[ 9.43590723e-01 3.31114100e-01 0.00000000e+00 2.96482022e+02] [-3.31114100e-01 9.43590723e-01 0.00000000e+00 -7.62874250e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19804758e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.51, Y:-76.29, Z:0.00 [[ 9.43591487e-01 3.31111924e-01 0.00000000e+00 2.96508153e+02] [-3.31111924e-01 9.43591487e-01 0.00000000e+00 -7.62936185e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29326628e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.54, Y:-76.30, Z:0.00 [[ 9.43713672e-01 3.30763520e-01 0.00000000e+00 2.96535456e+02] [-3.30763520e-01 9.43713672e-01 0.00000000e+00 -7.63003416e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00585732e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.56, Y:-76.31, Z:0.00 [[ 9.44055799e-01 3.29785762e-01 0.00000000e+00 2.96562092e+02] [-3.29785762e-01 9.44055799e-01 0.00000000e+00 -7.63071448e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39483158e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.59, Y:-76.31, Z:0.00 [[ 9.45455986e-01 3.25749872e-01 0.00000000e+00 2.96588305e+02] [-3.25749872e-01 9.45455986e-01 0.00000000e+00 -7.63138925e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.69795260e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.62, Y:-76.32, Z:-0.00 [[ 9.46279115e-01 3.23350949e-01 0.00000000e+00 2.96615679e+02] [-3.23350949e-01 9.46279115e-01 0.00000000e+00 -7.63215565e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.22690805e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.64, Y:-76.33, Z:-0.00 [[ 9.47060889e-01 3.21054001e-01 0.00000000e+00 2.96642686e+02] [-3.21054001e-01 9.47060889e-01 0.00000000e+00 -7.63295874e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48070721e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.67, Y:-76.34, Z:-0.00 [[ 9.47567831e-01 3.19554699e-01 0.00000000e+00 2.96669382e+02] [-3.19554699e-01 9.47567831e-01 0.00000000e+00 -7.63384958e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.20014424e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.70, Y:-76.35, Z:-0.00 [[ 9.48127347e-01 3.17890758e-01 0.00000000e+00 2.96695991e+02] [-3.17890758e-01 9.48127347e-01 0.00000000e+00 -7.63471590e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11153958e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.72, Y:-76.36, Z:-0.00 [[ 9.48548727e-01 3.16631192e-01 0.00000000e+00 2.96722530e+02] [-3.16631192e-01 9.48548727e-01 0.00000000e+00 -7.63562729e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.73235116e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.75, Y:-76.36, Z:-0.00 [[ 9.48452168e-01 3.16920314e-01 0.00000000e+00 2.96749700e+02] [-3.16920314e-01 9.48452168e-01 0.00000000e+00 -7.63638200e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.73063586e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.78, Y:-76.37, Z:-0.01 [[ 9.48239982e-01 3.17554620e-01 0.00000000e+00 2.96776749e+02] [-3.17554620e-01 9.48239982e-01 0.00000000e+00 -7.63716076e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.76412122e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.80, Y:-76.38, Z:-0.01 [[ 9.48052225e-01 3.18114727e-01 0.00000000e+00 2.96804023e+02] [-3.18114727e-01 9.48052225e-01 0.00000000e+00 -7.63797725e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.39389595e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.83, Y:-76.39, Z:-0.01 [[ 9.48054039e-01 3.18109321e-01 0.00000000e+00 2.96831198e+02] [-3.18109321e-01 9.48054039e-01 0.00000000e+00 -7.63878704e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.95099078e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.86, Y:-76.40, Z:-0.01 [[ 9.48206000e-01 3.17656074e-01 0.00000000e+00 2.96857623e+02] [-3.17656074e-01 9.48206000e-01 0.00000000e+00 -7.63964861e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.18405098e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.88, Y:-76.41, Z:-0.00 [[ 9.48953515e-01 3.15415957e-01 0.00000000e+00 2.96884687e+02] [-3.15415957e-01 9.48953515e-01 0.00000000e+00 -7.64078688e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32375649e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.91, Y:-76.42, Z:-0.00 [[ 9.49516516e-01 3.13717047e-01 0.00000000e+00 2.96911058e+02] [-3.13717047e-01 9.49516516e-01 0.00000000e+00 -7.64170270e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26346217e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.94, Y:-76.43, Z:-0.00 [[ 9.50162214e-01 3.11755941e-01 0.00000000e+00 2.96937313e+02] [-3.11755941e-01 9.50162214e-01 0.00000000e+00 -7.64261198e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.36818258e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.591400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:296.96, Y:-76.44, Z:-0.00 [[ 9.50625803e-01 3.10339463e-01 0.00000000e+00 2.96964663e+02] [-3.10339463e-01 9.50625803e-01 0.00000000e+00 -7.64360208e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.55370312e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.99, Y:-76.45, Z:-0.01 [[ 9.51003047e-01 3.09181507e-01 0.00000000e+00 2.96990834e+02] [-3.09181507e-01 9.51003047e-01 0.00000000e+00 -7.64480050e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.43353732e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.02, Y:-76.45, Z:-0.01 [[ 9.51058511e-01 3.09010857e-01 0.00000000e+00 2.97018462e+02] [-3.09010857e-01 9.51058511e-01 0.00000000e+00 -7.64549568e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.43353732e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.05, Y:-76.46, Z:-0.01 [[ 9.51012820e-01 3.09151444e-01 0.00000000e+00 2.97045235e+02] [-3.09151444e-01 9.51012820e-01 0.00000000e+00 -7.64638512e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.25071085e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.07, Y:-76.47, Z:-0.01 [[ 9.50810901e-01 3.09771901e-01 0.00000000e+00 2.97072469e+02] [-3.09771901e-01 9.50810901e-01 0.00000000e+00 -7.64723091e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.67291317e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.10, Y:-76.48, Z:-0.01 [[ 9.50435989e-01 3.10920296e-01 0.00000000e+00 2.97099686e+02] [-3.10920296e-01 9.50435989e-01 0.00000000e+00 -7.64802713e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.93049068e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.13, Y:-76.49, Z:-0.00 [[ 9.49947458e-01 3.12409710e-01 0.00000000e+00 2.97126579e+02] [-3.12409710e-01 9.49947458e-01 0.00000000e+00 -7.64874863e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.90426900e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.15, Y:-76.49, Z:-0.01 [[ 9.49346960e-01 3.14229773e-01 0.00000000e+00 2.97153210e+02] [-3.14229773e-01 9.49346960e-01 0.00000000e+00 -7.64937355e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.48654211e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.18, Y:-76.50, Z:-0.00 [[ 9.48980691e-01 3.15334185e-01 0.00000000e+00 2.97180336e+02] [-3.15334185e-01 9.48980691e-01 0.00000000e+00 -7.64989294e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.33498680e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.21, Y:-76.51, Z:-0.00 [[ 9.49310608e-01 3.14339578e-01 0.00000000e+00 2.97207483e+02] [-3.14339578e-01 9.49310608e-01 0.00000000e+00 -7.65069194e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.39676496e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.23, Y:-76.52, Z:-0.00 [[ 9.49891062e-01 3.12581142e-01 0.00000000e+00 2.97233778e+02] [-3.12581142e-01 9.49891062e-01 0.00000000e+00 -7.65161235e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97877278e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.26, Y:-76.53, Z:-0.00 [[ 9.50511719e-01 3.10688705e-01 0.00000000e+00 2.97260242e+02] [-3.10688705e-01 9.50511719e-01 0.00000000e+00 -7.65256569e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.89356705e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.29, Y:-76.54, Z:0.00 [[ 9.51879411e-01 3.06472817e-01 0.00000000e+00 2.97286590e+02] [-3.06472817e-01 9.51879411e-01 0.00000000e+00 -7.65351093e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83695203e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.31, Y:-76.54, Z:0.00 [[ 9.52548546e-01 3.04386709e-01 0.00000000e+00 2.97313437e+02] [-3.04386709e-01 9.52548546e-01 0.00000000e+00 -7.65430124e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59746341e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.34, Y:-76.55, Z:0.00 [[ 9.53092265e-01 3.02679922e-01 0.00000000e+00 2.97338559e+02] [-3.02679922e-01 9.53092265e-01 0.00000000e+00 -7.65518727e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87357930e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.37, Y:-76.56, Z:0.00 [[ 9.53528141e-01 3.01303973e-01 0.00000000e+00 2.97365273e+02] [-3.01303973e-01 9.53528141e-01 0.00000000e+00 -7.65621409e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35918829e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.39, Y:-76.57, Z:0.00 [[ 9.53866526e-01 3.00230995e-01 0.00000000e+00 2.97391786e+02] [-3.00230995e-01 9.53866526e-01 0.00000000e+00 -7.65729675e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05261827e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.42, Y:-76.59, Z:-0.00 [[ 9.54287711e-01 2.98889553e-01 0.00000000e+00 2.97418543e+02] [-2.98889553e-01 9.54287711e-01 0.00000000e+00 -7.65866376e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79507808e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.44, Y:-76.60, Z:-0.00 [[ 9.54453554e-01 2.98359538e-01 0.00000000e+00 2.97444186e+02] [-2.98359538e-01 9.54453554e-01 0.00000000e+00 -7.65964599e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.78433529e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.47, Y:-76.61, Z:-0.00 [[ 9.54653766e-01 2.97718301e-01 0.00000000e+00 2.97470601e+02] [-2.97718301e-01 9.54653766e-01 0.00000000e+00 -7.66074219e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84328826e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.50, Y:-76.62, Z:-0.00 [[ 9.54330715e-01 2.98752215e-01 0.00000000e+00 2.97495539e+02] [-2.98752215e-01 9.54330715e-01 0.00000000e+00 -7.66233193e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.28761162e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.52, Y:-76.63, Z:-0.00 [[ 9.53907939e-01 3.00099391e-01 0.00000000e+00 2.97521059e+02] [-3.00099391e-01 9.53907939e-01 0.00000000e+00 -7.66333956e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69507416e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.55, Y:-76.64, Z:-0.00 [[ 9.53396325e-01 3.01720811e-01 0.00000000e+00 2.97548376e+02] [-3.01720811e-01 9.53396325e-01 0.00000000e+00 -7.66440131e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.53684894e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.57, Y:-76.65, Z:-0.01 [[ 9.52664083e-01 3.04024907e-01 0.00000000e+00 2.97574188e+02] [-3.04024907e-01 9.52664083e-01 0.00000000e+00 -7.66545643e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.49034523e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.60, Y:-76.67, Z:-0.01 [[ 9.51624191e-01 3.07264380e-01 0.00000000e+00 2.97600172e+02] [-3.07264380e-01 9.51624191e-01 0.00000000e+00 -7.66654208e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.78482654e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.63, Y:-76.68, Z:-0.01 [[ 9.50420668e-01 3.10967126e-01 0.00000000e+00 2.97626068e+02] [-3.10967126e-01 9.50420668e-01 0.00000000e+00 -7.66756384e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.36967691e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.65, Y:-76.69, Z:-0.00 [[ 9.47831217e-01 3.18772621e-01 0.00000000e+00 2.97652636e+02] [-3.18772621e-01 9.47831217e-01 0.00000000e+00 -7.66850518e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.58692530e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.68, Y:-76.69, Z:-0.00 [[ 9.46601266e-01 3.22406643e-01 0.00000000e+00 2.97680001e+02] [-3.22406643e-01 9.46601266e-01 0.00000000e+00 -7.66925925e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.01086662e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.71, Y:-76.70, Z:-0.01 [[ 9.45554624e-01 3.25463444e-01 0.00000000e+00 2.97707623e+02] [-3.25463444e-01 9.45554624e-01 0.00000000e+00 -7.67008309e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.13951109e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.73, Y:-76.71, Z:-0.01 [[ 9.44862346e-01 3.27467779e-01 0.00000000e+00 2.97734594e+02] [-3.27467779e-01 9.44862346e-01 0.00000000e+00 -7.67097377e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.33866605e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.76, Y:-76.72, Z:-0.00 [[ 9.44610796e-01 3.28192693e-01 0.00000000e+00 2.97760692e+02] [-3.28192693e-01 9.44610796e-01 0.00000000e+00 -7.67179759e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.85632507e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.79, Y:-76.73, Z:0.00 [[ 9.45501984e-01 3.25616335e-01 0.00000000e+00 2.97787356e+02] [-3.25616335e-01 9.45501984e-01 0.00000000e+00 -7.67281094e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.31413365e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.81, Y:-76.74, Z:0.00 [[ 9.46651328e-01 3.22259621e-01 0.00000000e+00 2.97814256e+02] [-3.22259621e-01 9.46651328e-01 0.00000000e+00 -7.67371401e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14975096e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.84, Y:-76.75, Z:0.00 [[ 9.48093801e-01 3.17990793e-01 0.00000000e+00 2.97839888e+02] [-3.17990793e-01 9.48093801e-01 0.00000000e+00 -7.67453844e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.70253789e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.87, Y:-76.75, Z:0.00 [[ 9.49413307e-01 3.14029254e-01 0.00000000e+00 2.97866956e+02] [-3.14029254e-01 9.49413307e-01 0.00000000e+00 -7.67527879e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40552284e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.89, Y:-76.76, Z:-0.00 [[ 9.50978209e-01 3.09257896e-01 0.00000000e+00 2.97893893e+02] [-3.09257896e-01 9.50978209e-01 0.00000000e+00 -7.67590289e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26501265e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.92, Y:-76.77, Z:-0.00 [[ 9.51318069e-01 3.08210857e-01 0.00000000e+00 2.97919994e+02] [-3.08210857e-01 9.51318069e-01 0.00000000e+00 -7.67652709e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28409442e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.95, Y:-76.77, Z:-0.00 [[ 9.51435910e-01 3.07846891e-01 0.00000000e+00 2.97947003e+02] [-3.07846891e-01 9.51435910e-01 0.00000000e+00 -7.67714105e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.60609754e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.97, Y:-76.78, Z:0.00 [[ 9.51568617e-01 3.07436445e-01 0.00000000e+00 2.97974488e+02] [-3.07436445e-01 9.51568617e-01 0.00000000e+00 -7.67770911e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.22459145e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.00, Y:-76.78, Z:0.00 [[ 9.51805293e-01 3.06702925e-01 0.00000000e+00 2.98002249e+02] [-3.06702925e-01 9.51805293e-01 0.00000000e+00 -7.67827979e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61641530e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.03, Y:-76.79, Z:-0.00 [[ 9.52227440e-01 3.05389756e-01 0.00000000e+00 2.98029003e+02] [-3.05389756e-01 9.52227440e-01 0.00000000e+00 -7.67886127e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74353673e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.06, Y:-76.80, Z:-0.01 [[ 9.53517862e-01 3.01336500e-01 0.00000000e+00 2.98056854e+02] [-3.01336500e-01 9.53517862e-01 0.00000000e+00 -7.67952576e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.30068501e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.08, Y:-76.80, Z:-0.00 [[ 9.54390262e-01 2.98561933e-01 0.00000000e+00 2.98084473e+02] [-2.98561933e-01 9.54390262e-01 0.00000000e+00 -7.68019798e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.75316170e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.11, Y:-76.81, Z:-0.00 [[ 9.55399862e-01 2.95315261e-01 0.00000000e+00 2.98111798e+02] [-2.95315261e-01 9.55399862e-01 0.00000000e+00 -7.68083800e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.16685317e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.14, Y:-76.82, Z:-0.00 [[ 9.56487410e-01 2.91773603e-01 0.00000000e+00 2.98139857e+02] [-2.91773603e-01 9.56487410e-01 0.00000000e+00 -7.68151171e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.56697670e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.17, Y:-76.82, Z:-0.00 [[ 9.58740548e-01 2.84282539e-01 0.00000000e+00 2.98167710e+02] [-2.84282539e-01 9.58740548e-01 0.00000000e+00 -7.68235004e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.55450219e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.19, Y:-76.83, Z:-0.00 [[ 9.59949311e-01 2.80173734e-01 0.00000000e+00 2.98193359e+02] [-2.80173734e-01 9.59949311e-01 0.00000000e+00 -7.68310497e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50240188e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.22, Y:-76.84, Z:-0.00 [[ 9.61182924e-01 2.75911920e-01 0.00000000e+00 2.98221083e+02] [-2.75911920e-01 9.61182924e-01 0.00000000e+00 -7.68396223e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.56184625e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.25, Y:-76.85, Z:-0.00 [[ 9.62466697e-01 2.71399810e-01 0.00000000e+00 2.98247250e+02] [-2.71399810e-01 9.62466697e-01 0.00000000e+00 -7.68482770e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.09711633e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.27, Y:-76.86, Z:0.00 [[ 9.63721882e-01 2.66908477e-01 0.00000000e+00 2.98274725e+02] [-2.66908477e-01 9.63721882e-01 0.00000000e+00 -7.68574970e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37208067e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.30, Y:-76.87, Z:0.00 [[ 9.64844328e-01 2.62822036e-01 0.00000000e+00 2.98301660e+02] [-2.62822036e-01 9.64844328e-01 0.00000000e+00 -7.68674809e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.67119384e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.121400513 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:298.33, Y:-76.88, Z:0.01 [[ 9.66497444e-01 2.56676236e-01 0.00000000e+00 2.98327292e+02] [-2.56676236e-01 9.66497444e-01 0.00000000e+00 -7.68815729e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.64950284e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.36, Y:-76.89, Z:0.01 [[ 9.66894802e-01 2.55175317e-01 0.00000000e+00 2.98355231e+02] [-2.55175317e-01 9.66894802e-01 0.00000000e+00 -7.68924309e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.40835637e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.38, Y:-76.90, Z:0.01 [[ 9.66945336e-01 2.54983759e-01 0.00000000e+00 2.98382234e+02] [-2.54983759e-01 9.66945336e-01 0.00000000e+00 -7.69026034e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.72471692e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.41, Y:-76.91, Z:0.01 [[ 9.66566343e-01 2.56416663e-01 0.00000000e+00 2.98410700e+02] [-2.56416663e-01 9.66566343e-01 0.00000000e+00 -7.69132831e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.25234881e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.44, Y:-76.92, Z:0.00 [[ 9.65942565e-01 2.58756567e-01 0.00000000e+00 2.98439532e+02] [-2.58756567e-01 9.65942565e-01 0.00000000e+00 -7.69243297e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50213107e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.47, Y:-76.93, Z:0.00 [[ 9.65105250e-01 2.61862285e-01 0.00000000e+00 2.98467446e+02] [-2.61862285e-01 9.65105250e-01 0.00000000e+00 -7.69349883e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00079055e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.50, Y:-76.95, Z:-0.00 [[ 9.63222166e-01 2.68706270e-01 0.00000000e+00 2.98495302e+02] [-2.68706270e-01 9.63222166e-01 0.00000000e+00 -7.69463345e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17288614e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.53, Y:-76.96, Z:-0.00 [[ 9.62357618e-01 2.71786341e-01 0.00000000e+00 2.98526214e+02] [-2.71786341e-01 9.62357618e-01 0.00000000e+00 -7.69558803e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57678673e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.56, Y:-76.97, Z:-0.00 [[ 9.61607881e-01 2.74427192e-01 0.00000000e+00 2.98556147e+02] [-2.74427192e-01 9.61607881e-01 0.00000000e+00 -7.69656916e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65496143e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.59, Y:-76.98, Z:-0.00 [[ 9.61053299e-01 2.76363088e-01 0.00000000e+00 2.98585443e+02] [-2.76363088e-01 9.61053299e-01 0.00000000e+00 -7.69769245e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.70410204e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.62, Y:-76.99, Z:-0.00 [[ 9.60610092e-01 2.77899714e-01 0.00000000e+00 2.98615064e+02] [-2.77899714e-01 9.60610092e-01 0.00000000e+00 -7.69919139e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.40361547e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.65, Y:-77.00, Z:-0.00 [[ 9.60422498e-01 2.78547350e-01 0.00000000e+00 2.98646655e+02] [-2.78547350e-01 9.60422498e-01 0.00000000e+00 -7.70026487e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57626047e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.68, Y:-77.01, Z:-0.00 [[ 9.60201237e-01 2.79309122e-01 0.00000000e+00 2.98678168e+02] [-2.79309122e-01 9.60201237e-01 0.00000000e+00 -7.70130584e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64598321e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.71, Y:-77.02, Z:-0.00 [[ 9.59922578e-01 2.80265309e-01 0.00000000e+00 2.98708705e+02] [-2.80265309e-01 9.59922578e-01 0.00000000e+00 -7.70235722e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.16808458e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.74, Y:-77.03, Z:-0.00 [[ 9.59916282e-01 2.80286873e-01 0.00000000e+00 2.98739542e+02] [-2.80286873e-01 9.59916282e-01 0.00000000e+00 -7.70314664e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.16808458e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.77, Y:-77.04, Z:-0.00 [[ 9.59491522e-01 2.81737500e-01 0.00000000e+00 2.98770350e+02] [-2.81737500e-01 9.59491522e-01 0.00000000e+00 -7.70426156e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.69508523e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.601400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:298.80, Y:-77.05, Z:-0.00 [[ 9.58147685e-01 2.86274368e-01 0.00000000e+00 2.98801502e+02] [-2.86274368e-01 9.58147685e-01 0.00000000e+00 -7.70548265e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.82648680e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.83, Y:-77.06, Z:-0.01 [[ 9.57472843e-01 2.88523404e-01 0.00000000e+00 2.98831749e+02] [-2.88523404e-01 9.57472843e-01 0.00000000e+00 -7.70619815e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.22483366e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.86, Y:-77.07, Z:-0.00 [[ 9.56705040e-01 2.91059214e-01 0.00000000e+00 2.98862839e+02] [-2.91059214e-01 9.56705040e-01 0.00000000e+00 -7.70692669e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.24581837e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.90, Y:-77.08, Z:-0.00 [[ 9.55943241e-01 2.93551563e-01 0.00000000e+00 2.98895177e+02] [-2.93551563e-01 9.55943241e-01 0.00000000e+00 -7.70770152e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.76002600e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.93, Y:-77.08, Z:-0.00 [[ 9.55195039e-01 2.95977089e-01 0.00000000e+00 2.98925876e+02] [-2.95977089e-01 9.55195039e-01 0.00000000e+00 -7.70848938e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.68716022e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.96, Y:-77.09, Z:-0.00 [[ 9.54004488e-01 2.99792321e-01 0.00000000e+00 2.98957653e+02] [-2.99792321e-01 9.54004488e-01 0.00000000e+00 -7.70934522e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86222141e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.99, Y:-77.10, Z:-0.00 [[ 9.53605165e-01 3.01060110e-01 0.00000000e+00 2.98988267e+02] [-3.01060110e-01 9.53605165e-01 0.00000000e+00 -7.71015322e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70639720e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.02, Y:-77.11, Z:-0.00 [[ 9.53529771e-01 3.01298816e-01 0.00000000e+00 2.99018399e+02] [-3.01298816e-01 9.53529771e-01 0.00000000e+00 -7.71101306e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36741522e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.05, Y:-77.12, Z:-0.00 [[ 9.53670043e-01 3.00854532e-01 0.00000000e+00 2.99048545e+02] [-3.00854532e-01 9.53670043e-01 0.00000000e+00 -7.71189502e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20840106e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.08, Y:-77.13, Z:-0.00 [[ 9.53922612e-01 3.00052745e-01 0.00000000e+00 2.99078794e+02] [-3.00052745e-01 9.53922612e-01 0.00000000e+00 -7.71284508e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72235375e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.11, Y:-77.14, Z:-0.00 [[ 9.54272373e-01 2.98938519e-01 0.00000000e+00 2.99108949e+02] [-2.98938519e-01 9.54272373e-01 0.00000000e+00 -7.71384071e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.52500736e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.14, Y:-77.15, Z:-0.00 [[ 9.54697772e-01 2.97577156e-01 0.00000000e+00 2.99140203e+02] [-2.97577156e-01 9.54697772e-01 0.00000000e+00 -7.71498858e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66534183e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.17, Y:-77.16, Z:-0.00 [[ 9.54458426e-01 2.98343952e-01 0.00000000e+00 2.99170844e+02] [-2.98343952e-01 9.54458426e-01 0.00000000e+00 -7.71590054e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.99210385e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.20, Y:-77.17, Z:0.00 [[ 9.53980383e-01 2.99869021e-01 0.00000000e+00 2.99202319e+02] [-2.99869021e-01 9.53980383e-01 0.00000000e+00 -7.71688906e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70344870e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.23, Y:-77.18, Z:-0.00 [[ 9.53410415e-01 3.01676283e-01 0.00000000e+00 2.99232435e+02] [-3.01676283e-01 9.53410415e-01 0.00000000e+00 -7.71789452e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.41325790e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.26, Y:-77.19, Z:-0.00 [[ 9.52792939e-01 3.03620841e-01 0.00000000e+00 2.99262857e+02] [-3.03620841e-01 9.52792939e-01 0.00000000e+00 -7.71892126e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95656981e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.29, Y:-77.20, Z:-0.00 [[ 9.52205064e-01 3.05459516e-01 0.00000000e+00 2.99294463e+02] [-3.05459516e-01 9.52205064e-01 0.00000000e+00 -7.71992719e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.42323003e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.32, Y:-77.21, Z:0.00 [[ 9.51303706e-01 3.08255184e-01 0.00000000e+00 2.99324382e+02] [-3.08255184e-01 9.51303706e-01 0.00000000e+00 -7.72096295e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.95299237e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.36, Y:-77.22, Z:0.00 [[ 9.50991529e-01 3.09216934e-01 0.00000000e+00 2.99355277e+02] [-3.09216934e-01 9.50991529e-01 0.00000000e+00 -7.72189130e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00476200e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.39, Y:-77.23, Z:0.00 [[ 9.50826270e-01 3.09724724e-01 0.00000000e+00 2.99386623e+02] [-3.09724724e-01 9.50826270e-01 0.00000000e+00 -7.72284623e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95052168e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.42, Y:-77.24, Z:0.00 [[ 9.50887935e-01 3.09535353e-01 0.00000000e+00 2.99417345e+02] [-3.09535353e-01 9.50887935e-01 0.00000000e+00 -7.72372339e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05146870e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.45, Y:-77.24, Z:-0.00 [[ 9.51318265e-01 3.08210250e-01 0.00000000e+00 2.99448106e+02] [-3.08210250e-01 9.51318265e-01 0.00000000e+00 -7.72449168e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.97507550e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.48, Y:-77.25, Z:-0.00 [[ 9.51628037e-01 3.07252470e-01 0.00000000e+00 2.99479963e+02] [-3.07252470e-01 9.51628037e-01 0.00000000e+00 -7.72527832e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46605233e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.51, Y:-77.26, Z:-0.00 [[ 9.52145721e-01 3.05644443e-01 0.00000000e+00 2.99510348e+02] [-3.05644443e-01 9.52145721e-01 0.00000000e+00 -7.72611833e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16303722e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.54, Y:-77.27, Z:0.00 [[ 9.52813646e-01 3.03555853e-01 0.00000000e+00 2.99541360e+02] [-3.03555853e-01 9.52813646e-01 0.00000000e+00 -7.72708944e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.13025815e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.57, Y:-77.28, Z:0.00 [[ 9.53671992e-01 3.00848352e-01 0.00000000e+00 2.99572916e+02] [-3.00848352e-01 9.53671992e-01 0.00000000e+00 -7.72806513e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.44420018e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.60, Y:-77.29, Z:-0.00 [[ 9.55061525e-01 2.96407631e-01 0.00000000e+00 2.99604203e+02] [-2.96407631e-01 9.55061525e-01 0.00000000e+00 -7.72911864e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17532065e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.64, Y:-77.30, Z:-0.00 [[ 9.55297847e-01 2.95645097e-01 0.00000000e+00 2.99635301e+02] [-2.95645097e-01 9.55297847e-01 0.00000000e+00 -7.73001305e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60473153e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.67, Y:-77.31, Z:-0.00 [[ 9.55267963e-01 2.95741641e-01 0.00000000e+00 2.99667214e+02] [-2.95741641e-01 9.55267963e-01 0.00000000e+00 -7.73088078e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55261380e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.471400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:299.70, Y:-77.32, Z:-0.00 [[ 9.54967308e-01 2.96711039e-01 0.00000000e+00 2.99699631e+02] [-2.96711039e-01 9.54967308e-01 0.00000000e+00 -7.73167568e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57716995e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.73, Y:-77.32, Z:-0.00 [[ 9.54618159e-01 2.97832454e-01 0.00000000e+00 2.99730630e+02] [-2.97832454e-01 9.54618159e-01 0.00000000e+00 -7.73242656e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.74925079e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.76, Y:-77.33, Z:0.00 [[ 9.54180192e-01 2.99232622e-01 0.00000000e+00 2.99762631e+02] [-2.99232622e-01 9.54180192e-01 0.00000000e+00 -7.73328902e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03988248e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.79, Y:-77.34, Z:0.00 [[ 9.53561401e-01 3.01198696e-01 0.00000000e+00 2.99792230e+02] [-3.01198696e-01 9.53561401e-01 0.00000000e+00 -7.73444644e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31290498e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.82, Y:-77.36, Z:-0.00 [[ 9.53596554e-01 3.01087382e-01 0.00000000e+00 2.99823184e+02] [-3.01087382e-01 9.53596554e-01 0.00000000e+00 -7.73551389e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.25074046e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.85, Y:-77.36, Z:-0.00 [[ 9.53828696e-01 3.00351157e-01 0.00000000e+00 2.99853278e+02] [-3.00351157e-01 9.53828696e-01 0.00000000e+00 -7.73648396e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99519920e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.651400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:299.88, Y:-77.37, Z:-0.00 [[ 9.54145164e-01 2.99344292e-01 0.00000000e+00 2.99884592e+02] [-2.99344292e-01 9.54145164e-01 0.00000000e+00 -7.73741311e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.87685882e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.91, Y:-77.38, Z:-0.00 [[ 9.54440318e-01 2.98401874e-01 0.00000000e+00 2.99914341e+02] [-2.98401874e-01 9.54440318e-01 0.00000000e+00 -7.73822950e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06821000e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.95, Y:-77.39, Z:0.00 [[ 9.54461168e-01 2.98335177e-01 0.00000000e+00 2.99945493e+02] [-2.98335177e-01 9.54461168e-01 0.00000000e+00 -7.73925984e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74715553e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.74140051300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:299.98, Y:-77.41, Z:0.01 [[ 9.53564893e-01 3.01187641e-01 0.00000000e+00 2.99975122e+02] [-3.01187641e-01 9.53564893e-01 0.00000000e+00 -7.74053129e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.26236032e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.01, Y:-77.42, Z:0.01 [[ 9.52701561e-01 3.03907447e-01 0.00000000e+00 3.00006419e+02] [-3.03907447e-01 9.52701561e-01 0.00000000e+00 -7.74153891e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.58315184e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.04, Y:-77.42, Z:0.01 [[ 9.51685056e-01 3.07075812e-01 0.00000000e+00 3.00036765e+02] [-3.07075812e-01 9.51685056e-01 0.00000000e+00 -7.74244660e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.06985030e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.07, Y:-77.43, Z:0.00 [[ 9.50603460e-01 3.10407895e-01 0.00000000e+00 3.00067239e+02] [-3.10407895e-01 9.50603460e-01 0.00000000e+00 -7.74329055e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.58501847e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.10, Y:-77.44, Z:0.00 [[ 9.49651787e-01 3.13307332e-01 0.00000000e+00 3.00098595e+02] [-3.13307332e-01 9.49651787e-01 0.00000000e+00 -7.74422300e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.99327833e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.13, Y:-77.45, Z:0.00 [[ 9.48486788e-01 3.16816687e-01 0.00000000e+00 3.00129961e+02] [-3.16816687e-01 9.48486788e-01 0.00000000e+00 -7.74542507e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80493234e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.16, Y:-77.46, Z:0.00 [[ 9.48054984e-01 3.18106504e-01 0.00000000e+00 3.00160628e+02] [-3.18106504e-01 9.48054984e-01 0.00000000e+00 -7.74642940e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38081129e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.19, Y:-77.47, Z:0.00 [[ 9.47586607e-01 3.19499018e-01 0.00000000e+00 3.00191800e+02] [-3.19499018e-01 9.47586607e-01 0.00000000e+00 -7.74744503e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96524552e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.22, Y:-77.48, Z:0.00 [[ 9.46980605e-01 3.21290731e-01 0.00000000e+00 3.00221838e+02] [-3.21290731e-01 9.46980605e-01 0.00000000e+00 -7.74840191e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47798488e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.25, Y:-77.49, Z:0.00 [[ 9.46083418e-01 3.23923087e-01 0.00000000e+00 3.00253108e+02] [-3.23923087e-01 9.46083418e-01 0.00000000e+00 -7.74937959e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.50955033e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.28, Y:-77.50, Z:0.01 [[ 9.43940203e-01 3.30116485e-01 0.00000000e+00 3.00282801e+02] [-3.30116485e-01 9.43940203e-01 0.00000000e+00 -7.75014232e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.74847156e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.32, Y:-77.51, Z:0.01 [[ 9.42754598e-01 3.33487284e-01 0.00000000e+00 3.00315285e+02] [-3.33487284e-01 9.42754598e-01 0.00000000e+00 -7.75091401e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.33179096e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.35, Y:-77.52, Z:0.01 [[ 9.41588737e-01 3.36764978e-01 0.00000000e+00 3.00346302e+02] [-3.36764978e-01 9.41588737e-01 0.00000000e+00 -7.75165045e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.79293928e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.38, Y:-77.52, Z:0.01 [[ 9.40484023e-01 3.39837906e-01 0.00000000e+00 3.00377887e+02] [-3.39837906e-01 9.40484023e-01 0.00000000e+00 -7.75240780e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.37360318e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.41, Y:-77.53, Z:0.00 [[ 9.39542679e-01 3.42431825e-01 0.00000000e+00 3.00409631e+02] [-3.42431825e-01 9.39542679e-01 0.00000000e+00 -7.75315503e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74800948e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.44, Y:-77.54, Z:0.00 [[ 9.38962744e-01 3.44018845e-01 0.00000000e+00 3.00439767e+02] [-3.44018845e-01 9.38962744e-01 0.00000000e+00 -7.75382086e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50499623e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.47, Y:-77.54, Z:0.00 [[ 9.39044565e-01 3.43795441e-01 0.00000000e+00 3.00472208e+02] [-3.43795441e-01 9.39044565e-01 0.00000000e+00 -7.75427371e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.14928947e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.50, Y:-77.55, Z:0.00 [[ 9.39537758e-01 3.42445325e-01 0.00000000e+00 3.00504499e+02] [-3.42445325e-01 9.39537758e-01 0.00000000e+00 -7.75488801e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61953195e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.54, Y:-77.56, Z:0.00 [[ 9.40073089e-01 3.40973001e-01 0.00000000e+00 3.00535514e+02] [-3.40973001e-01 9.40073089e-01 0.00000000e+00 -7.75551540e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80875965e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.311400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:300.57, Y:-77.56, Z:0.00 [[ 9.40718595e-01 3.39188037e-01 0.00000000e+00 3.00568091e+02] [-3.39188037e-01 9.40718595e-01 0.00000000e+00 -7.75617521e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08495532e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.60, Y:-77.57, Z:0.00 [[ 9.41278682e-01 3.37630630e-01 0.00000000e+00 3.00600456e+02] [-3.37630630e-01 9.41278682e-01 0.00000000e+00 -7.75693975e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19187914e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.63, Y:-77.58, Z:-0.00 [[ 9.41823122e-01 3.36108922e-01 0.00000000e+00 3.00630736e+02] [-3.36108922e-01 9.41823122e-01 0.00000000e+00 -7.75770537e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.44434832e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.66, Y:-77.59, Z:-0.00 [[ 9.42511664e-01 3.34173252e-01 0.00000000e+00 3.00662244e+02] [-3.34173252e-01 9.42511664e-01 0.00000000e+00 -7.75863672e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.09953162e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.69, Y:-77.60, Z:-0.00 [[ 9.42596034e-01 3.33935199e-01 0.00000000e+00 3.00693813e+02] [-3.33935199e-01 9.42596034e-01 0.00000000e+00 -7.75959412e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.92047201e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.73, Y:-77.60, Z:-0.00 [[ 9.42535007e-01 3.34107407e-01 0.00000000e+00 3.00726139e+02] [-3.34107407e-01 9.42535007e-01 0.00000000e+00 -7.76046418e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.92047201e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.76, Y:-77.61, Z:0.00 [[ 9.42415929e-01 3.34443143e-01 0.00000000e+00 3.00756420e+02] [-3.34443143e-01 9.42415929e-01 0.00000000e+00 -7.76136724e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.94072643e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.79, Y:-77.62, Z:0.00 [[ 9.42173062e-01 3.35126723e-01 0.00000000e+00 3.00787082e+02] [-3.35126723e-01 9.42173062e-01 0.00000000e+00 -7.76218609e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97645398e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.82, Y:-77.63, Z:0.00 [[ 9.41889934e-01 3.35921647e-01 0.00000000e+00 3.00819421e+02] [-3.35921647e-01 9.41889934e-01 0.00000000e+00 -7.76291776e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38726338e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.85, Y:-77.64, Z:0.00 [[ 9.41516237e-01 3.36967617e-01 0.00000000e+00 3.00850424e+02] [-3.36967617e-01 9.41516237e-01 0.00000000e+00 -7.76353003e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67019368e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.88, Y:-77.64, Z:0.00 [[ 9.40330708e-01 3.40261900e-01 0.00000000e+00 3.00883221e+02] [-3.40261900e-01 9.40330708e-01 0.00000000e+00 -7.76410807e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75936712e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.92, Y:-77.65, Z:0.00 [[ 9.39661615e-01 3.42105318e-01 0.00000000e+00 3.00915491e+02] [-3.42105318e-01 9.39661615e-01 0.00000000e+00 -7.76486896e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77246797e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.95, Y:-77.65, Z:-0.00 [[ 9.38996306e-01 3.43927227e-01 0.00000000e+00 3.00946707e+02] [-3.43927227e-01 9.38996306e-01 0.00000000e+00 -7.76513898e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10086835e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.98, Y:-77.66, Z:-0.00 [[ 9.38924680e-01 3.44122719e-01 0.00000000e+00 3.00979605e+02] [-3.44122719e-01 9.38924680e-01 0.00000000e+00 -7.76568142e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71844138e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.01, Y:-77.66, Z:-0.00 [[ 9.39161035e-01 3.43477146e-01 0.00000000e+00 3.01012047e+02] [-3.43477146e-01 9.39161035e-01 0.00000000e+00 -7.76634430e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.43447331e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.04, Y:-77.67, Z:0.00 [[ 9.39597051e-01 3.42282604e-01 0.00000000e+00 3.01041751e+02] [-3.42282604e-01 9.39597051e-01 0.00000000e+00 -7.76711484e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56339087e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.07, Y:-77.68, Z:0.01 [[ 9.40227286e-01 3.40547576e-01 0.00000000e+00 3.01072334e+02] [-3.40547576e-01 9.40227286e-01 0.00000000e+00 -7.76794471e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.36888418e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.10, Y:-77.69, Z:0.01 [[ 9.41061806e-01 3.38234647e-01 0.00000000e+00 3.01102239e+02] [-3.38234647e-01 9.41061806e-01 0.00000000e+00 -7.76875480e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.77953147e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.13, Y:-77.70, Z:0.01 [[ 9.43062123e-01 3.32616644e-01 0.00000000e+00 3.01133748e+02] [-3.32616644e-01 9.43062123e-01 0.00000000e+00 -7.76956190e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.08056495e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.16, Y:-77.71, Z:0.00 [[ 9.44128012e-01 3.29578970e-01 0.00000000e+00 3.01164747e+02] [-3.29578970e-01 9.44128012e-01 0.00000000e+00 -7.77050120e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76433522e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.20, Y:-77.72, Z:0.00 [[ 9.45066222e-01 3.26878931e-01 0.00000000e+00 3.01195710e+02] [-3.26878931e-01 9.45066222e-01 0.00000000e+00 -7.77151859e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.85172981e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.23, Y:-77.73, Z:-0.00 [[ 9.45638681e-01 3.25219133e-01 0.00000000e+00 3.01225638e+02] [-3.25219133e-01 9.45638681e-01 0.00000000e+00 -7.77255126e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64242084e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.26, Y:-77.74, Z:0.00 [[ 9.45949752e-01 3.24313223e-01 0.00000000e+00 3.01257192e+02] [-3.24313223e-01 9.45949752e-01 0.00000000e+00 -7.77358230e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64023306e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.29, Y:-77.75, Z:0.00 [[ 9.45970783e-01 3.24251873e-01 0.00000000e+00 3.01288201e+02] [-3.24251873e-01 9.45970783e-01 0.00000000e+00 -7.77459922e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.74593526e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.32, Y:-77.76, Z:0.00 [[ 9.45664346e-01 3.25144497e-01 0.00000000e+00 3.01318532e+02] [-3.25144497e-01 9.45664346e-01 0.00000000e+00 -7.77578943e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.43852051e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.35, Y:-77.77, Z:0.00 [[ 9.45282177e-01 3.26253899e-01 0.00000000e+00 3.01350151e+02] [-3.26253899e-01 9.45282177e-01 0.00000000e+00 -7.77675830e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97178887e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.38, Y:-77.78, Z:0.00 [[ 9.44683719e-01 3.27982729e-01 0.00000000e+00 3.01382188e+02] [-3.27982729e-01 9.44683719e-01 0.00000000e+00 -7.77772003e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39339720e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.41, Y:-77.79, Z:0.00 [[ 9.43892050e-01 3.30254141e-01 0.00000000e+00 3.01412517e+02] [-3.30254141e-01 9.43892050e-01 0.00000000e+00 -7.77860204e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.83049997e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.44, Y:-77.80, Z:0.01 [[ 9.42284617e-01 3.34812935e-01 0.00000000e+00 3.01443714e+02] [-3.34812935e-01 9.42284617e-01 0.00000000e+00 -7.77953782e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.40932442e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.47, Y:-77.80, Z:0.01 [[ 9.41510778e-01 3.36982871e-01 0.00000000e+00 3.01474162e+02] [-3.36982871e-01 9.41510778e-01 0.00000000e+00 -7.78034295e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.14802768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.51, Y:-77.81, Z:0.00 [[ 9.40928997e-01 3.38603932e-01 0.00000000e+00 3.01505968e+02] [-3.38603932e-01 9.40928997e-01 0.00000000e+00 -7.78111480e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.16982852e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.54, Y:-77.82, Z:0.00 [[ 9.40583940e-01 3.39561263e-01 0.00000000e+00 3.01537662e+02] [-3.39561263e-01 9.40583940e-01 0.00000000e+00 -7.78191034e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73936278e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.57, Y:-77.83, Z:0.00 [[ 9.40623947e-01 3.39450424e-01 0.00000000e+00 3.01568729e+02] [-3.39450424e-01 9.40623947e-01 0.00000000e+00 -7.78272546e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27615045e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.60, Y:-77.84, Z:0.00 [[ 9.41695746e-01 3.36465634e-01 0.00000000e+00 3.01599278e+02] [-3.36465634e-01 9.41695746e-01 0.00000000e+00 -7.78358875e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.16711859e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.63, Y:-77.84, Z:0.00 [[ 9.42429060e-01 3.34406142e-01 0.00000000e+00 3.01631528e+02] [-3.34406142e-01 9.42429060e-01 0.00000000e+00 -7.78443800e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73153878e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.66, Y:-77.85, Z:0.00 [[ 9.42980843e-01 3.32847007e-01 0.00000000e+00 3.01661865e+02] [-3.32847007e-01 9.42980843e-01 0.00000000e+00 -7.78529628e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61550456e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.69, Y:-77.86, Z:0.00 [[ 9.43399058e-01 3.31659792e-01 0.00000000e+00 3.01692631e+02] [-3.31659792e-01 9.43399058e-01 0.00000000e+00 -7.78625108e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.30265573e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.72, Y:-77.87, Z:0.01 [[ 9.43809941e-01 3.30488723e-01 0.00000000e+00 3.01723668e+02] [-3.30488723e-01 9.43809941e-01 0.00000000e+00 -7.78726682e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.24820169e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.451400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:301.75, Y:-77.88, Z:0.01 [[ 9.44292903e-01 3.29106235e-01 0.00000000e+00 3.01754855e+02] [-3.29106235e-01 9.44292903e-01 0.00000000e+00 -7.78820964e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.60325256e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.79, Y:-77.89, Z:0.01 [[ 9.44852300e-01 3.27496764e-01 0.00000000e+00 3.01785725e+02] [-3.27496764e-01 9.44852300e-01 0.00000000e+00 -7.78920371e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.39768859e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.82, Y:-77.90, Z:0.00 [[ 9.44995685e-01 3.27082795e-01 0.00000000e+00 3.01815993e+02] [-3.27082795e-01 9.44995685e-01 0.00000000e+00 -7.79017998e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.13129524e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.85, Y:-77.91, Z:0.01 [[ 9.45190357e-01 3.26519814e-01 0.00000000e+00 3.01846876e+02] [-3.26519814e-01 9.45190357e-01 0.00000000e+00 -7.79127528e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.53077029e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.88, Y:-77.92, Z:0.01 [[ 9.45376151e-01 3.25981492e-01 0.00000000e+00 3.01878403e+02] [-3.25981492e-01 9.45376151e-01 0.00000000e+00 -7.79241217e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.34003747e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.91, Y:-77.94, Z:0.01 [[ 9.45539636e-01 3.25506985e-01 0.00000000e+00 3.01908641e+02] [-3.25506985e-01 9.45539636e-01 0.00000000e+00 -7.79353342e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.51190609e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.94, Y:-77.95, Z:0.01 [[ 9.45776684e-01 3.24817587e-01 0.00000000e+00 3.01938315e+02] [-3.24817587e-01 9.45776684e-01 0.00000000e+00 -7.79507205e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.15756959e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.97, Y:-77.96, Z:0.01 [[ 9.45869328e-01 3.24547708e-01 0.00000000e+00 3.01968961e+02] [-3.24547708e-01 9.45869328e-01 0.00000000e+00 -7.79631470e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.42081459e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.00, Y:-77.97, Z:0.01 [[ 9.45899966e-01 3.24458402e-01 0.00000000e+00 3.01998790e+02] [-3.24458402e-01 9.45899966e-01 0.00000000e+00 -7.79747614e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.30059265e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.03, Y:-77.99, Z:0.01 [[ 9.45728171e-01 3.24958808e-01 0.00000000e+00 3.02029469e+02] [-3.24958808e-01 9.45728171e-01 0.00000000e+00 -7.79864211e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.62892504e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.751400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:302.06, Y:-78.00, Z:0.01 [[ 9.45443269e-01 3.25786777e-01 0.00000000e+00 3.02060359e+02] [-3.25786777e-01 9.45443269e-01 0.00000000e+00 -7.79979989e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02007226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.09, Y:-78.01, Z:0.01 [[ 9.44728159e-01 3.27854702e-01 0.00000000e+00 3.02089381e+02] [-3.27854702e-01 9.44728159e-01 0.00000000e+00 -7.80141005e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31548433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.12, Y:-78.03, Z:0.01 [[ 9.44299399e-01 3.29087595e-01 0.00000000e+00 3.02119988e+02] [-3.29087595e-01 9.44299399e-01 0.00000000e+00 -7.80264808e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10779096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.15, Y:-78.04, Z:0.01 [[ 9.43872399e-01 3.30310299e-01 0.00000000e+00 3.02149625e+02] [-3.30310299e-01 9.43872399e-01 0.00000000e+00 -7.80391364e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.71752613e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.18, Y:-78.05, Z:0.00 [[ 9.43465559e-01 3.31470569e-01 0.00000000e+00 3.02180125e+02] [-3.31470569e-01 9.43465559e-01 0.00000000e+00 -7.80523806e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.98337924e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.21, Y:-78.07, Z:0.00 [[ 9.43186282e-01 3.32264408e-01 0.00000000e+00 3.02210048e+02] [-3.32264408e-01 9.43186282e-01 0.00000000e+00 -7.80656635e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92459557e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.24, Y:-78.08, Z:0.00 [[ 9.43119398e-01 3.32454208e-01 0.00000000e+00 3.02240486e+02] [-3.32454208e-01 9.43119398e-01 0.00000000e+00 -7.80791164e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88710673e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.27, Y:-78.10, Z:-0.00 [[ 9.43504596e-01 3.31359439e-01 0.00000000e+00 3.02269093e+02] [-3.31359439e-01 9.43504596e-01 0.00000000e+00 -7.80963387e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68289295e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.30, Y:-78.11, Z:-0.00 [[ 9.43503789e-01 3.31361735e-01 0.00000000e+00 3.02298882e+02] [-3.31361735e-01 9.43503789e-01 0.00000000e+00 -7.81092011e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.89389055e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.33, Y:-78.12, Z:-0.00 [[ 9.43288584e-01 3.31973865e-01 0.00000000e+00 3.02329742e+02] [-3.31973865e-01 9.43288584e-01 0.00000000e+00 -7.81223196e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79671073e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.36, Y:-78.13, Z:-0.00 [[ 9.42893791e-01 3.33093528e-01 0.00000000e+00 3.02360009e+02] [-3.33093528e-01 9.42893791e-01 0.00000000e+00 -7.81339342e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05265131e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.39, Y:-78.14, Z:0.00 [[ 9.42360822e-01 3.34598389e-01 0.00000000e+00 3.02390983e+02] [-3.34598389e-01 9.42360822e-01 0.00000000e+00 -7.81446000e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.89314413e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.42, Y:-78.16, Z:0.00 [[ 9.41692860e-01 3.36473709e-01 0.00000000e+00 3.02422247e+02] [-3.36473709e-01 9.41692860e-01 0.00000000e+00 -7.81553122e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94384594e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.45, Y:-78.17, Z:0.00 [[ 9.40124258e-01 3.40831893e-01 0.00000000e+00 3.02451218e+02] [-3.40831893e-01 9.40124258e-01 0.00000000e+00 -7.81689547e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17213974e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.48, Y:-78.18, Z:0.00 [[ 9.39438680e-01 3.42717035e-01 0.00000000e+00 3.02482346e+02] [-3.42717035e-01 9.39438680e-01 0.00000000e+00 -7.81801982e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89388916e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.51, Y:-78.19, Z:0.00 [[ 9.38958469e-01 3.44030512e-01 0.00000000e+00 3.02512720e+02] [-3.44030512e-01 9.38958469e-01 0.00000000e+00 -7.81891793e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67849554e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.55, Y:-78.20, Z:0.01 [[ 9.38746060e-01 3.44609686e-01 0.00000000e+00 3.02545335e+02] [-3.44609686e-01 9.38746060e-01 0.00000000e+00 -7.81955873e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.07068767e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.58, Y:-78.20, Z:0.01 [[ 9.38963538e-01 3.44016677e-01 0.00000000e+00 3.02576291e+02] [-3.44016677e-01 9.38963538e-01 0.00000000e+00 -7.82042404e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.14783288e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.61, Y:-78.21, Z:0.01 [[ 9.39375656e-01 3.42889745e-01 0.00000000e+00 3.02608017e+02] [-3.42889745e-01 9.39375656e-01 0.00000000e+00 -7.82140186e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.22567013e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.321400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:302.64, Y:-78.22, Z:0.00 [[ 9.39939822e-01 3.41340197e-01 0.00000000e+00 3.02639180e+02] [-3.41340197e-01 9.39939822e-01 0.00000000e+00 -7.82230182e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68701038e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.351400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:302.67, Y:-78.23, Z:0.00 [[ 9.39882366e-01 3.41498373e-01 0.00000000e+00 3.02671396e+02] [-3.41498373e-01 9.39882366e-01 0.00000000e+00 -7.82320768e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68701038e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.70, Y:-78.24, Z:0.00 [[ 9.40288379e-01 3.40378854e-01 0.00000000e+00 3.02703192e+02] [-3.40378854e-01 9.40288379e-01 0.00000000e+00 -7.82406767e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21357938e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.73, Y:-78.25, Z:0.00 [[ 9.40758497e-01 3.39077352e-01 0.00000000e+00 3.02734030e+02] [-3.39077352e-01 9.40758497e-01 0.00000000e+00 -7.82484522e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59085632e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.76, Y:-78.26, Z:0.00 [[ 9.41604628e-01 3.36720543e-01 0.00000000e+00 3.02764199e+02] [-3.36720543e-01 9.41604628e-01 0.00000000e+00 -7.82581364e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47306626e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.80, Y:-78.27, Z:0.00 [[ 9.41880764e-01 3.35947355e-01 0.00000000e+00 3.02796110e+02] [-3.35947355e-01 9.41880764e-01 0.00000000e+00 -7.82677998e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42771164e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.83, Y:-78.28, Z:0.00 [[ 9.42034490e-01 3.35516049e-01 0.00000000e+00 3.02827035e+02] [-3.35516049e-01 9.42034490e-01 0.00000000e+00 -7.82758451e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28705965e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.86, Y:-78.28, Z:0.00 [[ 9.42011845e-01 3.35579624e-01 0.00000000e+00 3.02858561e+02] [-3.35579624e-01 9.42011845e-01 0.00000000e+00 -7.82828904e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69182185e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.89, Y:-78.29, Z:0.00 [[ 9.41839209e-01 3.36063838e-01 0.00000000e+00 3.02890578e+02] [-3.36063838e-01 9.41839209e-01 0.00000000e+00 -7.82892844e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88522276e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.92, Y:-78.30, Z:0.00 [[ 9.41581665e-01 3.36784749e-01 0.00000000e+00 3.02922122e+02] [-3.36784749e-01 9.41581665e-01 0.00000000e+00 -7.82965395e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64710152e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.95, Y:-78.31, Z:0.01 [[ 9.40801510e-01 3.38957990e-01 0.00000000e+00 3.02953147e+02] [-3.38957990e-01 9.40801510e-01 0.00000000e+00 -7.83052390e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00369801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.98, Y:-78.31, Z:0.01 [[ 9.40297184e-01 3.40354529e-01 0.00000000e+00 3.02984995e+02] [-3.40354529e-01 9.40297184e-01 0.00000000e+00 -7.83134039e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12963859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.02, Y:-78.32, Z:0.01 [[ 9.39766737e-01 3.41816441e-01 0.00000000e+00 3.03017742e+02] [-3.41816441e-01 9.39766737e-01 0.00000000e+00 -7.83201990e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08251942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.05, Y:-78.32, Z:0.01 [[ 9.38949551e-01 3.44054850e-01 0.00000000e+00 3.03049737e+02] [-3.44054850e-01 9.38949551e-01 0.00000000e+00 -7.83233329e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.97450438e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.08, Y:-78.33, Z:0.01 [[ 9.38786471e-01 3.44499583e-01 0.00000000e+00 3.03082182e+02] [-3.44499583e-01 9.38786471e-01 0.00000000e+00 -7.83298474e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.30727809e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.11, Y:-78.34, Z:0.01 [[ 9.38796568e-01 3.44472065e-01 0.00000000e+00 3.03113328e+02] [-3.44472065e-01 9.38796568e-01 0.00000000e+00 -7.83361531e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.84856511e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.14, Y:-78.34, Z:0.01 [[ 9.39142253e-01 3.43528497e-01 0.00000000e+00 3.03144305e+02] [-3.43528497e-01 9.39142253e-01 0.00000000e+00 -7.83423925e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.00212511e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.18, Y:-78.35, Z:0.01 [[ 9.39764333e-01 3.41823051e-01 0.00000000e+00 3.03176773e+02] [-3.41823051e-01 9.39764333e-01 0.00000000e+00 -7.83495427e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.27284444e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.21, Y:-78.36, Z:0.01 [[ 9.40592746e-01 3.39536871e-01 0.00000000e+00 3.03208695e+02] [-3.39536871e-01 9.40592746e-01 0.00000000e+00 -7.83575418e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.54041963e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.24, Y:-78.36, Z:0.01 [[ 9.43013260e-01 3.32755152e-01 0.00000000e+00 3.03239892e+02] [-3.32755152e-01 9.43013260e-01 0.00000000e+00 -7.83649894e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.99096861e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.27, Y:-78.37, Z:0.01 [[ 9.44472249e-01 3.28591190e-01 0.00000000e+00 3.03271769e+02] [-3.28591190e-01 9.44472249e-01 0.00000000e+00 -7.83722675e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.38592866e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.30, Y:-78.38, Z:0.01 [[ 9.45891397e-01 3.24483380e-01 0.00000000e+00 3.03302812e+02] [-3.24483380e-01 9.45891397e-01 0.00000000e+00 -7.83785846e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.93711162e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.33, Y:-78.39, Z:0.01 [[ 9.47160888e-01 3.20758871e-01 0.00000000e+00 3.03334643e+02] [-3.20758871e-01 9.47160888e-01 0.00000000e+00 -7.83855264e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.54822569e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.37, Y:-78.39, Z:0.01 [[ 9.48226826e-01 3.17593901e-01 0.00000000e+00 3.03366192e+02] [-3.17593901e-01 9.48226826e-01 0.00000000e+00 -7.83934429e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.08600402e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.40, Y:-78.40, Z:0.01 [[ 9.49564939e-01 3.13570450e-01 0.00000000e+00 3.03396875e+02] [-3.13570450e-01 9.49564939e-01 0.00000000e+00 -7.84008254e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.45971239e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.43, Y:-78.41, Z:0.01 [[ 9.49879219e-01 3.12617130e-01 0.00000000e+00 3.03428882e+02] [-3.12617130e-01 9.49879219e-01 0.00000000e+00 -7.84078021e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.47782840e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.46, Y:-78.41, Z:0.01 [[ 9.50025341e-01 3.12172790e-01 0.00000000e+00 3.03461113e+02] [-3.12172790e-01 9.50025341e-01 0.00000000e+00 -7.84143067e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.34591108e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.49, Y:-78.42, Z:0.01 [[ 9.49967136e-01 3.12349870e-01 0.00000000e+00 3.03492331e+02] [-3.12349870e-01 9.49967136e-01 0.00000000e+00 -7.84208149e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.74914810e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.52, Y:-78.43, Z:0.01 [[ 9.49821436e-01 3.12792647e-01 0.00000000e+00 3.03524605e+02] [-3.12792647e-01 9.49821436e-01 0.00000000e+00 -7.84278674e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11132258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.56, Y:-78.43, Z:0.01 [[ 9.49811530e-01 3.12822724e-01 0.00000000e+00 3.03557104e+02] [-3.12822724e-01 9.49811530e-01 0.00000000e+00 -7.84332921e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11975024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.59, Y:-78.44, Z:0.01 [[ 9.50009418e-01 3.12221245e-01 0.00000000e+00 3.03588943e+02] [-3.12221245e-01 9.50009418e-01 0.00000000e+00 -7.84400407e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03820908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.62, Y:-78.45, Z:0.01 [[ 9.50095577e-01 3.11958964e-01 0.00000000e+00 3.03621509e+02] [-3.11958964e-01 9.50095577e-01 0.00000000e+00 -7.84461400e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.74895604e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.65, Y:-78.45, Z:0.01 [[ 9.50145414e-01 3.11807140e-01 0.00000000e+00 3.03653146e+02] [-3.11807140e-01 9.50145414e-01 0.00000000e+00 -7.84515951e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.20975770e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.68, Y:-78.46, Z:0.00 [[ 9.50374022e-01 3.11109657e-01 0.00000000e+00 3.03683911e+02] [-3.11109657e-01 9.50374022e-01 0.00000000e+00 -7.84572996e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48776722e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.72, Y:-78.46, Z:0.00 [[ 9.51627357e-01 3.07254575e-01 0.00000000e+00 3.03716562e+02] [-3.07254575e-01 9.51627357e-01 0.00000000e+00 -7.84624654e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64481831e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.75, Y:-78.47, Z:0.00 [[ 9.52482102e-01 3.04594560e-01 0.00000000e+00 3.03747532e+02] [-3.04594560e-01 9.52482102e-01 0.00000000e+00 -7.84693140e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05550311e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.78, Y:-78.48, Z:0.00 [[ 9.53423750e-01 3.01634138e-01 0.00000000e+00 3.03778975e+02] [-3.01634138e-01 9.53423750e-01 0.00000000e+00 -7.84762877e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.66287829e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.81, Y:-78.48, Z:0.01 [[ 9.54288182e-01 2.98888048e-01 0.00000000e+00 3.03810868e+02] [-2.98888048e-01 9.54288182e-01 0.00000000e+00 -7.84842374e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.97323319e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.84, Y:-78.49, Z:0.01 [[ 9.55944477e-01 2.93547537e-01 0.00000000e+00 3.03842664e+02] [-2.93547537e-01 9.55944477e-01 0.00000000e+00 -7.84910489e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.04091419e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.88, Y:-78.50, Z:0.01 [[ 9.56457795e-01 2.91870666e-01 0.00000000e+00 3.03875179e+02] [-2.91870666e-01 9.56457795e-01 0.00000000e+00 -7.84985062e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.22369783e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.91, Y:-78.51, Z:0.01 [[ 9.56818032e-01 2.90687554e-01 0.00000000e+00 3.03906590e+02] [-2.90687554e-01 9.56818032e-01 0.00000000e+00 -7.85053232e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.36208306e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.55140051300003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:303.94, Y:-78.51, Z:0.00 [[ 9.57056719e-01 2.89900735e-01 0.00000000e+00 3.03939274e+02] [-2.89900735e-01 9.57056719e-01 0.00000000e+00 -7.85116850e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68959911e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.97, Y:-78.52, Z:0.00 [[ 9.57104579e-01 2.89742688e-01 0.00000000e+00 3.03972088e+02] [-2.89742688e-01 9.57104579e-01 0.00000000e+00 -7.85185031e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82096925e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.00, Y:-78.52, Z:0.00 [[ 9.57210592e-01 2.89392263e-01 0.00000000e+00 3.04004119e+02] [-2.89392263e-01 9.57210592e-01 0.00000000e+00 -7.85244420e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89549816e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.04, Y:-78.53, Z:0.01 [[ 9.57778605e-01 2.87506771e-01 0.00000000e+00 3.04038185e+02] [-2.87506771e-01 9.57778605e-01 0.00000000e+00 -7.85258041e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.55613735e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.07, Y:-78.53, Z:0.01 [[ 9.58270005e-01 2.85864649e-01 0.00000000e+00 3.04069849e+02] [-2.85864649e-01 9.58270005e-01 0.00000000e+00 -7.85309842e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.73887903e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.10, Y:-78.54, Z:0.01 [[ 9.58917155e-01 2.83686252e-01 0.00000000e+00 3.04101368e+02] [-2.83686252e-01 9.58917155e-01 0.00000000e+00 -7.85367093e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.81580630e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.13, Y:-78.54, Z:0.01 [[ 9.59840656e-01 2.80545744e-01 0.00000000e+00 3.04133647e+02] [-2.80545744e-01 9.59840656e-01 0.00000000e+00 -7.85423543e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05724267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.17, Y:-78.55, Z:0.01 [[ 9.60809259e-01 2.77210330e-01 0.00000000e+00 3.04166073e+02] [-2.77210330e-01 9.60809259e-01 0.00000000e+00 -7.85477690e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02039319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.20, Y:-78.55, Z:0.01 [[ 9.61857910e-01 2.73549557e-01 0.00000000e+00 3.04198104e+02] [-2.73549557e-01 9.61857910e-01 0.00000000e+00 -7.85528687e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.59954580e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.23, Y:-78.56, Z:0.01 [[ 9.63788599e-01 2.66667464e-01 0.00000000e+00 3.04231280e+02] [-2.66667464e-01 9.63788599e-01 0.00000000e+00 -7.85566753e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.65290168e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.26, Y:-78.56, Z:0.01 [[ 9.64325134e-01 2.64720675e-01 0.00000000e+00 3.04261948e+02] [-2.64720675e-01 9.64325134e-01 0.00000000e+00 -7.85642851e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.09272588e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.29, Y:-78.57, Z:0.01 [[ 9.64756487e-01 2.63144296e-01 0.00000000e+00 3.04293973e+02] [-2.63144296e-01 9.64756487e-01 0.00000000e+00 -7.85723177e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.48810428e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.33, Y:-78.58, Z:0.01 [[ 9.65178801e-01 2.61591060e-01 0.00000000e+00 3.04326274e+02] [-2.61591060e-01 9.65178801e-01 0.00000000e+00 -7.85763072e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.51570156e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.36, Y:-78.58, Z:0.01 [[ 9.65063538e-01 2.62015968e-01 0.00000000e+00 3.04357862e+02] [-2.62015968e-01 9.65063538e-01 0.00000000e+00 -7.85822518e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.40290759e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.39, Y:-78.59, Z:0.01 [[ 9.64774245e-01 2.63079184e-01 0.00000000e+00 3.04390229e+02] [-2.63079184e-01 9.64774245e-01 0.00000000e+00 -7.85898141e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.06709513e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.42, Y:-78.60, Z:0.01 [[ 9.64528555e-01 2.63978533e-01 0.00000000e+00 3.04421626e+02] [-2.63978533e-01 9.64528555e-01 0.00000000e+00 -7.85985821e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.30263667e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.45, Y:-78.61, Z:0.01 [[ 9.64391272e-01 2.64479631e-01 0.00000000e+00 3.04452520e+02] [-2.64479631e-01 9.64391272e-01 0.00000000e+00 -7.86075926e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.59808170e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.48, Y:-78.62, Z:0.01 [[ 9.64311353e-01 2.64770871e-01 0.00000000e+00 3.04483008e+02] [-2.64770871e-01 9.64311353e-01 0.00000000e+00 -7.86164363e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.36364519e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.52, Y:-78.62, Z:0.01 [[ 9.64277646e-01 2.64893604e-01 0.00000000e+00 3.04515197e+02] [-2.64893604e-01 9.64277646e-01 0.00000000e+00 -7.86232619e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.97784891e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.55, Y:-78.63, Z:0.01 [[ 9.64140836e-01 2.65391122e-01 0.00000000e+00 3.04545979e+02] [-2.65391122e-01 9.64140836e-01 0.00000000e+00 -7.86302168e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.04359393e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.58, Y:-78.64, Z:0.01 [[ 9.64067420e-01 2.65657693e-01 0.00000000e+00 3.04577870e+02] [-2.65657693e-01 9.64067420e-01 0.00000000e+00 -7.86369520e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.16821614e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.181400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:304.61, Y:-78.64, Z:0.01 [[ 9.63988990e-01 2.65942149e-01 0.00000000e+00 3.04611733e+02] [-2.65942149e-01 9.63988990e-01 0.00000000e+00 -7.86372052e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.67191956e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.64, Y:-78.64, Z:0.01 [[ 9.63795624e-01 2.66642071e-01 0.00000000e+00 3.04642656e+02] [-2.66642071e-01 9.63795624e-01 0.00000000e+00 -7.86414249e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.45946905e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.67, Y:-78.65, Z:0.01 [[ 9.63759729e-01 2.66771784e-01 0.00000000e+00 3.04671199e+02] [-2.66771784e-01 9.63759729e-01 0.00000000e+00 -7.86457858e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03837052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.70, Y:-78.65, Z:0.01 [[ 9.63765962e-01 2.66749266e-01 0.00000000e+00 3.04700200e+02] [-2.66749266e-01 9.63765962e-01 0.00000000e+00 -7.86540961e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03837052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.73, Y:-78.66, Z:0.01 [[ 9.63951909e-01 2.66076524e-01 0.00000000e+00 3.04729557e+02] [-2.66076524e-01 9.63951909e-01 0.00000000e+00 -7.86599269e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17656307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.76, Y:-78.67, Z:0.01 [[ 9.64363507e-01 2.64580851e-01 0.00000000e+00 3.04760706e+02] [-2.64580851e-01 9.64363507e-01 0.00000000e+00 -7.86658471e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24417389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.79, Y:-78.67, Z:0.01 [[ 9.65044720e-01 2.62085270e-01 0.00000000e+00 3.04790830e+02] [-2.62085270e-01 9.65044720e-01 0.00000000e+00 -7.86706339e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06714665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.82, Y:-78.67, Z:0.01 [[ 9.66835852e-01 2.55398580e-01 0.00000000e+00 3.04822061e+02] [-2.55398580e-01 9.66835852e-01 0.00000000e+00 -7.86709851e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.32739934e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.85, Y:-78.68, Z:0.00 [[ 9.67802711e-01 2.51709977e-01 0.00000000e+00 3.04850973e+02] [-2.51709977e-01 9.67802711e-01 0.00000000e+00 -7.86762915e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23668845e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.88, Y:-78.68, Z:0.00 [[ 9.68783010e-01 2.47910226e-01 0.00000000e+00 3.04878526e+02] [-2.47910226e-01 9.68783010e-01 0.00000000e+00 -7.86815161e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00481946e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.91, Y:-78.69, Z:0.00 [[ 9.69444168e-01 2.45312058e-01 0.00000000e+00 3.04907305e+02] [-2.45312058e-01 9.69444168e-01 0.00000000e+00 -7.86873467e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82726088e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.94, Y:-78.69, Z:0.01 [[ 9.69653099e-01 2.44484903e-01 0.00000000e+00 3.04936721e+02] [-2.44484903e-01 9.69653099e-01 0.00000000e+00 -7.86911701e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.06891952e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.96, Y:-78.70, Z:0.01 [[ 9.69359891e-01 2.45644868e-01 0.00000000e+00 3.04964751e+02] [-2.45644868e-01 9.69359891e-01 0.00000000e+00 -7.86966209e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.41048182e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.99, Y:-78.70, Z:0.01 [[ 9.68812997e-01 2.47793012e-01 0.00000000e+00 3.04992349e+02] [-2.47793012e-01 9.68812997e-01 0.00000000e+00 -7.87005709e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.22129794e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.02, Y:-78.70, Z:0.01 [[ 9.68032641e-01 2.50824253e-01 0.00000000e+00 3.05021140e+02] [-2.50824253e-01 9.68032641e-01 0.00000000e+00 -7.87038338e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02411888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.631400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:305.05, Y:-78.71, Z:0.01 [[ 9.67033679e-01 2.54648512e-01 0.00000000e+00 3.05050078e+02] [-2.54648512e-01 9.67033679e-01 0.00000000e+00 -7.87063837e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10559651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.08, Y:-78.71, Z:0.01 [[ 9.65660517e-01 2.59807172e-01 0.00000000e+00 3.05078583e+02] [-2.59807172e-01 9.65660517e-01 0.00000000e+00 -7.87095859e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04183697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.11, Y:-78.71, Z:0.01 [[ 9.62855436e-01 2.70017425e-01 0.00000000e+00 3.05108657e+02] [-2.70017425e-01 9.62855436e-01 0.00000000e+00 -7.87082092e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.12664797e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.14, Y:-78.71, Z:0.01 [[ 9.61926908e-01 2.73306829e-01 0.00000000e+00 3.05137573e+02] [-2.73306829e-01 9.61926908e-01 0.00000000e+00 -7.87114217e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.44379248e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.17, Y:-78.71, Z:0.01 [[ 9.61488268e-01 2.74845978e-01 0.00000000e+00 3.05165241e+02] [-2.74845978e-01 9.61488268e-01 0.00000000e+00 -7.87145549e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.11117744e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.19, Y:-78.72, Z:0.01 [[ 9.61479720e-01 2.74875877e-01 0.00000000e+00 3.05193706e+02] [-2.74875877e-01 9.61479720e-01 0.00000000e+00 -7.87194832e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10501912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.22, Y:-78.72, Z:0.01 [[ 9.62134699e-01 2.72574430e-01 0.00000000e+00 3.05219946e+02] [-2.72574430e-01 9.62134699e-01 0.00000000e+00 -7.87246331e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13825305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.25, Y:-78.73, Z:0.01 [[ 9.62556037e-01 2.71082785e-01 0.00000000e+00 3.05246432e+02] [-2.71082785e-01 9.62556037e-01 0.00000000e+00 -7.87316074e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.15855997e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.27, Y:-78.74, Z:0.01 [[ 9.62719181e-01 2.70502824e-01 0.00000000e+00 3.05273383e+02] [-2.70502824e-01 9.62719181e-01 0.00000000e+00 -7.87386462e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.28801342e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.30, Y:-78.75, Z:0.01 [[ 9.62661345e-01 2.70708581e-01 0.00000000e+00 3.05299983e+02] [-2.70708581e-01 9.62661345e-01 0.00000000e+00 -7.87450338e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.65567699e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.33, Y:-78.75, Z:0.01 [[ 9.62230241e-01 2.72236961e-01 0.00000000e+00 3.05326866e+02] [-2.72236961e-01 9.62230241e-01 0.00000000e+00 -7.87517644e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.23379805e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.35, Y:-78.76, Z:0.01 [[ 9.60675286e-01 2.77674261e-01 0.00000000e+00 3.05354977e+02] [-2.77674261e-01 9.60675286e-01 0.00000000e+00 -7.87599151e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22494264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.38, Y:-78.77, Z:0.01 [[ 9.59657810e-01 2.81170567e-01 0.00000000e+00 3.05381328e+02] [-2.81170567e-01 9.59657810e-01 0.00000000e+00 -7.87676409e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07846482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.41, Y:-78.78, Z:0.01 [[ 9.58662475e-01 2.84545708e-01 0.00000000e+00 3.05408518e+02] [-2.84545708e-01 9.58662475e-01 0.00000000e+00 -7.87755057e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.48434778e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.44, Y:-78.78, Z:0.01 [[ 9.57571445e-01 2.88195988e-01 0.00000000e+00 3.05435908e+02] [-2.88195988e-01 9.57571445e-01 0.00000000e+00 -7.87839118e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.99556456e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.46, Y:-78.79, Z:0.01 [[ 9.56430949e-01 2.91958626e-01 0.00000000e+00 3.05463034e+02] [-2.91958626e-01 9.56430949e-01 0.00000000e+00 -7.87924705e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.06206838e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.49, Y:-78.80, Z:0.01 [[ 9.54077581e-01 2.99559625e-01 0.00000000e+00 3.05490249e+02] [-2.99559625e-01 9.54077581e-01 0.00000000e+00 -7.88003835e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.27876500e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.52, Y:-78.81, Z:0.01 [[ 9.52971112e-01 3.03061149e-01 0.00000000e+00 3.05518223e+02] [-3.03061149e-01 9.52971112e-01 0.00000000e+00 -7.88069853e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.99271258e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.54, Y:-78.81, Z:0.01 [[ 9.52104687e-01 3.05772243e-01 0.00000000e+00 3.05544496e+02] [-3.05772243e-01 9.52104687e-01 0.00000000e+00 -7.88130551e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.21406281e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.57, Y:-78.82, Z:0.01 [[ 9.51418645e-01 3.07900246e-01 0.00000000e+00 3.05571752e+02] [-3.07900246e-01 9.51418645e-01 0.00000000e+00 -7.88198606e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.77662874e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.60, Y:-78.83, Z:0.01 [[ 9.50361406e-01 3.11148193e-01 0.00000000e+00 3.05598643e+02] [-3.11148193e-01 9.50361406e-01 0.00000000e+00 -7.88275626e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.37501364e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.63, Y:-78.84, Z:0.01 [[ 9.50073707e-01 3.12025561e-01 0.00000000e+00 3.05625580e+02] [-3.12025561e-01 9.50073707e-01 0.00000000e+00 -7.88358162e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.40030615e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.65, Y:-78.84, Z:0.01 [[ 9.49968042e-01 3.12347113e-01 0.00000000e+00 3.05652334e+02] [-3.12347113e-01 9.49968042e-01 0.00000000e+00 -7.88443829e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06287096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.68, Y:-78.85, Z:0.01 [[ 9.49954269e-01 3.12389000e-01 0.00000000e+00 3.05679612e+02] [-3.12389000e-01 9.49954269e-01 0.00000000e+00 -7.88536220e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17896131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.70, Y:-78.86, Z:0.01 [[ 9.50065998e-01 3.12049034e-01 0.00000000e+00 3.05704828e+02] [-3.12049034e-01 9.50065998e-01 0.00000000e+00 -7.88623973e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19906158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.73, Y:-78.87, Z:0.01 [[ 9.50205639e-01 3.11623560e-01 0.00000000e+00 3.05730526e+02] [-3.11623560e-01 9.50205639e-01 0.00000000e+00 -7.88714407e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11660420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.76, Y:-78.88, Z:0.01 [[ 9.50262604e-01 3.11449808e-01 0.00000000e+00 3.05756928e+02] [-3.11449808e-01 9.50262604e-01 0.00000000e+00 -7.88809927e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.41912835e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.78, Y:-78.89, Z:0.01 [[ 9.50218932e-01 3.11583025e-01 0.00000000e+00 3.05783784e+02] [-3.11583025e-01 9.50218932e-01 0.00000000e+00 -7.88892152e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.41702916e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.81, Y:-78.90, Z:0.01 [[ 9.50177045e-01 3.11710735e-01 0.00000000e+00 3.05810797e+02] [-3.11710735e-01 9.50177045e-01 0.00000000e+00 -7.88982325e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.71635924e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.84, Y:-78.91, Z:0.01 [[ 9.50120765e-01 3.11882241e-01 0.00000000e+00 3.05837376e+02] [-3.11882241e-01 9.50120765e-01 0.00000000e+00 -7.89080844e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.13931323e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.86, Y:-78.92, Z:0.01 [[ 9.49609336e-01 3.13435972e-01 0.00000000e+00 3.05862576e+02] [-3.13435972e-01 9.49609336e-01 0.00000000e+00 -7.89195572e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.72805872e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.89, Y:-78.93, Z:0.01 [[ 9.49419718e-01 3.14009871e-01 0.00000000e+00 3.05889726e+02] [-3.14009871e-01 9.49419718e-01 0.00000000e+00 -7.89278689e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.21057579e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.92, Y:-78.94, Z:0.00 [[ 9.49435309e-01 3.13962728e-01 0.00000000e+00 3.05915707e+02] [-3.13962728e-01 9.49435309e-01 0.00000000e+00 -7.89350793e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06100229e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.94, Y:-78.94, Z:0.00 [[ 9.49868854e-01 3.12648621e-01 0.00000000e+00 3.05943420e+02] [-3.12648621e-01 9.49868854e-01 0.00000000e+00 -7.89423767e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57254830e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.97, Y:-78.95, Z:0.00 [[ 9.50302800e-01 3.11327141e-01 0.00000000e+00 3.05969904e+02] [-3.11327141e-01 9.50302800e-01 0.00000000e+00 -7.89501735e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32999107e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.00, Y:-78.96, Z:0.00 [[ 9.50780701e-01 3.09864582e-01 0.00000000e+00 3.05996507e+02] [-3.09864582e-01 9.50780701e-01 0.00000000e+00 -7.89585084e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88318979e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.02, Y:-78.97, Z:0.00 [[ 9.51621036e-01 3.07274150e-01 0.00000000e+00 3.06022809e+02] [-3.07274150e-01 9.51621036e-01 0.00000000e+00 -7.89691898e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37612575e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.05, Y:-78.98, Z:0.00 [[ 9.52037237e-01 3.05982188e-01 0.00000000e+00 3.06049659e+02] [-3.05982188e-01 9.52037237e-01 0.00000000e+00 -7.89784868e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.99318822e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.08, Y:-78.99, Z:-0.00 [[ 9.52451056e-01 3.04691626e-01 0.00000000e+00 3.06075339e+02] [-3.04691626e-01 9.52451056e-01 0.00000000e+00 -7.89874474e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38244860e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.10, Y:-79.00, Z:0.00 [[ 9.52843202e-01 3.03463067e-01 0.00000000e+00 3.06102249e+02] [-3.03463067e-01 9.52843202e-01 0.00000000e+00 -7.89995301e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.16062741e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.13, Y:-79.01, Z:0.01 [[ 9.52615230e-01 3.04177946e-01 0.00000000e+00 3.06128777e+02] [-3.04177946e-01 9.52615230e-01 0.00000000e+00 -7.90096041e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.94598615e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.16, Y:-79.02, Z:0.01 [[ 9.52171319e-01 3.05564690e-01 0.00000000e+00 3.06155030e+02] [-3.05564690e-01 9.52171319e-01 0.00000000e+00 -7.90193506e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.20695179e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.18, Y:-79.03, Z:0.01 [[ 9.51586930e-01 3.07379757e-01 0.00000000e+00 3.06181268e+02] [-3.07379757e-01 9.51586930e-01 0.00000000e+00 -7.90284021e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.68640143e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.21, Y:-79.04, Z:0.01 [[ 9.51043421e-01 3.09057295e-01 0.00000000e+00 3.06206970e+02] [-3.09057295e-01 9.51043421e-01 0.00000000e+00 -7.90368976e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.70170622e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.23, Y:-79.05, Z:0.01 [[ 9.50460745e-01 3.10844612e-01 0.00000000e+00 3.06234007e+02] [-3.10844612e-01 9.50460745e-01 0.00000000e+00 -7.90459812e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.69904369e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.26, Y:-79.06, Z:0.01 [[ 9.49310697e-01 3.14339309e-01 0.00000000e+00 3.06259642e+02] [-3.14339309e-01 9.49310697e-01 0.00000000e+00 -7.90573791e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25452473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.29, Y:-79.07, Z:0.02 [[ 9.48613403e-01 3.16437375e-01 0.00000000e+00 3.06286245e+02] [-3.16437375e-01 9.48613403e-01 0.00000000e+00 -7.90676528e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50194670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.31, Y:-79.08, Z:0.02 [[ 9.47830003e-01 3.18776232e-01 0.00000000e+00 3.06312721e+02] [-3.18776232e-01 9.47830003e-01 0.00000000e+00 -7.90775004e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57589900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.34, Y:-79.09, Z:0.01 [[ 9.46177054e-01 3.23649474e-01 0.00000000e+00 3.06338270e+02] [-3.23649474e-01 9.46177054e-01 0.00000000e+00 -7.90877432e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36678812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.36, Y:-79.10, Z:0.01 [[ 9.45262336e-01 3.26311379e-01 0.00000000e+00 3.06363905e+02] [-3.26311379e-01 9.45262336e-01 0.00000000e+00 -7.90959454e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15985510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.39, Y:-79.10, Z:0.01 [[ 9.44256671e-01 3.29210176e-01 0.00000000e+00 3.06390650e+02] [-3.29210176e-01 9.44256671e-01 0.00000000e+00 -7.91047829e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10414396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.42, Y:-79.11, Z:0.01 [[ 9.44279090e-01 3.29145864e-01 0.00000000e+00 3.06418106e+02] [-3.29145864e-01 9.44279090e-01 0.00000000e+00 -7.91124385e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10414396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.44, Y:-79.12, Z:0.01 [[ 9.43247004e-01 3.32091990e-01 0.00000000e+00 3.06444589e+02] [-3.32091990e-01 9.43247004e-01 0.00000000e+00 -7.91214859e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09159260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.47, Y:-79.13, Z:0.01 [[ 9.42377790e-01 3.34550596e-01 0.00000000e+00 3.06470189e+02] [-3.34550596e-01 9.42377790e-01 0.00000000e+00 -7.91299067e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05657316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.50, Y:-79.14, Z:0.01 [[ 9.41376595e-01 3.37357535e-01 0.00000000e+00 3.06496291e+02] [-3.37357535e-01 9.41376595e-01 0.00000000e+00 -7.91385175e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.46777289e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.52, Y:-79.15, Z:0.01 [[ 9.41173304e-01 3.37924270e-01 0.00000000e+00 3.06521506e+02] [-3.37924270e-01 9.41173304e-01 0.00000000e+00 -7.91468734e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.36848444e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.55, Y:-79.16, Z:0.01 [[ 9.41457887e-01 3.37130609e-01 0.00000000e+00 3.06548461e+02] [-3.37130609e-01 9.41457887e-01 0.00000000e+00 -7.91578857e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.52920064e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.58, Y:-79.17, Z:0.00 [[ 9.41822345e-01 3.36111100e-01 0.00000000e+00 3.06575250e+02] [-3.36111100e-01 9.41822345e-01 0.00000000e+00 -7.91689863e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.90840372e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.371400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:306.60, Y:-79.18, Z:0.00 [[ 9.42370610e-01 3.34570820e-01 0.00000000e+00 3.06601702e+02] [-3.34570820e-01 9.42370610e-01 0.00000000e+00 -7.91788189e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.94947543e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.63, Y:-79.19, Z:0.00 [[ 9.43167193e-01 3.32318593e-01 0.00000000e+00 3.06626999e+02] [-3.32318593e-01 9.43167193e-01 0.00000000e+00 -7.91899128e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.57457101e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.65, Y:-79.20, Z:0.00 [[ 9.43345230e-01 3.31812863e-01 0.00000000e+00 3.06652795e+02] [-3.31812863e-01 9.43345230e-01 0.00000000e+00 -7.92000073e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.95505560e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.68, Y:-79.21, Z:0.01 [[ 9.43156354e-01 3.32349352e-01 0.00000000e+00 3.06679726e+02] [-3.32349352e-01 9.43156354e-01 0.00000000e+00 -7.92115370e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.72151179e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.71, Y:-79.22, Z:0.01 [[ 9.42501293e-01 3.34202502e-01 0.00000000e+00 3.06705625e+02] [-3.34202502e-01 9.42501293e-01 0.00000000e+00 -7.92225102e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.02073752e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.73, Y:-79.23, Z:0.01 [[ 9.41560148e-01 3.36844901e-01 0.00000000e+00 3.06732856e+02] [-3.36844901e-01 9.41560148e-01 0.00000000e+00 -7.92318047e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.32330018e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.76, Y:-79.24, Z:0.00 [[ 9.40510375e-01 3.39764969e-01 0.00000000e+00 3.06760617e+02] [-3.39764969e-01 9.40510375e-01 0.00000000e+00 -7.92395146e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36697787e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.79, Y:-79.25, Z:0.01 [[ 9.38772109e-01 3.44538717e-01 0.00000000e+00 3.06787301e+02] [-3.44538717e-01 9.38772109e-01 0.00000000e+00 -7.92463502e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.73844681e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.82, Y:-79.25, Z:0.01 [[ 9.38018055e-01 3.46586394e-01 0.00000000e+00 3.06815324e+02] [-3.46586394e-01 9.38018055e-01 0.00000000e+00 -7.92547950e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19670491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.84, Y:-79.26, Z:0.01 [[ 9.37346091e-01 3.48399635e-01 0.00000000e+00 3.06843205e+02] [-3.48399635e-01 9.37346091e-01 0.00000000e+00 -7.92632929e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45030707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.87, Y:-79.27, Z:0.01 [[ 9.36478331e-01 3.50725442e-01 0.00000000e+00 3.06871489e+02] [-3.50725442e-01 9.36478331e-01 0.00000000e+00 -7.92705507e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18529149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.90, Y:-79.28, Z:0.01 [[ 9.36450934e-01 3.50798585e-01 0.00000000e+00 3.06898154e+02] [-3.50798585e-01 9.36450934e-01 0.00000000e+00 -7.92777294e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.91340782e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.731400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:306.93, Y:-79.29, Z:0.01 [[ 9.36804434e-01 3.49853474e-01 0.00000000e+00 3.06925569e+02] [-3.49853474e-01 9.36804434e-01 0.00000000e+00 -7.92850806e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.98275848e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.95, Y:-79.29, Z:0.01 [[ 9.37058240e-01 3.49173101e-01 0.00000000e+00 3.06952318e+02] [-3.49173101e-01 9.37058240e-01 0.00000000e+00 -7.92939087e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03015145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.98, Y:-79.30, Z:0.01 [[ 9.38387963e-01 3.45583610e-01 0.00000000e+00 3.06980062e+02] [-3.45583610e-01 9.38387963e-01 0.00000000e+00 -7.93033633e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44024578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.01, Y:-79.31, Z:0.02 [[ 9.39189193e-01 3.43400144e-01 0.00000000e+00 3.07006871e+02] [-3.43400144e-01 9.39189193e-01 0.00000000e+00 -7.93119831e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56462505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.04, Y:-79.32, Z:0.02 [[ 9.40011641e-01 3.41142368e-01 0.00000000e+00 3.07035170e+02] [-3.41142368e-01 9.40011641e-01 0.00000000e+00 -7.93215742e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66003537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.06, Y:-79.33, Z:0.02 [[ 9.40810457e-01 3.38933155e-01 0.00000000e+00 3.07062095e+02] [-3.38933155e-01 9.40810457e-01 0.00000000e+00 -7.93306394e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62102942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.09, Y:-79.34, Z:0.02 [[ 9.41574816e-01 3.36803898e-01 0.00000000e+00 3.07089533e+02] [-3.36803898e-01 9.41574816e-01 0.00000000e+00 -7.93391213e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56058215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.12, Y:-79.35, Z:0.02 [[ 9.42333488e-01 3.34675362e-01 0.00000000e+00 3.07117905e+02] [-3.34675362e-01 9.42333488e-01 0.00000000e+00 -7.93472057e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58128322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.15, Y:-79.36, Z:0.02 [[ 9.43793838e-01 3.30534704e-01 0.00000000e+00 3.07145006e+02] [-3.30534704e-01 9.43793838e-01 0.00000000e+00 -7.93561236e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71167578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.17, Y:-79.37, Z:0.02 [[ 9.44580006e-01 3.28281300e-01 0.00000000e+00 3.07172354e+02] [-3.28281300e-01 9.44580006e-01 0.00000000e+00 -7.93664175e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74384754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.20, Y:-79.38, Z:0.02 [[ 9.45129636e-01 3.26695533e-01 0.00000000e+00 3.07200348e+02] [-3.26695533e-01 9.45129636e-01 0.00000000e+00 -7.93772343e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61964737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.23, Y:-79.39, Z:0.01 [[ 9.45782322e-01 3.24801170e-01 0.00000000e+00 3.07228700e+02] [-3.24801170e-01 9.45782322e-01 0.00000000e+00 -7.93877203e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38230938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.26, Y:-79.40, Z:0.01 [[ 9.45764724e-01 3.24852406e-01 0.00000000e+00 3.07256016e+02] [-3.24852406e-01 9.45764724e-01 0.00000000e+00 -7.93990455e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03319636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.28, Y:-79.41, Z:0.01 [[ 9.45185352e-01 3.26534302e-01 0.00000000e+00 3.07282694e+02] [-3.26534302e-01 9.45185352e-01 0.00000000e+00 -7.94074176e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01932766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.31, Y:-79.42, Z:0.01 [[ 9.44490522e-01 3.28538664e-01 0.00000000e+00 3.07309319e+02] [-3.28538664e-01 9.44490522e-01 0.00000000e+00 -7.94156307e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.49469584e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.34, Y:-79.42, Z:0.01 [[ 9.43738147e-01 3.30693678e-01 0.00000000e+00 3.07336750e+02] [-3.30693678e-01 9.43738147e-01 0.00000000e+00 -7.94236679e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.91213003e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.37, Y:-79.43, Z:0.01 [[ 9.42846817e-01 3.33226470e-01 0.00000000e+00 3.07367359e+02] [-3.33226470e-01 9.42846817e-01 0.00000000e+00 -7.94331870e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.37471927e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.39, Y:-79.45, Z:0.01 [[ 9.41587650e-01 3.36768017e-01 0.00000000e+00 3.07394391e+02] [-3.36768017e-01 9.41587650e-01 0.00000000e+00 -7.94451149e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.40713760e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.42, Y:-79.46, Z:0.01 [[ 9.41540742e-01 3.36899140e-01 0.00000000e+00 3.07423228e+02] [-3.36899140e-01 9.41540742e-01 0.00000000e+00 -7.94563175e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.73796280e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.45, Y:-79.47, Z:0.01 [[ 9.41518504e-01 3.36961283e-01 0.00000000e+00 3.07452409e+02] [-3.36961283e-01 9.41518504e-01 0.00000000e+00 -7.94666277e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00912990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.48, Y:-79.48, Z:0.01 [[ 9.41565075e-01 3.36831128e-01 0.00000000e+00 3.07483333e+02] [-3.36831128e-01 9.41565075e-01 0.00000000e+00 -7.94776747e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05820293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.51, Y:-79.49, Z:0.01 [[ 9.41090409e-01 3.38155056e-01 0.00000000e+00 3.07512219e+02] [-3.38155056e-01 9.41090409e-01 0.00000000e+00 -7.94906199e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.53024124e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.54, Y:-79.50, Z:0.01 [[ 9.40401274e-01 3.40066823e-01 0.00000000e+00 3.07543780e+02] [-3.40066823e-01 9.40401274e-01 0.00000000e+00 -7.95004106e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22330510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.42140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.58, Y:-79.51, Z:0.01 [[ 9.39449308e-01 3.42687902e-01 0.00000000e+00 3.07576096e+02] [-3.42687902e-01 9.39449308e-01 0.00000000e+00 -7.95092067e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03674649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.60, Y:-79.52, Z:0.01 [[ 9.38252590e-01 3.45950974e-01 0.00000000e+00 3.07602430e+02] [-3.45950974e-01 9.38252590e-01 0.00000000e+00 -7.95156466e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.90284712e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.63, Y:-79.52, Z:0.01 [[ 9.37487214e-01 3.48019716e-01 0.00000000e+00 3.07631849e+02] [-3.48019716e-01 9.37487214e-01 0.00000000e+00 -7.95238890e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17017957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.66, Y:-79.53, Z:0.01 [[ 9.36726043e-01 3.50063309e-01 0.00000000e+00 3.07661180e+02] [-3.50063309e-01 9.36726043e-01 0.00000000e+00 -7.95333135e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40900411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.69, Y:-79.54, Z:0.02 [[ 9.36403287e-01 3.50925752e-01 0.00000000e+00 3.07691512e+02] [-3.50925752e-01 9.36403287e-01 0.00000000e+00 -7.95449821e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59719819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.72, Y:-79.55, Z:0.02 [[ 9.36624333e-01 3.50335353e-01 0.00000000e+00 3.07722201e+02] [-3.50335353e-01 9.36624333e-01 0.00000000e+00 -7.95538171e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65295863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.75, Y:-79.56, Z:0.02 [[ 9.37798844e-01 3.47179102e-01 0.00000000e+00 3.07754117e+02] [-3.47179102e-01 9.37798844e-01 0.00000000e+00 -7.95615250e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74901924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.79, Y:-79.57, Z:0.02 [[ 9.38251664e-01 3.45953486e-01 0.00000000e+00 3.07785628e+02] [-3.45953486e-01 9.38251664e-01 0.00000000e+00 -7.95701911e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75495488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.82, Y:-79.58, Z:0.02 [[ 9.38248001e-01 3.45963420e-01 0.00000000e+00 3.07816935e+02] [-3.45963420e-01 9.38248001e-01 0.00000000e+00 -7.95787559e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67994928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.85, Y:-79.59, Z:0.02 [[ 9.37886559e-01 3.46942074e-01 0.00000000e+00 3.07847534e+02] [-3.46942074e-01 9.37886559e-01 0.00000000e+00 -7.95866184e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59264286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.88, Y:-79.59, Z:0.01 [[ 9.37639750e-01 3.47608543e-01 0.00000000e+00 3.07877556e+02] [-3.47608543e-01 9.37639750e-01 0.00000000e+00 -7.95947166e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48675763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.91, Y:-79.60, Z:0.01 [[ 9.37288040e-01 3.48555777e-01 0.00000000e+00 3.07908146e+02] [-3.48555777e-01 9.37288040e-01 0.00000000e+00 -7.96026078e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41760226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.94, Y:-79.61, Z:0.02 [[ 9.37160871e-01 3.48897553e-01 0.00000000e+00 3.07937396e+02] [-3.48897553e-01 9.37160871e-01 0.00000000e+00 -7.96094842e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56511457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.96, Y:-79.62, Z:0.02 [[ 9.37246737e-01 3.48666822e-01 0.00000000e+00 3.07964487e+02] [-3.48666822e-01 9.37246737e-01 0.00000000e+00 -7.96174416e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71532160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.99, Y:-79.63, Z:0.02 [[ 9.37746045e-01 3.47321689e-01 0.00000000e+00 3.07992606e+02] [-3.47321689e-01 9.37746045e-01 0.00000000e+00 -7.96266940e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59181247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.02, Y:-79.64, Z:0.01 [[ 9.38247395e-01 3.45965064e-01 0.00000000e+00 3.08022541e+02] [-3.45965064e-01 9.38247395e-01 0.00000000e+00 -7.96365385e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44455547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.05, Y:-79.65, Z:0.01 [[ 9.39068539e-01 3.43729951e-01 0.00000000e+00 3.08051932e+02] [-3.43729951e-01 9.39068539e-01 0.00000000e+00 -7.96469721e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16836012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.08, Y:-79.66, Z:0.01 [[ 9.39158901e-01 3.43482982e-01 0.00000000e+00 3.08083787e+02] [-3.43482982e-01 9.39158901e-01 0.00000000e+00 -7.96569760e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33391821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.11, Y:-79.67, Z:0.01 [[ 9.39024870e-01 3.43849231e-01 0.00000000e+00 3.08114403e+02] [-3.43849231e-01 9.39024870e-01 0.00000000e+00 -7.96658906e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43086267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.14, Y:-79.67, Z:0.02 [[ 9.38813130e-01 3.44426926e-01 0.00000000e+00 3.08142836e+02] [-3.44426926e-01 9.38813130e-01 0.00000000e+00 -7.96736021e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58701713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.17, Y:-79.68, Z:0.02 [[ 9.38605711e-01 3.44991766e-01 0.00000000e+00 3.08170202e+02] [-3.44991766e-01 9.38605711e-01 0.00000000e+00 -7.96807663e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56549469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.20, Y:-79.69, Z:0.01 [[ 9.38386004e-01 3.45588928e-01 0.00000000e+00 3.08200342e+02] [-3.45588928e-01 9.38386004e-01 0.00000000e+00 -7.96893286e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43272143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.23, Y:-79.70, Z:0.01 [[ 9.38378274e-01 3.45609916e-01 0.00000000e+00 3.08230949e+02] [-3.45609916e-01 9.38378274e-01 0.00000000e+00 -7.96980698e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43272143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.26, Y:-79.71, Z:0.01 [[ 9.38174447e-01 3.46162832e-01 0.00000000e+00 3.08259976e+02] [-3.46162832e-01 9.38174447e-01 0.00000000e+00 -7.97112234e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15283381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.29, Y:-79.72, Z:0.01 [[ 9.38315500e-01 3.45780308e-01 0.00000000e+00 3.08290779e+02] [-3.45780308e-01 9.38315500e-01 0.00000000e+00 -7.97230457e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31758683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.32, Y:-79.73, Z:0.01 [[ 9.38386267e-01 3.45588215e-01 0.00000000e+00 3.08319611e+02] [-3.45588215e-01 9.38386267e-01 0.00000000e+00 -7.97338342e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41870103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.35, Y:-79.74, Z:0.01 [[ 9.38592803e-01 3.45026882e-01 0.00000000e+00 3.08350751e+02] [-3.45026882e-01 9.38592803e-01 0.00000000e+00 -7.97449859e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47388640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.231400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:308.38, Y:-79.76, Z:0.01 [[ 9.38590597e-01 3.45032884e-01 0.00000000e+00 3.08382025e+02] [-3.45032884e-01 9.38590597e-01 0.00000000e+00 -7.97556178e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36095689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.41, Y:-79.77, Z:0.01 [[ 9.38112245e-01 3.46331368e-01 0.00000000e+00 3.08411464e+02] [-3.46331368e-01 9.38112245e-01 0.00000000e+00 -7.97686327e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36549035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.44, Y:-79.78, Z:0.02 [[ 9.37359259e-01 3.48364205e-01 0.00000000e+00 3.08440124e+02] [-3.48364205e-01 9.37359259e-01 0.00000000e+00 -7.97841613e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68151333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.47, Y:-79.80, Z:0.02 [[ 9.36694063e-01 3.50148870e-01 0.00000000e+00 3.08469924e+02] [-3.50148870e-01 9.36694063e-01 0.00000000e+00 -7.97957848e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87359100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.50, Y:-79.81, Z:0.02 [[ 9.35714223e-01 3.52758973e-01 0.00000000e+00 3.08500878e+02] [-3.52758973e-01 9.35714223e-01 0.00000000e+00 -7.98072194e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92877251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.381400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:308.53, Y:-79.82, Z:0.02 [[ 9.34655209e-01 3.55555397e-01 0.00000000e+00 3.08531911e+02] [-3.55555397e-01 9.34655209e-01 0.00000000e+00 -7.98173698e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71255692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.411400513 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:308.56, Y:-79.83, Z:0.01 [[ 9.33500816e-01 3.58575272e-01 0.00000000e+00 3.08562553e+02] [-3.58575272e-01 9.33500816e-01 0.00000000e+00 -7.98279055e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42071588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.59, Y:-79.84, Z:0.01 [[ 9.31820038e-01 3.62920676e-01 0.00000000e+00 3.08592949e+02] [-3.62920676e-01 9.31820038e-01 0.00000000e+00 -7.98394442e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12059599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.62, Y:-79.85, Z:0.01 [[ 9.31365495e-01 3.64085588e-01 0.00000000e+00 3.08623703e+02] [-3.64085588e-01 9.31365495e-01 0.00000000e+00 -7.98478269e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08075420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.66, Y:-79.86, Z:0.01 [[ 9.30964946e-01 3.65108571e-01 0.00000000e+00 3.08655799e+02] [-3.65108571e-01 9.30964946e-01 0.00000000e+00 -7.98565600e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27474227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.69, Y:-79.87, Z:0.01 [[ 9.30694100e-01 3.65798430e-01 0.00000000e+00 3.08686287e+02] [-3.65798430e-01 9.30694100e-01 0.00000000e+00 -7.98655965e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43105997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.72, Y:-79.88, Z:0.01 [[ 9.30788968e-01 3.65556968e-01 0.00000000e+00 3.08715914e+02] [-3.65556968e-01 9.30788968e-01 0.00000000e+00 -7.98751704e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38166907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.75, Y:-79.88, Z:0.01 [[ 9.31240153e-01 3.64406060e-01 0.00000000e+00 3.08748319e+02] [-3.64406060e-01 9.31240153e-01 0.00000000e+00 -7.98836039e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08110761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.78, Y:-79.89, Z:0.01 [[ 9.31663927e-01 3.63321246e-01 0.00000000e+00 3.08779556e+02] [-3.63321246e-01 9.31663927e-01 0.00000000e+00 -7.98909876e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.12586853e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.81, Y:-79.90, Z:0.01 [[ 9.32281334e-01 3.61734037e-01 0.00000000e+00 3.08810417e+02] [-3.61734037e-01 9.32281334e-01 0.00000000e+00 -7.98980973e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.21839414e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.84, Y:-79.91, Z:0.01 [[ 9.33092782e-01 3.59635733e-01 0.00000000e+00 3.08841193e+02] [-3.59635733e-01 9.33092782e-01 0.00000000e+00 -7.99054717e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.48160678e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.87, Y:-79.91, Z:0.01 [[ 9.33834917e-01 3.57704275e-01 0.00000000e+00 3.08870083e+02] [-3.57704275e-01 9.33834917e-01 0.00000000e+00 -7.99130243e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.02828191e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.90, Y:-79.92, Z:0.01 [[ 9.35713557e-01 3.52760739e-01 0.00000000e+00 3.08902732e+02] [-3.52760739e-01 9.35713557e-01 0.00000000e+00 -7.99222375e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.21478324e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.93, Y:-79.93, Z:0.01 [[ 9.36072903e-01 3.51806082e-01 0.00000000e+00 3.08934263e+02] [-3.51806082e-01 9.36072903e-01 0.00000000e+00 -7.99318526e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.74261659e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.97, Y:-79.94, Z:0.01 [[ 9.36114811e-01 3.51694555e-01 0.00000000e+00 3.08965150e+02] [-3.51694555e-01 9.36114811e-01 0.00000000e+00 -7.99412917e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.81825442e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.00, Y:-79.95, Z:0.01 [[ 9.35979101e-01 3.52055567e-01 0.00000000e+00 3.08996966e+02] [-3.52055567e-01 9.35979101e-01 0.00000000e+00 -7.99505896e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.21978556e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.03, Y:-79.96, Z:0.01 [[ 9.35650313e-01 3.52928450e-01 0.00000000e+00 3.09028609e+02] [-3.52928450e-01 9.35650313e-01 0.00000000e+00 -7.99594184e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.75934247e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.06, Y:-79.97, Z:0.01 [[ 9.35219619e-01 3.54068164e-01 0.00000000e+00 3.09059627e+02] [-3.54068164e-01 9.35219619e-01 0.00000000e+00 -7.99674194e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.88637277e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.92140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.09, Y:-79.97, Z:0.01 [[ 9.33766144e-01 3.57883763e-01 0.00000000e+00 3.09090198e+02] [-3.57883763e-01 9.33766144e-01 0.00000000e+00 -7.99749265e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.82617007e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.12, Y:-79.98, Z:0.01 [[ 9.33308813e-01 3.59074728e-01 0.00000000e+00 3.09120461e+02] [-3.59074728e-01 9.33308813e-01 0.00000000e+00 -7.99819437e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08034682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.15, Y:-79.99, Z:0.01 [[ 9.32570266e-01 3.60988503e-01 0.00000000e+00 3.09152327e+02] [-3.60988503e-01 9.32570266e-01 0.00000000e+00 -7.99891760e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14498123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.18, Y:-80.00, Z:0.01 [[ 9.31536995e-01 3.63646568e-01 0.00000000e+00 3.09182865e+02] [-3.63646568e-01 9.31536995e-01 0.00000000e+00 -7.99957386e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24982095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.041400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:309.21, Y:-80.00, Z:0.01 [[ 9.31817833e-01 3.62926338e-01 0.00000000e+00 3.09213177e+02] [-3.62926338e-01 9.31817833e-01 0.00000000e+00 -8.00043936e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36554493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.24, Y:-80.02, Z:0.02 [[ 9.31945375e-01 3.62598702e-01 0.00000000e+00 3.09244374e+02] [-3.62598702e-01 9.31945375e-01 0.00000000e+00 -8.00156880e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55328129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.27, Y:-80.03, Z:0.02 [[ 9.32509189e-01 3.61146249e-01 0.00000000e+00 3.09274456e+02] [-3.61146249e-01 9.32509189e-01 0.00000000e+00 -8.00251525e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59602978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.31, Y:-80.03, Z:0.02 [[ 9.33243138e-01 3.59245383e-01 0.00000000e+00 3.09306336e+02] [-3.59245383e-01 9.33243138e-01 0.00000000e+00 -8.00344169e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69116950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.161400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:309.34, Y:-80.04, Z:0.02 [[ 9.33866507e-01 3.57621794e-01 0.00000000e+00 3.09336808e+02] [-3.57621794e-01 9.33866507e-01 0.00000000e+00 -8.00428084e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75495121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.37, Y:-80.05, Z:0.02 [[ 9.34248034e-01 3.56623906e-01 0.00000000e+00 3.09367982e+02] [-3.56623906e-01 9.34248034e-01 0.00000000e+00 -8.00523019e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77550136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.40, Y:-80.06, Z:0.02 [[ 9.34068540e-01 3.57093774e-01 0.00000000e+00 3.09398247e+02] [-3.57093774e-01 9.34068540e-01 0.00000000e+00 -8.00621842e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63970620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.251400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:309.43, Y:-80.07, Z:0.02 [[ 9.33959214e-01 3.57379611e-01 0.00000000e+00 3.09427443e+02] [-3.57379611e-01 9.33959214e-01 0.00000000e+00 -8.00705508e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56454988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.46, Y:-80.08, Z:0.02 [[ 9.33535303e-01 3.58485479e-01 0.00000000e+00 3.09459048e+02] [-3.58485479e-01 9.33535303e-01 0.00000000e+00 -8.00800208e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61551721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.49, Y:-80.09, Z:0.02 [[ 9.33241222e-01 3.59250361e-01 0.00000000e+00 3.09490120e+02] [-3.59250361e-01 9.33241222e-01 0.00000000e+00 -8.00881206e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53098956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.52, Y:-80.10, Z:0.01 [[ 9.32828187e-01 3.60321486e-01 0.00000000e+00 3.09519703e+02] [-3.60321486e-01 9.32828187e-01 0.00000000e+00 -8.00959810e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41520142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.55, Y:-80.10, Z:0.01 [[ 9.32706816e-01 3.60635543e-01 0.00000000e+00 3.09550569e+02] [-3.60635543e-01 9.32706816e-01 0.00000000e+00 -8.01035798e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24055864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.58, Y:-80.11, Z:0.01 [[ 9.32666961e-01 3.60738602e-01 0.00000000e+00 3.09581130e+02] [-3.60738602e-01 9.32666961e-01 0.00000000e+00 -8.01113864e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19313633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.61, Y:-80.12, Z:0.01 [[ 9.32502649e-01 3.61163134e-01 0.00000000e+00 3.09609545e+02] [-3.61163134e-01 9.32502649e-01 0.00000000e+00 -8.01182722e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12331283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.461400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:309.64, Y:-80.13, Z:0.01 [[ 9.33074151e-01 3.59684067e-01 0.00000000e+00 3.09642345e+02] [-3.59684067e-01 9.33074151e-01 0.00000000e+00 -8.01258653e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07265661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.67, Y:-80.14, Z:0.01 [[ 9.33401298e-01 3.58834247e-01 0.00000000e+00 3.09672899e+02] [-3.58834247e-01 9.33401298e-01 0.00000000e+00 -8.01351424e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03536591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.70, Y:-80.14, Z:0.01 [[ 9.34533550e-01 3.55875039e-01 0.00000000e+00 3.09703041e+02] [-3.55875039e-01 9.34533550e-01 0.00000000e+00 -8.01433191e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.60426231e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.73, Y:-80.15, Z:0.01 [[ 9.34903781e-01 3.54901283e-01 0.00000000e+00 3.09732894e+02] [-3.54901283e-01 9.34903781e-01 0.00000000e+00 -8.01513001e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.63294887e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.76, Y:-80.16, Z:0.01 [[ 9.35282549e-01 3.53901899e-01 0.00000000e+00 3.09763677e+02] [-3.53901899e-01 9.35282549e-01 0.00000000e+00 -8.01591551e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.96685085e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.79, Y:-80.17, Z:0.01 [[ 9.35709496e-01 3.52771512e-01 0.00000000e+00 3.09794692e+02] [-3.52771512e-01 9.35709496e-01 0.00000000e+00 -8.01678890e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04373447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.82, Y:-80.18, Z:0.01 [[ 9.36266926e-01 3.51289401e-01 0.00000000e+00 3.09824753e+02] [-3.51289401e-01 9.36266926e-01 0.00000000e+00 -8.01774003e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08796084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.86, Y:-80.19, Z:0.01 [[ 9.37547968e-01 3.47856015e-01 0.00000000e+00 3.09855329e+02] [-3.47856015e-01 9.37547968e-01 0.00000000e+00 -8.01903476e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22853200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.88, Y:-80.20, Z:0.01 [[ 9.38016367e-01 3.46590962e-01 0.00000000e+00 3.09883189e+02] [-3.46590962e-01 9.38016367e-01 0.00000000e+00 -8.02006797e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30590811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.91, Y:-80.21, Z:0.01 [[ 9.38473191e-01 3.45352095e-01 0.00000000e+00 3.09914897e+02] [-3.45352095e-01 9.38473191e-01 0.00000000e+00 -8.02136310e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19437925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.94, Y:-80.22, Z:0.01 [[ 9.38388636e-01 3.45581782e-01 0.00000000e+00 3.09944001e+02] [-3.45581782e-01 9.38388636e-01 0.00000000e+00 -8.02238172e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37049494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.98, Y:-80.23, Z:0.02 [[ 9.38418580e-01 3.45500462e-01 0.00000000e+00 3.09975582e+02] [-3.45500462e-01 9.38418580e-01 0.00000000e+00 -8.02335145e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60877720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.01, Y:-80.24, Z:0.02 [[ 9.37573292e-01 3.47787753e-01 0.00000000e+00 3.10006091e+02] [-3.47787753e-01 9.37573292e-01 0.00000000e+00 -8.02439718e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01118348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.04, Y:-80.26, Z:0.02 [[ 9.37048361e-01 3.49199612e-01 0.00000000e+00 3.10036797e+02] [-3.49199612e-01 9.37048361e-01 0.00000000e+00 -8.02554269e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11785835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.07, Y:-80.27, Z:0.02 [[ 9.36585421e-01 3.50439365e-01 0.00000000e+00 3.10067368e+02] [-3.50439365e-01 9.36585421e-01 0.00000000e+00 -8.02679712e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18010775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.09, Y:-80.28, Z:0.02 [[ 9.36008149e-01 3.51978330e-01 0.00000000e+00 3.10094135e+02] [-3.51978330e-01 9.36008149e-01 0.00000000e+00 -8.02787880e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15087156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.13, Y:-80.29, Z:0.02 [[ 9.35955085e-01 3.52119409e-01 0.00000000e+00 3.10126509e+02] [-3.52119409e-01 9.35955085e-01 0.00000000e+00 -8.02923294e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07281238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.16, Y:-80.30, Z:0.02 [[ 9.35890834e-01 3.52290145e-01 0.00000000e+00 3.10158586e+02] [-3.52290145e-01 9.35890834e-01 0.00000000e+00 -8.03019020e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07281238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.19, Y:-80.31, Z:0.02 [[ 9.35618176e-01 3.53013639e-01 0.00000000e+00 3.10188377e+02] [-3.53013639e-01 9.35618176e-01 0.00000000e+00 -8.03133510e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90176694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.22, Y:-80.33, Z:0.02 [[ 9.35184353e-01 3.54161299e-01 0.00000000e+00 3.10218646e+02] [-3.54161299e-01 9.35184353e-01 0.00000000e+00 -8.03275256e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96394565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.25, Y:-80.34, Z:0.02 [[ 9.34735397e-01 3.55344535e-01 0.00000000e+00 3.10248620e+02] [-3.55344535e-01 9.34735397e-01 0.00000000e+00 -8.03395584e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10784158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.28, Y:-80.35, Z:0.02 [[ 9.34008871e-01 3.57249812e-01 0.00000000e+00 3.10277279e+02] [-3.57249812e-01 9.34008871e-01 0.00000000e+00 -8.03515204e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14028617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.31, Y:-80.36, Z:0.02 [[ 9.33703919e-01 3.58046075e-01 0.00000000e+00 3.10308341e+02] [-3.58046075e-01 9.33703919e-01 0.00000000e+00 -8.03639146e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12164812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.34, Y:-80.38, Z:0.02 [[ 9.33096175e-01 3.59626928e-01 0.00000000e+00 3.10338675e+02] [-3.59626928e-01 9.33096175e-01 0.00000000e+00 -8.03758711e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93099345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.37, Y:-80.39, Z:0.02 [[ 9.31773807e-01 3.63039353e-01 0.00000000e+00 3.10368423e+02] [-3.63039353e-01 9.31773807e-01 0.00000000e+00 -8.03893343e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58318851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.40, Y:-80.40, Z:0.02 [[ 9.31218101e-01 3.64462409e-01 0.00000000e+00 3.10399392e+02] [-3.64462409e-01 9.31218101e-01 0.00000000e+00 -8.04001942e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64386772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.43, Y:-80.41, Z:0.02 [[ 9.30619477e-01 3.65988237e-01 0.00000000e+00 3.10430421e+02] [-3.65988237e-01 9.30619477e-01 0.00000000e+00 -8.04106985e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75355600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.46, Y:-80.42, Z:0.02 [[ 9.29841763e-01 3.67959638e-01 0.00000000e+00 3.10460888e+02] [-3.67959638e-01 9.29841763e-01 0.00000000e+00 -8.04206957e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78879982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.49, Y:-80.43, Z:0.02 [[ 9.29030555e-01 3.70003011e-01 0.00000000e+00 3.10491986e+02] [-3.70003011e-01 9.29030555e-01 0.00000000e+00 -8.04297567e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69781377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.52, Y:-80.44, Z:0.02 [[ 9.28264492e-01 3.71920734e-01 0.00000000e+00 3.10523366e+02] [-3.71920734e-01 9.28264492e-01 0.00000000e+00 -8.04376176e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52997511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.56, Y:-80.44, Z:0.02 [[ 9.27665572e-01 3.73412086e-01 0.00000000e+00 3.10555859e+02] [-3.73412086e-01 9.27665572e-01 0.00000000e+00 -8.04426299e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60892553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.59, Y:-80.45, Z:0.02 [[ 9.27851185e-01 3.72950637e-01 0.00000000e+00 3.10587105e+02] [-3.72950637e-01 9.27851185e-01 0.00000000e+00 -8.04505058e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59969470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.42140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.62, Y:-80.46, Z:0.02 [[ 9.28290211e-01 3.71856536e-01 0.00000000e+00 3.10618622e+02] [-3.71856536e-01 9.28290211e-01 0.00000000e+00 -8.04586322e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54441792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.65, Y:-80.47, Z:0.02 [[ 9.28971827e-01 3.70150436e-01 0.00000000e+00 3.10650736e+02] [-3.70150436e-01 9.28971827e-01 0.00000000e+00 -8.04669550e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51822603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.68, Y:-80.47, Z:0.01 [[ 9.29577899e-01 3.68625732e-01 0.00000000e+00 3.10678829e+02] [-3.68625732e-01 9.29577899e-01 0.00000000e+00 -8.04726272e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48633863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.71, Y:-80.48, Z:0.01 [[ 9.30768485e-01 3.65609117e-01 0.00000000e+00 3.10713872e+02] [-3.65609117e-01 9.30768485e-01 0.00000000e+00 -8.04824676e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46323049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.75, Y:-80.49, Z:0.01 [[ 9.32386427e-01 3.61463070e-01 0.00000000e+00 3.10745037e+02] [-3.61463070e-01 9.32386427e-01 0.00000000e+00 -8.04906315e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49372575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.78, Y:-80.50, Z:0.02 [[ 9.33056165e-01 3.59730724e-01 0.00000000e+00 3.10776256e+02] [-3.59730724e-01 9.33056165e-01 0.00000000e+00 -8.04995259e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55152894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.601400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:310.81, Y:-80.51, Z:0.02 [[ 9.33585591e-01 3.58354494e-01 0.00000000e+00 3.10808282e+02] [-3.58354494e-01 9.33585591e-01 0.00000000e+00 -8.05076492e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58686912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.84, Y:-80.52, Z:0.02 [[ 9.33817473e-01 3.57749810e-01 0.00000000e+00 3.10839029e+02] [-3.57749810e-01 9.33817473e-01 0.00000000e+00 -8.05160436e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75927283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.87, Y:-80.52, Z:0.02 [[ 9.34079178e-01 3.57065944e-01 0.00000000e+00 3.10871183e+02] [-3.57065944e-01 9.34079178e-01 0.00000000e+00 -8.05224788e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73014529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.90, Y:-80.53, Z:0.02 [[ 9.33826579e-01 3.57726040e-01 0.00000000e+00 3.10903466e+02] [-3.57726040e-01 9.33826579e-01 0.00000000e+00 -8.05311184e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62360539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.94, Y:-80.54, Z:0.02 [[ 9.33459807e-01 3.58682017e-01 0.00000000e+00 3.10935486e+02] [-3.58682017e-01 9.33459807e-01 0.00000000e+00 -8.05401758e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58994403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.97, Y:-80.55, Z:0.02 [[ 9.33071159e-01 3.59691829e-01 0.00000000e+00 3.10967364e+02] [-3.59691829e-01 9.33071159e-01 0.00000000e+00 -8.05489590e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55761201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.781400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:311.00, Y:-80.56, Z:0.01 [[ 9.32640150e-01 3.60807915e-01 0.00000000e+00 3.10998525e+02] [-3.60807915e-01 9.32640150e-01 0.00000000e+00 -8.05571512e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35257582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.03, Y:-80.57, Z:0.01 [[ 9.32170369e-01 3.62019893e-01 0.00000000e+00 3.11030249e+02] [-3.62019893e-01 9.32170369e-01 0.00000000e+00 -8.05665595e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35748649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.06, Y:-80.58, Z:0.01 [[ 9.31596787e-01 3.63493366e-01 0.00000000e+00 3.11061788e+02] [-3.63493366e-01 9.31596787e-01 0.00000000e+00 -8.05751280e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39225204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.09, Y:-80.58, Z:0.01 [[ 9.31205213e-01 3.64495337e-01 0.00000000e+00 3.11092780e+02] [-3.64495337e-01 9.31205213e-01 0.00000000e+00 -8.05846088e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48270957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.12, Y:-80.59, Z:0.02 [[ 9.30611764e-01 3.66007848e-01 0.00000000e+00 3.11123042e+02] [-3.66007848e-01 9.30611764e-01 0.00000000e+00 -8.05942698e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60373667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.15, Y:-80.60, Z:0.02 [[ 9.29327221e-01 3.69257250e-01 0.00000000e+00 3.11154278e+02] [-3.69257250e-01 9.29327221e-01 0.00000000e+00 -8.06006416e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84331159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.19, Y:-80.61, Z:0.02 [[ 9.28169819e-01 3.72156938e-01 0.00000000e+00 3.11186117e+02] [-3.72156938e-01 9.28169819e-01 0.00000000e+00 -8.06076671e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89325269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.22, Y:-80.61, Z:0.02 [[ 9.26935514e-01 3.75220671e-01 0.00000000e+00 3.11218638e+02] [-3.75220671e-01 9.26935514e-01 0.00000000e+00 -8.06145334e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86389982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.25, Y:-80.62, Z:0.02 [[ 9.25665217e-01 3.78343636e-01 0.00000000e+00 3.11249098e+02] [-3.78343636e-01 9.25665217e-01 0.00000000e+00 -8.06206245e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78295497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.28, Y:-80.63, Z:0.02 [[ 9.24742239e-01 3.80593999e-01 0.00000000e+00 3.11278706e+02] [-3.80593999e-01 9.24742239e-01 0.00000000e+00 -8.06254717e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69928560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.31, Y:-80.63, Z:0.02 [[ 9.24086862e-01 3.82182511e-01 0.00000000e+00 3.11308958e+02] [-3.82182511e-01 9.24086862e-01 0.00000000e+00 -8.06299792e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55163982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.34, Y:-80.63, Z:0.01 [[ 9.23716112e-01 3.83077725e-01 0.00000000e+00 3.11338888e+02] [-3.83077725e-01 9.23716112e-01 0.00000000e+00 -8.06284192e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37741889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.37, Y:-80.63, Z:0.01 [[ 9.24653769e-01 3.80808886e-01 0.00000000e+00 3.11371671e+02] [-3.80808886e-01 9.24653769e-01 0.00000000e+00 -8.06343302e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38895724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.40, Y:-80.64, Z:0.01 [[ 9.25676703e-01 3.78315532e-01 0.00000000e+00 3.11400015e+02] [-3.78315532e-01 9.25676703e-01 0.00000000e+00 -8.06387059e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41347347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.43, Y:-80.64, Z:0.01 [[ 9.26893951e-01 3.75323333e-01 0.00000000e+00 3.11429089e+02] [-3.75323333e-01 9.26893951e-01 0.00000000e+00 -8.06438404e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45213027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.46, Y:-80.65, Z:0.02 [[ 9.28082781e-01 3.72373941e-01 0.00000000e+00 3.11458494e+02] [-3.72373941e-01 9.28082781e-01 0.00000000e+00 -8.06486969e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50226446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.49, Y:-80.65, Z:0.02 [[ 9.29160437e-01 3.69676728e-01 0.00000000e+00 3.11488265e+02] [-3.69676728e-01 9.29160437e-01 0.00000000e+00 -8.06526100e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55932610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.52, Y:-80.65, Z:0.01 [[ 9.30491609e-01 3.66313208e-01 0.00000000e+00 3.11518620e+02] [-3.66313208e-01 9.30491609e-01 0.00000000e+00 -8.06488211e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46214816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.55, Y:-80.65, Z:0.01 [[ 9.30960861e-01 3.65118987e-01 0.00000000e+00 3.11548203e+02] [-3.65118987e-01 9.30960861e-01 0.00000000e+00 -8.06520027e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32635952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.57, Y:-80.65, Z:0.01 [[ 9.31112554e-01 3.64731972e-01 0.00000000e+00 3.11572624e+02] [-3.64731972e-01 9.31112554e-01 0.00000000e+00 -8.06544534e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33709990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.60, Y:-80.66, Z:0.01 [[ 9.32205292e-01 3.61929956e-01 0.00000000e+00 3.11603991e+02] [-3.61929956e-01 9.32205292e-01 0.00000000e+00 -8.06611511e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23441992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.63, Y:-80.67, Z:0.01 [[ 9.33157700e-01 3.59467254e-01 0.00000000e+00 3.11630854e+02] [-3.59467254e-01 9.33157700e-01 0.00000000e+00 -8.06668379e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30968787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.66, Y:-80.67, Z:0.02 [[ 9.35686580e-01 3.52832289e-01 0.00000000e+00 3.11659661e+02] [-3.52832289e-01 9.35686580e-01 0.00000000e+00 -8.06726471e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69533144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.69, Y:-80.68, Z:0.02 [[ 9.37014177e-01 3.49291328e-01 0.00000000e+00 3.11685055e+02] [-3.49291328e-01 9.37014177e-01 0.00000000e+00 -8.06802963e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83679773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.71, Y:-80.69, Z:0.02 [[ 9.38328838e-01 3.45744114e-01 0.00000000e+00 3.11712460e+02] [-3.45744114e-01 9.38328838e-01 0.00000000e+00 -8.06894556e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88373714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.74, Y:-80.70, Z:0.02 [[ 9.39346643e-01 3.42969218e-01 0.00000000e+00 3.11738255e+02] [-3.42969218e-01 9.39346643e-01 0.00000000e+00 -8.06990097e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92002469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.76, Y:-80.71, Z:0.02 [[ 9.40645212e-01 3.39391492e-01 0.00000000e+00 3.11764725e+02] [-3.39391492e-01 9.40645212e-01 0.00000000e+00 -8.07126611e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67604945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.79, Y:-80.72, Z:0.02 [[ 9.40877507e-01 3.38746979e-01 0.00000000e+00 3.11790713e+02] [-3.38746979e-01 9.40877507e-01 0.00000000e+00 -8.07235504e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54566826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.82, Y:-80.73, Z:0.02 [[ 9.40994019e-01 3.38423192e-01 0.00000000e+00 3.11818701e+02] [-3.38423192e-01 9.40994019e-01 0.00000000e+00 -8.07347762e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50525817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.85, Y:-80.75, Z:0.02 [[ 9.40839011e-01 3.38853884e-01 0.00000000e+00 3.11845180e+02] [-3.38853884e-01 9.40839011e-01 0.00000000e+00 -8.07454072e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60391676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.87, Y:-80.76, Z:0.02 [[ 9.40421643e-01 3.40010490e-01 0.00000000e+00 3.11871321e+02] [-3.40010490e-01 9.40421643e-01 0.00000000e+00 -8.07562084e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78024871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.711400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:311.90, Y:-80.77, Z:0.02 [[ 9.39929286e-01 3.41369210e-01 0.00000000e+00 3.11897300e+02] [-3.41369210e-01 9.39929286e-01 0.00000000e+00 -8.07667657e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94044842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.92, Y:-80.78, Z:0.02 [[ 9.38154747e-01 3.46216221e-01 0.00000000e+00 3.11923022e+02] [-3.46216221e-01 9.38154747e-01 0.00000000e+00 -8.07800281e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01037883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.95, Y:-80.79, Z:0.02 [[ 9.37260817e-01 3.48628974e-01 0.00000000e+00 3.11950839e+02] [-3.48628974e-01 9.37260817e-01 0.00000000e+00 -8.07907659e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90501255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.98, Y:-80.80, Z:0.02 [[ 9.36584126e-01 3.50442827e-01 0.00000000e+00 3.11979933e+02] [-3.50442827e-01 9.36584126e-01 0.00000000e+00 -8.08004654e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87783172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.01, Y:-80.81, Z:0.02 [[ 9.36056418e-01 3.51849942e-01 0.00000000e+00 3.12007950e+02] [-3.51849942e-01 9.36056418e-01 0.00000000e+00 -8.08096415e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03192820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.04, Y:-80.82, Z:0.02 [[ 9.35854842e-01 3.52385746e-01 0.00000000e+00 3.12035896e+02] [-3.52385746e-01 9.35854842e-01 0.00000000e+00 -8.08183116e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10237555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.06, Y:-80.83, Z:0.02 [[ 9.35862815e-01 3.52364573e-01 0.00000000e+00 3.12064812e+02] [-3.52364573e-01 9.35862815e-01 0.00000000e+00 -8.08269156e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10237555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.92140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.09, Y:-80.84, Z:0.02 [[ 9.35770451e-01 3.52609789e-01 0.00000000e+00 3.12091925e+02] [-3.52609789e-01 9.35770451e-01 0.00000000e+00 -8.08359945e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06580413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.12, Y:-80.85, Z:0.01 [[ 9.36047978e-01 3.51872396e-01 0.00000000e+00 3.12121902e+02] [-3.51872396e-01 9.36047978e-01 0.00000000e+00 -8.08477440e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42472095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.15, Y:-80.86, Z:0.01 [[ 9.36406485e-01 3.50917218e-01 0.00000000e+00 3.12151930e+02] [-3.50917218e-01 9.36406485e-01 0.00000000e+00 -8.08573105e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24702198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.18, Y:-80.87, Z:0.01 [[ 9.37012602e-01 3.49295554e-01 0.00000000e+00 3.12181463e+02] [-3.49295554e-01 9.37012602e-01 0.00000000e+00 -8.08658938e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28898432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.21, Y:-80.88, Z:0.01 [[ 9.37763963e-01 3.47273308e-01 0.00000000e+00 3.12212848e+02] [-3.47273308e-01 9.37763963e-01 0.00000000e+00 -8.08752889e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43917256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.24, Y:-80.89, Z:0.02 [[ 9.39232681e-01 3.43281183e-01 0.00000000e+00 3.12242464e+02] [-3.43281183e-01 9.39232681e-01 0.00000000e+00 -8.08871801e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58500286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.27, Y:-80.90, Z:0.02 [[ 9.39785267e-01 3.41765493e-01 0.00000000e+00 3.12270520e+02] [-3.41765493e-01 9.39785267e-01 0.00000000e+00 -8.08972916e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50430504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.30, Y:-80.91, Z:0.01 [[ 9.40164467e-01 3.40720962e-01 0.00000000e+00 3.12298188e+02] [-3.40720962e-01 9.40164467e-01 0.00000000e+00 -8.09066953e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38386329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.33, Y:-80.92, Z:0.01 [[ 9.40375821e-01 3.40137200e-01 0.00000000e+00 3.12325270e+02] [-3.40137200e-01 9.40375821e-01 0.00000000e+00 -8.09166137e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43136082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.35, Y:-80.93, Z:0.02 [[ 9.40325282e-01 3.40276892e-01 0.00000000e+00 3.12354465e+02] [-3.40276892e-01 9.40325282e-01 0.00000000e+00 -8.09278569e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64157164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.38, Y:-80.94, Z:0.02 [[ 9.39770038e-01 3.41807366e-01 0.00000000e+00 3.12381897e+02] [-3.41807366e-01 9.39770038e-01 0.00000000e+00 -8.09418960e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88416685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.41, Y:-80.95, Z:0.02 [[ 9.39419537e-01 3.42769504e-01 0.00000000e+00 3.12413283e+02] [-3.42769504e-01 9.39419537e-01 0.00000000e+00 -8.09532483e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72221133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.44, Y:-80.96, Z:0.02 [[ 9.38856737e-01 3.44308042e-01 0.00000000e+00 3.12443702e+02] [-3.44308042e-01 9.38856737e-01 0.00000000e+00 -8.09635973e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51425232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.47, Y:-80.97, Z:0.01 [[ 9.38066126e-01 3.46456264e-01 0.00000000e+00 3.12473771e+02] [-3.46456264e-01 9.38066126e-01 0.00000000e+00 -8.09743145e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37049273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.50, Y:-80.99, Z:0.02 [[ 9.35799429e-01 3.52532875e-01 0.00000000e+00 3.12500816e+02] [-3.52532875e-01 9.35799429e-01 0.00000000e+00 -8.09852439e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51658619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.53, Y:-81.00, Z:0.02 [[ 9.34488578e-01 3.55993115e-01 0.00000000e+00 3.12531120e+02] [-3.55993115e-01 9.34488578e-01 0.00000000e+00 -8.09955338e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70255906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.56, Y:-81.00, Z:0.02 [[ 9.33025686e-01 3.59809768e-01 0.00000000e+00 3.12561153e+02] [-3.59809768e-01 9.33025686e-01 0.00000000e+00 -8.10044785e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88095097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.59, Y:-81.01, Z:0.02 [[ 9.31569972e-01 3.63562081e-01 0.00000000e+00 3.12590988e+02] [-3.63562081e-01 9.31569972e-01 0.00000000e+00 -8.10128533e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83055033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.62, Y:-81.02, Z:0.02 [[ 9.30232526e-01 3.66970636e-01 0.00000000e+00 3.12619221e+02] [-3.66970636e-01 9.30232526e-01 0.00000000e+00 -8.10207947e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61543680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.65, Y:-81.03, Z:0.01 [[ 9.29151526e-01 3.69699123e-01 0.00000000e+00 3.12648988e+02] [-3.69699123e-01 9.29151526e-01 0.00000000e+00 -8.10299001e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35299979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.68, Y:-81.04, Z:0.01 [[ 9.28435370e-01 3.71493961e-01 0.00000000e+00 3.12677635e+02] [-3.71493961e-01 9.28435370e-01 0.00000000e+00 -8.10379176e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28740870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.71, Y:-81.05, Z:0.01 [[ 9.28655161e-01 3.70944190e-01 0.00000000e+00 3.12707880e+02] [-3.70944190e-01 9.28655161e-01 0.00000000e+00 -8.10464102e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33436688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.74, Y:-81.05, Z:0.01 [[ 9.29082835e-01 3.69871716e-01 0.00000000e+00 3.12737411e+02] [-3.69871716e-01 9.29082835e-01 0.00000000e+00 -8.10546057e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39471604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.77, Y:-81.06, Z:0.01 [[ 9.30074851e-01 3.67370075e-01 0.00000000e+00 3.12768400e+02] [-3.67370075e-01 9.30074851e-01 0.00000000e+00 -8.10633221e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43906494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.80, Y:-81.07, Z:0.01 [[ 9.30589714e-01 3.66063908e-01 0.00000000e+00 3.12799798e+02] [-3.66063908e-01 9.30589714e-01 0.00000000e+00 -8.10720283e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42739419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.83, Y:-81.08, Z:0.01 [[ 9.31010456e-01 3.64992508e-01 0.00000000e+00 3.12831594e+02] [-3.64992508e-01 9.31010456e-01 0.00000000e+00 -8.10810980e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41785402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.86, Y:-81.09, Z:0.01 [[ 9.31211719e-01 3.64478715e-01 0.00000000e+00 3.12862074e+02] [-3.64478715e-01 9.31211719e-01 0.00000000e+00 -8.10905496e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40857952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.89, Y:-81.10, Z:0.01 [[ 9.31345386e-01 3.64137023e-01 0.00000000e+00 3.12892411e+02] [-3.64137023e-01 9.31345386e-01 0.00000000e+00 -8.11014425e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39036003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.92, Y:-81.11, Z:0.01 [[ 9.31609199e-01 3.63461552e-01 0.00000000e+00 3.12921296e+02] [-3.63461552e-01 9.31609199e-01 0.00000000e+00 -8.11127278e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41279804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.95, Y:-81.13, Z:0.02 [[ 9.32795772e-01 3.60405394e-01 0.00000000e+00 3.12951257e+02] [-3.60405394e-01 9.32795772e-01 0.00000000e+00 -8.11280474e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57311990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.98, Y:-81.14, Z:0.02 [[ 9.33387965e-01 3.58868927e-01 0.00000000e+00 3.12981086e+02] [-3.58868927e-01 9.33387965e-01 0.00000000e+00 -8.11410162e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59694149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.01, Y:-81.15, Z:0.02 [[ 9.33801055e-01 3.57792664e-01 0.00000000e+00 3.13011199e+02] [-3.57792664e-01 9.33801055e-01 0.00000000e+00 -8.11548915e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54595885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.04, Y:-81.17, Z:0.01 [[ 9.34052671e-01 3.57135279e-01 0.00000000e+00 3.13041521e+02] [-3.57135279e-01 9.34052671e-01 0.00000000e+00 -8.11689289e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44773700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.07, Y:-81.18, Z:0.01 [[ 9.34137752e-01 3.56912679e-01 0.00000000e+00 3.13070766e+02] [-3.56912679e-01 9.34137752e-01 0.00000000e+00 -8.11819892e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34703099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.10, Y:-81.20, Z:0.01 [[ 9.33989777e-01 3.57299728e-01 0.00000000e+00 3.13101409e+02] [-3.57299728e-01 9.33989777e-01 0.00000000e+00 -8.11951527e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29649882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.13, Y:-81.21, Z:0.01 [[ 9.33257716e-01 3.59207510e-01 0.00000000e+00 3.13130799e+02] [-3.59207510e-01 9.33257716e-01 0.00000000e+00 -8.12110438e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31871050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.16, Y:-81.22, Z:0.01 [[ 9.32942427e-01 3.60025593e-01 0.00000000e+00 3.13161596e+02] [-3.60025593e-01 9.32942427e-01 0.00000000e+00 -8.12244010e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31985164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.19, Y:-81.24, Z:0.01 [[ 9.32700174e-01 3.60652721e-01 0.00000000e+00 3.13190647e+02] [-3.60652721e-01 9.32700174e-01 0.00000000e+00 -8.12372370e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20235786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.22, Y:-81.25, Z:0.01 [[ 9.32469560e-01 3.61248556e-01 0.00000000e+00 3.13221495e+02] [-3.61248556e-01 9.32469560e-01 0.00000000e+00 -8.12503249e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09364152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.25, Y:-81.27, Z:0.01 [[ 9.31869751e-01 3.62793008e-01 0.00000000e+00 3.13251065e+02] [-3.62793008e-01 9.31869751e-01 0.00000000e+00 -8.12664576e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00952822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.28, Y:-81.28, Z:0.01 [[ 9.31411193e-01 3.63968665e-01 0.00000000e+00 3.13280475e+02] [-3.63968665e-01 9.31411193e-01 0.00000000e+00 -8.12796001e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23497189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.31, Y:-81.29, Z:0.01 [[ 9.30952692e-01 3.65139816e-01 0.00000000e+00 3.13309568e+02] [-3.65139816e-01 9.30952692e-01 0.00000000e+00 -8.12921657e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48384070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.34, Y:-81.30, Z:0.02 [[ 9.30499750e-01 3.66292528e-01 0.00000000e+00 3.13340573e+02] [-3.66292528e-01 9.30499750e-01 0.00000000e+00 -8.13044167e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64077328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.37, Y:-81.31, Z:0.02 [[ 9.30145928e-01 3.67190077e-01 0.00000000e+00 3.13371753e+02] [-3.67190077e-01 9.30145928e-01 0.00000000e+00 -8.13149138e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54161554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.40, Y:-81.32, Z:0.01 [[ 9.29731030e-01 3.68239342e-01 0.00000000e+00 3.13403342e+02] [-3.68239342e-01 9.29731030e-01 0.00000000e+00 -8.13247340e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31549377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.43, Y:-81.34, Z:0.01 [[ 9.29032635e-01 3.69997789e-01 0.00000000e+00 3.13434404e+02] [-3.69997789e-01 9.29032635e-01 0.00000000e+00 -8.13357391e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15571259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.46, Y:-81.35, Z:0.01 [[ 9.28640901e-01 3.70979887e-01 0.00000000e+00 3.13464896e+02] [-3.70979887e-01 9.28640901e-01 0.00000000e+00 -8.13464829e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29399262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.50, Y:-81.36, Z:0.01 [[ 9.28397170e-01 3.71589417e-01 0.00000000e+00 3.13496457e+02] [-3.71589417e-01 9.28397170e-01 0.00000000e+00 -8.13563011e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43996087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.53, Y:-81.36, Z:0.01 [[ 9.28188003e-01 3.72111585e-01 0.00000000e+00 3.13527220e+02] [-3.72111585e-01 9.28188003e-01 0.00000000e+00 -8.13643947e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47075443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.56, Y:-81.37, Z:0.01 [[ 9.27835705e-01 3.72989148e-01 0.00000000e+00 3.13559367e+02] [-3.72989148e-01 9.27835705e-01 0.00000000e+00 -8.13714613e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43456540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.42140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.59, Y:-81.38, Z:0.01 [[ 9.27489365e-01 3.73849539e-01 0.00000000e+00 3.13591516e+02] [-3.73849539e-01 9.27489365e-01 0.00000000e+00 -8.13784496e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32912766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.62, Y:-81.38, Z:0.01 [[ 9.26147069e-01 3.77162573e-01 0.00000000e+00 3.13623934e+02] [-3.77162573e-01 9.26147069e-01 0.00000000e+00 -8.13838447e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39038119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.66, Y:-81.39, Z:0.01 [[ 9.25466970e-01 3.78828308e-01 0.00000000e+00 3.13655601e+02] [-3.78828308e-01 9.25466970e-01 0.00000000e+00 -8.13910006e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42983447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.69, Y:-81.40, Z:0.01 [[ 9.25069685e-01 3.79797418e-01 0.00000000e+00 3.13687989e+02] [-3.79797418e-01 9.25069685e-01 0.00000000e+00 -8.13982132e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31550245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.72, Y:-81.40, Z:0.01 [[ 9.25346571e-01 3.79122307e-01 0.00000000e+00 3.13720203e+02] [-3.79122307e-01 9.25346571e-01 0.00000000e+00 -8.14024828e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.60857227e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.75, Y:-81.41, Z:0.01 [[ 9.25645601e-01 3.78391624e-01 0.00000000e+00 3.13752579e+02] [-3.78391624e-01 9.25645601e-01 0.00000000e+00 -8.14102882e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.30891530e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.78, Y:-81.42, Z:0.01 [[ 9.25947826e-01 3.77651457e-01 0.00000000e+00 3.13784991e+02] [-3.77651457e-01 9.25947826e-01 0.00000000e+00 -8.14187265e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.15785890e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.82, Y:-81.43, Z:0.01 [[ 9.26067508e-01 3.77357880e-01 0.00000000e+00 3.13816285e+02] [-3.77357880e-01 9.26067508e-01 0.00000000e+00 -8.14265449e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.41835334e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.85, Y:-81.43, Z:0.01 [[ 9.25982944e-01 3.77565342e-01 0.00000000e+00 3.13848652e+02] [-3.77565342e-01 9.25982944e-01 0.00000000e+00 -8.14342084e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.01359773e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.88, Y:-81.44, Z:0.01 [[ 9.25814868e-01 3.77977287e-01 0.00000000e+00 3.13880184e+02] [-3.77977287e-01 9.25814868e-01 0.00000000e+00 -8.14411532e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.04222095e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.91, Y:-81.45, Z:0.01 [[ 9.25963125e-01 3.77613945e-01 0.00000000e+00 3.13912634e+02] [-3.77613945e-01 9.25963125e-01 0.00000000e+00 -8.14456106e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.41445754e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.95, Y:-81.45, Z:0.01 [[ 9.26348461e-01 3.76667663e-01 0.00000000e+00 3.13945140e+02] [-3.76667663e-01 9.26348461e-01 0.00000000e+00 -8.14533084e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.53163919e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.98, Y:-81.46, Z:0.01 [[ 9.26283038e-01 3.76828520e-01 0.00000000e+00 3.13977096e+02] [-3.76828520e-01 9.26283038e-01 0.00000000e+00 -8.14632815e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.53163919e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.01, Y:-81.47, Z:0.01 [[ 9.26786669e-01 3.75588165e-01 0.00000000e+00 3.14009298e+02] [-3.75588165e-01 9.26786669e-01 0.00000000e+00 -8.14713400e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.93676617e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.04, Y:-81.48, Z:0.01 [[ 9.28086553e-01 3.72364539e-01 0.00000000e+00 3.14042321e+02] [-3.72364539e-01 9.28086553e-01 0.00000000e+00 -8.14773914e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.73506533e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.07, Y:-81.49, Z:0.01 [[ 9.28823171e-01 3.70523302e-01 0.00000000e+00 3.14072877e+02] [-3.70523302e-01 9.28823171e-01 0.00000000e+00 -8.14852612e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07150048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.10, Y:-81.49, Z:0.01 [[ 9.29689892e-01 3.68343188e-01 0.00000000e+00 3.14104694e+02] [-3.68343188e-01 9.29689892e-01 0.00000000e+00 -8.14940675e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21650726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.14, Y:-81.50, Z:0.01 [[ 9.30597476e-01 3.66044175e-01 0.00000000e+00 3.14135450e+02] [-3.66044175e-01 9.30597476e-01 0.00000000e+00 -8.15030581e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21292351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.17, Y:-81.51, Z:0.01 [[ 9.32579488e-01 3.60964678e-01 0.00000000e+00 3.14166698e+02] [-3.60964678e-01 9.32579488e-01 0.00000000e+00 -8.15120348e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15688160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.20, Y:-81.52, Z:0.01 [[ 9.33615565e-01 3.58276397e-01 0.00000000e+00 3.14196905e+02] [-3.58276397e-01 9.33615565e-01 0.00000000e+00 -8.15214138e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32235030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.23, Y:-81.53, Z:0.02 [[ 9.34767894e-01 3.55259037e-01 0.00000000e+00 3.14227787e+02] [-3.55259037e-01 9.34767894e-01 0.00000000e+00 -8.15318512e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61831938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.26, Y:-81.54, Z:0.02 [[ 9.35867922e-01 3.52351009e-01 0.00000000e+00 3.14258049e+02] [-3.52351009e-01 9.35867922e-01 0.00000000e+00 -8.15425111e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91790479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.29, Y:-81.55, Z:0.02 [[ 9.36810919e-01 3.49836108e-01 0.00000000e+00 3.14288766e+02] [-3.49836108e-01 9.36810919e-01 0.00000000e+00 -8.15528116e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09689166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.32, Y:-81.56, Z:0.02 [[ 9.38044485e-01 3.46514855e-01 0.00000000e+00 3.14320281e+02] [-3.46514855e-01 9.38044485e-01 0.00000000e+00 -8.15638581e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74898431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.35, Y:-81.57, Z:0.02 [[ 9.38137533e-01 3.46262861e-01 0.00000000e+00 3.14349983e+02] [-3.46262861e-01 9.38137533e-01 0.00000000e+00 -8.15744481e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55457273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.38, Y:-81.59, Z:0.01 [[ 9.37933266e-01 3.46815784e-01 0.00000000e+00 3.14380465e+02] [-3.46815784e-01 9.37933266e-01 0.00000000e+00 -8.15850146e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35745911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.41, Y:-81.60, Z:0.01 [[ 9.37483615e-01 3.48029411e-01 0.00000000e+00 3.14411765e+02] [-3.48029411e-01 9.37483615e-01 0.00000000e+00 -8.15953878e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26242098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.44, Y:-81.60, Z:0.01 [[ 9.36107781e-01 3.51713268e-01 0.00000000e+00 3.14442180e+02] [-3.51713268e-01 9.36107781e-01 0.00000000e+00 -8.16029156e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35747111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.47, Y:-81.61, Z:0.01 [[ 9.35276341e-01 3.53918304e-01 0.00000000e+00 3.14473137e+02] [-3.53918304e-01 9.35276341e-01 0.00000000e+00 -8.16118642e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29865301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.50, Y:-81.62, Z:0.01 [[ 9.34520239e-01 3.55909994e-01 0.00000000e+00 3.14504536e+02] [-3.55909994e-01 9.34520239e-01 0.00000000e+00 -8.16213691e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13801004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.54, Y:-81.63, Z:0.01 [[ 9.33915666e-01 3.57493396e-01 0.00000000e+00 3.14535634e+02] [-3.57493396e-01 9.33915666e-01 0.00000000e+00 -8.16299414e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.50883138e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.57, Y:-81.64, Z:0.01 [[ 9.33639509e-01 3.58213997e-01 0.00000000e+00 3.14565425e+02] [-3.58213997e-01 9.33639509e-01 0.00000000e+00 -8.16369764e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.19704715e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.60, Y:-81.64, Z:0.01 [[ 9.33434792e-01 3.58747111e-01 0.00000000e+00 3.14597524e+02] [-3.58747111e-01 9.33434792e-01 0.00000000e+00 -8.16446777e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.53299983e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.63, Y:-81.65, Z:0.01 [[ 9.33588894e-01 3.58345890e-01 0.00000000e+00 3.14628494e+02] [-3.58345890e-01 9.33588894e-01 0.00000000e+00 -8.16543254e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25153344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.66, Y:-81.67, Z:0.01 [[ 9.34000711e-01 3.57271147e-01 0.00000000e+00 3.14659527e+02] [-3.57271147e-01 9.34000711e-01 0.00000000e+00 -8.16654538e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34274375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.69, Y:-81.68, Z:0.01 [[ 9.34545128e-01 3.55844633e-01 0.00000000e+00 3.14690228e+02] [-3.55844633e-01 9.34545128e-01 0.00000000e+00 -8.16754901e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21717303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.72, Y:-81.68, Z:0.01 [[ 9.35120097e-01 3.54330926e-01 0.00000000e+00 3.14721058e+02] [-3.54330926e-01 9.35120097e-01 0.00000000e+00 -8.16844031e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04494918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.75, Y:-81.69, Z:0.01 [[ 9.35420357e-01 3.53537488e-01 0.00000000e+00 3.14752381e+02] [-3.53537488e-01 9.35420357e-01 0.00000000e+00 -8.16948977e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16730375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.78, Y:-81.71, Z:0.01 [[ 9.35202953e-01 3.54112181e-01 0.00000000e+00 3.14782854e+02] [-3.54112181e-01 9.35202953e-01 0.00000000e+00 -8.17066342e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42284522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.81, Y:-81.72, Z:0.02 [[ 9.34866837e-01 3.54998587e-01 0.00000000e+00 3.14814262e+02] [-3.54998587e-01 9.34866837e-01 0.00000000e+00 -8.17183544e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60869519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.84, Y:-81.73, Z:0.02 [[ 9.34347845e-01 3.56362322e-01 0.00000000e+00 3.14844334e+02] [-3.56362322e-01 9.34347845e-01 0.00000000e+00 -8.17286152e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66929459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.88, Y:-81.74, Z:0.02 [[ 9.33680580e-01 3.58106931e-01 0.00000000e+00 3.14875428e+02] [-3.58106931e-01 9.33680580e-01 0.00000000e+00 -8.17383361e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61895256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.91, Y:-81.75, Z:0.01 [[ 9.32323013e-01 3.61626601e-01 0.00000000e+00 3.14906477e+02] [-3.61626601e-01 9.32323013e-01 0.00000000e+00 -8.17478982e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45475046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.94, Y:-81.76, Z:0.01 [[ 9.31532644e-01 3.63657715e-01 0.00000000e+00 3.14936820e+02] [-3.63657715e-01 9.31532644e-01 0.00000000e+00 -8.17568173e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44370718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.97, Y:-81.77, Z:0.01 [[ 9.30742219e-01 3.65675979e-01 0.00000000e+00 3.14968585e+02] [-3.65675979e-01 9.30742219e-01 0.00000000e+00 -8.17655146e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40695696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.00, Y:-81.77, Z:0.01 [[ 9.30122421e-01 3.67249619e-01 0.00000000e+00 3.14999162e+02] [-3.67249619e-01 9.30122421e-01 0.00000000e+00 -8.17734202e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28811736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.03, Y:-81.78, Z:0.01 [[ 9.29615962e-01 3.68529733e-01 0.00000000e+00 3.15030007e+02] [-3.68529733e-01 9.29615962e-01 0.00000000e+00 -8.17810385e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.84306714e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.06, Y:-81.79, Z:0.01 [[ 9.29553158e-01 3.68688115e-01 0.00000000e+00 3.15061520e+02] [-3.68688115e-01 9.29553158e-01 0.00000000e+00 -8.17910213e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.38051232e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.09, Y:-81.80, Z:0.01 [[ 9.29555080e-01 3.68683271e-01 0.00000000e+00 3.15091834e+02] [-3.68683271e-01 9.29555080e-01 0.00000000e+00 -8.18006198e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07998438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.12, Y:-81.81, Z:0.01 [[ 9.29656455e-01 3.68427572e-01 0.00000000e+00 3.15123643e+02] [-3.68427572e-01 9.29656455e-01 0.00000000e+00 -8.18101660e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25426670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.92140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.15, Y:-81.82, Z:0.01 [[ 9.29827715e-01 3.67995137e-01 0.00000000e+00 3.15154236e+02] [-3.67995137e-01 9.29827715e-01 0.00000000e+00 -8.18184761e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38238549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.18, Y:-81.83, Z:0.01 [[ 9.29909218e-01 3.67789134e-01 0.00000000e+00 3.15184751e+02] [-3.67789134e-01 9.29909218e-01 0.00000000e+00 -8.18268280e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39316780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.22, Y:-81.84, Z:0.01 [[ 9.29384462e-01 3.69113156e-01 0.00000000e+00 3.15215701e+02] [-3.69113156e-01 9.29384462e-01 0.00000000e+00 -8.18352385e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07953331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.25, Y:-81.84, Z:0.01 [[ 9.29042373e-01 3.69973337e-01 0.00000000e+00 3.15246081e+02] [-3.69973337e-01 9.29042373e-01 0.00000000e+00 -8.18443721e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.40257592e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.041400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:315.28, Y:-81.85, Z:0.01 [[ 9.28776039e-01 3.70641429e-01 0.00000000e+00 3.15275498e+02] [-3.70641429e-01 9.28776039e-01 0.00000000e+00 -8.18531999e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.37419355e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.31, Y:-81.86, Z:0.01 [[ 9.28417585e-01 3.71538408e-01 0.00000000e+00 3.15305101e+02] [-3.71538408e-01 9.28417585e-01 0.00000000e+00 -8.18632912e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.99552792e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.33, Y:-81.87, Z:0.01 [[ 9.28287538e-01 3.71863210e-01 0.00000000e+00 3.15332666e+02] [-3.71863210e-01 9.28287538e-01 0.00000000e+00 -8.18728535e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.13071526e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.36, Y:-81.88, Z:0.01 [[ 9.28074246e-01 3.72395212e-01 0.00000000e+00 3.15361710e+02] [-3.72395212e-01 9.28074246e-01 0.00000000e+00 -8.18829720e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01654980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.39, Y:-81.89, Z:0.01 [[ 9.27742451e-01 3.73221041e-01 0.00000000e+00 3.15392856e+02] [-3.73221041e-01 9.27742451e-01 0.00000000e+00 -8.18935431e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10272016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.42, Y:-81.90, Z:0.01 [[ 9.27389267e-01 3.74097778e-01 0.00000000e+00 3.15422201e+02] [-3.74097778e-01 9.27389267e-01 0.00000000e+00 -8.19031411e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14211739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.45, Y:-81.91, Z:0.01 [[ 9.27045196e-01 3.74949604e-01 0.00000000e+00 3.15451995e+02] [-3.74949604e-01 9.27045196e-01 0.00000000e+00 -8.19126882e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22222332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.251400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:315.48, Y:-81.92, Z:0.01 [[ 9.26433832e-01 3.76457640e-01 0.00000000e+00 3.15482640e+02] [-3.76457640e-01 9.26433832e-01 0.00000000e+00 -8.19244655e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25066514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.51, Y:-81.94, Z:0.01 [[ 9.26032258e-01 3.77444375e-01 0.00000000e+00 3.15512805e+02] [-3.77444375e-01 9.26032258e-01 0.00000000e+00 -8.19350282e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11988534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.54, Y:-81.94, Z:0.01 [[ 9.25576646e-01 3.78560262e-01 0.00000000e+00 3.15544775e+02] [-3.78560262e-01 9.25576646e-01 0.00000000e+00 -8.19448330e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.18216445e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.57, Y:-81.95, Z:0.01 [[ 9.24878436e-01 3.80262906e-01 0.00000000e+00 3.15574727e+02] [-3.80262906e-01 9.24878436e-01 0.00000000e+00 -8.19533288e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.69863271e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.60, Y:-81.96, Z:0.01 [[ 9.24994376e-01 3.79980795e-01 0.00000000e+00 3.15603046e+02] [-3.79980795e-01 9.24994376e-01 0.00000000e+00 -8.19634103e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.12712740e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.63, Y:-81.97, Z:0.01 [[ 9.25433867e-01 3.78909167e-01 0.00000000e+00 3.15633632e+02] [-3.78909167e-01 9.25433867e-01 0.00000000e+00 -8.19747886e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.63569901e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.66, Y:-81.99, Z:0.01 [[ 9.25987209e-01 3.77554882e-01 0.00000000e+00 3.15662475e+02] [-3.77554882e-01 9.25987209e-01 0.00000000e+00 -8.19853064e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.74899020e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.69, Y:-82.00, Z:0.01 [[ 9.27073176e-01 3.74880417e-01 0.00000000e+00 3.15694358e+02] [-3.74880417e-01 9.27073176e-01 0.00000000e+00 -8.19953611e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19072558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.73, Y:-82.00, Z:0.01 [[ 9.27226146e-01 3.74501900e-01 0.00000000e+00 3.15725589e+02] [-3.74501900e-01 9.27226146e-01 0.00000000e+00 -8.20047943e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40491965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.76, Y:-82.01, Z:0.02 [[ 9.27128148e-01 3.74744441e-01 0.00000000e+00 3.15755678e+02] [-3.74744441e-01 9.27128148e-01 0.00000000e+00 -8.20140546e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60293394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.79, Y:-82.02, Z:0.02 [[ 9.26909515e-01 3.75284892e-01 0.00000000e+00 3.15785864e+02] [-3.75284892e-01 9.26909515e-01 0.00000000e+00 -8.20238098e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74082660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.82, Y:-82.03, Z:0.02 [[ 9.26745579e-01 3.75689541e-01 0.00000000e+00 3.15815058e+02] [-3.75689541e-01 9.26745579e-01 0.00000000e+00 -8.20333367e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76785597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.84, Y:-82.04, Z:0.01 [[ 9.26469727e-01 3.76369293e-01 0.00000000e+00 3.15844079e+02] [-3.76369293e-01 9.26469727e-01 0.00000000e+00 -8.20416614e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42227605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.87, Y:-82.05, Z:0.01 [[ 9.26436995e-01 3.76449857e-01 0.00000000e+00 3.15872834e+02] [-3.76449857e-01 9.26436995e-01 0.00000000e+00 -8.20495183e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20058153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.90, Y:-82.06, Z:0.01 [[ 9.26306514e-01 3.76770809e-01 0.00000000e+00 3.15903833e+02] [-3.76770809e-01 9.26306514e-01 0.00000000e+00 -8.20594072e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13542893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.94, Y:-82.07, Z:0.01 [[ 9.26238584e-01 3.76937775e-01 0.00000000e+00 3.15935704e+02] [-3.76937775e-01 9.26238584e-01 0.00000000e+00 -8.20696508e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13542893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.97, Y:-82.08, Z:0.01 [[ 9.26062840e-01 3.77369336e-01 0.00000000e+00 3.15965688e+02] [-3.77369336e-01 9.26062840e-01 0.00000000e+00 -8.20802644e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16624851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.99, Y:-82.09, Z:0.01 [[ 9.25854827e-01 3.77879397e-01 0.00000000e+00 3.15994743e+02] [-3.77879397e-01 9.25854827e-01 0.00000000e+00 -8.20908613e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17863721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.03, Y:-82.10, Z:0.01 [[ 9.25094708e-01 3.79736463e-01 0.00000000e+00 3.16025016e+02] [-3.79736463e-01 9.25094708e-01 0.00000000e+00 -8.20991727e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.96749566e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.05, Y:-82.11, Z:0.01 [[ 9.24241424e-01 3.81808578e-01 0.00000000e+00 3.16054078e+02] [-3.81808578e-01 9.24241424e-01 0.00000000e+00 -8.21064806e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.54062077e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.08, Y:-82.11, Z:0.01 [[ 9.22444853e-01 3.86128856e-01 0.00000000e+00 3.16083438e+02] [-3.86128856e-01 9.22444853e-01 0.00000000e+00 -8.21130392e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.74387584e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.11, Y:-82.12, Z:0.01 [[ 9.21757820e-01 3.87766066e-01 0.00000000e+00 3.16111368e+02] [-3.87766066e-01 9.21757820e-01 0.00000000e+00 -8.21205921e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.45961251e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.14, Y:-82.13, Z:0.01 [[ 9.21254620e-01 3.88960055e-01 0.00000000e+00 3.16140160e+02] [-3.88960055e-01 9.21254620e-01 0.00000000e+00 -8.21275693e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.01549842e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.17, Y:-82.13, Z:0.01 [[ 9.21164786e-01 3.89172759e-01 0.00000000e+00 3.16169463e+02] [-3.89172759e-01 9.21164786e-01 0.00000000e+00 -8.21347526e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.59809079e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.20, Y:-82.14, Z:0.01 [[ 9.21547158e-01 3.88266448e-01 0.00000000e+00 3.16197094e+02] [-3.88266448e-01 9.21547158e-01 0.00000000e+00 -8.21418950e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.50480030e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.23, Y:-82.15, Z:0.01 [[ 9.22373774e-01 3.86298616e-01 0.00000000e+00 3.16225913e+02] [-3.86298616e-01 9.22373774e-01 0.00000000e+00 -8.21494837e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.41582648e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.26, Y:-82.16, Z:0.01 [[ 9.24740917e-01 3.80597209e-01 0.00000000e+00 3.16255831e+02] [-3.80597209e-01 9.24740917e-01 0.00000000e+00 -8.21551262e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.62740566e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.28, Y:-82.16, Z:0.01 [[ 9.25966734e-01 3.77605096e-01 0.00000000e+00 3.16284678e+02] [-3.77605096e-01 9.25966734e-01 0.00000000e+00 -8.21628167e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.13797119e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.31, Y:-82.17, Z:0.01 [[ 9.26927502e-01 3.75240465e-01 0.00000000e+00 3.16312886e+02] [-3.75240465e-01 9.26927502e-01 0.00000000e+00 -8.21712612e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08660434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.34, Y:-82.18, Z:0.01 [[ 9.27663388e-01 3.73417514e-01 0.00000000e+00 3.16344123e+02] [-3.73417514e-01 9.27663388e-01 0.00000000e+00 -8.21803070e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14806835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.38, Y:-82.19, Z:0.01 [[ 9.28313027e-01 3.71799574e-01 0.00000000e+00 3.16376038e+02] [-3.71799574e-01 9.28313027e-01 0.00000000e+00 -8.21867921e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.42392369e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.41, Y:-82.20, Z:0.01 [[ 9.28418267e-01 3.71536702e-01 0.00000000e+00 3.16406343e+02] [-3.71536702e-01 9.28418267e-01 0.00000000e+00 -8.21955057e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.89118233e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.44, Y:-82.21, Z:0.01 [[ 9.28503145e-01 3.71324533e-01 0.00000000e+00 3.16435148e+02] [-3.71324533e-01 9.28503145e-01 0.00000000e+00 -8.22051870e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12056754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.24140051300003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:316.46, Y:-82.22, Z:0.01 [[ 9.28756465e-01 3.70690474e-01 0.00000000e+00 3.16462892e+02] [-3.70690474e-01 9.28756465e-01 0.00000000e+00 -8.22150694e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37077288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.49, Y:-82.23, Z:0.01 [[ 9.28924354e-01 3.70269556e-01 0.00000000e+00 3.16492691e+02] [-3.70269556e-01 9.28924354e-01 0.00000000e+00 -8.22261349e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49482789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.52, Y:-82.24, Z:0.01 [[ 9.29132762e-01 3.69746279e-01 0.00000000e+00 3.16522401e+02] [-3.69746279e-01 9.29132762e-01 0.00000000e+00 -8.22367139e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46911290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.55, Y:-82.25, Z:0.01 [[ 9.29290583e-01 3.69349446e-01 0.00000000e+00 3.16550772e+02] [-3.69349446e-01 9.29290583e-01 0.00000000e+00 -8.22470345e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16108811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.58, Y:-82.26, Z:0.01 [[ 9.29103943e-01 3.69818689e-01 0.00000000e+00 3.16580008e+02] [-3.69818689e-01 9.29103943e-01 0.00000000e+00 -8.22570353e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13843484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.61, Y:-82.27, Z:0.01 [[ 9.28664710e-01 3.70920282e-01 0.00000000e+00 3.16608519e+02] [-3.70920282e-01 9.28664710e-01 0.00000000e+00 -8.22661555e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15853017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.42140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.64, Y:-82.28, Z:0.01 [[ 9.27871923e-01 3.72899040e-01 0.00000000e+00 3.16636742e+02] [-3.72899040e-01 9.27871923e-01 0.00000000e+00 -8.22752462e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11245851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.66, Y:-82.28, Z:0.01 [[ 9.25521659e-01 3.78694677e-01 0.00000000e+00 3.16664905e+02] [-3.78694677e-01 9.25521659e-01 0.00000000e+00 -8.22848217e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.12170849e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.69, Y:-82.29, Z:0.01 [[ 9.24432376e-01 3.81346014e-01 0.00000000e+00 3.16693649e+02] [-3.81346014e-01 9.24432376e-01 0.00000000e+00 -8.22947347e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.57766744e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.72, Y:-82.30, Z:0.01 [[ 9.23566761e-01 3.83437659e-01 0.00000000e+00 3.16721165e+02] [-3.83437659e-01 9.23566761e-01 0.00000000e+00 -8.23031919e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.67290661e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.75, Y:-82.31, Z:0.01 [[ 9.22866941e-01 3.85118954e-01 0.00000000e+00 3.16747656e+02] [-3.85118954e-01 9.22866941e-01 0.00000000e+00 -8.23104847e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.62472842e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.78, Y:-82.32, Z:0.01 [[ 9.22456509e-01 3.86101010e-01 0.00000000e+00 3.16775582e+02] [-3.86101010e-01 9.22456509e-01 0.00000000e+00 -8.23179289e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.51605954e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.80, Y:-82.32, Z:0.01 [[ 9.22737855e-01 3.85428139e-01 0.00000000e+00 3.16803285e+02] [-3.85428139e-01 9.22737855e-01 0.00000000e+00 -8.23247450e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.07436705e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.83, Y:-82.33, Z:0.01 [[ 9.23296057e-01 3.84089041e-01 0.00000000e+00 3.16830610e+02] [-3.84089041e-01 9.23296057e-01 0.00000000e+00 -8.23326698e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.16622916e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.86, Y:-82.34, Z:0.01 [[ 9.23857707e-01 3.82736120e-01 0.00000000e+00 3.16861210e+02] [-3.82736120e-01 9.23857707e-01 0.00000000e+00 -8.23418281e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.80482028e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.89, Y:-82.35, Z:0.01 [[ 9.24551955e-01 3.81056010e-01 0.00000000e+00 3.16890229e+02] [-3.81056010e-01 9.24551955e-01 0.00000000e+00 -8.23498527e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.22297978e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.92, Y:-82.36, Z:0.01 [[ 9.25348675e-01 3.79117172e-01 0.00000000e+00 3.16919048e+02] [-3.79117172e-01 9.25348675e-01 0.00000000e+00 -8.23570405e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.57069603e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.751400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:316.95, Y:-82.36, Z:0.01 [[ 9.27217917e-01 3.74522275e-01 0.00000000e+00 3.16950106e+02] [-3.74522275e-01 9.27217917e-01 0.00000000e+00 -8.23640048e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.31013837e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.98, Y:-82.37, Z:0.01 [[ 9.28209980e-01 3.72056761e-01 0.00000000e+00 3.16978424e+02] [-3.72056761e-01 9.28209980e-01 0.00000000e+00 -8.23733120e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.22220510e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.01, Y:-82.38, Z:0.01 [[ 9.29478016e-01 3.68877510e-01 0.00000000e+00 3.17008594e+02] [-3.68877510e-01 9.29478016e-01 0.00000000e+00 -8.23826226e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.71761011e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.04, Y:-82.39, Z:0.01 [[ 9.30819059e-01 3.65480340e-01 0.00000000e+00 3.17038074e+02] [-3.65480340e-01 9.30819059e-01 0.00000000e+00 -8.23909577e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.25306132e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.07, Y:-82.40, Z:0.01 [[ 9.32038091e-01 3.62360313e-01 0.00000000e+00 3.17068590e+02] [-3.62360313e-01 9.32038091e-01 0.00000000e+00 -8.23998090e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.08768186e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.10, Y:-82.41, Z:0.01 [[ 9.34204481e-01 3.56737983e-01 0.00000000e+00 3.17099067e+02] [-3.56737983e-01 9.34204481e-01 0.00000000e+00 -8.24100245e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.33278882e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.13, Y:-82.42, Z:0.01 [[ 9.35157604e-01 3.54231924e-01 0.00000000e+00 3.17128709e+02] [-3.54231924e-01 9.35157604e-01 0.00000000e+00 -8.24209120e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.15836196e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.16, Y:-82.43, Z:0.01 [[ 9.36154808e-01 3.51588076e-01 0.00000000e+00 3.17155753e+02] [-3.51588076e-01 9.36154808e-01 0.00000000e+00 -8.24300305e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.82491960e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.19, Y:-82.44, Z:0.01 [[ 9.36940316e-01 3.49489406e-01 0.00000000e+00 3.17187003e+02] [-3.49489406e-01 9.36940316e-01 0.00000000e+00 -8.24403489e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.93302974e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.22, Y:-82.45, Z:0.01 [[ 9.38162225e-01 3.46195955e-01 0.00000000e+00 3.17217942e+02] [-3.46195955e-01 9.38162225e-01 0.00000000e+00 -8.24513028e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16921556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.25, Y:-82.46, Z:0.01 [[ 9.38476320e-01 3.45343592e-01 0.00000000e+00 3.17248603e+02] [-3.45343592e-01 9.38476320e-01 0.00000000e+00 -8.24619343e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19986417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.28, Y:-82.47, Z:0.01 [[ 9.38696683e-01 3.44744161e-01 0.00000000e+00 3.17279578e+02] [-3.44744161e-01 9.38696683e-01 0.00000000e+00 -8.24720116e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13868959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.31, Y:-82.48, Z:0.01 [[ 9.38986252e-01 3.43954676e-01 0.00000000e+00 3.17310374e+02] [-3.43954676e-01 9.38986252e-01 0.00000000e+00 -8.24814856e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01205179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.34, Y:-82.49, Z:0.01 [[ 9.39387108e-01 3.42858369e-01 0.00000000e+00 3.17342037e+02] [-3.42858369e-01 9.39387108e-01 0.00000000e+00 -8.24911808e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.74310038e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.37, Y:-82.50, Z:0.01 [[ 9.40338400e-01 3.40240640e-01 0.00000000e+00 3.17372442e+02] [-3.40240640e-01 9.40338400e-01 0.00000000e+00 -8.25003863e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.72663127e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.40, Y:-82.51, Z:0.01 [[ 9.40846306e-01 3.38833631e-01 0.00000000e+00 3.17403708e+02] [-3.38833631e-01 9.40846306e-01 0.00000000e+00 -8.25098556e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.88308920e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.44, Y:-82.52, Z:0.01 [[ 9.41455756e-01 3.37136560e-01 0.00000000e+00 3.17435117e+02] [-3.37136560e-01 9.41455756e-01 0.00000000e+00 -8.25187022e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.94521835e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.47, Y:-82.53, Z:0.01 [[ 9.42146312e-01 3.35201920e-01 0.00000000e+00 3.17466375e+02] [-3.35201920e-01 9.42146312e-01 0.00000000e+00 -8.25271603e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04447442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.49, Y:-82.53, Z:0.01 [[ 9.43355740e-01 3.31782984e-01 0.00000000e+00 3.17494532e+02] [-3.31782984e-01 9.43355740e-01 0.00000000e+00 -8.25323484e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42733554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.52, Y:-82.54, Z:0.01 [[ 9.43836381e-01 3.30413206e-01 0.00000000e+00 3.17524507e+02] [-3.30413206e-01 9.43836381e-01 0.00000000e+00 -8.25398078e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40573389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.56, Y:-82.55, Z:0.01 [[ 9.44344628e-01 3.28957783e-01 0.00000000e+00 3.17555915e+02] [-3.28957783e-01 9.44344628e-01 0.00000000e+00 -8.25476460e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29541011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.381400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:317.59, Y:-82.55, Z:0.01 [[ 9.45033016e-01 3.26974922e-01 0.00000000e+00 3.17587812e+02] [-3.26974922e-01 9.45033016e-01 0.00000000e+00 -8.25547110e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13671996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.62, Y:-82.56, Z:0.01 [[ 9.45779549e-01 3.24809242e-01 0.00000000e+00 3.17619455e+02] [-3.24809242e-01 9.45779549e-01 0.00000000e+00 -8.25619466e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07462238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.65, Y:-82.57, Z:0.01 [[ 9.46819169e-01 3.21766160e-01 0.00000000e+00 3.17648888e+02] [-3.21766160e-01 9.46819169e-01 0.00000000e+00 -8.25684882e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14130358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.68, Y:-82.57, Z:0.01 [[ 9.49217155e-01 3.14621666e-01 0.00000000e+00 3.17680676e+02] [-3.14621666e-01 9.49217155e-01 0.00000000e+00 -8.25748350e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28676822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.71, Y:-82.58, Z:0.01 [[ 9.50360767e-01 3.11150144e-01 0.00000000e+00 3.17712229e+02] [-3.11150144e-01 9.50360767e-01 0.00000000e+00 -8.25830495e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18185131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.74, Y:-82.59, Z:0.01 [[ 9.51483238e-01 3.07700582e-01 0.00000000e+00 3.17743822e+02] [-3.07700582e-01 9.51483238e-01 0.00000000e+00 -8.25908010e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04549038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.78, Y:-82.59, Z:0.01 [[ 9.53445711e-01 3.01564714e-01 0.00000000e+00 3.17775181e+02] [-3.01564714e-01 9.53445711e-01 0.00000000e+00 -8.25945132e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04985646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.80, Y:-82.60, Z:0.01 [[ 9.53452963e-01 3.01541783e-01 0.00000000e+00 3.17803914e+02] [-3.01541783e-01 9.53452963e-01 0.00000000e+00 -8.26037098e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04985646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.83, Y:-82.61, Z:0.01 [[ 9.54189205e-01 2.99203878e-01 0.00000000e+00 3.17833011e+02] [-2.99203878e-01 9.54189205e-01 0.00000000e+00 -8.26101886e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13279795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.86, Y:-82.62, Z:0.01 [[ 9.54703565e-01 2.97558571e-01 0.00000000e+00 3.17862045e+02] [-2.97558571e-01 9.54703565e-01 0.00000000e+00 -8.26171522e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13923605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.89, Y:-82.62, Z:0.01 [[ 9.55165040e-01 2.96073887e-01 0.00000000e+00 3.17890669e+02] [-2.96073887e-01 9.55165040e-01 0.00000000e+00 -8.26232449e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06983009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.92, Y:-82.63, Z:0.01 [[ 9.55520021e-01 2.94926243e-01 0.00000000e+00 3.17918055e+02] [-2.94926243e-01 9.55520021e-01 0.00000000e+00 -8.26284188e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.72292976e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.95, Y:-82.63, Z:0.01 [[ 9.55939548e-01 2.93563589e-01 0.00000000e+00 3.17947891e+02] [-2.93563589e-01 9.55939548e-01 0.00000000e+00 -8.26309305e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.64095245e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.97, Y:-82.64, Z:0.01 [[ 9.56118409e-01 2.92980526e-01 0.00000000e+00 3.17974927e+02] [-2.92980526e-01 9.56118409e-01 0.00000000e+00 -8.26362600e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.67789624e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.00, Y:-82.64, Z:0.01 [[ 9.56248507e-01 2.92555622e-01 0.00000000e+00 3.18002982e+02] [-2.92555622e-01 9.56248507e-01 0.00000000e+00 -8.26418217e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.28856430e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.03, Y:-82.65, Z:0.01 [[ 9.56416339e-01 2.92006485e-01 0.00000000e+00 3.18031490e+02] [-2.92006485e-01 9.56416339e-01 0.00000000e+00 -8.26475128e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.44360915e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.86140051300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:318.06, Y:-82.65, Z:0.01 [[ 9.56649960e-01 2.91240200e-01 0.00000000e+00 3.18059000e+02] [-2.91240200e-01 9.56649960e-01 0.00000000e+00 -8.26530269e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.68136652e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.09, Y:-82.66, Z:0.01 [[ 9.56866120e-01 2.90529222e-01 0.00000000e+00 3.18085721e+02] [-2.90529222e-01 9.56866120e-01 0.00000000e+00 -8.26592509e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.78639778e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.92140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.11, Y:-82.67, Z:0.01 [[ 9.57319821e-01 2.89030726e-01 0.00000000e+00 3.18112614e+02] [-2.89030726e-01 9.57319821e-01 0.00000000e+00 -8.26656491e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.02286902e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.951400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:318.14, Y:-82.67, Z:0.00 [[ 9.57381944e-01 2.88824883e-01 0.00000000e+00 3.18139640e+02] [-2.88824883e-01 9.57381944e-01 0.00000000e+00 -8.26734228e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.09431012e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.17, Y:-82.68, Z:0.00 [[ 9.57283555e-01 2.89150818e-01 0.00000000e+00 3.18167086e+02] [-2.89150818e-01 9.57283555e-01 0.00000000e+00 -8.26813980e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.40667192e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.19, Y:-82.69, Z:0.00 [[ 9.57032961e-01 2.89979157e-01 0.00000000e+00 3.18194232e+02] [-2.89979157e-01 9.57032961e-01 0.00000000e+00 -8.26887469e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.87990140e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.22, Y:-82.70, Z:0.01 [[ 9.56547730e-01 2.91575787e-01 0.00000000e+00 3.18222380e+02] [-2.91575787e-01 9.56547730e-01 0.00000000e+00 -8.26966977e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.95594356e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.25, Y:-82.70, Z:0.01 [[ 9.54901605e-01 2.96922423e-01 0.00000000e+00 3.18249980e+02] [-2.96922423e-01 9.54901605e-01 0.00000000e+00 -8.27040014e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11116558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.28, Y:-82.71, Z:0.01 [[ 9.53964567e-01 2.99919331e-01 0.00000000e+00 3.18276127e+02] [-2.99919331e-01 9.53964567e-01 0.00000000e+00 -8.27117597e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11621381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.30, Y:-82.72, Z:0.01 [[ 9.52999840e-01 3.02970798e-01 0.00000000e+00 3.18303569e+02] [-3.02970798e-01 9.52999840e-01 0.00000000e+00 -8.27194434e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.11112924e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.33, Y:-82.73, Z:0.01 [[ 9.52079220e-01 3.05851529e-01 0.00000000e+00 3.18330579e+02] [-3.05851529e-01 9.52079220e-01 0.00000000e+00 -8.27274285e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.76991871e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.36, Y:-82.74, Z:0.01 [[ 9.51140931e-01 3.08757071e-01 0.00000000e+00 3.18357290e+02] [-3.08757071e-01 9.51140931e-01 0.00000000e+00 -8.27365113e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.48801426e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.38, Y:-82.75, Z:0.01 [[ 9.49545094e-01 3.13630537e-01 0.00000000e+00 3.18384006e+02] [-3.13630537e-01 9.49545094e-01 0.00000000e+00 -8.27475590e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.52210484e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.41, Y:-82.76, Z:0.01 [[ 9.48942651e-01 3.15448640e-01 0.00000000e+00 3.18409934e+02] [-3.15448640e-01 9.48942651e-01 0.00000000e+00 -8.27562054e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08546761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.44, Y:-82.76, Z:0.01 [[ 9.48286799e-01 3.17414788e-01 0.00000000e+00 3.18436290e+02] [-3.17414788e-01 9.48286799e-01 0.00000000e+00 -8.27639019e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02281646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.46, Y:-82.77, Z:0.01 [[ 9.47493820e-01 3.19774077e-01 0.00000000e+00 3.18463379e+02] [-3.19774077e-01 9.47493820e-01 0.00000000e+00 -8.27711267e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.59213515e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.341400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:318.49, Y:-82.78, Z:0.01 [[ 9.45325805e-01 3.26127464e-01 0.00000000e+00 3.18490065e+02] [-3.26127464e-01 9.45325805e-01 0.00000000e+00 -8.27767552e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06415433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.52, Y:-82.78, Z:0.01 [[ 9.44002037e-01 3.29939621e-01 0.00000000e+00 3.18517716e+02] [-3.29939621e-01 9.44002037e-01 0.00000000e+00 -8.27832413e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22009624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.55, Y:-82.79, Z:0.01 [[ 9.42683851e-01 3.33687214e-01 0.00000000e+00 3.18545947e+02] [-3.33687214e-01 9.42683851e-01 0.00000000e+00 -8.27884932e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24651494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.57, Y:-82.79, Z:0.01 [[ 9.41362139e-01 3.37397871e-01 0.00000000e+00 3.18573471e+02] [-3.37397871e-01 9.41362139e-01 0.00000000e+00 -8.27928711e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16215498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.461400513 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:318.60, Y:-82.80, Z:0.01 [[ 9.40258524e-01 3.40461315e-01 0.00000000e+00 3.18600550e+02] [-3.40461315e-01 9.40258524e-01 0.00000000e+00 -8.27968699e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04233013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.63, Y:-82.80, Z:0.01 [[ 9.38331795e-01 3.45736087e-01 0.00000000e+00 3.18629431e+02] [-3.45736087e-01 9.38331795e-01 0.00000000e+00 -8.27996993e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.79273281e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.66, Y:-82.80, Z:0.01 [[ 9.37863827e-01 3.47003518e-01 0.00000000e+00 3.18656209e+02] [-3.47003518e-01 9.37863827e-01 0.00000000e+00 -8.28045306e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.68097593e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.68, Y:-82.81, Z:0.01 [[ 9.37731585e-01 3.47360726e-01 0.00000000e+00 3.18684535e+02] [-3.47360726e-01 9.37731585e-01 0.00000000e+00 -8.28092327e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07488377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.71, Y:-82.81, Z:0.01 [[ 9.37897211e-01 3.46913277e-01 0.00000000e+00 3.18711271e+02] [-3.46913277e-01 9.37897211e-01 0.00000000e+00 -8.28129361e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21949625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.74, Y:-82.81, Z:0.02 [[ 9.38599330e-01 3.45009127e-01 0.00000000e+00 3.18739922e+02] [-3.45009127e-01 9.38599330e-01 0.00000000e+00 -8.28139720e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58815254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.77, Y:-82.82, Z:0.02 [[ 9.38853878e-01 3.44315837e-01 0.00000000e+00 3.18766825e+02] [-3.44315837e-01 9.38853878e-01 0.00000000e+00 -8.28186257e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61035092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.79, Y:-82.82, Z:0.02 [[ 9.39009474e-01 3.43891272e-01 0.00000000e+00 3.18794496e+02] [-3.43891272e-01 9.39009474e-01 0.00000000e+00 -8.28235304e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55246163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.82, Y:-82.83, Z:0.01 [[ 9.39032972e-01 3.43827105e-01 0.00000000e+00 3.18822636e+02] [-3.43827105e-01 9.39032972e-01 0.00000000e+00 -8.28289618e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45186690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.85, Y:-82.83, Z:0.01 [[ 9.38987238e-01 3.43951982e-01 0.00000000e+00 3.18848895e+02] [-3.43951982e-01 9.38987238e-01 0.00000000e+00 -8.28344765e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36666704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.88, Y:-82.84, Z:0.01 [[ 9.38970994e-01 3.43996326e-01 0.00000000e+00 3.18876423e+02] [-3.43996326e-01 9.38970994e-01 0.00000000e+00 -8.28409812e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34523000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.90, Y:-82.85, Z:0.01 [[ 9.38470043e-01 3.45360650e-01 0.00000000e+00 3.18904362e+02] [-3.45360650e-01 9.38470043e-01 0.00000000e+00 -8.28464485e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40964909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.93, Y:-82.85, Z:0.01 [[ 9.38006515e-01 3.46617625e-01 0.00000000e+00 3.18931569e+02] [-3.46617625e-01 9.38006515e-01 0.00000000e+00 -8.28535514e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42523181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.96, Y:-82.86, Z:0.01 [[ 9.37327726e-01 3.48449041e-01 0.00000000e+00 3.18957508e+02] [-3.48449041e-01 9.37327726e-01 0.00000000e+00 -8.28602704e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47738477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.99, Y:-82.87, Z:0.01 [[ 9.35574541e-01 3.53129265e-01 0.00000000e+00 3.18985475e+02] [-3.53129265e-01 9.35574541e-01 0.00000000e+00 -8.28655597e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42642499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.01, Y:-82.87, Z:0.01 [[ 9.34749800e-01 3.55306644e-01 0.00000000e+00 3.19012003e+02] [-3.55306644e-01 9.34749800e-01 0.00000000e+00 -8.28715313e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34532474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.04, Y:-82.88, Z:0.01 [[ 9.33967194e-01 3.57358756e-01 0.00000000e+00 3.19039744e+02] [-3.57358756e-01 9.33967194e-01 0.00000000e+00 -8.28780008e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25080573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.07, Y:-82.88, Z:0.01 [[ 9.33153885e-01 3.59477157e-01 0.00000000e+00 3.19066034e+02] [-3.59477157e-01 9.33153885e-01 0.00000000e+00 -8.28846954e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08044535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.09, Y:-82.89, Z:0.01 [[ 9.32758498e-01 3.60501851e-01 0.00000000e+00 3.19092918e+02] [-3.60501851e-01 9.32758498e-01 0.00000000e+00 -8.28922460e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02871885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.12, Y:-82.90, Z:0.01 [[ 9.32665203e-01 3.60743149e-01 0.00000000e+00 3.19119823e+02] [-3.60743149e-01 9.32665203e-01 0.00000000e+00 -8.28994151e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11161747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.15, Y:-82.90, Z:0.01 [[ 9.33059689e-01 3.59721582e-01 0.00000000e+00 3.19147248e+02] [-3.59721582e-01 9.33059689e-01 0.00000000e+00 -8.29030666e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22740040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.17, Y:-82.91, Z:0.01 [[ 9.33402455e-01 3.58831237e-01 0.00000000e+00 3.19173417e+02] [-3.58831237e-01 9.33402455e-01 0.00000000e+00 -8.29089496e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18886323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.20, Y:-82.92, Z:0.01 [[ 9.33767861e-01 3.57879283e-01 0.00000000e+00 3.19200228e+02] [-3.57879283e-01 9.33767861e-01 0.00000000e+00 -8.29164959e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21793384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.23, Y:-82.92, Z:0.01 [[ 9.34148620e-01 3.56884232e-01 0.00000000e+00 3.19225783e+02] [-3.56884232e-01 9.34148620e-01 0.00000000e+00 -8.29247879e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18285289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.25, Y:-82.93, Z:0.01 [[ 9.34996933e-01 3.54655799e-01 0.00000000e+00 3.19251820e+02] [-3.54655799e-01 9.34996933e-01 0.00000000e+00 -8.29349174e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39790050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.28, Y:-82.94, Z:0.02 [[ 9.35596021e-01 3.53072351e-01 0.00000000e+00 3.19277626e+02] [-3.53072351e-01 9.35596021e-01 0.00000000e+00 -8.29438912e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56512964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.30, Y:-82.95, Z:0.02 [[ 9.36410690e-01 3.50905998e-01 0.00000000e+00 3.19304258e+02] [-3.50905998e-01 9.36410690e-01 0.00000000e+00 -8.29535211e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57284544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.33, Y:-82.96, Z:0.01 [[ 9.37281268e-01 3.48573988e-01 0.00000000e+00 3.19330821e+02] [-3.48573988e-01 9.37281268e-01 0.00000000e+00 -8.29637261e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46427070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.36, Y:-82.97, Z:0.01 [[ 9.38131723e-01 3.46278602e-01 0.00000000e+00 3.19356494e+02] [-3.46278602e-01 9.38131723e-01 0.00000000e+00 -8.29742142e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37453371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.38, Y:-82.98, Z:0.01 [[ 9.38832756e-01 3.44373427e-01 0.00000000e+00 3.19381797e+02] [-3.44373427e-01 9.38832756e-01 0.00000000e+00 -8.29848579e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34536225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.41, Y:-83.00, Z:0.01 [[ 9.39558750e-01 3.42387727e-01 0.00000000e+00 3.19407316e+02] [-3.42387727e-01 9.39558750e-01 0.00000000e+00 -8.29982385e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38058795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.43, Y:-83.01, Z:0.01 [[ 9.39629680e-01 3.42193023e-01 0.00000000e+00 3.19433717e+02] [-3.42193023e-01 9.39629680e-01 0.00000000e+00 -8.30092302e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40884853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.42140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.46, Y:-83.02, Z:0.01 [[ 9.39309926e-01 3.43069764e-01 0.00000000e+00 3.19458658e+02] [-3.43069764e-01 9.39309926e-01 0.00000000e+00 -8.30198151e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32413359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.49, Y:-83.03, Z:0.01 [[ 9.38612901e-01 3.44972205e-01 0.00000000e+00 3.19485214e+02] [-3.44972205e-01 9.38612901e-01 0.00000000e+00 -8.30303718e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27382814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.51, Y:-83.04, Z:0.01 [[ 9.38678139e-01 3.44794650e-01 0.00000000e+00 3.19512447e+02] [-3.44794650e-01 9.38678139e-01 0.00000000e+00 -8.30387675e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27382814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.54, Y:-83.05, Z:0.01 [[ 9.37678281e-01 3.47504592e-01 0.00000000e+00 3.19538011e+02] [-3.47504592e-01 9.37678281e-01 0.00000000e+00 -8.30483168e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23565490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.56, Y:-83.06, Z:0.01 [[ 9.36532251e-01 3.50581435e-01 0.00000000e+00 3.19564586e+02] [-3.50581435e-01 9.36532251e-01 0.00000000e+00 -8.30579152e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36872898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.59, Y:-83.07, Z:0.02 [[ 9.34359224e-01 3.56332487e-01 0.00000000e+00 3.19590455e+02] [-3.56332487e-01 9.34359224e-01 0.00000000e+00 -8.30696185e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66431060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.62, Y:-83.08, Z:0.02 [[ 9.33516049e-01 3.58535613e-01 0.00000000e+00 3.19616709e+02] [-3.58535613e-01 9.33516049e-01 0.00000000e+00 -8.30797539e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64503668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.64, Y:-83.09, Z:0.02 [[ 9.32651567e-01 3.60778401e-01 0.00000000e+00 3.19643137e+02] [-3.60778401e-01 9.32651567e-01 0.00000000e+00 -8.30897180e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54736953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.67, Y:-83.10, Z:0.01 [[ 9.31679017e-01 3.63282547e-01 0.00000000e+00 3.19669765e+02] [-3.63282547e-01 9.31679017e-01 0.00000000e+00 -8.30988746e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39058084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.70, Y:-83.11, Z:0.01 [[ 9.30750810e-01 3.65654111e-01 0.00000000e+00 3.19695551e+02] [-3.65654111e-01 9.30750810e-01 0.00000000e+00 -8.31068543e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28932527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.72, Y:-83.11, Z:0.01 [[ 9.29802926e-01 3.68057765e-01 0.00000000e+00 3.19722809e+02] [-3.68057765e-01 9.29802926e-01 0.00000000e+00 -8.31149729e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31054472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.75, Y:-83.12, Z:0.01 [[ 9.27978178e-01 3.72634541e-01 0.00000000e+00 3.19750133e+02] [-3.72634541e-01 9.27978178e-01 0.00000000e+00 -8.31217377e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39349213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.78, Y:-83.13, Z:0.01 [[ 9.27303188e-01 3.74311096e-01 0.00000000e+00 3.19777543e+02] [-3.74311096e-01 9.27303188e-01 0.00000000e+00 -8.31294531e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31366062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.80, Y:-83.14, Z:0.01 [[ 9.26885192e-01 3.75344963e-01 0.00000000e+00 3.19803668e+02] [-3.75344963e-01 9.26885192e-01 0.00000000e+00 -8.31364701e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18790319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.83, Y:-83.14, Z:0.01 [[ 9.26529254e-01 3.76222730e-01 0.00000000e+00 3.19831451e+02] [-3.76222730e-01 9.26529254e-01 0.00000000e+00 -8.31421033e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00482649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.86, Y:-83.15, Z:0.01 [[ 9.26695225e-01 3.75813731e-01 0.00000000e+00 3.19859104e+02] [-3.75813731e-01 9.26695225e-01 0.00000000e+00 -8.31486570e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10261948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.89, Y:-83.15, Z:0.01 [[ 9.26915664e-01 3.75269705e-01 0.00000000e+00 3.19886056e+02] [-3.75269705e-01 9.26915664e-01 0.00000000e+00 -8.31549953e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23605597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.91, Y:-83.16, Z:0.01 [[ 9.27113676e-01 3.74780244e-01 0.00000000e+00 3.19913832e+02] [-3.74780244e-01 9.27113676e-01 0.00000000e+00 -8.31614548e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41040693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.94, Y:-83.17, Z:0.02 [[ 9.27118197e-01 3.74769060e-01 0.00000000e+00 3.19941011e+02] [-3.74769060e-01 9.27118197e-01 0.00000000e+00 -8.31675640e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57076614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.97, Y:-83.17, Z:0.02 [[ 9.26855890e-01 3.75417315e-01 0.00000000e+00 3.19968734e+02] [-3.75417315e-01 9.26855890e-01 0.00000000e+00 -8.31734488e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65118590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.00, Y:-83.18, Z:0.01 [[ 9.25610451e-01 3.78477599e-01 0.00000000e+00 3.19996776e+02] [-3.78477599e-01 9.25610451e-01 0.00000000e+00 -8.31754139e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49937707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.02, Y:-83.18, Z:0.01 [[ 9.25000678e-01 3.79965454e-01 0.00000000e+00 3.20023999e+02] [-3.79965454e-01 9.25000678e-01 0.00000000e+00 -8.31804629e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37395397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.05, Y:-83.19, Z:0.01 [[ 9.24592486e-01 3.80957655e-01 0.00000000e+00 3.20052078e+02] [-3.80957655e-01 9.24592486e-01 0.00000000e+00 -8.31860032e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26751232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.08, Y:-83.19, Z:0.01 [[ 9.24539656e-01 3.81085849e-01 0.00000000e+00 3.20079205e+02] [-3.81085849e-01 9.24539656e-01 0.00000000e+00 -8.31913845e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16363364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.11, Y:-83.20, Z:0.01 [[ 9.24630967e-01 3.80864246e-01 0.00000000e+00 3.20105730e+02] [-3.80864246e-01 9.24630967e-01 0.00000000e+00 -8.31964011e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07306309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.13, Y:-83.20, Z:0.01 [[ 9.24833215e-01 3.80372874e-01 0.00000000e+00 3.20133518e+02] [-3.80372874e-01 9.24833215e-01 0.00000000e+00 -8.32016760e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06196893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.16, Y:-83.20, Z:0.01 [[ 9.25414149e-01 3.78957324e-01 0.00000000e+00 3.20161100e+02] [-3.78957324e-01 9.25414149e-01 0.00000000e+00 -8.32040534e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.73621916e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.19, Y:-83.21, Z:0.01 [[ 9.25660169e-01 3.78355986e-01 0.00000000e+00 3.20189055e+02] [-3.78355986e-01 9.25660169e-01 0.00000000e+00 -8.32097495e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.75982690e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.22, Y:-83.21, Z:0.01 [[ 9.26036513e-01 3.77433937e-01 0.00000000e+00 3.20217390e+02] [-3.77433937e-01 9.26036513e-01 0.00000000e+00 -8.32120300e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.91457684e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.24, Y:-83.22, Z:0.01 [[ 9.26170252e-01 3.77105640e-01 0.00000000e+00 3.20244011e+02] [-3.77105640e-01 9.26170252e-01 0.00000000e+00 -8.32167030e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.99091702e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.27, Y:-83.22, Z:0.01 [[ 9.26405677e-01 3.76526919e-01 0.00000000e+00 3.20271169e+02] [-3.76526919e-01 9.26405677e-01 0.00000000e+00 -8.32219499e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01257895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.30, Y:-83.23, Z:0.01 [[ 9.26812537e-01 3.75524328e-01 0.00000000e+00 3.20298161e+02] [-3.75524328e-01 9.26812537e-01 0.00000000e+00 -8.32278986e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03216276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.33, Y:-83.23, Z:0.01 [[ 9.27297443e-01 3.74325329e-01 0.00000000e+00 3.20325580e+02] [-3.74325329e-01 9.27297443e-01 0.00000000e+00 -8.32343673e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.90781181e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.35, Y:-83.24, Z:0.01 [[ 9.27961150e-01 3.72676944e-01 0.00000000e+00 3.20352905e+02] [-3.72676944e-01 9.27961150e-01 0.00000000e+00 -8.32406283e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.07362897e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.38, Y:-83.24, Z:0.01 [[ 9.29587560e-01 3.68601367e-01 0.00000000e+00 3.20381330e+02] [-3.68601367e-01 9.29587560e-01 0.00000000e+00 -8.32443708e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.52205671e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.41, Y:-83.25, Z:0.01 [[ 9.30446297e-01 3.66428285e-01 0.00000000e+00 3.20408915e+02] [-3.66428285e-01 9.30446297e-01 0.00000000e+00 -8.32504465e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.41553740e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.44, Y:-83.26, Z:0.01 [[ 9.31444341e-01 3.63883827e-01 0.00000000e+00 3.20436307e+02] [-3.63883827e-01 9.31444341e-01 0.00000000e+00 -8.32567870e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.49799674e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.46, Y:-83.26, Z:0.01 [[ 9.32431274e-01 3.61347367e-01 0.00000000e+00 3.20463750e+02] [-3.61347367e-01 9.32431274e-01 0.00000000e+00 -8.32638979e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.42364008e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.49, Y:-83.27, Z:0.01 [[ 9.34457146e-01 3.56075614e-01 0.00000000e+00 3.20490089e+02] [-3.56075614e-01 9.34457146e-01 0.00000000e+00 -8.32719630e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02165064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.52, Y:-83.28, Z:0.01 [[ 9.35473888e-01 3.53395820e-01 0.00000000e+00 3.20516126e+02] [-3.53395820e-01 9.35473888e-01 0.00000000e+00 -8.32808238e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17226098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.621400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:320.54, Y:-83.29, Z:0.01 [[ 9.36234064e-01 3.51376974e-01 0.00000000e+00 3.20542229e+02] [-3.51376974e-01 9.36234064e-01 0.00000000e+00 -8.32904007e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32046979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.57, Y:-83.30, Z:0.02 [[ 9.36693278e-01 3.50150971e-01 0.00000000e+00 3.20567325e+02] [-3.50150971e-01 9.36693278e-01 0.00000000e+00 -8.33001276e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51069038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.59, Y:-83.31, Z:0.02 [[ 9.36981662e-01 3.49378540e-01 0.00000000e+00 3.20593609e+02] [-3.49378540e-01 9.36981662e-01 0.00000000e+00 -8.33102757e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66394194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.62, Y:-83.32, Z:0.02 [[ 9.37017871e-01 3.49281419e-01 0.00000000e+00 3.20619505e+02] [-3.49281419e-01 9.37017871e-01 0.00000000e+00 -8.33205581e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70275506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.64, Y:-83.33, Z:0.01 [[ 9.36324271e-01 3.51136525e-01 0.00000000e+00 3.20643437e+02] [-3.51136525e-01 9.36324271e-01 0.00000000e+00 -8.33330484e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44582413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.67, Y:-83.34, Z:0.01 [[ 9.35649333e-01 3.52931050e-01 0.00000000e+00 3.20669801e+02] [-3.52931050e-01 9.35649333e-01 0.00000000e+00 -8.33436759e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27826044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.69, Y:-83.35, Z:0.01 [[ 9.34737843e-01 3.55338100e-01 0.00000000e+00 3.20694594e+02] [-3.55338100e-01 9.34737843e-01 0.00000000e+00 -8.33540611e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23673484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.72, Y:-83.36, Z:0.01 [[ 9.33729276e-01 3.57979943e-01 0.00000000e+00 3.20720550e+02] [-3.57979943e-01 9.33729276e-01 0.00000000e+00 -8.33649329e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28374074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.75, Y:-83.38, Z:0.01 [[ 9.31498962e-01 3.63743981e-01 0.00000000e+00 3.20746208e+02] [-3.63743981e-01 9.31498962e-01 0.00000000e+00 -8.33775980e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26844869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.77, Y:-83.39, Z:0.01 [[ 9.30556246e-01 3.66148976e-01 0.00000000e+00 3.20772934e+02] [-3.66148976e-01 9.30556246e-01 0.00000000e+00 -8.33868280e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20942959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.92140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.80, Y:-83.39, Z:0.01 [[ 9.29750176e-01 3.68190998e-01 0.00000000e+00 3.20798476e+02] [-3.68190998e-01 9.29750176e-01 0.00000000e+00 -8.33948420e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07101347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.82, Y:-83.40, Z:0.01 [[ 9.29018478e-01 3.70033333e-01 0.00000000e+00 3.20824048e+02] [-3.70033333e-01 9.29018478e-01 0.00000000e+00 -8.34028065e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.96735659e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.85, Y:-83.41, Z:0.01 [[ 9.28396055e-01 3.71592203e-01 0.00000000e+00 3.20850874e+02] [-3.71592203e-01 9.28396055e-01 0.00000000e+00 -8.34116094e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.33486157e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.88, Y:-83.42, Z:0.01 [[ 9.27233039e-01 3.74484834e-01 0.00000000e+00 3.20877144e+02] [-3.74484834e-01 9.27233039e-01 0.00000000e+00 -8.34202915e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.83020051e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.90, Y:-83.43, Z:0.01 [[ 9.26907614e-01 3.75289589e-01 0.00000000e+00 3.20904145e+02] [-3.75289589e-01 9.26907614e-01 0.00000000e+00 -8.34279150e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.67255436e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.93, Y:-83.44, Z:0.00 [[ 9.26840559e-01 3.75455161e-01 0.00000000e+00 3.20931460e+02] [-3.75455161e-01 9.26840559e-01 0.00000000e+00 -8.34350874e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.69864447e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.101400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:320.96, Y:-83.44, Z:0.01 [[ 9.27011875e-01 3.75031977e-01 0.00000000e+00 3.20958837e+02] [-3.75031977e-01 9.27011875e-01 0.00000000e+00 -8.34428550e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.10753763e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.99, Y:-83.45, Z:0.01 [[ 9.27432152e-01 3.73991449e-01 0.00000000e+00 3.20986005e+02] [-3.73991449e-01 9.27432152e-01 0.00000000e+00 -8.34508587e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.50305780e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.01, Y:-83.46, Z:0.01 [[ 9.28056263e-01 3.72440025e-01 0.00000000e+00 3.21012119e+02] [-3.72440025e-01 9.28056263e-01 0.00000000e+00 -8.34590919e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.44949719e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.04, Y:-83.47, Z:0.01 [[ 9.29581814e-01 3.68615858e-01 0.00000000e+00 3.21039108e+02] [-3.68615858e-01 9.29581814e-01 0.00000000e+00 -8.34673461e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.90056463e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.06, Y:-83.48, Z:0.01 [[ 9.30134535e-01 3.67218936e-01 0.00000000e+00 3.21064583e+02] [-3.67218936e-01 9.30134535e-01 0.00000000e+00 -8.34754418e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.65351416e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.09, Y:-83.48, Z:0.01 [[ 9.30502465e-01 3.66285630e-01 0.00000000e+00 3.21090768e+02] [-3.66285630e-01 9.30502465e-01 0.00000000e+00 -8.34844879e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.62855194e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.12, Y:-83.49, Z:0.01 [[ 9.30703359e-01 3.65774873e-01 0.00000000e+00 3.21117267e+02] [-3.65774873e-01 9.30703359e-01 0.00000000e+00 -8.34937506e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.38675237e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.14, Y:-83.50, Z:0.01 [[ 9.30308571e-01 3.66777811e-01 0.00000000e+00 3.21144204e+02] [-3.66777811e-01 9.30308571e-01 0.00000000e+00 -8.35021099e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.92463265e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.17, Y:-83.51, Z:0.01 [[ 9.29914917e-01 3.67774723e-01 0.00000000e+00 3.21170872e+02] [-3.67774723e-01 9.29914917e-01 0.00000000e+00 -8.35100151e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.69745005e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.20, Y:-83.52, Z:0.01 [[ 9.29536723e-01 3.68729551e-01 0.00000000e+00 3.21196350e+02] [-3.68729551e-01 9.29536723e-01 0.00000000e+00 -8.35178117e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08675224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.22, Y:-83.53, Z:0.01 [[ 9.29601539e-01 3.68566112e-01 0.00000000e+00 3.21223650e+02] [-3.68566112e-01 9.29601539e-01 0.00000000e+00 -8.35259633e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08675224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.25, Y:-83.53, Z:0.01 [[ 9.29401551e-01 3.69070125e-01 0.00000000e+00 3.21250402e+02] [-3.69070125e-01 9.29401551e-01 0.00000000e+00 -8.35347739e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08429300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.28, Y:-83.54, Z:0.01 [[ 9.29290536e-01 3.69349564e-01 0.00000000e+00 3.21276351e+02] [-3.69349564e-01 9.29290536e-01 0.00000000e+00 -8.35437024e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.92280182e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.30, Y:-83.55, Z:0.01 [[ 9.29417099e-01 3.69030970e-01 0.00000000e+00 3.21302791e+02] [-3.69030970e-01 9.29417099e-01 0.00000000e+00 -8.35523982e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.78820163e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.33, Y:-83.56, Z:0.01 [[ 9.30414825e-01 3.66508190e-01 0.00000000e+00 3.21330236e+02] [-3.66508190e-01 9.30414825e-01 0.00000000e+00 -8.35624193e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.33794566e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.36, Y:-83.57, Z:0.01 [[ 9.31154719e-01 3.64624311e-01 0.00000000e+00 3.21356116e+02] [-3.64624311e-01 9.31154719e-01 0.00000000e+00 -8.35717651e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18824159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.38, Y:-83.58, Z:0.01 [[ 9.31927654e-01 3.62644245e-01 0.00000000e+00 3.21381656e+02] [-3.62644245e-01 9.31927654e-01 0.00000000e+00 -8.35813168e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32631628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.41, Y:-83.59, Z:0.01 [[ 9.33304738e-01 3.59085317e-01 0.00000000e+00 3.21408108e+02] [-3.59085317e-01 9.33304738e-01 0.00000000e+00 -8.35921283e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28471328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.43, Y:-83.60, Z:0.01 [[ 9.33676004e-01 3.58118862e-01 0.00000000e+00 3.21433437e+02] [-3.58118862e-01 9.33676004e-01 0.00000000e+00 -8.36014835e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23365840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.46, Y:-83.61, Z:0.01 [[ 9.34021321e-01 3.57217262e-01 0.00000000e+00 3.21459268e+02] [-3.57217262e-01 9.34021321e-01 0.00000000e+00 -8.36115545e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25777795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.48, Y:-83.62, Z:0.01 [[ 9.34436080e-01 3.56130891e-01 0.00000000e+00 3.21484561e+02] [-3.56130891e-01 9.34436080e-01 0.00000000e+00 -8.36221904e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27546343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.51, Y:-83.63, Z:0.01 [[ 9.34996553e-01 3.54656799e-01 0.00000000e+00 3.21510374e+02] [-3.54656799e-01 9.34996553e-01 0.00000000e+00 -8.36329744e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26753324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.54, Y:-83.64, Z:0.01 [[ 9.35646672e-01 3.52938105e-01 0.00000000e+00 3.21536885e+02] [-3.52938105e-01 9.35646672e-01 0.00000000e+00 -8.36435883e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25963439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.56, Y:-83.66, Z:0.01 [[ 9.36623669e-01 3.50337128e-01 0.00000000e+00 3.21560976e+02] [-3.50337128e-01 9.36623669e-01 0.00000000e+00 -8.36576720e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24959567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.59, Y:-83.67, Z:0.01 [[ 9.37196173e-01 3.48802714e-01 0.00000000e+00 3.21586331e+02] [-3.48802714e-01 9.37196173e-01 0.00000000e+00 -8.36695603e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26770726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.61, Y:-83.68, Z:0.01 [[ 9.37729979e-01 3.47365062e-01 0.00000000e+00 3.21612099e+02] [-3.47365062e-01 9.37729979e-01 0.00000000e+00 -8.36809525e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29276744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.64, Y:-83.69, Z:0.01 [[ 9.38051312e-01 3.46496373e-01 0.00000000e+00 3.21638283e+02] [-3.46496373e-01 9.38051312e-01 0.00000000e+00 -8.36916739e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24902550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.66, Y:-83.71, Z:0.01 [[ 9.37810817e-01 3.47146758e-01 0.00000000e+00 3.21663263e+02] [-3.47146758e-01 9.37810817e-01 0.00000000e+00 -8.37052690e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.90552712e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.69, Y:-83.72, Z:0.01 [[ 9.37499502e-01 3.47986615e-01 0.00000000e+00 3.21688844e+02] [-3.47986615e-01 9.37499502e-01 0.00000000e+00 -8.37157408e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.50481764e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.71, Y:-83.73, Z:0.01 [[ 9.37050264e-01 3.49194504e-01 0.00000000e+00 3.21713823e+02] [-3.49194504e-01 9.37050264e-01 0.00000000e+00 -8.37251463e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.97745362e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.74, Y:-83.73, Z:0.01 [[ 9.36663997e-01 3.50229292e-01 0.00000000e+00 3.21740463e+02] [-3.50229292e-01 9.36663997e-01 0.00000000e+00 -8.37336609e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.78652618e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.77, Y:-83.74, Z:0.01 [[ 9.36367051e-01 3.51022430e-01 0.00000000e+00 3.21767296e+02] [-3.51022430e-01 9.36367051e-01 0.00000000e+00 -8.37418490e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.32408204e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.79, Y:-83.75, Z:0.01 [[ 9.36076653e-01 3.51796105e-01 0.00000000e+00 3.21793965e+02] [-3.51796105e-01 9.36076653e-01 0.00000000e+00 -8.37503745e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.93788250e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.82, Y:-83.76, Z:0.01 [[ 9.35429811e-01 3.53512474e-01 0.00000000e+00 3.21819142e+02] [-3.53512474e-01 9.35429811e-01 0.00000000e+00 -8.37613353e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.17080862e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.85, Y:-83.77, Z:0.01 [[ 9.35322114e-01 3.53797320e-01 0.00000000e+00 3.21845183e+02] [-3.53797320e-01 9.35322114e-01 0.00000000e+00 -8.37705304e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.28321185e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.87, Y:-83.78, Z:0.01 [[ 9.35215739e-01 3.54078411e-01 0.00000000e+00 3.21872269e+02] [-3.54078411e-01 9.35215739e-01 0.00000000e+00 -8.37792628e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.08165169e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.90, Y:-83.79, Z:0.01 [[ 9.35220860e-01 3.54064885e-01 0.00000000e+00 3.21897727e+02] [-3.54064885e-01 9.35220860e-01 0.00000000e+00 -8.37869088e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.27663623e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.92, Y:-83.80, Z:0.01 [[ 9.35313556e-01 3.53819944e-01 0.00000000e+00 3.21924173e+02] [-3.53819944e-01 9.35313556e-01 0.00000000e+00 -8.37956635e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.32458911e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.95, Y:-83.80, Z:0.00 [[ 9.35370870e-01 3.53668398e-01 0.00000000e+00 3.21949386e+02] [-3.53668398e-01 9.35370870e-01 0.00000000e+00 -8.38045149e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.92079979e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.271400513 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:321.97, Y:-83.81, Z:0.00 [[ 9.35315132e-01 3.53815776e-01 0.00000000e+00 3.21974635e+02] [-3.53815776e-01 9.35315132e-01 0.00000000e+00 -8.38128826e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91784408e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.00, Y:-83.82, Z:0.00 [[ 9.35231701e-01 3.54036248e-01 0.00000000e+00 3.22002282e+02] [-3.54036248e-01 9.35231701e-01 0.00000000e+00 -8.38221163e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.03584753e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.03, Y:-83.83, Z:0.01 [[ 9.34952582e-01 3.54772702e-01 0.00000000e+00 3.22027500e+02] [-3.54772702e-01 9.34952582e-01 0.00000000e+00 -8.38335587e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.65343240e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.05, Y:-83.84, Z:0.01 [[ 9.34787811e-01 3.55206629e-01 0.00000000e+00 3.22053150e+02] [-3.55206629e-01 9.34787811e-01 0.00000000e+00 -8.38438721e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.89244601e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.08, Y:-83.85, Z:0.01 [[ 9.34597496e-01 3.55707072e-01 0.00000000e+00 3.22079464e+02] [-3.55707072e-01 9.34597496e-01 0.00000000e+00 -8.38539101e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.35010703e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.42140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.11, Y:-83.86, Z:0.01 [[ 9.34230529e-01 3.56669763e-01 0.00000000e+00 3.22105102e+02] [-3.56669763e-01 9.34230529e-01 0.00000000e+00 -8.38631535e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.43528713e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.13, Y:-83.87, Z:0.01 [[ 9.33002883e-01 3.59868893e-01 0.00000000e+00 3.22129755e+02] [-3.59868893e-01 9.33002883e-01 0.00000000e+00 -8.38746082e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.62263259e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.481400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:322.16, Y:-83.88, Z:0.01 [[ 9.32262315e-01 3.61783052e-01 0.00000000e+00 3.22155716e+02] [-3.61783052e-01 9.32262315e-01 0.00000000e+00 -8.38842935e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.40779180e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.18, Y:-83.89, Z:0.01 [[ 9.31482996e-01 3.63784866e-01 0.00000000e+00 3.22181012e+02] [-3.63784866e-01 9.31482996e-01 0.00000000e+00 -8.38932145e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.23600277e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.21, Y:-83.90, Z:0.01 [[ 9.30616971e-01 3.65994608e-01 0.00000000e+00 3.22207564e+02] [-3.65994608e-01 9.30616971e-01 0.00000000e+00 -8.39016218e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.67624302e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.23, Y:-83.91, Z:0.01 [[ 9.29671548e-01 3.68389484e-01 0.00000000e+00 3.22234473e+02] [-3.68389484e-01 9.29671548e-01 0.00000000e+00 -8.39092212e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.83507355e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.601400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:322.26, Y:-83.92, Z:0.01 [[ 9.27584892e-01 3.73612456e-01 0.00000000e+00 3.22261251e+02] [-3.73612456e-01 9.27584892e-01 0.00000000e+00 -8.39165414e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.05209668e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.29, Y:-83.92, Z:0.01 [[ 9.26785643e-01 3.75590699e-01 0.00000000e+00 3.22288340e+02] [-3.75590699e-01 9.26785643e-01 0.00000000e+00 -8.39238723e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.18851392e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.31, Y:-83.93, Z:0.01 [[ 9.26268776e-01 3.76863577e-01 0.00000000e+00 3.22314544e+02] [-3.76863577e-01 9.26268776e-01 0.00000000e+00 -8.39299200e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.75679976e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.34, Y:-83.93, Z:0.01 [[ 9.26081233e-01 3.77324198e-01 0.00000000e+00 3.22341114e+02] [-3.77324198e-01 9.26081233e-01 0.00000000e+00 -8.39348294e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.46608490e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.37, Y:-83.94, Z:0.01 [[ 9.26160504e-01 3.77129581e-01 0.00000000e+00 3.22368392e+02] [-3.77129581e-01 9.26160504e-01 0.00000000e+00 -8.39396915e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.04462143e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.40, Y:-83.94, Z:0.01 [[ 9.26601328e-01 3.76045182e-01 0.00000000e+00 3.22395782e+02] [-3.76045182e-01 9.26601328e-01 0.00000000e+00 -8.39424909e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.31666929e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.42, Y:-83.95, Z:0.01 [[ 9.27285630e-01 3.74354591e-01 0.00000000e+00 3.22423075e+02] [-3.74354591e-01 9.27285630e-01 0.00000000e+00 -8.39477896e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.15593621e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.45, Y:-83.95, Z:0.01 [[ 9.28171678e-01 3.72152302e-01 0.00000000e+00 3.22449811e+02] [-3.72152302e-01 9.28171678e-01 0.00000000e+00 -8.39524466e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.28378955e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.48, Y:-83.96, Z:0.01 [[ 9.29309237e-01 3.69302508e-01 0.00000000e+00 3.22477520e+02] [-3.69302508e-01 9.29309237e-01 0.00000000e+00 -8.39572078e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.92028314e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.50, Y:-83.96, Z:0.01 [[ 9.30592475e-01 3.66056889e-01 0.00000000e+00 3.22504646e+02] [-3.66056889e-01 9.30592475e-01 0.00000000e+00 -8.39629401e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.25455120e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.53, Y:-83.97, Z:0.01 [[ 9.33393248e-01 3.58855186e-01 0.00000000e+00 3.22532563e+02] [-3.58855186e-01 9.33393248e-01 0.00000000e+00 -8.39680827e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.85145570e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.56, Y:-83.97, Z:0.01 [[ 9.34748627e-01 3.55309730e-01 0.00000000e+00 3.22561097e+02] [-3.55309730e-01 9.34748627e-01 0.00000000e+00 -8.39747629e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.08934364e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.59, Y:-83.98, Z:0.01 [[ 9.36038480e-01 3.51897661e-01 0.00000000e+00 3.22589411e+02] [-3.51897661e-01 9.36038480e-01 0.00000000e+00 -8.39808108e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07219499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.62, Y:-83.99, Z:0.01 [[ 9.37063171e-01 3.49159868e-01 0.00000000e+00 3.22615377e+02] [-3.49159868e-01 9.37063171e-01 0.00000000e+00 -8.39866959e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12080909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.64, Y:-83.99, Z:0.01 [[ 9.38040012e-01 3.46526964e-01 0.00000000e+00 3.22642460e+02] [-3.46526964e-01 9.38040012e-01 0.00000000e+00 -8.39932364e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07793512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.67, Y:-84.00, Z:0.01 [[ 9.38017564e-01 3.46587722e-01 0.00000000e+00 3.22668709e+02] [-3.46587722e-01 9.38017564e-01 0.00000000e+00 -8.40000807e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00414502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.70, Y:-84.01, Z:0.01 [[ 9.37796404e-01 3.47185691e-01 0.00000000e+00 3.22695924e+02] [-3.47185691e-01 9.37796404e-01 0.00000000e+00 -8.40068083e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16287505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.72, Y:-84.01, Z:0.01 [[ 9.37235856e-01 3.48696071e-01 0.00000000e+00 3.22723530e+02] [-3.48696071e-01 9.37235856e-01 0.00000000e+00 -8.40120050e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34868061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.75, Y:-84.02, Z:0.02 [[ 9.37282648e-01 3.48570278e-01 0.00000000e+00 3.22750973e+02] [-3.48570278e-01 9.37282648e-01 0.00000000e+00 -8.40195053e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50466624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.78, Y:-84.03, Z:0.02 [[ 9.37423966e-01 3.48190045e-01 0.00000000e+00 3.22777956e+02] [-3.48190045e-01 9.37423966e-01 0.00000000e+00 -8.40272453e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61322376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.80, Y:-84.04, Z:0.02 [[ 9.37768681e-01 3.47260566e-01 0.00000000e+00 3.22804906e+02] [-3.47260566e-01 9.37768681e-01 0.00000000e+00 -8.40353515e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68282759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.83, Y:-84.04, Z:0.02 [[ 9.38116439e-01 3.46320006e-01 0.00000000e+00 3.22831885e+02] [-3.46320006e-01 9.38116439e-01 0.00000000e+00 -8.40445377e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62039663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.86, Y:-84.05, Z:0.01 [[ 9.38440078e-01 3.45442065e-01 0.00000000e+00 3.22857092e+02] [-3.45442065e-01 9.38440078e-01 0.00000000e+00 -8.40544469e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38843263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.88, Y:-84.06, Z:0.01 [[ 9.38503703e-01 3.45269170e-01 0.00000000e+00 3.22884463e+02] [-3.45269170e-01 9.38503703e-01 0.00000000e+00 -8.40623895e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38843263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.91, Y:-84.08, Z:0.01 [[ 9.39448804e-01 3.42689282e-01 0.00000000e+00 3.22910165e+02] [-3.42689282e-01 9.39448804e-01 0.00000000e+00 -8.40759634e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04912578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.94, Y:-84.09, Z:0.01 [[ 9.40020650e-01 3.41117541e-01 0.00000000e+00 3.22936017e+02] [-3.41117541e-01 9.40020650e-01 0.00000000e+00 -8.40856602e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04317316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.96, Y:-84.10, Z:0.01 [[ 9.40442904e-01 3.39951679e-01 0.00000000e+00 3.22962839e+02] [-3.39951679e-01 9.40442904e-01 0.00000000e+00 -8.40955485e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16961268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.99, Y:-84.11, Z:0.01 [[ 9.40531912e-01 3.39705348e-01 0.00000000e+00 3.22989429e+02] [-3.39705348e-01 9.40531912e-01 0.00000000e+00 -8.41060574e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11066799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.01, Y:-84.12, Z:0.01 [[ 9.39972812e-01 3.41249341e-01 0.00000000e+00 3.23014991e+02] [-3.41249341e-01 9.39972812e-01 0.00000000e+00 -8.41211291e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.09504210e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.04, Y:-84.13, Z:0.01 [[ 9.39561712e-01 3.42379599e-01 0.00000000e+00 3.23040978e+02] [-3.42379599e-01 9.39561712e-01 0.00000000e+00 -8.41314341e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.64650083e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.07, Y:-84.14, Z:0.01 [[ 9.39307059e-01 3.43077613e-01 0.00000000e+00 3.23067827e+02] [-3.43077613e-01 9.39307059e-01 0.00000000e+00 -8.41413247e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.70565774e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.09, Y:-84.15, Z:0.01 [[ 9.39125598e-01 3.43574025e-01 0.00000000e+00 3.23093053e+02] [-3.43574025e-01 9.39125598e-01 0.00000000e+00 -8.41532617e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.55202772e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.12, Y:-84.16, Z:0.01 [[ 9.39255011e-01 3.43220080e-01 0.00000000e+00 3.23119290e+02] [-3.43220080e-01 9.39255011e-01 0.00000000e+00 -8.41633935e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.01969537e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.14, Y:-84.17, Z:0.01 [[ 9.39363714e-01 3.42922460e-01 0.00000000e+00 3.23144342e+02] [-3.42922460e-01 9.39363714e-01 0.00000000e+00 -8.41729571e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.52080734e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.17, Y:-84.18, Z:0.01 [[ 9.39385811e-01 3.42861922e-01 0.00000000e+00 3.23169379e+02] [-3.42861922e-01 9.39385811e-01 0.00000000e+00 -8.41821181e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.31756391e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.20, Y:-84.19, Z:0.01 [[ 9.39328167e-01 3.43019815e-01 0.00000000e+00 3.23195905e+02] [-3.43019815e-01 9.39328167e-01 0.00000000e+00 -8.41913022e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.10026084e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.22, Y:-84.20, Z:0.01 [[ 9.39206372e-01 3.43353157e-01 0.00000000e+00 3.23222911e+02] [-3.43353157e-01 9.39206372e-01 0.00000000e+00 -8.42005073e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.74110575e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.25, Y:-84.21, Z:0.00 [[ 9.38687794e-01 3.44768366e-01 0.00000000e+00 3.23248703e+02] [-3.44768366e-01 9.38687794e-01 0.00000000e+00 -8.42102822e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.95856506e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.28, Y:-84.22, Z:0.01 [[ 9.38419512e-01 3.45497930e-01 0.00000000e+00 3.23275682e+02] [-3.45497930e-01 9.38419512e-01 0.00000000e+00 -8.42195314e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.44424816e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.30, Y:-84.23, Z:0.01 [[ 9.38185179e-01 3.46133747e-01 0.00000000e+00 3.23302944e+02] [-3.46133747e-01 9.38185179e-01 0.00000000e+00 -8.42286915e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.58708693e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.33, Y:-84.24, Z:0.01 [[ 9.37933327e-01 3.46815621e-01 0.00000000e+00 3.23329593e+02] [-3.46815621e-01 9.37933327e-01 0.00000000e+00 -8.42374894e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.59994474e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.36, Y:-84.25, Z:0.01 [[ 9.36871298e-01 3.49674379e-01 0.00000000e+00 3.23356735e+02] [-3.49674379e-01 9.36871298e-01 0.00000000e+00 -8.42466114e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00382328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.38, Y:-84.25, Z:0.01 [[ 9.36110952e-01 3.51704828e-01 0.00000000e+00 3.23384261e+02] [-3.51704828e-01 9.36110952e-01 0.00000000e+00 -8.42548654e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22781821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.41, Y:-84.26, Z:0.01 [[ 9.35354724e-01 3.53711097e-01 0.00000000e+00 3.23411856e+02] [-3.53711097e-01 9.35354724e-01 0.00000000e+00 -8.42633410e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39084882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.92140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.44, Y:-84.27, Z:0.01 [[ 9.34593147e-01 3.55718497e-01 0.00000000e+00 3.23437132e+02] [-3.55718497e-01 9.34593147e-01 0.00000000e+00 -8.42714807e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35417958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.46, Y:-84.28, Z:0.01 [[ 9.33844204e-01 3.57680029e-01 0.00000000e+00 3.23464014e+02] [-3.57680029e-01 9.33844204e-01 0.00000000e+00 -8.42805837e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28904385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.49, Y:-84.29, Z:0.01 [[ 9.32569320e-01 3.60990946e-01 0.00000000e+00 3.23489770e+02] [-3.60990946e-01 9.32569320e-01 0.00000000e+00 -8.42919644e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24957077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.52, Y:-84.30, Z:0.01 [[ 9.32098184e-01 3.62205708e-01 0.00000000e+00 3.23515742e+02] [-3.62205708e-01 9.32098184e-01 0.00000000e+00 -8.43006427e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27106894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.54, Y:-84.31, Z:0.01 [[ 9.31653033e-01 3.63349180e-01 0.00000000e+00 3.23541675e+02] [-3.63349180e-01 9.31653033e-01 0.00000000e+00 -8.43083669e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15218939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.57, Y:-84.32, Z:0.01 [[ 9.31265558e-01 3.64341133e-01 0.00000000e+00 3.23569126e+02] [-3.64341133e-01 9.31265558e-01 0.00000000e+00 -8.43160887e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14849539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.60, Y:-84.32, Z:0.01 [[ 9.30801853e-01 3.65524159e-01 0.00000000e+00 3.23596722e+02] [-3.65524159e-01 9.30801853e-01 0.00000000e+00 -8.43242458e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01580604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.62, Y:-84.33, Z:0.01 [[ 9.29329872e-01 3.69250578e-01 0.00000000e+00 3.23622599e+02] [-3.69250578e-01 9.29329872e-01 0.00000000e+00 -8.43329704e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03055956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.65, Y:-84.34, Z:0.01 [[ 9.28480633e-01 3.71380822e-01 0.00000000e+00 3.23649525e+02] [-3.71380822e-01 9.28480633e-01 0.00000000e+00 -8.43399218e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03926451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.68, Y:-84.35, Z:0.01 [[ 9.27657719e-01 3.73431594e-01 0.00000000e+00 3.23675840e+02] [-3.73431594e-01 9.27657719e-01 0.00000000e+00 -8.43452399e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.07899434e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.70, Y:-84.35, Z:0.01 [[ 9.27144825e-01 3.74703181e-01 0.00000000e+00 3.23704674e+02] [-3.74703181e-01 9.27144825e-01 0.00000000e+00 -8.43505172e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.50520008e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.73, Y:-84.36, Z:0.01 [[ 9.26999013e-01 3.75063769e-01 0.00000000e+00 3.23732659e+02] [-3.75063769e-01 9.26999013e-01 0.00000000e+00 -8.43557463e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.55757524e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.76, Y:-84.36, Z:0.01 [[ 9.27687012e-01 3.73358819e-01 0.00000000e+00 3.23761244e+02] [-3.73358819e-01 9.27687012e-01 0.00000000e+00 -8.43590171e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.59651136e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.79, Y:-84.36, Z:0.01 [[ 9.28399137e-01 3.71584501e-01 0.00000000e+00 3.23787823e+02] [-3.71584501e-01 9.28399137e-01 0.00000000e+00 -8.43644413e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.75735425e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.82, Y:-84.37, Z:0.00 [[ 9.29341021e-01 3.69222517e-01 0.00000000e+00 3.23816318e+02] [-3.69222517e-01 9.29341021e-01 0.00000000e+00 -8.43708829e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08826445e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.84, Y:-84.38, Z:0.00 [[ 9.30329276e-01 3.66725290e-01 0.00000000e+00 3.23844442e+02] [-3.66725290e-01 9.30329276e-01 0.00000000e+00 -8.43775965e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01663909e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.87, Y:-84.38, Z:0.00 [[ 9.31525826e-01 3.63675178e-01 0.00000000e+00 3.23870320e+02] [-3.63675178e-01 9.31525826e-01 0.00000000e+00 -8.43838978e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66266598e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.90, Y:-84.39, Z:0.00 [[ 9.32879262e-01 3.60189232e-01 0.00000000e+00 3.23898274e+02] [-3.60189232e-01 9.32879262e-01 0.00000000e+00 -8.43908442e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47923405e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.93, Y:-84.40, Z:0.01 [[ 9.35650976e-01 3.52926694e-01 0.00000000e+00 3.23926355e+02] [-3.52926694e-01 9.35650976e-01 0.00000000e+00 -8.43979183e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.42897683e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.95, Y:-84.41, Z:0.01 [[ 9.37000049e-01 3.49329227e-01 0.00000000e+00 3.23951856e+02] [-3.49329227e-01 9.37000049e-01 0.00000000e+00 -8.44068657e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.11138759e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.98, Y:-84.42, Z:0.01 [[ 9.38164444e-01 3.46189943e-01 0.00000000e+00 3.23979349e+02] [-3.46189943e-01 9.38164444e-01 0.00000000e+00 -8.44167684e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.68902199e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.01, Y:-84.43, Z:0.00 [[ 9.39080949e-01 3.43696044e-01 0.00000000e+00 3.24006350e+02] [-3.43696044e-01 9.39080949e-01 0.00000000e+00 -8.44254347e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06597261e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.03, Y:-84.43, Z:0.01 [[ 9.40090159e-01 3.40925935e-01 0.00000000e+00 3.24033243e+02] [-3.40925935e-01 9.40090159e-01 0.00000000e+00 -8.44325849e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.53298131e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.06, Y:-84.44, Z:0.01 [[ 9.40409907e-01 3.40042948e-01 0.00000000e+00 3.24060634e+02] [-3.40042948e-01 9.40409907e-01 0.00000000e+00 -8.44411758e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.90404721e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.09, Y:-84.45, Z:0.01 [[ 9.40755678e-01 3.39085172e-01 0.00000000e+00 3.24087119e+02] [-3.39085172e-01 9.40755678e-01 0.00000000e+00 -8.44508424e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13657159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.67140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.11, Y:-84.46, Z:0.01 [[ 9.41644495e-01 3.36609038e-01 0.00000000e+00 3.24112536e+02] [-3.36609038e-01 9.41644495e-01 0.00000000e+00 -8.44630190e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25934151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.14, Y:-84.47, Z:0.01 [[ 9.42104704e-01 3.35318845e-01 0.00000000e+00 3.24138298e+02] [-3.35318845e-01 9.42104704e-01 0.00000000e+00 -8.44733621e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24064584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.731400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:324.16, Y:-84.48, Z:0.01 [[ 9.42473657e-01 3.34280431e-01 0.00000000e+00 3.24164713e+02] [-3.34280431e-01 9.42473657e-01 0.00000000e+00 -8.44849269e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13152314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.761400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:324.19, Y:-84.50, Z:0.01 [[ 9.42912488e-01 3.33040598e-01 0.00000000e+00 3.24190608e+02] [-3.33040598e-01 9.42912488e-01 0.00000000e+00 -8.44973657e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08966271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.791400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:324.22, Y:-84.51, Z:0.01 [[ 9.43177950e-01 3.32288060e-01 0.00000000e+00 3.24217353e+02] [-3.32288060e-01 9.43177950e-01 0.00000000e+00 -8.45100877e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15947077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.821400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:324.24, Y:-84.52, Z:0.01 [[ 9.43130959e-01 3.32421409e-01 0.00000000e+00 3.24242502e+02] [-3.32421409e-01 9.43130959e-01 0.00000000e+00 -8.45244938e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29220830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.27, Y:-84.54, Z:0.01 [[ 9.42937388e-01 3.32970094e-01 0.00000000e+00 3.24269832e+02] [-3.32970094e-01 9.42937388e-01 0.00000000e+00 -8.45355302e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43858193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.881400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:324.30, Y:-84.55, Z:0.01 [[ 9.42435040e-01 3.34389287e-01 0.00000000e+00 3.24295364e+02] [-3.34389287e-01 9.42435040e-01 0.00000000e+00 -8.45468688e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35421405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.32, Y:-84.56, Z:0.01 [[ 9.41781899e-01 3.36224412e-01 0.00000000e+00 3.24321969e+02] [-3.36224412e-01 9.41781899e-01 0.00000000e+00 -8.45587078e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32050980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.35, Y:-84.57, Z:0.01 [[ 9.39571957e-01 3.42351482e-01 0.00000000e+00 3.24347738e+02] [-3.42351482e-01 9.39571957e-01 0.00000000e+00 -8.45720576e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12520393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.37, Y:-84.58, Z:0.01 [[ 9.38455539e-01 3.45400061e-01 0.00000000e+00 3.24373669e+02] [-3.45400061e-01 9.38455539e-01 0.00000000e+00 -8.45813477e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09594216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.001400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:324.40, Y:-84.59, Z:0.01 [[ 9.37477043e-01 3.48047114e-01 0.00000000e+00 3.24399517e+02] [-3.48047114e-01 9.37477043e-01 0.00000000e+00 -8.45908666e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11412904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.43, Y:-84.60, Z:0.01 [[ 9.36868735e-01 3.49681245e-01 0.00000000e+00 3.24425261e+02] [-3.49681245e-01 9.36868735e-01 0.00000000e+00 -8.46011221e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28997261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.45, Y:-84.62, Z:0.01 [[ 9.36621438e-01 3.50343090e-01 0.00000000e+00 3.24451458e+02] [-3.50343090e-01 9.36621438e-01 0.00000000e+00 -8.46156089e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18408995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.48, Y:-84.63, Z:0.01 [[ 9.36956044e-01 3.49447238e-01 0.00000000e+00 3.24480687e+02] [-3.49447238e-01 9.36956044e-01 0.00000000e+00 -8.46270632e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09306679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.51, Y:-84.64, Z:0.01 [[ 9.37278201e-01 3.48582233e-01 0.00000000e+00 3.24509884e+02] [-3.48582233e-01 9.37278201e-01 0.00000000e+00 -8.46369971e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02705929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.54, Y:-84.65, Z:0.01 [[ 9.37355493e-01 3.48374338e-01 0.00000000e+00 3.24539031e+02] [-3.48374338e-01 9.37355493e-01 0.00000000e+00 -8.46457201e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11329304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.57, Y:-84.65, Z:0.01 [[ 9.37033219e-01 3.49240243e-01 0.00000000e+00 3.24567320e+02] [-3.49240243e-01 9.37033219e-01 0.00000000e+00 -8.46536805e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24814071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.60, Y:-84.66, Z:0.01 [[ 9.37048952e-01 3.49198025e-01 0.00000000e+00 3.24595504e+02] [-3.49198025e-01 9.37048952e-01 0.00000000e+00 -8.46618249e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24814071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.62, Y:-84.67, Z:0.01 [[ 9.35506393e-01 3.53309762e-01 0.00000000e+00 3.24622855e+02] [-3.53309762e-01 9.35506393e-01 0.00000000e+00 -8.46693971e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47352336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.65, Y:-84.68, Z:0.01 [[ 9.34434501e-01 3.56135034e-01 0.00000000e+00 3.24649714e+02] [-3.56135034e-01 9.34434501e-01 0.00000000e+00 -8.46768580e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40514975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.68, Y:-84.68, Z:0.01 [[ 9.33375916e-01 3.58900263e-01 0.00000000e+00 3.24676900e+02] [-3.58900263e-01 9.33375916e-01 0.00000000e+00 -8.46844254e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19221452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.70, Y:-84.69, Z:0.01 [[ 9.32587769e-01 3.60943282e-01 0.00000000e+00 3.24704595e+02] [-3.60943282e-01 9.32587769e-01 0.00000000e+00 -8.46922815e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09530901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.73, Y:-84.70, Z:0.01 [[ 9.32255716e-01 3.61800055e-01 0.00000000e+00 3.24732560e+02] [-3.61800055e-01 9.32255716e-01 0.00000000e+00 -8.47003322e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.76876833e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.391400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:324.76, Y:-84.71, Z:0.01 [[ 9.32611689e-01 3.60881474e-01 0.00000000e+00 3.24761264e+02] [-3.60881474e-01 9.32611689e-01 0.00000000e+00 -8.47076980e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.22634272e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.42140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.79, Y:-84.71, Z:0.01 [[ 9.33063250e-01 3.59712346e-01 0.00000000e+00 3.24788578e+02] [-3.59712346e-01 9.33063250e-01 0.00000000e+00 -8.47148395e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.95953627e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.82, Y:-84.72, Z:0.01 [[ 9.33606103e-01 3.58301053e-01 0.00000000e+00 3.24816314e+02] [-3.58301053e-01 9.33606103e-01 0.00000000e+00 -8.47214482e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.46995827e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.84, Y:-84.73, Z:0.01 [[ 9.34148607e-01 3.56884268e-01 0.00000000e+00 3.24844219e+02] [-3.56884268e-01 9.34148607e-01 0.00000000e+00 -8.47269933e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40731352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.87, Y:-84.73, Z:0.02 [[ 9.34025173e-01 3.57207189e-01 0.00000000e+00 3.24872154e+02] [-3.57207189e-01 9.34025173e-01 0.00000000e+00 -8.47334333e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57117294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.90, Y:-84.74, Z:0.02 [[ 9.33769553e-01 3.57874870e-01 0.00000000e+00 3.24899658e+02] [-3.57874870e-01 9.33769553e-01 0.00000000e+00 -8.47396737e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64842643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.93, Y:-84.75, Z:0.02 [[ 9.33655609e-01 3.58172031e-01 0.00000000e+00 3.24926450e+02] [-3.58172031e-01 9.33655609e-01 0.00000000e+00 -8.47463485e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65979451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.95, Y:-84.76, Z:0.02 [[ 9.33875638e-01 3.57597949e-01 0.00000000e+00 3.24954471e+02] [-3.57597949e-01 9.33875638e-01 0.00000000e+00 -8.47550168e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73741053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.98, Y:-84.76, Z:0.02 [[ 9.34187517e-01 3.56782404e-01 0.00000000e+00 3.24982326e+02] [-3.56782404e-01 9.34187517e-01 0.00000000e+00 -8.47634823e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76826457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.01, Y:-84.77, Z:0.02 [[ 9.34487280e-01 3.55996523e-01 0.00000000e+00 3.25009198e+02] [-3.55996523e-01 9.34487280e-01 0.00000000e+00 -8.47705234e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74182450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.04, Y:-84.78, Z:0.02 [[ 9.34639801e-01 3.55595898e-01 0.00000000e+00 3.25037182e+02] [-3.55595898e-01 9.34639801e-01 0.00000000e+00 -8.47769106e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77322194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.06, Y:-84.78, Z:0.02 [[ 9.34574750e-01 3.55766828e-01 0.00000000e+00 3.25063855e+02] [-3.55766828e-01 9.34574750e-01 0.00000000e+00 -8.47831978e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62610634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.09, Y:-84.79, Z:0.01 [[ 9.34192522e-01 3.56769299e-01 0.00000000e+00 3.25090942e+02] [-3.56769299e-01 9.34192522e-01 0.00000000e+00 -8.47893933e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37374404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.12, Y:-84.80, Z:0.01 [[ 9.33951284e-01 3.57400333e-01 0.00000000e+00 3.25117741e+02] [-3.57400333e-01 9.33951284e-01 0.00000000e+00 -8.47961558e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23461156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.15, Y:-84.80, Z:0.01 [[ 9.33689385e-01 3.58083974e-01 0.00000000e+00 3.25145104e+02] [-3.58083974e-01 9.33689385e-01 0.00000000e+00 -8.48033056e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15302976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.17, Y:-84.81, Z:0.01 [[ 9.33517356e-01 3.58532212e-01 0.00000000e+00 3.25172930e+02] [-3.58532212e-01 9.33517356e-01 0.00000000e+00 -8.48104369e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18075125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.20, Y:-84.82, Z:0.01 [[ 9.33460935e-01 3.58679082e-01 0.00000000e+00 3.25201367e+02] [-3.58679082e-01 9.33460935e-01 0.00000000e+00 -8.48159461e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20040173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.23, Y:-84.82, Z:0.01 [[ 9.33544861e-01 3.58460588e-01 0.00000000e+00 3.25229179e+02] [-3.58460588e-01 9.33544861e-01 0.00000000e+00 -8.48230143e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12513013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.26, Y:-84.83, Z:0.01 [[ 9.33800345e-01 3.57794515e-01 0.00000000e+00 3.25257443e+02] [-3.57794515e-01 9.33800345e-01 0.00000000e+00 -8.48305396e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14339907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.28, Y:-84.84, Z:0.01 [[ 9.34103765e-01 3.57001619e-01 0.00000000e+00 3.25284674e+02] [-3.57001619e-01 9.34103765e-01 0.00000000e+00 -8.48378596e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08496451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.31, Y:-84.84, Z:0.01 [[ 9.34573728e-01 3.55769514e-01 0.00000000e+00 3.25312659e+02] [-3.55769514e-01 9.34573728e-01 0.00000000e+00 -8.48448495e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29491017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.34, Y:-84.85, Z:0.01 [[ 9.35502948e-01 3.53318884e-01 0.00000000e+00 3.25339956e+02] [-3.53318884e-01 9.35502948e-01 0.00000000e+00 -8.48516176e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32445728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.37, Y:-84.86, Z:0.01 [[ 9.36069269e-01 3.51815753e-01 0.00000000e+00 3.25366470e+02] [-3.51815753e-01 9.36069269e-01 0.00000000e+00 -8.48600024e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36730510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.39, Y:-84.87, Z:0.01 [[ 9.36736373e-01 3.50035667e-01 0.00000000e+00 3.25393673e+02] [-3.50035667e-01 9.36736373e-01 0.00000000e+00 -8.48690444e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45379700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.42, Y:-84.88, Z:0.01 [[ 9.37280616e-01 3.48575741e-01 0.00000000e+00 3.25420260e+02] [-3.48575741e-01 9.37280616e-01 0.00000000e+00 -8.48779072e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44590286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.45, Y:-84.89, Z:0.02 [[ 9.37620706e-01 3.47659909e-01 0.00000000e+00 3.25446796e+02] [-3.47659909e-01 9.37620706e-01 0.00000000e+00 -8.48889624e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63141441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.17140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.47, Y:-84.90, Z:0.02 [[ 9.37488406e-01 3.48016505e-01 0.00000000e+00 3.25474214e+02] [-3.48016505e-01 9.37488406e-01 0.00000000e+00 -8.48988069e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62476326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.50, Y:-84.91, Z:0.02 [[ 9.37186129e-01 3.48829699e-01 0.00000000e+00 3.25501820e+02] [-3.48829699e-01 9.37186129e-01 0.00000000e+00 -8.49084030e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60189818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.53, Y:-84.92, Z:0.02 [[ 9.36890679e-01 3.49622447e-01 0.00000000e+00 3.25528217e+02] [-3.49622447e-01 9.36890679e-01 0.00000000e+00 -8.49169150e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53560760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.55, Y:-84.93, Z:0.02 [[ 9.35578240e-01 3.53119464e-01 0.00000000e+00 3.25554726e+02] [-3.53119464e-01 9.35578240e-01 0.00000000e+00 -8.49266145e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66661317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.58, Y:-84.93, Z:0.02 [[ 9.34481404e-01 3.56011947e-01 0.00000000e+00 3.25581011e+02] [-3.56011947e-01 9.34481404e-01 0.00000000e+00 -8.49347939e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70363488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.61, Y:-84.94, Z:0.02 [[ 9.33060539e-01 3.59719378e-01 0.00000000e+00 3.25608595e+02] [-3.59719378e-01 9.33060539e-01 0.00000000e+00 -8.49424851e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63282828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.64, Y:-84.95, Z:0.01 [[ 9.31676374e-01 3.63289327e-01 0.00000000e+00 3.25635286e+02] [-3.63289327e-01 9.31676374e-01 0.00000000e+00 -8.49490386e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48847227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.66, Y:-84.96, Z:0.01 [[ 9.30631164e-01 3.65958517e-01 0.00000000e+00 3.25663611e+02] [-3.65958517e-01 9.30631164e-01 0.00000000e+00 -8.49557258e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41145243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.69, Y:-84.96, Z:0.02 [[ 9.30053229e-01 3.67424810e-01 0.00000000e+00 3.25691816e+02] [-3.67424810e-01 9.30053229e-01 0.00000000e+00 -8.49630184e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52147027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.72, Y:-84.97, Z:0.02 [[ 9.30407942e-01 3.66525662e-01 0.00000000e+00 3.25718581e+02] [-3.66525662e-01 9.30407942e-01 0.00000000e+00 -8.49698080e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92437591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.75, Y:-84.98, Z:0.02 [[ 9.31239141e-01 3.64408648e-01 0.00000000e+00 3.25745743e+02] [-3.64408648e-01 9.31239141e-01 0.00000000e+00 -8.49767161e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97238292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.77, Y:-84.98, Z:0.02 [[ 9.33926382e-01 3.57465401e-01 0.00000000e+00 3.25772491e+02] [-3.57465401e-01 9.33926382e-01 0.00000000e+00 -8.49833375e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65529912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.80, Y:-84.99, Z:0.02 [[ 9.35595408e-01 3.53073977e-01 0.00000000e+00 3.25799586e+02] [-3.53073977e-01 9.35595408e-01 0.00000000e+00 -8.49927077e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51793845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.83, Y:-85.00, Z:0.01 [[ 9.37320857e-01 3.48467518e-01 0.00000000e+00 3.25826295e+02] [-3.48467518e-01 9.37320857e-01 0.00000000e+00 -8.50028574e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35702014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.85, Y:-85.01, Z:0.01 [[ 9.38949684e-01 3.44054487e-01 0.00000000e+00 3.25852956e+02] [-3.44054487e-01 9.38949684e-01 0.00000000e+00 -8.50126269e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25299094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.88, Y:-85.02, Z:0.01 [[ 9.40465553e-01 3.39889018e-01 0.00000000e+00 3.25880288e+02] [-3.39889018e-01 9.40465553e-01 0.00000000e+00 -8.50218742e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31737261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.651400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:325.91, Y:-85.03, Z:0.01 [[ 9.43047094e-01 3.32659253e-01 0.00000000e+00 3.25909873e+02] [-3.32659253e-01 9.43047094e-01 0.00000000e+00 -8.50327812e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35943088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.94, Y:-85.04, Z:0.01 [[ 9.44032609e-01 3.29852139e-01 0.00000000e+00 3.25938056e+02] [-3.29852139e-01 9.44032609e-01 0.00000000e+00 -8.50433121e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42289372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.97, Y:-85.05, Z:0.01 [[ 9.44812403e-01 3.27611849e-01 0.00000000e+00 3.25966981e+02] [-3.27611849e-01 9.44812403e-01 0.00000000e+00 -8.50547551e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47457491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.00, Y:-85.07, Z:0.02 [[ 9.45507442e-01 3.25600486e-01 0.00000000e+00 3.25995721e+02] [-3.25600486e-01 9.45507442e-01 0.00000000e+00 -8.50658500e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57397787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.771400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:326.03, Y:-85.08, Z:0.02 [[ 9.46302751e-01 3.23281771e-01 0.00000000e+00 3.26026654e+02] [-3.23281771e-01 9.46302751e-01 0.00000000e+00 -8.50760611e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60836550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.80140051300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:326.06, Y:-85.09, Z:0.02 [[ 9.47852195e-01 3.18710240e-01 0.00000000e+00 3.26056557e+02] [-3.18710240e-01 9.47852195e-01 0.00000000e+00 -8.50876208e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52597885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.831400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:326.09, Y:-85.10, Z:0.01 [[ 9.48513940e-01 3.16735387e-01 0.00000000e+00 3.26087127e+02] [-3.16735387e-01 9.48513940e-01 0.00000000e+00 -8.50987234e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36333781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.86140051300004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:326.12, Y:-85.11, Z:0.01 [[ 9.49134882e-01 3.14869777e-01 0.00000000e+00 3.26117590e+02] [-3.14869777e-01 9.49134882e-01 0.00000000e+00 -8.51100718e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23094028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.15, Y:-85.12, Z:0.02 [[ 9.49798111e-01 3.12863466e-01 0.00000000e+00 3.26148629e+02] [-3.12863466e-01 9.49798111e-01 0.00000000e+00 -8.51210495e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55411422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.921400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:326.18, Y:-85.13, Z:0.02 [[ 9.51061438e-01 3.09001847e-01 0.00000000e+00 3.26179748e+02] [-3.09001847e-01 9.51061438e-01 0.00000000e+00 -8.51305909e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76742778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.951400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:326.21, Y:-85.14, Z:0.02 [[ 9.51551735e-01 3.07488691e-01 0.00000000e+00 3.26211322e+02] [-3.07488691e-01 9.51551735e-01 0.00000000e+00 -8.51405887e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91174859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.981400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:326.24, Y:-85.15, Z:0.02 [[ 9.51876119e-01 3.06483041e-01 0.00000000e+00 3.26242861e+02] [-3.06483041e-01 9.51876119e-01 0.00000000e+00 -8.51510913e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02988454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.011400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:326.27, Y:-85.16, Z:0.02 [[ 9.51927128e-01 3.06324572e-01 0.00000000e+00 3.26273730e+02] [-3.06324572e-01 9.51927128e-01 0.00000000e+00 -8.51627627e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35781356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.041400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:326.30, Y:-85.17, Z:0.02 [[ 9.51846579e-01 3.06574770e-01 0.00000000e+00 3.26303955e+02] [-3.06574770e-01 9.51846579e-01 0.00000000e+00 -8.51721481e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36795263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.071400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:326.33, Y:-85.18, Z:0.02 [[ 9.51841516e-01 3.06590491e-01 0.00000000e+00 3.26334557e+02] [-3.06590491e-01 9.51841516e-01 0.00000000e+00 -8.51805437e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33855981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.101400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:326.37, Y:-85.19, Z:0.02 [[ 9.51784721e-01 3.06766761e-01 0.00000000e+00 3.26365692e+02] [-3.06766761e-01 9.51784721e-01 0.00000000e+00 -8.51897932e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33855981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.131400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:326.40, Y:-85.20, Z:0.02 [[ 9.51886779e-01 3.06449931e-01 0.00000000e+00 3.26397241e+02] [-3.06449931e-01 9.51886779e-01 0.00000000e+00 -8.51981287e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33829962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.161400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:326.43, Y:-85.21, Z:0.02 [[ 9.52060623e-01 3.05909414e-01 0.00000000e+00 3.26428449e+02] [-3.05909414e-01 9.52060623e-01 0.00000000e+00 -8.52068689e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32551773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.191400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:326.46, Y:-85.22, Z:0.02 [[ 9.52361505e-01 3.04971413e-01 0.00000000e+00 3.26459985e+02] [-3.04971413e-01 9.52361505e-01 0.00000000e+00 -8.52169244e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31442951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.49, Y:-85.23, Z:0.02 [[ 9.53778419e-01 3.00510776e-01 0.00000000e+00 3.26489386e+02] [-3.00510776e-01 9.53778419e-01 0.00000000e+00 -8.52289583e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18019551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.251400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:326.52, Y:-85.24, Z:0.02 [[ 9.54613202e-01 2.97848343e-01 0.00000000e+00 3.26520684e+02] [-2.97848343e-01 9.54613202e-01 0.00000000e+00 -8.52393899e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88537030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.281400513 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:326.55, Y:-85.25, Z:0.02 [[ 9.55519660e-01 2.94927413e-01 0.00000000e+00 3.26552308e+02] [-2.94927413e-01 9.55519660e-01 0.00000000e+00 -8.52505472e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86328622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.311400513 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:326.58, Y:-85.26, Z:0.02 [[ 9.56257492e-01 2.92526252e-01 0.00000000e+00 3.26582612e+02] [-2.92526252e-01 9.56257492e-01 0.00000000e+00 -8.52615555e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88156491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.341400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:326.61, Y:-85.27, Z:0.02 [[ 9.57074000e-01 2.89843679e-01 0.00000000e+00 3.26612181e+02] [-2.89843679e-01 9.57074000e-01 0.00000000e+00 -8.52738829e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07101922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.371400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:326.64, Y:-85.28, Z:0.02 [[ 9.57249197e-01 2.89264540e-01 0.00000000e+00 3.26643533e+02] [-2.89264540e-01 9.57249197e-01 0.00000000e+00 -8.52833234e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06015851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.401400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:326.67, Y:-85.29, Z:0.02 [[ 9.57280391e-01 2.89161293e-01 0.00000000e+00 3.26674771e+02] [-2.89161293e-01 9.57280391e-01 0.00000000e+00 -8.52919288e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97377456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.431400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:326.71, Y:-85.30, Z:0.02 [[ 9.57244019e-01 2.89281677e-01 0.00000000e+00 3.26707053e+02] [-2.89281677e-01 9.57244019e-01 0.00000000e+00 -8.53005781e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84191318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.461400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:326.74, Y:-85.31, Z:0.02 [[ 9.57236621e-01 2.89306156e-01 0.00000000e+00 3.26738818e+02] [-2.89306156e-01 9.57236621e-01 0.00000000e+00 -8.53094747e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71692158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.49140051300003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:326.77, Y:-85.32, Z:0.02 [[ 9.57966451e-01 2.86880251e-01 0.00000000e+00 3.26769743e+02] [-2.86880251e-01 9.57966451e-01 0.00000000e+00 -8.53173397e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85303055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.521400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:326.80, Y:-85.33, Z:0.02 [[ 9.58301424e-01 2.85759304e-01 0.00000000e+00 3.26800883e+02] [-2.85759304e-01 9.58301424e-01 0.00000000e+00 -8.53252375e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95799904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.55140051300003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:326.83, Y:-85.33, Z:0.02 [[ 9.58934115e-01 2.83628918e-01 0.00000000e+00 3.26833293e+02] [-2.83628918e-01 9.58934115e-01 0.00000000e+00 -8.53326943e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99198654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.581400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:326.86, Y:-85.34, Z:0.02 [[ 9.59813294e-01 2.80639344e-01 0.00000000e+00 3.26864692e+02] [-2.80639344e-01 9.59813294e-01 0.00000000e+00 -8.53403195e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94762870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.61140051300004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:326.90, Y:-85.35, Z:0.02 [[ 9.61325218e-01 2.75415732e-01 0.00000000e+00 3.26896200e+02] [-2.75415732e-01 9.61325218e-01 0.00000000e+00 -8.53466327e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71660840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.641400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:326.93, Y:-85.35, Z:0.02 [[ 9.62016560e-01 2.72991095e-01 0.00000000e+00 3.26928336e+02] [-2.72991095e-01 9.62016560e-01 0.00000000e+00 -8.53539336e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70268462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.671400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:326.96, Y:-85.36, Z:0.02 [[ 9.62430779e-01 2.71527155e-01 0.00000000e+00 3.26959616e+02] [-2.71527155e-01 9.62430779e-01 0.00000000e+00 -8.53601148e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73427566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.701400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:326.99, Y:-85.37, Z:0.02 [[ 9.62634206e-01 2.70805069e-01 0.00000000e+00 3.26991306e+02] [-2.70805069e-01 9.62634206e-01 0.00000000e+00 -8.53663401e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78058367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.731400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:327.03, Y:-85.37, Z:0.02 [[ 9.63034911e-01 2.69376613e-01 0.00000000e+00 3.27025786e+02] [-2.69376613e-01 9.63034911e-01 0.00000000e+00 -8.53703911e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99738155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.761400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:327.06, Y:-85.38, Z:0.02 [[ 9.63190975e-01 2.68818052e-01 0.00000000e+00 3.27056890e+02] [-2.68818052e-01 9.63190975e-01 0.00000000e+00 -8.53767872e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99902195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.791400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:327.09, Y:-85.38, Z:0.02 [[ 9.63768686e-01 2.66739423e-01 0.00000000e+00 3.27089606e+02] [-2.66739423e-01 9.63768686e-01 0.00000000e+00 -8.53831313e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18273235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.821400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:327.12, Y:-85.39, Z:0.02 [[ 9.64018139e-01 2.65836469e-01 0.00000000e+00 3.27118491e+02] [-2.65836469e-01 9.64018139e-01 0.00000000e+00 -8.53898705e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16478334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.15, Y:-85.40, Z:0.02 [[ 9.64965493e-01 2.62376824e-01 0.00000000e+00 3.27150661e+02] [-2.62376824e-01 9.64965493e-01 0.00000000e+00 -8.53978819e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34513196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.18, Y:-85.41, Z:0.02 [[ 9.65336398e-01 2.61008887e-01 0.00000000e+00 3.27182723e+02] [-2.61008887e-01 9.65336398e-01 0.00000000e+00 -8.54064643e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25414427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.21, Y:-85.41, Z:0.02 [[ 9.65569255e-01 2.60146139e-01 0.00000000e+00 3.27214689e+02] [-2.60146139e-01 9.65569255e-01 0.00000000e+00 -8.54146054e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14673976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.941400513 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:327.25, Y:-85.42, Z:0.02 [[ 9.65608196e-01 2.60001561e-01 0.00000000e+00 3.27247184e+02] [-2.60001561e-01 9.65608196e-01 0.00000000e+00 -8.54219388e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87849371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.971400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:327.28, Y:-85.43, Z:0.02 [[ 9.65302182e-01 2.61135401e-01 0.00000000e+00 3.27276845e+02] [-2.61135401e-01 9.65302182e-01 0.00000000e+00 -8.54294985e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87860336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.001400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:327.31, Y:-85.44, Z:0.02 [[ 9.64309216e-01 2.64778654e-01 0.00000000e+00 3.27308938e+02] [-2.64778654e-01 9.64309216e-01 0.00000000e+00 -8.54376250e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22779395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.031400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:327.34, Y:-85.45, Z:0.02 [[ 9.63781419e-01 2.66693411e-01 0.00000000e+00 3.27339148e+02] [-2.66693411e-01 9.63781419e-01 0.00000000e+00 -8.54452720e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33528080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.061400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:327.37, Y:-85.45, Z:0.02 [[ 9.62867833e-01 2.69973213e-01 0.00000000e+00 3.27369399e+02] [-2.69973213e-01 9.62867833e-01 0.00000000e+00 -8.54535211e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22472112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.091400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:327.40, Y:-85.46, Z:0.02 [[ 9.62261011e-01 2.72128180e-01 0.00000000e+00 3.27399764e+02] [-2.72128180e-01 9.62261011e-01 0.00000000e+00 -8.54619198e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03580440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.121400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:327.43, Y:-85.47, Z:0.02 [[ 9.61173178e-01 2.75945866e-01 0.00000000e+00 3.27428487e+02] [-2.75945866e-01 9.61173178e-01 0.00000000e+00 -8.54715240e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71470880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.151400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:327.46, Y:-85.48, Z:0.02 [[ 9.61048535e-01 2.76379654e-01 0.00000000e+00 3.27458376e+02] [-2.76379654e-01 9.61048535e-01 0.00000000e+00 -8.54800784e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65102202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.181400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:327.49, Y:-85.49, Z:0.02 [[ 9.61040614e-01 2.76407196e-01 0.00000000e+00 3.27488988e+02] [-2.76407196e-01 9.61040614e-01 0.00000000e+00 -8.54884892e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54850229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.211400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:327.52, Y:-85.50, Z:0.02 [[ 9.60486426e-01 2.78326831e-01 0.00000000e+00 3.27517627e+02] [-2.78326831e-01 9.60486426e-01 0.00000000e+00 -8.54993759e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70580293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.24140051300003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:327.55, Y:-85.51, Z:0.02 [[ 9.59987030e-01 2.80044466e-01 0.00000000e+00 3.27547505e+02] [-2.80044466e-01 9.59987030e-01 0.00000000e+00 -8.55115079e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77365558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.271400513 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:327.58, Y:-85.52, Z:0.02 [[ 9.59370886e-01 2.82148015e-01 0.00000000e+00 3.27576328e+02] [-2.82148015e-01 9.59370886e-01 0.00000000e+00 -8.55224852e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76783139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.30140051300003 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:327.61, Y:-85.53, Z:0.02 [[ 9.58763432e-01 2.84205350e-01 0.00000000e+00 3.27605770e+02] [-2.84205350e-01 9.58763432e-01 0.00000000e+00 -8.55319844e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81828025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.331400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:327.64, Y:-85.54, Z:0.02 [[ 9.57889796e-01 2.87136098e-01 0.00000000e+00 3.27636839e+02] [-2.87136098e-01 9.57889796e-01 0.00000000e+00 -8.55411549e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92983494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.36140051300004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:327.67, Y:-85.55, Z:0.02 [[ 9.56030336e-01 2.93267791e-01 0.00000000e+00 3.27666239e+02] [-2.93267791e-01 9.56030336e-01 0.00000000e+00 -8.55503934e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07319387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.391400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:327.70, Y:-85.56, Z:0.02 [[ 9.55208061e-01 2.95935060e-01 0.00000000e+00 3.27696491e+02] [-2.95935060e-01 9.55208061e-01 0.00000000e+00 -8.55601877e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13213973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.421400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:327.73, Y:-85.57, Z:0.02 [[ 9.54576799e-01 2.97964988e-01 0.00000000e+00 3.27725526e+02] [-2.97964988e-01 9.54576799e-01 0.00000000e+00 -8.55691903e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10883713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.451400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:327.76, Y:-85.58, Z:0.02 [[ 9.54071514e-01 2.99578949e-01 0.00000000e+00 3.27755194e+02] [-2.99578949e-01 9.54071514e-01 0.00000000e+00 -8.55785560e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12334012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.481400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:327.78, Y:-85.59, Z:0.02 [[ 9.53458110e-01 3.01525510e-01 0.00000000e+00 3.27784679e+02] [-3.01525510e-01 9.53458110e-01 0.00000000e+00 -8.55895430e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26039570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.511400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:327.81, Y:-85.60, Z:0.02 [[ 9.52971288e-01 3.03060594e-01 0.00000000e+00 3.27814847e+02] [-3.03060594e-01 9.52971288e-01 0.00000000e+00 -8.55994724e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36704085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.84, Y:-85.61, Z:0.03 [[ 9.52487598e-01 3.04577372e-01 0.00000000e+00 3.27843772e+02] [-3.04577372e-01 9.52487598e-01 0.00000000e+00 -8.56082135e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58243914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.571400513 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:327.87, Y:-85.62, Z:0.02 [[ 9.51570396e-01 3.07430937e-01 0.00000000e+00 3.27874001e+02] [-3.07430937e-01 9.51570396e-01 0.00000000e+00 -8.56173869e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43220547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.90, Y:-85.63, Z:0.02 [[ 9.50093114e-01 3.11966463e-01 0.00000000e+00 3.27901967e+02] [-3.11966463e-01 9.50093114e-01 0.00000000e+00 -8.56262792e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39461350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.631400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:327.93, Y:-85.64, Z:0.02 [[ 9.49223774e-01 3.14601696e-01 0.00000000e+00 3.27932066e+02] [-3.14601696e-01 9.49223774e-01 0.00000000e+00 -8.56354653e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32238938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.96, Y:-85.64, Z:0.02 [[ 9.48672548e-01 3.16260013e-01 0.00000000e+00 3.27961175e+02] [-3.16260013e-01 9.48672548e-01 0.00000000e+00 -8.56444703e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37467395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.99, Y:-85.66, Z:0.02 [[ 9.48002845e-01 3.18261852e-01 0.00000000e+00 3.27991922e+02] [-3.18261852e-01 9.48002845e-01 0.00000000e+00 -8.56551060e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25964635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.721400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:328.02, Y:-85.67, Z:0.02 [[ 9.46799461e-01 3.21824145e-01 0.00000000e+00 3.28020841e+02] [-3.21824145e-01 9.46799461e-01 0.00000000e+00 -8.56687044e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88472328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.05, Y:-85.68, Z:0.02 [[ 9.46506449e-01 3.22684895e-01 0.00000000e+00 3.28049853e+02] [-3.22684895e-01 9.46506449e-01 0.00000000e+00 -8.56792103e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02676412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.781400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:328.08, Y:-85.69, Z:0.02 [[ 9.45692566e-01 3.25062411e-01 0.00000000e+00 3.28078517e+02] [-3.25062411e-01 9.45692566e-01 0.00000000e+00 -8.56893697e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93655317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.11, Y:-85.70, Z:0.02 [[ 9.45029778e-01 3.26984278e-01 0.00000000e+00 3.28108546e+02] [-3.26984278e-01 9.45029778e-01 0.00000000e+00 -8.56995685e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13475568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.841400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:328.14, Y:-85.71, Z:0.02 [[ 9.43979252e-01 3.30004806e-01 0.00000000e+00 3.28137671e+02] [-3.30004806e-01 9.43979252e-01 0.00000000e+00 -8.57098176e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09701300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.871400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:328.16, Y:-85.72, Z:0.02 [[ 9.41753792e-01 3.36303129e-01 0.00000000e+00 3.28164743e+02] [-3.36303129e-01 9.41753792e-01 0.00000000e+00 -8.57206169e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03426915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.19, Y:-85.73, Z:0.02 [[ 9.40844049e-01 3.38839897e-01 0.00000000e+00 3.28191929e+02] [-3.38839897e-01 9.40844049e-01 0.00000000e+00 -8.57288755e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10892207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.22, Y:-85.74, Z:0.02 [[ 9.39628309e-01 3.42196787e-01 0.00000000e+00 3.28222279e+02] [-3.42196787e-01 9.39628309e-01 0.00000000e+00 -8.57383839e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14688547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.25, Y:-85.75, Z:0.02 [[ 9.38383339e-01 3.45596166e-01 0.00000000e+00 3.28250877e+02] [-3.45596166e-01 9.38383339e-01 0.00000000e+00 -8.57478501e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12642489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.28, Y:-85.76, Z:0.02 [[ 9.36524751e-01 3.50601471e-01 0.00000000e+00 3.28280870e+02] [-3.50601471e-01 9.36524751e-01 0.00000000e+00 -8.57581307e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12282379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.31, Y:-85.77, Z:0.02 [[ 9.36467372e-01 3.50754702e-01 0.00000000e+00 3.28312126e+02] [-3.50754702e-01 9.36467372e-01 0.00000000e+00 -8.57675702e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12282379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.34, Y:-85.78, Z:0.02 [[ 9.36052436e-01 3.51860537e-01 0.00000000e+00 3.28340975e+02] [-3.51860537e-01 9.36052436e-01 0.00000000e+00 -8.57758882e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13989313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.37, Y:-85.78, Z:0.02 [[ 9.35984763e-01 3.52040514e-01 0.00000000e+00 3.28368808e+02] [-3.52040514e-01 9.35984763e-01 0.00000000e+00 -8.57845639e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12169043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.40, Y:-85.79, Z:0.02 [[ 9.36332562e-01 3.51114416e-01 0.00000000e+00 3.28395800e+02] [-3.51114416e-01 9.36332562e-01 0.00000000e+00 -8.57931848e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14374879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.42, Y:-85.80, Z:0.02 [[ 9.36816518e-01 3.49821113e-01 0.00000000e+00 3.28423787e+02] [-3.49821113e-01 9.36816518e-01 0.00000000e+00 -8.58019609e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22598291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.45, Y:-85.81, Z:0.02 [[ 9.37395143e-01 3.48267635e-01 0.00000000e+00 3.28452091e+02] [-3.48267635e-01 9.37395143e-01 0.00000000e+00 -8.58101738e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38077060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.48, Y:-85.82, Z:0.03 [[ 9.37980515e-01 3.46687977e-01 0.00000000e+00 3.28482430e+02] [-3.46687977e-01 9.37980515e-01 0.00000000e+00 -8.58193546e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62870113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.51, Y:-85.83, Z:0.03 [[ 9.37946116e-01 3.46781030e-01 0.00000000e+00 3.28511089e+02] [-3.46781030e-01 9.37946116e-01 0.00000000e+00 -8.58277695e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55000443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.54, Y:-85.84, Z:0.02 [[ 9.37801854e-01 3.47170971e-01 0.00000000e+00 3.28541532e+02] [-3.47170971e-01 9.37801854e-01 0.00000000e+00 -8.58353260e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43275250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.57, Y:-85.84, Z:0.02 [[ 9.37586042e-01 3.47753380e-01 0.00000000e+00 3.28570640e+02] [-3.47753380e-01 9.37586042e-01 0.00000000e+00 -8.58410198e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24339231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.60, Y:-85.85, Z:0.02 [[ 9.37320568e-01 3.48468295e-01 0.00000000e+00 3.28599520e+02] [-3.48468295e-01 9.37320568e-01 0.00000000e+00 -8.58459331e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02297467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.63, Y:-85.85, Z:0.02 [[ 9.36668924e-01 3.50216114e-01 0.00000000e+00 3.28628618e+02] [-3.50216114e-01 9.36668924e-01 0.00000000e+00 -8.58508543e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95193356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.66, Y:-85.86, Z:0.02 [[ 9.36332439e-01 3.51114745e-01 0.00000000e+00 3.28657345e+02] [-3.51114745e-01 9.36332439e-01 0.00000000e+00 -8.58584177e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08129332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.69, Y:-85.86, Z:0.02 [[ 9.35991475e-01 3.52022668e-01 0.00000000e+00 3.28685115e+02] [-3.52022668e-01 9.35991475e-01 0.00000000e+00 -8.58643199e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21030672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.71, Y:-85.87, Z:0.02 [[ 9.35619913e-01 3.53009036e-01 0.00000000e+00 3.28712628e+02] [-3.53009036e-01 9.35619913e-01 0.00000000e+00 -8.58684329e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22058773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.74, Y:-85.87, Z:0.02 [[ 9.35013428e-01 3.54612309e-01 0.00000000e+00 3.28742005e+02] [-3.54612309e-01 9.35013428e-01 0.00000000e+00 -8.58692817e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15549147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.77, Y:-85.88, Z:0.02 [[ 9.34853090e-01 3.55034786e-01 0.00000000e+00 3.28769619e+02] [-3.55034786e-01 9.34853090e-01 0.00000000e+00 -8.58751563e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09802686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.80, Y:-85.88, Z:0.02 [[ 9.34790995e-01 3.55198248e-01 0.00000000e+00 3.28797967e+02] [-3.55198248e-01 9.34790995e-01 0.00000000e+00 -8.58812658e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18914460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.561400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:328.83, Y:-85.89, Z:0.02 [[ 9.34680217e-01 3.55489650e-01 0.00000000e+00 3.28826086e+02] [-3.55489650e-01 9.34680217e-01 0.00000000e+00 -8.58871044e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17435504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.591400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:328.85, Y:-85.89, Z:0.02 [[ 9.34713027e-01 3.55403372e-01 0.00000000e+00 3.28854902e+02] [-3.55403372e-01 9.34713027e-01 0.00000000e+00 -8.58930544e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15405083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.621400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:328.88, Y:-85.90, Z:0.02 [[ 9.34652709e-01 3.55561969e-01 0.00000000e+00 3.28882287e+02] [-3.55561969e-01 9.34652709e-01 0.00000000e+00 -8.59000112e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97433636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.91, Y:-85.91, Z:0.02 [[ 9.34925287e-01 3.54844624e-01 0.00000000e+00 3.28908981e+02] [-3.54844624e-01 9.34925287e-01 0.00000000e+00 -8.59080838e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66223851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.94, Y:-85.92, Z:0.02 [[ 9.35023765e-01 3.54585052e-01 0.00000000e+00 3.28935832e+02] [-3.54585052e-01 9.35023765e-01 0.00000000e+00 -8.59160250e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69317059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.711400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:328.96, Y:-85.92, Z:0.02 [[ 9.34935196e-01 3.54818516e-01 0.00000000e+00 3.28963714e+02] [-3.54818516e-01 9.34935196e-01 0.00000000e+00 -8.59240815e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76972653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.99, Y:-85.93, Z:0.02 [[ 9.35000231e-01 3.54647103e-01 0.00000000e+00 3.28991251e+02] [-3.54647103e-01 9.35000231e-01 0.00000000e+00 -8.59318617e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03010273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.02, Y:-85.94, Z:0.02 [[ 9.34304655e-01 3.56475541e-01 0.00000000e+00 3.29017530e+02] [-3.56475541e-01 9.34304655e-01 0.00000000e+00 -8.59415406e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08462939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.04, Y:-85.95, Z:0.02 [[ 9.33815823e-01 3.57754119e-01 0.00000000e+00 3.29044154e+02] [-3.57754119e-01 9.33815823e-01 0.00000000e+00 -8.59502315e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06574304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.07, Y:-85.96, Z:0.02 [[ 9.33329322e-01 3.59021416e-01 0.00000000e+00 3.29070907e+02] [-3.59021416e-01 9.33329322e-01 0.00000000e+00 -8.59575554e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83043596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.10, Y:-85.96, Z:0.02 [[ 9.32607503e-01 3.60892290e-01 0.00000000e+00 3.29099168e+02] [-3.60892290e-01 9.32607503e-01 0.00000000e+00 -8.59645776e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63369968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.13, Y:-85.97, Z:0.02 [[ 9.31839363e-01 3.62871053e-01 0.00000000e+00 3.29125915e+02] [-3.62871053e-01 9.31839363e-01 0.00000000e+00 -8.59715843e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59313051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.15, Y:-85.98, Z:0.02 [[ 9.31053350e-01 3.64883076e-01 0.00000000e+00 3.29153784e+02] [-3.64883076e-01 9.31053350e-01 0.00000000e+00 -8.59786931e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98992663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.18, Y:-85.98, Z:0.02 [[ 9.31252961e-01 3.64373329e-01 0.00000000e+00 3.29180188e+02] [-3.64373329e-01 9.31252961e-01 0.00000000e+00 -8.59849270e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04801167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.21, Y:-85.99, Z:0.02 [[ 9.31783544e-01 3.63014363e-01 0.00000000e+00 3.29208420e+02] [-3.63014363e-01 9.31783544e-01 0.00000000e+00 -8.59910782e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93710440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.24, Y:-86.00, Z:0.02 [[ 9.32492934e-01 3.61188218e-01 0.00000000e+00 3.29236748e+02] [-3.61188218e-01 9.32492934e-01 0.00000000e+00 -8.59987271e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76055968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.26, Y:-86.01, Z:0.02 [[ 9.34035612e-01 3.57179892e-01 0.00000000e+00 3.29262173e+02] [-3.57179892e-01 9.34035612e-01 0.00000000e+00 -8.60095832e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54743890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.29, Y:-86.02, Z:0.02 [[ 9.34596012e-01 3.55710970e-01 0.00000000e+00 3.29287864e+02] [-3.55710970e-01 9.34596012e-01 0.00000000e+00 -8.60192085e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73376612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.32, Y:-86.03, Z:0.02 [[ 9.34967499e-01 3.54733387e-01 0.00000000e+00 3.29315214e+02] [-3.54733387e-01 9.34967499e-01 0.00000000e+00 -8.60277852e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02931016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.34, Y:-86.04, Z:0.02 [[ 9.35007525e-01 3.54627872e-01 0.00000000e+00 3.29341639e+02] [-3.54627872e-01 9.35007525e-01 0.00000000e+00 -8.60356814e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16322085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.37, Y:-86.04, Z:0.02 [[ 9.34807047e-01 3.55156001e-01 0.00000000e+00 3.29367876e+02] [-3.55156001e-01 9.34807047e-01 0.00000000e+00 -8.60432757e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08525496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.40, Y:-86.05, Z:0.02 [[ 9.34409009e-01 3.56201915e-01 0.00000000e+00 3.29395169e+02] [-3.56201915e-01 9.34409009e-01 0.00000000e+00 -8.60518378e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90139611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.42, Y:-86.06, Z:0.01 [[ 9.32903797e-01 3.60125679e-01 0.00000000e+00 3.29421525e+02] [-3.60125679e-01 9.32903797e-01 0.00000000e+00 -8.60596483e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41367570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.45, Y:-86.07, Z:0.02 [[ 9.32007025e-01 3.62440210e-01 0.00000000e+00 3.29449044e+02] [-3.62440210e-01 9.32007025e-01 0.00000000e+00 -8.60667921e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50590258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.48, Y:-86.07, Z:0.02 [[ 9.31186628e-01 3.64542815e-01 0.00000000e+00 3.29477310e+02] [-3.64542815e-01 9.31186628e-01 0.00000000e+00 -8.60741884e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78443169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.50, Y:-86.08, Z:0.02 [[ 9.30409977e-01 3.66520497e-01 0.00000000e+00 3.29504434e+02] [-3.66520497e-01 9.30409977e-01 0.00000000e+00 -8.60822048e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11513552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.53, Y:-86.09, Z:0.02 [[ 9.29433859e-01 3.68988756e-01 0.00000000e+00 3.29531189e+02] [-3.68988756e-01 9.29433859e-01 0.00000000e+00 -8.60910068e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18998885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.56, Y:-86.10, Z:0.02 [[ 9.29259765e-01 3.69426974e-01 0.00000000e+00 3.29558359e+02] [-3.69426974e-01 9.29259765e-01 0.00000000e+00 -8.60985149e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99050159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.59, Y:-86.11, Z:0.02 [[ 9.29037640e-01 3.69985220e-01 0.00000000e+00 3.29585747e+02] [-3.69985220e-01 9.29037640e-01 0.00000000e+00 -8.61053688e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77955266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.61, Y:-86.11, Z:0.02 [[ 9.28793260e-01 3.70598273e-01 0.00000000e+00 3.29612978e+02] [-3.70598273e-01 9.28793260e-01 0.00000000e+00 -8.61122941e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71062322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.64, Y:-86.12, Z:0.02 [[ 9.28550911e-01 3.71205072e-01 0.00000000e+00 3.29638726e+02] [-3.71205072e-01 9.28550911e-01 0.00000000e+00 -8.61193385e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65887944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.66, Y:-86.13, Z:0.02 [[ 9.28265828e-01 3.71917400e-01 0.00000000e+00 3.29664980e+02] [-3.71917400e-01 9.28265828e-01 0.00000000e+00 -8.61281681e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72237892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.69, Y:-86.14, Z:0.02 [[ 9.28433617e-01 3.71498344e-01 0.00000000e+00 3.29691887e+02] [-3.71498344e-01 9.28433617e-01 0.00000000e+00 -8.61362728e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82380635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.72, Y:-86.14, Z:0.02 [[ 9.28816434e-01 3.70540189e-01 0.00000000e+00 3.29717384e+02] [-3.70540189e-01 9.28816434e-01 0.00000000e+00 -8.61439678e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71815192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.74, Y:-86.15, Z:0.02 [[ 9.30027875e-01 3.67488982e-01 0.00000000e+00 3.29743657e+02] [-3.67488982e-01 9.30027875e-01 0.00000000e+00 -8.61541028e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67936741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.77, Y:-86.16, Z:0.02 [[ 9.30775081e-01 3.65592325e-01 0.00000000e+00 3.29768612e+02] [-3.65592325e-01 9.30775081e-01 0.00000000e+00 -8.61637971e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77474693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.79, Y:-86.17, Z:0.02 [[ 9.31373704e-01 3.64064587e-01 0.00000000e+00 3.29794945e+02] [-3.64064587e-01 9.31373704e-01 0.00000000e+00 -8.61734879e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87506273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.82, Y:-86.18, Z:0.02 [[ 9.31698314e-01 3.63233053e-01 0.00000000e+00 3.29821185e+02] [-3.63233053e-01 9.31698314e-01 0.00000000e+00 -8.61827616e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95326659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.85, Y:-86.19, Z:0.02 [[ 9.31738890e-01 3.63128958e-01 0.00000000e+00 3.29847688e+02] [-3.63128958e-01 9.31738890e-01 0.00000000e+00 -8.61923022e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94392946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.87, Y:-86.20, Z:0.02 [[ 9.31523715e-01 3.63680587e-01 0.00000000e+00 3.29874983e+02] [-3.63680587e-01 9.31523715e-01 0.00000000e+00 -8.62023746e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87575141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.90, Y:-86.21, Z:0.02 [[ 9.31237355e-01 3.64413211e-01 0.00000000e+00 3.29901331e+02] [-3.64413211e-01 9.31237355e-01 0.00000000e+00 -8.62123898e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68724703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.93, Y:-86.22, Z:0.01 [[ 9.30499676e-01 3.66292714e-01 0.00000000e+00 3.29927609e+02] [-3.66292714e-01 9.30499676e-01 0.00000000e+00 -8.62239230e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39174581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.95, Y:-86.23, Z:0.01 [[ 9.30364333e-01 3.66636343e-01 0.00000000e+00 3.29954984e+02] [-3.66636343e-01 9.30364333e-01 0.00000000e+00 -8.62331710e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33989880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.98, Y:-86.24, Z:0.01 [[ 9.30545217e-01 3.66177006e-01 0.00000000e+00 3.29981317e+02] [-3.66177006e-01 9.30545217e-01 0.00000000e+00 -8.62421212e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20676485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.01, Y:-86.25, Z:0.01 [[ 9.30973821e-01 3.65085941e-01 0.00000000e+00 3.30008963e+02] [-3.65085941e-01 9.30973821e-01 0.00000000e+00 -8.62517693e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34011684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.04, Y:-86.26, Z:0.01 [[ 9.30990720e-01 3.65042846e-01 0.00000000e+00 3.30037117e+02] [-3.65042846e-01 9.30990720e-01 0.00000000e+00 -8.62600196e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34011684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.06, Y:-86.27, Z:0.02 [[ 9.32449656e-01 3.61299930e-01 0.00000000e+00 3.30063130e+02] [-3.61299930e-01 9.32449656e-01 0.00000000e+00 -8.62717140e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52950412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.09, Y:-86.28, Z:0.02 [[ 9.33200305e-01 3.59356634e-01 0.00000000e+00 3.30089308e+02] [-3.59356634e-01 9.33200305e-01 0.00000000e+00 -8.62813137e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74078003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.001400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:330.12, Y:-86.29, Z:0.02 [[ 9.33815088e-01 3.57756037e-01 0.00000000e+00 3.30117587e+02] [-3.57756037e-01 9.33815088e-01 0.00000000e+00 -8.62923479e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86925018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.14, Y:-86.30, Z:0.02 [[ 9.34182780e-01 3.56794806e-01 0.00000000e+00 3.30143964e+02] [-3.56794806e-01 9.34182780e-01 0.00000000e+00 -8.63026567e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78396337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.17, Y:-86.32, Z:0.02 [[ 9.34378855e-01 3.56281006e-01 0.00000000e+00 3.30171413e+02] [-3.56281006e-01 9.34378855e-01 0.00000000e+00 -8.63179044e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72102640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.20, Y:-86.33, Z:0.02 [[ 9.34172989e-01 3.56820441e-01 0.00000000e+00 3.30200264e+02] [-3.56820441e-01 9.34172989e-01 0.00000000e+00 -8.63288275e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77277255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.23, Y:-86.34, Z:0.02 [[ 9.33761893e-01 3.57894855e-01 0.00000000e+00 3.30227824e+02] [-3.57894855e-01 9.33761893e-01 0.00000000e+00 -8.63385985e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67766971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.26, Y:-86.35, Z:0.01 [[ 9.33203261e-01 3.59348959e-01 0.00000000e+00 3.30255057e+02] [-3.59348959e-01 9.33203261e-01 0.00000000e+00 -8.63479551e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46510961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.28, Y:-86.36, Z:0.01 [[ 9.32524514e-01 3.61106676e-01 0.00000000e+00 3.30281683e+02] [-3.61106676e-01 9.32524514e-01 0.00000000e+00 -8.63579708e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25242139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.31, Y:-86.37, Z:0.01 [[ 9.31622881e-01 3.63426482e-01 0.00000000e+00 3.30311786e+02] [-3.63426482e-01 9.31622881e-01 0.00000000e+00 -8.63699329e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36264594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.34, Y:-86.38, Z:0.02 [[ 9.29696680e-01 3.68326056e-01 0.00000000e+00 3.30339864e+02] [-3.68326056e-01 9.29696680e-01 0.00000000e+00 -8.63821047e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62186259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.37, Y:-86.39, Z:0.02 [[ 9.28431005e-01 3.71504872e-01 0.00000000e+00 3.30370806e+02] [-3.71504872e-01 9.28431005e-01 0.00000000e+00 -8.63921019e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73300552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.40, Y:-86.40, Z:0.02 [[ 9.27121531e-01 3.74760812e-01 0.00000000e+00 3.30401078e+02] [-3.74760812e-01 9.27121531e-01 0.00000000e+00 -8.64017592e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67933595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.43, Y:-86.41, Z:0.02 [[ 9.26008281e-01 3.77503196e-01 0.00000000e+00 3.30429668e+02] [-3.77503196e-01 9.26008281e-01 0.00000000e+00 -8.64110828e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62876791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.46, Y:-86.42, Z:0.01 [[ 9.24462476e-01 3.81273039e-01 0.00000000e+00 3.30457211e+02] [-3.81273039e-01 9.24462476e-01 0.00000000e+00 -8.64197705e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36831305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.49, Y:-86.43, Z:0.01 [[ 9.23879144e-01 3.82684371e-01 0.00000000e+00 3.30487938e+02] [-3.82684371e-01 9.23879144e-01 0.00000000e+00 -8.64283486e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33201361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.52, Y:-86.44, Z:0.01 [[ 9.23633970e-01 3.83275735e-01 0.00000000e+00 3.30517512e+02] [-3.83275735e-01 9.23633970e-01 0.00000000e+00 -8.64358109e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35261185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.55, Y:-86.44, Z:0.01 [[ 9.23690114e-01 3.83140410e-01 0.00000000e+00 3.30545389e+02] [-3.83140410e-01 9.23690114e-01 0.00000000e+00 -8.64422125e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41531355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.57, Y:-86.45, Z:0.01 [[ 9.24109814e-01 3.82127010e-01 0.00000000e+00 3.30573917e+02] [-3.82127010e-01 9.24109814e-01 0.00000000e+00 -8.64463888e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47256132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.60, Y:-86.45, Z:0.01 [[ 9.24501943e-01 3.81177331e-01 0.00000000e+00 3.30600810e+02] [-3.81177331e-01 9.24501943e-01 0.00000000e+00 -8.64520414e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42253739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.63, Y:-86.46, Z:0.01 [[ 9.24867940e-01 3.80288435e-01 0.00000000e+00 3.30630093e+02] [-3.80288435e-01 9.24867940e-01 0.00000000e+00 -8.64585004e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44285949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.66, Y:-86.46, Z:0.02 [[ 9.25209554e-01 3.79456561e-01 0.00000000e+00 3.30657225e+02] [-3.79456561e-01 9.25209554e-01 0.00000000e+00 -8.64640954e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51186362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.69, Y:-86.47, Z:0.02 [[ 9.25445392e-01 3.78881020e-01 0.00000000e+00 3.30685736e+02] [-3.78881020e-01 9.25445392e-01 0.00000000e+00 -8.64700390e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68333980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.71, Y:-86.47, Z:0.02 [[ 9.25522227e-01 3.78693289e-01 0.00000000e+00 3.30714536e+02] [-3.78693289e-01 9.25522227e-01 0.00000000e+00 -8.64743882e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86696978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.74, Y:-86.48, Z:0.02 [[ 9.25468625e-01 3.78824266e-01 0.00000000e+00 3.30743038e+02] [-3.78824266e-01 9.25468625e-01 0.00000000e+00 -8.64807682e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77258429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.77, Y:-86.49, Z:0.02 [[ 9.25436075e-01 3.78903776e-01 0.00000000e+00 3.30770231e+02] [-3.78903776e-01 9.25436075e-01 0.00000000e+00 -8.64868737e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59576597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.721400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:330.80, Y:-86.49, Z:0.01 [[ 9.25377710e-01 3.79046294e-01 0.00000000e+00 3.30797760e+02] [-3.79046294e-01 9.25377710e-01 0.00000000e+00 -8.64937044e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42293412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.83, Y:-86.50, Z:0.01 [[ 9.25546206e-01 3.78634679e-01 0.00000000e+00 3.30825855e+02] [-3.78634679e-01 9.25546206e-01 0.00000000e+00 -8.64986396e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43513531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.85, Y:-86.51, Z:0.02 [[ 9.25553997e-01 3.78615635e-01 0.00000000e+00 3.30853436e+02] [-3.78615635e-01 9.25553997e-01 0.00000000e+00 -8.65052597e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50368517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.88, Y:-86.51, Z:0.02 [[ 9.25485811e-01 3.78782277e-01 0.00000000e+00 3.30881159e+02] [-3.78782277e-01 9.25485811e-01 0.00000000e+00 -8.65116623e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50566357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.91, Y:-86.52, Z:0.01 [[ 9.25421857e-01 3.78938500e-01 0.00000000e+00 3.30909775e+02] [-3.78938500e-01 9.25421857e-01 0.00000000e+00 -8.65178096e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41896236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.94, Y:-86.52, Z:0.01 [[ 9.25267983e-01 3.79314064e-01 0.00000000e+00 3.30937279e+02] [-3.79314064e-01 9.25267983e-01 0.00000000e+00 -8.65236795e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31088952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.96, Y:-86.53, Z:0.01 [[ 9.25324672e-01 3.79175753e-01 0.00000000e+00 3.30963950e+02] [-3.79175753e-01 9.25324672e-01 0.00000000e+00 -8.65282279e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15748293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.99, Y:-86.53, Z:0.01 [[ 9.25552808e-01 3.78618541e-01 0.00000000e+00 3.30991034e+02] [-3.78618541e-01 9.25552808e-01 0.00000000e+00 -8.65349562e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17315623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.02, Y:-86.54, Z:0.01 [[ 9.25954971e-01 3.77633938e-01 0.00000000e+00 3.31017603e+02] [-3.77633938e-01 9.25954971e-01 0.00000000e+00 -8.65412792e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20066412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.04, Y:-86.55, Z:0.01 [[ 9.26423689e-01 3.76482601e-01 0.00000000e+00 3.31044432e+02] [-3.76482601e-01 9.26423689e-01 0.00000000e+00 -8.65477512e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14967822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.07, Y:-86.55, Z:0.01 [[ 9.26985636e-01 3.75096827e-01 0.00000000e+00 3.31070911e+02] [-3.75096827e-01 9.26985636e-01 0.00000000e+00 -8.65546533e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04099510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.10, Y:-86.56, Z:0.01 [[ 9.28657960e-01 3.70937184e-01 0.00000000e+00 3.31097432e+02] [-3.70937184e-01 9.28657960e-01 0.00000000e+00 -8.65627749e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.13712860e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.12, Y:-86.57, Z:0.01 [[ 9.29725018e-01 3.68254520e-01 0.00000000e+00 3.31124471e+02] [-3.68254520e-01 9.29725018e-01 0.00000000e+00 -8.65713187e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01831819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.15, Y:-86.58, Z:0.01 [[ 9.30740421e-01 3.65680557e-01 0.00000000e+00 3.31151070e+02] [-3.65680557e-01 9.30740421e-01 0.00000000e+00 -8.65795193e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.86427161e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.18, Y:-86.59, Z:0.01 [[ 9.32281169e-01 3.61734462e-01 0.00000000e+00 3.31177600e+02] [-3.61734462e-01 9.32281169e-01 0.00000000e+00 -8.65879182e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03295639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.20, Y:-86.60, Z:0.01 [[ 9.32704575e-01 3.60641340e-01 0.00000000e+00 3.31204577e+02] [-3.60641340e-01 9.32704575e-01 0.00000000e+00 -8.65958344e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.96058497e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.23, Y:-86.61, Z:0.01 [[ 9.32620593e-01 3.60858463e-01 0.00000000e+00 3.31232716e+02] [-3.60858463e-01 9.32620593e-01 0.00000000e+00 -8.66051573e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.90612303e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.26, Y:-86.61, Z:0.01 [[ 9.32804592e-01 3.60382565e-01 0.00000000e+00 3.31258983e+02] [-3.60382565e-01 9.32804592e-01 0.00000000e+00 -8.66108160e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.86131132e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.261400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:331.29, Y:-86.62, Z:0.01 [[ 9.32543669e-01 3.61057204e-01 0.00000000e+00 3.31287035e+02] [-3.61057204e-01 9.32543669e-01 0.00000000e+00 -8.66174772e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.22621882e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.31, Y:-86.62, Z:0.01 [[ 9.32351274e-01 3.61553733e-01 0.00000000e+00 3.31314459e+02] [-3.61553733e-01 9.32351274e-01 0.00000000e+00 -8.66220257e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.17279329e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.34, Y:-86.63, Z:0.01 [[ 9.31764654e-01 3.63062845e-01 0.00000000e+00 3.31343523e+02] [-3.63062845e-01 9.31764654e-01 0.00000000e+00 -8.66251490e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01341940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.37, Y:-86.63, Z:0.01 [[ 9.31596362e-01 3.63494454e-01 0.00000000e+00 3.31371981e+02] [-3.63494454e-01 9.31596362e-01 0.00000000e+00 -8.66318901e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38667520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.40, Y:-86.64, Z:0.02 [[ 9.31593437e-01 3.63501949e-01 0.00000000e+00 3.31398711e+02] [-3.63501949e-01 9.31593437e-01 0.00000000e+00 -8.66378831e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56257456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.43, Y:-86.64, Z:0.02 [[ 9.31747126e-01 3.63107827e-01 0.00000000e+00 3.31425610e+02] [-3.63107827e-01 9.31747126e-01 0.00000000e+00 -8.66433180e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63376984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.45, Y:-86.65, Z:0.02 [[ 9.32214275e-01 3.61906818e-01 0.00000000e+00 3.31453372e+02] [-3.61906818e-01 9.32214275e-01 0.00000000e+00 -8.66478565e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59058017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.48, Y:-86.65, Z:0.02 [[ 9.32830777e-01 3.60314781e-01 0.00000000e+00 3.31481397e+02] [-3.60314781e-01 9.32830777e-01 0.00000000e+00 -8.66525193e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52756556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.51, Y:-86.66, Z:0.02 [[ 9.34383763e-01 3.56268134e-01 0.00000000e+00 3.31508515e+02] [-3.56268134e-01 9.34383763e-01 0.00000000e+00 -8.66555472e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57643833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.54, Y:-86.66, Z:0.02 [[ 9.35296727e-01 3.53864426e-01 0.00000000e+00 3.31537996e+02] [-3.53864426e-01 9.35296727e-01 0.00000000e+00 -8.66628640e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74743326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.56, Y:-86.67, Z:0.02 [[ 9.35598368e-01 3.53066131e-01 0.00000000e+00 3.31563204e+02] [-3.53066131e-01 9.35598368e-01 0.00000000e+00 -8.66696397e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63557802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.59, Y:-86.68, Z:0.01 [[ 9.36137152e-01 3.51635084e-01 0.00000000e+00 3.31592083e+02] [-3.51635084e-01 9.36137152e-01 0.00000000e+00 -8.66764270e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28420302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.62, Y:-86.68, Z:0.01 [[ 9.36439331e-01 3.50829560e-01 0.00000000e+00 3.31617967e+02] [-3.50829560e-01 9.36439331e-01 0.00000000e+00 -8.66826256e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18021717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.64, Y:-86.69, Z:0.01 [[ 9.36275482e-01 3.51266596e-01 0.00000000e+00 3.31643677e+02] [-3.51266596e-01 9.36275482e-01 0.00000000e+00 -8.66907978e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07887747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.67, Y:-86.70, Z:0.01 [[ 9.35923282e-01 3.52203933e-01 0.00000000e+00 3.31670580e+02] [-3.52203933e-01 9.35923282e-01 0.00000000e+00 -8.67002069e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17926131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.70, Y:-86.71, Z:0.01 [[ 9.35338417e-01 3.53754215e-01 0.00000000e+00 3.31697943e+02] [-3.53754215e-01 9.35338417e-01 0.00000000e+00 -8.67094709e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35669593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.72, Y:-86.72, Z:0.01 [[ 9.34041858e-01 3.57163558e-01 0.00000000e+00 3.31724521e+02] [-3.57163558e-01 9.34041858e-01 0.00000000e+00 -8.67174099e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49711033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.75, Y:-86.73, Z:0.02 [[ 9.33337668e-01 3.58999718e-01 0.00000000e+00 3.31751337e+02] [-3.58999718e-01 9.33337668e-01 0.00000000e+00 -8.67256033e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52514254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.78, Y:-86.73, Z:0.02 [[ 9.32891180e-01 3.60158364e-01 0.00000000e+00 3.31779110e+02] [-3.60158364e-01 9.32891180e-01 0.00000000e+00 -8.67348665e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52968494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.81, Y:-86.74, Z:0.02 [[ 9.32919307e-01 3.60085500e-01 0.00000000e+00 3.31806507e+02] [-3.60085500e-01 9.32919307e-01 0.00000000e+00 -8.67427474e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52968494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.83, Y:-86.75, Z:0.01 [[ 9.32418813e-01 3.61379520e-01 0.00000000e+00 3.31830775e+02] [-3.61379520e-01 9.32418813e-01 0.00000000e+00 -8.67518493e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31078922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.86, Y:-86.76, Z:0.01 [[ 9.32602658e-01 3.60904810e-01 0.00000000e+00 3.31857633e+02] [-3.60904810e-01 9.32602658e-01 0.00000000e+00 -8.67641003e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00916773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.88, Y:-86.77, Z:0.01 [[ 9.32933805e-01 3.60047935e-01 0.00000000e+00 3.31882696e+02] [-3.60047935e-01 9.32933805e-01 0.00000000e+00 -8.67734022e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.82243061e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.91, Y:-86.78, Z:0.01 [[ 9.33188037e-01 3.59388490e-01 0.00000000e+00 3.31907760e+02] [-3.59388490e-01 9.33188037e-01 0.00000000e+00 -8.67833398e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01657907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.93, Y:-86.79, Z:0.01 [[ 9.33351527e-01 3.58963684e-01 0.00000000e+00 3.31934305e+02] [-3.58963684e-01 9.33351527e-01 0.00000000e+00 -8.67939521e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15508378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.96, Y:-86.80, Z:0.01 [[ 9.33469380e-01 3.58657100e-01 0.00000000e+00 3.31959475e+02] [-3.58657100e-01 9.33469380e-01 0.00000000e+00 -8.68035417e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19890703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.99, Y:-86.81, Z:0.01 [[ 9.33539248e-01 3.58475204e-01 0.00000000e+00 3.31986204e+02] [-3.58475204e-01 9.33539248e-01 0.00000000e+00 -8.68127941e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23706776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.01, Y:-86.82, Z:0.01 [[ 9.33485031e-01 3.58616365e-01 0.00000000e+00 3.32013287e+02] [-3.58616365e-01 9.33485031e-01 0.00000000e+00 -8.68210594e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24018299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.101400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:332.04, Y:-86.83, Z:0.01 [[ 9.33335078e-01 3.59006451e-01 0.00000000e+00 3.32041192e+02] [-3.59006451e-01 9.33335078e-01 0.00000000e+00 -8.68292355e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23205757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.07, Y:-86.84, Z:0.01 [[ 9.33370232e-01 3.58915045e-01 0.00000000e+00 3.32068514e+02] [-3.58915045e-01 9.33370232e-01 0.00000000e+00 -8.68367299e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23842190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.09, Y:-86.84, Z:0.01 [[ 9.33603915e-01 3.58306755e-01 0.00000000e+00 3.32094774e+02] [-3.58306755e-01 9.33603915e-01 0.00000000e+00 -8.68447890e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12430249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.12, Y:-86.86, Z:0.01 [[ 9.34753415e-01 3.55297133e-01 0.00000000e+00 3.32121295e+02] [-3.55297133e-01 9.34753415e-01 0.00000000e+00 -8.68553785e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02207437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.15, Y:-86.86, Z:0.01 [[ 9.35739312e-01 3.52692415e-01 0.00000000e+00 3.32147532e+02] [-3.52692415e-01 9.35739312e-01 0.00000000e+00 -8.68633217e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10360932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.18, Y:-86.87, Z:0.01 [[ 9.36795209e-01 3.49878175e-01 0.00000000e+00 3.32175651e+02] [-3.49878175e-01 9.36795209e-01 0.00000000e+00 -8.68713514e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34593500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.20, Y:-86.88, Z:0.02 [[ 9.37802537e-01 3.47169124e-01 0.00000000e+00 3.32203745e+02] [-3.47169124e-01 9.37802537e-01 0.00000000e+00 -8.68797561e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68936569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.23, Y:-86.89, Z:0.02 [[ 9.39162722e-01 3.43472535e-01 0.00000000e+00 3.32230711e+02] [-3.43472535e-01 9.39162722e-01 0.00000000e+00 -8.68895471e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06879513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.26, Y:-86.90, Z:0.02 [[ 9.39445028e-01 3.42699635e-01 0.00000000e+00 3.32256806e+02] [-3.42699635e-01 9.39445028e-01 0.00000000e+00 -8.68977210e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95985148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.28, Y:-86.91, Z:0.02 [[ 9.39555372e-01 3.42396997e-01 0.00000000e+00 3.32284207e+02] [-3.42396997e-01 9.39555372e-01 0.00000000e+00 -8.69056491e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64981350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.31, Y:-86.91, Z:0.01 [[ 9.39357380e-01 3.42939808e-01 0.00000000e+00 3.32312167e+02] [-3.42939808e-01 9.39357380e-01 0.00000000e+00 -8.69140228e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45765528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.34, Y:-86.92, Z:0.01 [[ 9.38827062e-01 3.44388947e-01 0.00000000e+00 3.32340028e+02] [-3.44388947e-01 9.38827062e-01 0.00000000e+00 -8.69230928e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40640926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.37, Y:-86.93, Z:0.02 [[ 9.37158849e-01 3.48902984e-01 0.00000000e+00 3.32367020e+02] [-3.48902984e-01 9.37158849e-01 0.00000000e+00 -8.69329672e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63259822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.39, Y:-86.94, Z:0.02 [[ 9.36244070e-01 3.51350312e-01 0.00000000e+00 3.32394085e+02] [-3.51350312e-01 9.36244070e-01 0.00000000e+00 -8.69399184e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65805686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.521400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:332.42, Y:-86.95, Z:0.02 [[ 9.35175827e-01 3.54183813e-01 0.00000000e+00 3.32421792e+02] [-3.54183813e-01 9.35175827e-01 0.00000000e+00 -8.69469137e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52531489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.45, Y:-86.95, Z:0.01 [[ 9.34128807e-01 3.56936089e-01 0.00000000e+00 3.32449319e+02] [-3.56936089e-01 9.34128807e-01 0.00000000e+00 -8.69529552e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39590655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.48, Y:-86.96, Z:0.01 [[ 9.32127371e-01 3.62130589e-01 0.00000000e+00 3.32475674e+02] [-3.62130589e-01 9.32127371e-01 0.00000000e+00 -8.69574119e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32485311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.50, Y:-86.96, Z:0.01 [[ 9.31203601e-01 3.64499455e-01 0.00000000e+00 3.32503148e+02] [-3.64499455e-01 9.31203601e-01 0.00000000e+00 -8.69630280e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40001198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.53, Y:-86.97, Z:0.01 [[ 9.30551964e-01 3.66159859e-01 0.00000000e+00 3.32529820e+02] [-3.66159859e-01 9.30551964e-01 0.00000000e+00 -8.69678645e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37861007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.56, Y:-86.97, Z:0.01 [[ 9.30292479e-01 3.66818625e-01 0.00000000e+00 3.32557134e+02] [-3.66818625e-01 9.30292479e-01 0.00000000e+00 -8.69732906e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32950263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.59, Y:-86.98, Z:0.01 [[ 9.30877786e-01 3.65330737e-01 0.00000000e+00 3.32586030e+02] [-3.65330737e-01 9.30877786e-01 0.00000000e+00 -8.69789928e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15424674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.61, Y:-86.99, Z:0.01 [[ 9.31633095e-01 3.63400297e-01 0.00000000e+00 3.32613023e+02] [-3.63400297e-01 9.31633095e-01 0.00000000e+00 -8.69850466e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13855924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.64, Y:-86.99, Z:0.01 [[ 9.32408144e-01 3.61407046e-01 0.00000000e+00 3.32639659e+02] [-3.61407046e-01 9.32408144e-01 0.00000000e+00 -8.69903071e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10786512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.67, Y:-87.00, Z:0.01 [[ 9.33069795e-01 3.59695368e-01 0.00000000e+00 3.32668137e+02] [-3.59695368e-01 9.33069795e-01 0.00000000e+00 -8.69951748e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10374955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.70, Y:-87.00, Z:0.01 [[ 9.33562010e-01 3.58415922e-01 0.00000000e+00 3.32695546e+02] [-3.58415922e-01 9.33562010e-01 0.00000000e+00 -8.70004200e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22038357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.72, Y:-87.01, Z:0.01 [[ 9.34297704e-01 3.56493759e-01 0.00000000e+00 3.32722812e+02] [-3.56493759e-01 9.34297704e-01 0.00000000e+00 -8.70059288e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35025382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.75, Y:-87.01, Z:0.01 [[ 9.34731012e-01 3.55356068e-01 0.00000000e+00 3.32750102e+02] [-3.55356068e-01 9.34731012e-01 0.00000000e+00 -8.70125567e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44491082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.911400513 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:332.78, Y:-87.02, Z:0.01 [[ 9.35136568e-01 3.54287453e-01 0.00000000e+00 3.32777362e+02] [-3.54287453e-01 9.35136568e-01 0.00000000e+00 -8.70192292e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37768942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.80, Y:-87.03, Z:0.01 [[ 9.35281058e-01 3.53905838e-01 0.00000000e+00 3.32803692e+02] [-3.53905838e-01 9.35281058e-01 0.00000000e+00 -8.70255559e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30331467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.83, Y:-87.03, Z:0.01 [[ 9.35293262e-01 3.53873585e-01 0.00000000e+00 3.32830800e+02] [-3.53873585e-01 9.35293262e-01 0.00000000e+00 -8.70330811e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28039504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.86, Y:-87.04, Z:0.01 [[ 9.34985734e-01 3.54685320e-01 0.00000000e+00 3.32857086e+02] [-3.54685320e-01 9.34985734e-01 0.00000000e+00 -8.70396225e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32212371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.031400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:332.88, Y:-87.05, Z:0.01 [[ 9.34412176e-01 3.56193606e-01 0.00000000e+00 3.32884402e+02] [-3.56193606e-01 9.34412176e-01 0.00000000e+00 -8.70459108e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41239326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.91, Y:-87.05, Z:0.01 [[ 9.33562329e-01 3.58415092e-01 0.00000000e+00 3.32911038e+02] [-3.58415092e-01 9.33562329e-01 0.00000000e+00 -8.70516028e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43398456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.94, Y:-87.06, Z:0.02 [[ 9.32610700e-01 3.60884030e-01 0.00000000e+00 3.32937776e+02] [-3.60884030e-01 9.32610700e-01 0.00000000e+00 -8.70588192e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51270110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.96, Y:-87.07, Z:0.02 [[ 9.31461229e-01 3.63840595e-01 0.00000000e+00 3.32963374e+02] [-3.63840595e-01 9.31461229e-01 0.00000000e+00 -8.70686090e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56263047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.99, Y:-87.08, Z:0.02 [[ 9.31482033e-01 3.63787332e-01 0.00000000e+00 3.32990090e+02] [-3.63787332e-01 9.31482033e-01 0.00000000e+00 -8.70773900e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60323805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.02, Y:-87.09, Z:0.02 [[ 9.31905056e-01 3.62702312e-01 0.00000000e+00 3.33016528e+02] [-3.62702312e-01 9.31905056e-01 0.00000000e+00 -8.70859420e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58319778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.04, Y:-87.10, Z:0.01 [[ 9.32497047e-01 3.61177599e-01 0.00000000e+00 3.33042752e+02] [-3.61177599e-01 9.32497047e-01 0.00000000e+00 -8.70954920e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38186608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.07, Y:-87.11, Z:0.01 [[ 9.34090129e-01 3.57037297e-01 0.00000000e+00 3.33067883e+02] [-3.57037297e-01 9.34090129e-01 0.00000000e+00 -8.71094315e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03675893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.09, Y:-87.12, Z:0.01 [[ 9.34855296e-01 3.55028977e-01 0.00000000e+00 3.33094524e+02] [-3.55028977e-01 9.34855296e-01 0.00000000e+00 -8.71197482e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21725592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.30140051300003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:333.12, Y:-87.13, Z:0.01 [[ 9.35514132e-01 3.53289271e-01 0.00000000e+00 3.33120645e+02] [-3.53289271e-01 9.35514132e-01 0.00000000e+00 -8.71295980e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11995072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.15, Y:-87.14, Z:0.01 [[ 9.35930979e-01 3.52183479e-01 0.00000000e+00 3.33146020e+02] [-3.52183479e-01 9.35930979e-01 0.00000000e+00 -8.71391865e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04878719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.17, Y:-87.15, Z:0.01 [[ 9.36140256e-01 3.51626821e-01 0.00000000e+00 3.33172905e+02] [-3.51626821e-01 9.36140256e-01 0.00000000e+00 -8.71509863e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.83268423e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.20, Y:-87.16, Z:0.01 [[ 9.36217228e-01 3.51421830e-01 0.00000000e+00 3.33199163e+02] [-3.51421830e-01 9.36217228e-01 0.00000000e+00 -8.71625474e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.90636747e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.22, Y:-87.17, Z:0.01 [[ 9.35831508e-01 3.52447710e-01 0.00000000e+00 3.33224858e+02] [-3.52447710e-01 9.35831508e-01 0.00000000e+00 -8.71729337e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13402221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.25, Y:-87.18, Z:0.01 [[ 9.35674246e-01 3.52864997e-01 0.00000000e+00 3.33251732e+02] [-3.52864997e-01 9.35674246e-01 0.00000000e+00 -8.71798410e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12716785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.28, Y:-87.19, Z:0.01 [[ 9.35568664e-01 3.53144835e-01 0.00000000e+00 3.33278797e+02] [-3.53144835e-01 9.35568664e-01 0.00000000e+00 -8.71876786e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01249959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.31, Y:-87.20, Z:0.01 [[ 9.35498351e-01 3.53331056e-01 0.00000000e+00 3.33305287e+02] [-3.53331056e-01 9.35498351e-01 0.00000000e+00 -8.71971554e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.63203031e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.33, Y:-87.21, Z:0.01 [[ 9.35652079e-01 3.52923769e-01 0.00000000e+00 3.33331899e+02] [-3.52923769e-01 9.35652079e-01 0.00000000e+00 -8.72084873e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.72571788e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.36, Y:-87.22, Z:0.01 [[ 9.36043400e-01 3.51884575e-01 0.00000000e+00 3.33358667e+02] [-3.51884575e-01 9.36043400e-01 0.00000000e+00 -8.72153156e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03610028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.39, Y:-87.22, Z:0.01 [[ 9.36548580e-01 3.50537812e-01 0.00000000e+00 3.33386231e+02] [-3.50537812e-01 9.36548580e-01 0.00000000e+00 -8.72213918e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07144271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.41, Y:-87.23, Z:0.01 [[ 9.37494512e-01 3.48000058e-01 0.00000000e+00 3.33414773e+02] [-3.48000058e-01 9.37494512e-01 0.00000000e+00 -8.72280245e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.66515952e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.44, Y:-87.24, Z:0.01 [[ 9.37779728e-01 3.47230731e-01 0.00000000e+00 3.33440287e+02] [-3.47230731e-01 9.37779728e-01 0.00000000e+00 -8.72355849e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01758822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.47, Y:-87.24, Z:0.01 [[ 9.37863977e-01 3.47003113e-01 0.00000000e+00 3.33468667e+02] [-3.47003113e-01 9.37863977e-01 0.00000000e+00 -8.72429837e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18217061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.50, Y:-87.25, Z:0.01 [[ 9.37879289e-01 3.46961725e-01 0.00000000e+00 3.33496874e+02] [-3.46961725e-01 9.37879289e-01 0.00000000e+00 -8.72510496e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18217061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.52, Y:-87.26, Z:0.01 [[ 9.37753762e-01 3.47300851e-01 0.00000000e+00 3.33524994e+02] [-3.47300851e-01 9.37753762e-01 0.00000000e+00 -8.72574889e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38012061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.55, Y:-87.26, Z:0.01 [[ 9.37402294e-01 3.48248387e-01 0.00000000e+00 3.33552706e+02] [-3.48248387e-01 9.37402294e-01 0.00000000e+00 -8.72634006e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35541304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.58, Y:-87.27, Z:0.01 [[ 9.36597308e-01 3.50407594e-01 0.00000000e+00 3.33581538e+02] [-3.50407594e-01 9.36597308e-01 0.00000000e+00 -8.72676852e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21809715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.61, Y:-87.27, Z:0.01 [[ 9.36153126e-01 3.51592555e-01 0.00000000e+00 3.33609000e+02] [-3.51592555e-01 9.36153126e-01 0.00000000e+00 -8.72735557e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15045396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.64, Y:-87.28, Z:0.01 [[ 9.35822791e-01 3.52470856e-01 0.00000000e+00 3.33636162e+02] [-3.52470856e-01 9.35822791e-01 0.00000000e+00 -8.72794469e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13880635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.66, Y:-87.29, Z:0.01 [[ 9.35513244e-01 3.53291623e-01 0.00000000e+00 3.33663815e+02] [-3.53291623e-01 9.35513244e-01 0.00000000e+00 -8.72861453e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13511528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.69, Y:-87.29, Z:0.01 [[ 9.35282358e-01 3.53902402e-01 0.00000000e+00 3.33691673e+02] [-3.53902402e-01 9.35282358e-01 0.00000000e+00 -8.72919120e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21392280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.72, Y:-87.30, Z:0.01 [[ 9.35421645e-01 3.53534080e-01 0.00000000e+00 3.33717839e+02] [-3.53534080e-01 9.35421645e-01 0.00000000e+00 -8.72977133e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17309847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.74, Y:-87.30, Z:0.01 [[ 9.35539020e-01 3.53223359e-01 0.00000000e+00 3.33744155e+02] [-3.53223359e-01 9.35539020e-01 0.00000000e+00 -8.73033048e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13749365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.77, Y:-87.31, Z:0.01 [[ 9.35576250e-01 3.53124738e-01 0.00000000e+00 3.33771585e+02] [-3.53124738e-01 9.35576250e-01 0.00000000e+00 -8.73098820e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16869134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.80, Y:-87.32, Z:0.01 [[ 9.35534561e-01 3.53235169e-01 0.00000000e+00 3.33799867e+02] [-3.53235169e-01 9.35534561e-01 0.00000000e+00 -8.73171358e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38244789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.83, Y:-87.32, Z:0.01 [[ 9.35480321e-01 3.53378789e-01 0.00000000e+00 3.33827219e+02] [-3.53378789e-01 9.35480321e-01 0.00000000e+00 -8.73248304e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41622891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.85, Y:-87.33, Z:0.01 [[ 9.35496155e-01 3.53336870e-01 0.00000000e+00 3.33853431e+02] [-3.53336870e-01 9.35496155e-01 0.00000000e+00 -8.73321225e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27998805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.88, Y:-87.34, Z:0.01 [[ 9.35908083e-01 3.52244318e-01 0.00000000e+00 3.33881445e+02] [-3.52244318e-01 9.35908083e-01 0.00000000e+00 -8.73390168e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03533682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.91, Y:-87.35, Z:0.01 [[ 9.36333641e-01 3.51111538e-01 0.00000000e+00 3.33908281e+02] [-3.51111538e-01 9.36333641e-01 0.00000000e+00 -8.73470634e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17176301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.94, Y:-87.36, Z:0.01 [[ 9.36935339e-01 3.49502747e-01 0.00000000e+00 3.33935532e+02] [-3.49502747e-01 9.36935339e-01 0.00000000e+00 -8.73563437e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38734701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.96, Y:-87.37, Z:0.02 [[ 9.37596125e-01 3.47726194e-01 0.00000000e+00 3.33962260e+02] [-3.47726194e-01 9.37596125e-01 0.00000000e+00 -8.73661503e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54441608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.99, Y:-87.38, Z:0.02 [[ 9.38158289e-01 3.46206620e-01 0.00000000e+00 3.33988874e+02] [-3.46206620e-01 9.38158289e-01 0.00000000e+00 -8.73764399e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58034366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.01, Y:-87.39, Z:0.01 [[ 9.38723880e-01 3.44670099e-01 0.00000000e+00 3.34014211e+02] [-3.44670099e-01 9.38723880e-01 0.00000000e+00 -8.73873602e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32119211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.04, Y:-87.40, Z:0.01 [[ 9.38665348e-01 3.44829472e-01 0.00000000e+00 3.34041587e+02] [-3.44829472e-01 9.38665348e-01 0.00000000e+00 -8.73962183e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19339824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.07, Y:-87.40, Z:0.01 [[ 9.38434748e-01 3.45456543e-01 0.00000000e+00 3.34068056e+02] [-3.45456543e-01 9.38434748e-01 0.00000000e+00 -8.74047406e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05149945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.10, Y:-87.41, Z:0.01 [[ 9.38142480e-01 3.46249457e-01 0.00000000e+00 3.34095515e+02] [-3.46249457e-01 9.38142480e-01 0.00000000e+00 -8.74137775e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22478009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.12, Y:-87.42, Z:0.01 [[ 9.37378466e-01 3.48312521e-01 0.00000000e+00 3.34121550e+02] [-3.48312521e-01 9.37378466e-01 0.00000000e+00 -8.74240591e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35545973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.15, Y:-87.43, Z:0.01 [[ 9.36814648e-01 3.49826121e-01 0.00000000e+00 3.34148178e+02] [-3.49826121e-01 9.36814648e-01 0.00000000e+00 -8.74326453e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34782541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.18, Y:-87.44, Z:0.01 [[ 9.36168625e-01 3.51551284e-01 0.00000000e+00 3.34175399e+02] [-3.51551284e-01 9.36168625e-01 0.00000000e+00 -8.74407495e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29676439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.20, Y:-87.45, Z:0.01 [[ 9.35264277e-01 3.53950183e-01 0.00000000e+00 3.34202117e+02] [-3.53950183e-01 9.35264277e-01 0.00000000e+00 -8.74484559e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24148986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.23, Y:-87.46, Z:0.01 [[ 9.34356567e-01 3.56339452e-01 0.00000000e+00 3.34228675e+02] [-3.56339452e-01 9.34356567e-01 0.00000000e+00 -8.74557572e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26191930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.26, Y:-87.46, Z:0.01 [[ 9.32625648e-01 3.60845396e-01 0.00000000e+00 3.34256541e+02] [-3.60845396e-01 9.32625648e-01 0.00000000e+00 -8.74634450e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46833822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.28, Y:-87.47, Z:0.01 [[ 9.32005608e-01 3.62443854e-01 0.00000000e+00 3.34284156e+02] [-3.62443854e-01 9.32005608e-01 0.00000000e+00 -8.74701640e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44228120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.31, Y:-87.48, Z:0.01 [[ 9.31521342e-01 3.63686664e-01 0.00000000e+00 3.34311051e+02] [-3.63686664e-01 9.31521342e-01 0.00000000e+00 -8.74757600e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14961161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.34, Y:-87.48, Z:0.01 [[ 9.31146967e-01 3.64644109e-01 0.00000000e+00 3.34339768e+02] [-3.64644109e-01 9.31146967e-01 0.00000000e+00 -8.74820732e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.75200385e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.37, Y:-87.49, Z:0.01 [[ 9.30850621e-01 3.65399946e-01 0.00000000e+00 3.34366658e+02] [-3.65399946e-01 9.30850621e-01 0.00000000e+00 -8.74895175e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.98842408e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.39, Y:-87.50, Z:0.01 [[ 9.31479945e-01 3.63792677e-01 0.00000000e+00 3.34392902e+02] [-3.63792677e-01 9.31479945e-01 0.00000000e+00 -8.74981945e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.24712572e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.42, Y:-87.51, Z:0.01 [[ 9.32369367e-01 3.61507071e-01 0.00000000e+00 3.34420687e+02] [-3.61507071e-01 9.32369367e-01 0.00000000e+00 -8.75061073e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20578662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.45, Y:-87.51, Z:0.01 [[ 9.33558986e-01 3.58423799e-01 0.00000000e+00 3.34448122e+02] [-3.58423799e-01 9.33558986e-01 0.00000000e+00 -8.75138079e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34123629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.47, Y:-87.52, Z:0.01 [[ 9.34848372e-01 3.55047211e-01 0.00000000e+00 3.34474553e+02] [-3.55047211e-01 9.34848372e-01 0.00000000e+00 -8.75219060e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35685983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.50, Y:-87.53, Z:0.01 [[ 9.36953142e-01 3.49455018e-01 0.00000000e+00 3.34501291e+02] [-3.49455018e-01 9.36953142e-01 0.00000000e+00 -8.75320475e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44267203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.53, Y:-87.54, Z:0.01 [[ 9.37609225e-01 3.47690871e-01 0.00000000e+00 3.34527810e+02] [-3.47690871e-01 9.37609225e-01 0.00000000e+00 -8.75395671e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46167934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.55, Y:-87.55, Z:0.01 [[ 9.37976563e-01 3.46698668e-01 0.00000000e+00 3.34554898e+02] [-3.46698668e-01 9.37976563e-01 0.00000000e+00 -8.75465456e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46571082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.58, Y:-87.55, Z:0.01 [[ 9.38174888e-01 3.46161638e-01 0.00000000e+00 3.34581980e+02] [-3.46161638e-01 9.38174888e-01 0.00000000e+00 -8.75536435e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29151692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.61, Y:-87.56, Z:0.01 [[ 9.38096720e-01 3.46373417e-01 0.00000000e+00 3.34609689e+02] [-3.46373417e-01 9.38096720e-01 0.00000000e+00 -8.75606272e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.48514901e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.64, Y:-87.57, Z:0.01 [[ 9.38086428e-01 3.46401290e-01 0.00000000e+00 3.34636323e+02] [-3.46401290e-01 9.38086428e-01 0.00000000e+00 -8.75674429e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.01053464e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.66, Y:-87.57, Z:0.01 [[ 9.38090081e-01 3.46391397e-01 0.00000000e+00 3.34662794e+02] [-3.46391397e-01 9.38090081e-01 0.00000000e+00 -8.75745742e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.97658456e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.69, Y:-87.58, Z:0.01 [[ 9.38254138e-01 3.45946777e-01 0.00000000e+00 3.34690098e+02] [-3.45946777e-01 9.38254138e-01 0.00000000e+00 -8.75823674e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.12875671e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.72, Y:-87.59, Z:0.01 [[ 9.38586567e-01 3.45043846e-01 0.00000000e+00 3.34716459e+02] [-3.45043846e-01 9.38586567e-01 0.00000000e+00 -8.75903984e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.98474445e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.74, Y:-87.60, Z:0.01 [[ 9.39524602e-01 3.42481419e-01 0.00000000e+00 3.34744324e+02] [-3.42481419e-01 9.39524602e-01 0.00000000e+00 -8.75988972e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21420814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.77, Y:-87.61, Z:0.01 [[ 9.39910631e-01 3.41420569e-01 0.00000000e+00 3.34770842e+02] [-3.41420569e-01 9.39910631e-01 0.00000000e+00 -8.76058013e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22655493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.80, Y:-87.61, Z:0.01 [[ 9.40179197e-01 3.40680317e-01 0.00000000e+00 3.34798786e+02] [-3.40680317e-01 9.40179197e-01 0.00000000e+00 -8.76133837e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24153212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.83, Y:-87.62, Z:0.01 [[ 9.40403711e-01 3.40060083e-01 0.00000000e+00 3.34826259e+02] [-3.40060083e-01 9.40403711e-01 0.00000000e+00 -8.76216600e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25862140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.85, Y:-87.63, Z:0.01 [[ 9.40156042e-01 3.40744211e-01 0.00000000e+00 3.34854280e+02] [-3.40744211e-01 9.40156042e-01 0.00000000e+00 -8.76300227e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08904915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.88, Y:-87.64, Z:0.01 [[ 9.39650767e-01 3.42135114e-01 0.00000000e+00 3.34881560e+02] [-3.42135114e-01 9.39650767e-01 0.00000000e+00 -8.76363139e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.73366726e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.91, Y:-87.64, Z:0.01 [[ 9.39016898e-01 3.43871001e-01 0.00000000e+00 3.34910086e+02] [-3.43871001e-01 9.39016898e-01 0.00000000e+00 -8.76425946e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11695132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.94, Y:-87.65, Z:0.01 [[ 9.37420050e-01 3.48200589e-01 0.00000000e+00 3.34936812e+02] [-3.48200589e-01 9.37420050e-01 0.00000000e+00 -8.76494179e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41483419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.96, Y:-87.66, Z:0.01 [[ 9.36531138e-01 3.50584409e-01 0.00000000e+00 3.34963711e+02] [-3.50584409e-01 9.36531138e-01 0.00000000e+00 -8.76580310e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47971879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.99, Y:-87.67, Z:0.01 [[ 9.35751066e-01 3.52661228e-01 0.00000000e+00 3.34990765e+02] [-3.52661228e-01 9.35751066e-01 0.00000000e+00 -8.76663292e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41384540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.02, Y:-87.67, Z:0.01 [[ 9.35081723e-01 3.54432181e-01 0.00000000e+00 3.35018726e+02] [-3.54432181e-01 9.35081723e-01 0.00000000e+00 -8.76741026e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28437153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.05, Y:-87.68, Z:0.01 [[ 9.34423441e-01 3.56164053e-01 0.00000000e+00 3.35045891e+02] [-3.56164053e-01 9.34423441e-01 0.00000000e+00 -8.76812393e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11755829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.07, Y:-87.69, Z:0.01 [[ 9.33068867e-01 3.59697775e-01 0.00000000e+00 3.35073815e+02] [-3.59697775e-01 9.33068867e-01 0.00000000e+00 -8.76885836e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23004437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.10, Y:-87.70, Z:0.01 [[ 9.32487887e-01 3.61201248e-01 0.00000000e+00 3.35101192e+02] [-3.61201248e-01 9.32487887e-01 0.00000000e+00 -8.76962447e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36621739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.13, Y:-87.70, Z:0.01 [[ 9.32129860e-01 3.62124182e-01 0.00000000e+00 3.35126924e+02] [-3.62124182e-01 9.32129860e-01 0.00000000e+00 -8.77032489e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35977672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.15, Y:-87.71, Z:0.01 [[ 9.31973460e-01 3.62526509e-01 0.00000000e+00 3.35154080e+02] [-3.62526509e-01 9.31973460e-01 0.00000000e+00 -8.77104972e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32271231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.18, Y:-87.72, Z:0.01 [[ 9.32373747e-01 3.61495776e-01 0.00000000e+00 3.35181557e+02] [-3.61495776e-01 9.32373747e-01 0.00000000e+00 -8.77187140e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05936751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.21, Y:-87.73, Z:0.01 [[ 9.32864147e-01 3.60228378e-01 0.00000000e+00 3.35208049e+02] [-3.60228378e-01 9.32864147e-01 0.00000000e+00 -8.77271993e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.80172302e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.24, Y:-87.73, Z:0.01 [[ 9.32887706e-01 3.60167362e-01 0.00000000e+00 3.35235495e+02] [-3.60167362e-01 9.32887706e-01 0.00000000e+00 -8.77348958e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.80172302e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.26, Y:-87.74, Z:0.01 [[ 9.33493387e-01 3.58594614e-01 0.00000000e+00 3.35262826e+02] [-3.58594614e-01 9.33493387e-01 0.00000000e+00 -8.77437843e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.71953032e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.29, Y:-87.75, Z:0.01 [[ 9.34261556e-01 3.56588481e-01 0.00000000e+00 3.35289297e+02] [-3.56588481e-01 9.34261556e-01 0.00000000e+00 -8.77526402e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.06164113e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.32, Y:-87.76, Z:0.01 [[ 9.36138318e-01 3.51631980e-01 0.00000000e+00 3.35315983e+02] [-3.51631980e-01 9.36138318e-01 0.00000000e+00 -8.77634394e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.82721207e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.34, Y:-87.77, Z:0.01 [[ 9.37038260e-01 3.49226717e-01 0.00000000e+00 3.35341953e+02] [-3.49226717e-01 9.37038260e-01 0.00000000e+00 -8.77723163e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02671490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.37, Y:-87.78, Z:0.01 [[ 9.37593686e-01 3.47732772e-01 0.00000000e+00 3.35368343e+02] [-3.47732772e-01 9.37593686e-01 0.00000000e+00 -8.77811262e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17229018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.40, Y:-87.79, Z:0.01 [[ 9.37916644e-01 3.46860734e-01 0.00000000e+00 3.35395651e+02] [-3.46860734e-01 9.37916644e-01 0.00000000e+00 -8.77892390e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36146999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.42, Y:-87.80, Z:0.01 [[ 9.37547233e-01 3.47857998e-01 0.00000000e+00 3.35422420e+02] [-3.47857998e-01 9.37547233e-01 0.00000000e+00 -8.77965821e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13659886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.45, Y:-87.80, Z:0.01 [[ 9.37145193e-01 3.48939662e-01 0.00000000e+00 3.35449115e+02] [-3.48939662e-01 9.37145193e-01 0.00000000e+00 -8.78039991e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.79025908e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.48, Y:-87.81, Z:0.01 [[ 9.36859220e-01 3.49706737e-01 0.00000000e+00 3.35476590e+02] [-3.49706737e-01 9.36859220e-01 0.00000000e+00 -8.78119736e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.99116324e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.50, Y:-87.82, Z:0.01 [[ 9.36837718e-01 3.49764335e-01 0.00000000e+00 3.35504424e+02] [-3.49764335e-01 9.36837718e-01 0.00000000e+00 -8.78203753e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08367667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.53, Y:-87.83, Z:0.02 [[ 9.37225427e-01 3.48724102e-01 0.00000000e+00 3.35531791e+02] [-3.48724102e-01 9.37225427e-01 0.00000000e+00 -8.78296269e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65687071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.56, Y:-87.84, Z:0.02 [[ 9.37647018e-01 3.47588938e-01 0.00000000e+00 3.35558142e+02] [-3.47588938e-01 9.37647018e-01 0.00000000e+00 -8.78375939e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79540334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.59, Y:-87.85, Z:0.02 [[ 9.38293460e-01 3.45840110e-01 0.00000000e+00 3.35586405e+02] [-3.45840110e-01 9.38293460e-01 0.00000000e+00 -8.78457597e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71254544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.61, Y:-87.85, Z:0.01 [[ 9.39070815e-01 3.43723733e-01 0.00000000e+00 3.35614045e+02] [-3.43723733e-01 9.39070815e-01 0.00000000e+00 -8.78539967e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49598565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.64, Y:-87.86, Z:0.01 [[ 9.40451575e-01 3.39927690e-01 0.00000000e+00 3.35641324e+02] [-3.39927690e-01 9.40451575e-01 0.00000000e+00 -8.78640648e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47744403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.67, Y:-87.87, Z:0.02 [[ 9.40960008e-01 3.38517743e-01 0.00000000e+00 3.35667425e+02] [-3.38517743e-01 9.40960008e-01 0.00000000e+00 -8.78734103e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66799596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.69, Y:-87.88, Z:0.02 [[ 9.41391074e-01 3.37317129e-01 0.00000000e+00 3.35693532e+02] [-3.37317129e-01 9.41391074e-01 0.00000000e+00 -8.78819988e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70710131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.72, Y:-87.89, Z:0.02 [[ 9.41726254e-01 3.36380234e-01 0.00000000e+00 3.35722993e+02] [-3.36380234e-01 9.41726254e-01 0.00000000e+00 -8.78908285e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61654356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.75, Y:-87.90, Z:0.01 [[ 9.42202385e-01 3.35044274e-01 0.00000000e+00 3.35751286e+02] [-3.35044274e-01 9.42202385e-01 0.00000000e+00 -8.78979759e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19425909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.78, Y:-87.91, Z:0.01 [[ 9.42315554e-01 3.34725853e-01 0.00000000e+00 3.35778368e+02] [-3.34725853e-01 9.42315554e-01 0.00000000e+00 -8.79058843e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14299491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.81, Y:-87.92, Z:0.01 [[ 9.42368507e-01 3.34576743e-01 0.00000000e+00 3.35805344e+02] [-3.34576743e-01 9.42368507e-01 0.00000000e+00 -8.79151000e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21274316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.83, Y:-87.92, Z:0.01 [[ 9.42508955e-01 3.34180895e-01 0.00000000e+00 3.35831207e+02] [-3.34180895e-01 9.42508955e-01 0.00000000e+00 -8.79241553e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34943915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.86, Y:-87.93, Z:0.01 [[ 9.42789598e-01 3.33388322e-01 0.00000000e+00 3.35858323e+02] [-3.33388322e-01 9.42789598e-01 0.00000000e+00 -8.79329895e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42397138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.89, Y:-87.94, Z:0.01 [[ 9.43270897e-01 3.32024117e-01 0.00000000e+00 3.35886300e+02] [-3.32024117e-01 9.43270897e-01 0.00000000e+00 -8.79433083e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30496892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.92, Y:-87.95, Z:0.01 [[ 9.43429074e-01 3.31574399e-01 0.00000000e+00 3.35915732e+02] [-3.31574399e-01 9.43429074e-01 0.00000000e+00 -8.79533112e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24212840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.94, Y:-87.96, Z:0.01 [[ 9.43362037e-01 3.31765077e-01 0.00000000e+00 3.35943930e+02] [-3.31765077e-01 9.43362037e-01 0.00000000e+00 -8.79635148e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14993198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.97, Y:-87.97, Z:0.01 [[ 9.43095998e-01 3.32520583e-01 0.00000000e+00 3.35971683e+02] [-3.32520583e-01 9.43095998e-01 0.00000000e+00 -8.79732498e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14240345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.00, Y:-87.98, Z:0.01 [[ 9.42612325e-01 3.33889210e-01 0.00000000e+00 3.35999147e+02] [-3.33889210e-01 9.42612325e-01 0.00000000e+00 -8.79825787e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21551583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.03, Y:-87.99, Z:0.01 [[ 9.41238549e-01 3.37742495e-01 0.00000000e+00 3.36028567e+02] [-3.37742495e-01 9.41238549e-01 0.00000000e+00 -8.79927017e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38408173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.06, Y:-88.00, Z:0.01 [[ 9.40517443e-01 3.39745404e-01 0.00000000e+00 3.36058282e+02] [-3.39745404e-01 9.40517443e-01 0.00000000e+00 -8.80007442e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31238594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.09, Y:-88.01, Z:0.01 [[ 9.39794292e-01 3.41740674e-01 0.00000000e+00 3.36085732e+02] [-3.41740674e-01 9.39794292e-01 0.00000000e+00 -8.80074884e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15651089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.11, Y:-88.01, Z:0.01 [[ 9.38472889e-01 3.45352916e-01 0.00000000e+00 3.36113795e+02] [-3.45352916e-01 9.38472889e-01 0.00000000e+00 -8.80134670e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02588541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.14, Y:-88.02, Z:0.01 [[ 9.37959850e-01 3.46743883e-01 0.00000000e+00 3.36140208e+02] [-3.46743883e-01 9.37959850e-01 0.00000000e+00 -8.80206547e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10843174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.17, Y:-88.03, Z:0.01 [[ 9.37774984e-01 3.47243545e-01 0.00000000e+00 3.36167167e+02] [-3.47243545e-01 9.37774984e-01 0.00000000e+00 -8.80284924e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20377470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.20, Y:-88.04, Z:0.01 [[ 9.37917191e-01 3.46859255e-01 0.00000000e+00 3.36196685e+02] [-3.46859255e-01 9.37917191e-01 0.00000000e+00 -8.80376012e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39756750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.23, Y:-88.05, Z:0.01 [[ 9.38434226e-01 3.45457961e-01 0.00000000e+00 3.36225171e+02] [-3.45457961e-01 9.38434226e-01 0.00000000e+00 -8.80458033e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42064735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.25, Y:-88.05, Z:0.01 [[ 9.39953311e-01 3.41303053e-01 0.00000000e+00 3.36252973e+02] [-3.41303053e-01 9.39953311e-01 0.00000000e+00 -8.80539800e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24564987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.28, Y:-88.06, Z:0.01 [[ 9.40845182e-01 3.38836750e-01 0.00000000e+00 3.36281196e+02] [-3.38836750e-01 9.40845182e-01 0.00000000e+00 -8.80630578e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10089571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.31, Y:-88.08, Z:0.01 [[ 9.42237662e-01 3.34945052e-01 0.00000000e+00 3.36311741e+02] [-3.34945052e-01 9.42237662e-01 0.00000000e+00 -8.80768855e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16835380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.34, Y:-88.09, Z:0.01 [[ 9.42519553e-01 3.34151003e-01 0.00000000e+00 3.36340595e+02] [-3.34151003e-01 9.42519553e-01 0.00000000e+00 -8.80875404e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38106907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.37, Y:-88.10, Z:0.02 [[ 9.42436469e-01 3.34385259e-01 0.00000000e+00 3.36369897e+02] [-3.34385259e-01 9.42436469e-01 0.00000000e+00 -8.80971171e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66797021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.40, Y:-88.11, Z:0.02 [[ 9.41818792e-01 3.36121055e-01 0.00000000e+00 3.36399316e+02] [-3.36121055e-01 9.41818792e-01 0.00000000e+00 -8.81066292e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80364069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.931400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:336.43, Y:-88.12, Z:0.02 [[ 9.40913424e-01 3.38647205e-01 0.00000000e+00 3.36426327e+02] [-3.38647205e-01 9.40913424e-01 0.00000000e+00 -8.81156909e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72133003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.45, Y:-88.13, Z:0.02 [[ 9.38899067e-01 3.44192594e-01 0.00000000e+00 3.36452102e+02] [-3.44192594e-01 9.38899067e-01 0.00000000e+00 -8.81262692e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52330600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.48, Y:-88.14, Z:0.02 [[ 9.37997602e-01 3.46641743e-01 0.00000000e+00 3.36482861e+02] [-3.46641743e-01 9.37997602e-01 0.00000000e+00 -8.81365176e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50437856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.51, Y:-88.15, Z:0.02 [[ 9.37330934e-01 3.48440411e-01 0.00000000e+00 3.36514407e+02] [-3.48440411e-01 9.37330934e-01 0.00000000e+00 -8.81467435e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60116342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.54, Y:-88.16, Z:0.02 [[ 9.36725818e-01 3.50063910e-01 0.00000000e+00 3.36544295e+02] [-3.50063910e-01 9.36725818e-01 0.00000000e+00 -8.81569832e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66004440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.57, Y:-88.17, Z:0.02 [[ 9.36462098e-01 3.50768784e-01 0.00000000e+00 3.36573540e+02] [-3.50768784e-01 9.36462098e-01 0.00000000e+00 -8.81671785e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65401941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.60, Y:-88.18, Z:0.01 [[ 9.36175202e-01 3.51533771e-01 0.00000000e+00 3.36604275e+02] [-3.51533771e-01 9.36175202e-01 0.00000000e+00 -8.81775799e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43779186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.63, Y:-88.19, Z:0.01 [[ 9.36187187e-01 3.51501852e-01 0.00000000e+00 3.36633895e+02] [-3.51501852e-01 9.36187187e-01 0.00000000e+00 -8.81855615e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36573993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.171400513 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:336.66, Y:-88.19, Z:0.01 [[ 9.36499933e-01 3.50667757e-01 0.00000000e+00 3.36664567e+02] [-3.50667757e-01 9.36499933e-01 0.00000000e+00 -8.81939099e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37755728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.69, Y:-88.20, Z:0.01 [[ 9.36761632e-01 3.49968064e-01 0.00000000e+00 3.36694519e+02] [-3.49968064e-01 9.36761632e-01 0.00000000e+00 -8.82035409e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45772979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.73, Y:-88.22, Z:0.01 [[ 9.37760428e-01 3.47282854e-01 0.00000000e+00 3.36725410e+02] [-3.47282854e-01 9.37760428e-01 0.00000000e+00 -8.82166520e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45614232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.76, Y:-88.23, Z:0.01 [[ 9.38366364e-01 3.45642253e-01 0.00000000e+00 3.36755768e+02] [-3.45642253e-01 9.38366364e-01 0.00000000e+00 -8.82267623e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41925068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.79, Y:-88.24, Z:0.01 [[ 9.39028630e-01 3.43838961e-01 0.00000000e+00 3.36786000e+02] [-3.43838961e-01 9.39028630e-01 0.00000000e+00 -8.82355861e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37553773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.82, Y:-88.24, Z:0.01 [[ 9.39778471e-01 3.41784179e-01 0.00000000e+00 3.36818451e+02] [-3.41784179e-01 9.39778471e-01 0.00000000e+00 -8.82438542e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37765749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.85, Y:-88.25, Z:0.01 [[ 9.39813819e-01 3.41686969e-01 0.00000000e+00 3.36848703e+02] [-3.41686969e-01 9.39813819e-01 0.00000000e+00 -8.82526986e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31467024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.88, Y:-88.26, Z:0.01 [[ 9.39748080e-01 3.41867732e-01 0.00000000e+00 3.36879773e+02] [-3.41867732e-01 9.39748080e-01 0.00000000e+00 -8.82623329e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26674308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.91, Y:-88.27, Z:0.01 [[ 9.39498537e-01 3.42552914e-01 0.00000000e+00 3.36911536e+02] [-3.42552914e-01 9.39498537e-01 0.00000000e+00 -8.82721114e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26018530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.94, Y:-88.28, Z:0.01 [[ 9.39060072e-01 3.43753083e-01 0.00000000e+00 3.36942306e+02] [-3.43753083e-01 9.39060072e-01 0.00000000e+00 -8.82810306e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23416953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.97, Y:-88.29, Z:0.01 [[ 9.38241118e-01 3.45982088e-01 0.00000000e+00 3.36973735e+02] [-3.45982088e-01 9.38241118e-01 0.00000000e+00 -8.82892303e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17111950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.01, Y:-88.30, Z:0.01 [[ 9.37868697e-01 3.46990357e-01 0.00000000e+00 3.37005013e+02] [-3.46990357e-01 9.37868697e-01 0.00000000e+00 -8.82981209e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25078916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.04, Y:-88.31, Z:0.01 [[ 9.37804624e-01 3.47163486e-01 0.00000000e+00 3.37037158e+02] [-3.47163486e-01 9.37804624e-01 0.00000000e+00 -8.83074740e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25078916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.07, Y:-88.32, Z:0.01 [[ 9.37402938e-01 3.48246654e-01 0.00000000e+00 3.37068033e+02] [-3.48246654e-01 9.37402938e-01 0.00000000e+00 -8.83166244e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25648837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.10, Y:-88.33, Z:0.01 [[ 9.36837022e-01 3.49766199e-01 0.00000000e+00 3.37098540e+02] [-3.49766199e-01 9.36837022e-01 0.00000000e+00 -8.83258815e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35991305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.13, Y:-88.33, Z:0.01 [[ 9.35813418e-01 3.52495740e-01 0.00000000e+00 3.37130924e+02] [-3.52495740e-01 9.35813418e-01 0.00000000e+00 -8.83342844e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40958593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.16, Y:-88.34, Z:0.01 [[ 9.35407941e-01 3.53570339e-01 0.00000000e+00 3.37161828e+02] [-3.53570339e-01 9.35407941e-01 0.00000000e+00 -8.83419055e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37083645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.19, Y:-88.35, Z:0.01 [[ 9.35128363e-01 3.54309110e-01 0.00000000e+00 3.37193634e+02] [-3.54309110e-01 9.35128363e-01 0.00000000e+00 -8.83502273e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32031884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.22, Y:-88.36, Z:0.01 [[ 9.34939064e-01 3.54808323e-01 0.00000000e+00 3.37223347e+02] [-3.54808323e-01 9.34939064e-01 0.00000000e+00 -8.83585797e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15290211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.25, Y:-88.37, Z:0.01 [[ 9.34694274e-01 3.55452689e-01 0.00000000e+00 3.37252273e+02] [-3.55452689e-01 9.34694274e-01 0.00000000e+00 -8.83686418e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08808556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.28, Y:-88.38, Z:0.01 [[ 9.34622691e-01 3.55640866e-01 0.00000000e+00 3.37280785e+02] [-3.55640866e-01 9.34622691e-01 0.00000000e+00 -8.83784144e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15496405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.31, Y:-88.39, Z:0.01 [[ 9.34637835e-01 3.55601064e-01 0.00000000e+00 3.37311290e+02] [-3.55601064e-01 9.34637835e-01 0.00000000e+00 -8.83886327e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34614746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.34, Y:-88.40, Z:0.01 [[ 9.34738432e-01 3.55336550e-01 0.00000000e+00 3.37343098e+02] [-3.55336550e-01 9.34738432e-01 0.00000000e+00 -8.83990055e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41676203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.37, Y:-88.41, Z:0.01 [[ 9.34887180e-01 3.54945011e-01 0.00000000e+00 3.37373753e+02] [-3.54945011e-01 9.34887180e-01 0.00000000e+00 -8.84092091e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42830767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.40, Y:-88.42, Z:0.01 [[ 9.34623083e-01 3.55639837e-01 0.00000000e+00 3.37404199e+02] [-3.55639837e-01 9.34623083e-01 0.00000000e+00 -8.84177017e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46349243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.44, Y:-88.43, Z:0.02 [[ 9.34058296e-01 3.57120568e-01 0.00000000e+00 3.37436018e+02] [-3.57120568e-01 9.34058296e-01 0.00000000e+00 -8.84259003e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55208355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.47, Y:-88.43, Z:0.02 [[ 9.33301673e-01 3.59093285e-01 0.00000000e+00 3.37468367e+02] [-3.59093285e-01 9.33301673e-01 0.00000000e+00 -8.84341053e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64333704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.50, Y:-88.44, Z:0.02 [[ 9.31952770e-01 3.62579693e-01 0.00000000e+00 3.37500343e+02] [-3.62579693e-01 9.31952770e-01 0.00000000e+00 -8.84397864e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55444441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.53, Y:-88.45, Z:0.01 [[ 9.31534504e-01 3.63652950e-01 0.00000000e+00 3.37530636e+02] [-3.63652950e-01 9.31534504e-01 0.00000000e+00 -8.84470527e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45139350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.56, Y:-88.45, Z:0.01 [[ 9.31401660e-01 3.63993059e-01 0.00000000e+00 3.37560708e+02] [-3.63993059e-01 9.31401660e-01 0.00000000e+00 -8.84539523e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43765727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.59, Y:-88.46, Z:0.02 [[ 9.31528482e-01 3.63668376e-01 0.00000000e+00 3.37590314e+02] [-3.63668376e-01 9.31528482e-01 0.00000000e+00 -8.84606294e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65634667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.62, Y:-88.47, Z:0.02 [[ 9.32268990e-01 3.61765849e-01 0.00000000e+00 3.37622092e+02] [-3.61765849e-01 9.32268990e-01 0.00000000e+00 -8.84668462e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39070838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.65, Y:-88.47, Z:0.03 [[ 9.32804862e-01 3.60381866e-01 0.00000000e+00 3.37652502e+02] [-3.60381866e-01 9.32804862e-01 0.00000000e+00 -8.84744790e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56515006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.68, Y:-88.48, Z:0.02 [[ 9.33306370e-01 3.59081076e-01 0.00000000e+00 3.37681755e+02] [-3.59081076e-01 9.33306370e-01 0.00000000e+00 -8.84814563e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46410823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.71, Y:-88.49, Z:0.02 [[ 9.33774646e-01 3.57861581e-01 0.00000000e+00 3.37711112e+02] [-3.57861581e-01 9.33774646e-01 0.00000000e+00 -8.84880871e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35256009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.74, Y:-88.49, Z:0.02 [[ 9.34156279e-01 3.56864186e-01 0.00000000e+00 3.37739379e+02] [-3.56864186e-01 9.34156279e-01 0.00000000e+00 -8.84942895e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35917157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.77, Y:-88.50, Z:0.02 [[ 9.34481258e-01 3.56012329e-01 0.00000000e+00 3.37767405e+02] [-3.56012329e-01 9.34481258e-01 0.00000000e+00 -8.84999989e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44576171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.79, Y:-88.51, Z:0.02 [[ 9.34516667e-01 3.55919371e-01 0.00000000e+00 3.37794995e+02] [-3.55919371e-01 9.34516667e-01 0.00000000e+00 -8.85078965e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39142625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.82, Y:-88.52, Z:0.02 [[ 9.34482324e-01 3.56009530e-01 0.00000000e+00 3.37823232e+02] [-3.56009530e-01 9.34482324e-01 0.00000000e+00 -8.85164688e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25159890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.85, Y:-88.52, Z:0.02 [[ 9.34656318e-01 3.55552483e-01 0.00000000e+00 3.37851441e+02] [-3.55552483e-01 9.34656318e-01 0.00000000e+00 -8.85237768e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88899691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.88, Y:-88.53, Z:0.02 [[ 9.34903476e-01 3.54902087e-01 0.00000000e+00 3.37879427e+02] [-3.54902087e-01 9.34903476e-01 0.00000000e+00 -8.85311182e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72646519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.91, Y:-88.54, Z:0.02 [[ 9.35926203e-01 3.52196169e-01 0.00000000e+00 3.37907633e+02] [-3.52196169e-01 9.35926203e-01 0.00000000e+00 -8.85396792e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61633862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.93, Y:-88.55, Z:0.02 [[ 9.36488995e-01 3.50696967e-01 0.00000000e+00 3.37934355e+02] [-3.50696967e-01 9.36488995e-01 0.00000000e+00 -8.85491551e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53692865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.461400513 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:337.97, Y:-88.56, Z:0.02 [[ 9.37056831e-01 3.49176884e-01 0.00000000e+00 3.37965724e+02] [-3.49176884e-01 9.37056831e-01 0.00000000e+00 -8.85609155e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52575565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.00, Y:-88.57, Z:0.01 [[ 9.37452411e-01 3.48113454e-01 0.00000000e+00 3.37995708e+02] [-3.48113454e-01 9.37452411e-01 0.00000000e+00 -8.85733611e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44561474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.02, Y:-88.58, Z:0.01 [[ 9.37775031e-01 3.47243419e-01 0.00000000e+00 3.38022432e+02] [-3.47243419e-01 9.37775031e-01 0.00000000e+00 -8.85839115e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31758347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.05, Y:-88.60, Z:0.01 [[ 9.38002951e-01 3.46627270e-01 0.00000000e+00 3.38052598e+02] [-3.46627270e-01 9.38002951e-01 0.00000000e+00 -8.85973073e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20084606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.08, Y:-88.61, Z:0.01 [[ 9.37985421e-01 3.46674704e-01 0.00000000e+00 3.38083799e+02] [-3.46674704e-01 9.37985421e-01 0.00000000e+00 -8.86096407e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20611503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.11, Y:-88.62, Z:0.01 [[ 9.37871733e-01 3.46982151e-01 0.00000000e+00 3.38113255e+02] [-3.46982151e-01 9.37871733e-01 0.00000000e+00 -8.86222228e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23487174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.14, Y:-88.63, Z:0.01 [[ 9.37610706e-01 3.47686875e-01 0.00000000e+00 3.38142978e+02] [-3.47686875e-01 9.37610706e-01 0.00000000e+00 -8.86341636e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31446401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.17, Y:-88.64, Z:0.01 [[ 9.36850636e-01 3.49729731e-01 0.00000000e+00 3.38174326e+02] [-3.49729731e-01 9.36850636e-01 0.00000000e+00 -8.86449789e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40264124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.21, Y:-88.65, Z:0.01 [[ 9.36271643e-01 3.51276829e-01 0.00000000e+00 3.38205310e+02] [-3.51276829e-01 9.36271643e-01 0.00000000e+00 -8.86540965e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28764925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.23, Y:-88.66, Z:0.01 [[ 9.35610696e-01 3.53033461e-01 0.00000000e+00 3.38234569e+02] [-3.53033461e-01 9.35610696e-01 0.00000000e+00 -8.86629921e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12551637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.26, Y:-88.67, Z:0.01 [[ 9.34962417e-01 3.54746781e-01 0.00000000e+00 3.38262071e+02] [-3.54746781e-01 9.34962417e-01 0.00000000e+00 -8.86716912e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09578273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.791400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:338.29, Y:-88.68, Z:0.01 [[ 9.34416840e-01 3.56181371e-01 0.00000000e+00 3.38294003e+02] [-3.56181371e-01 9.34416840e-01 0.00000000e+00 -8.86812776e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30912933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.33, Y:-88.69, Z:0.02 [[ 9.33501509e-01 3.58573468e-01 0.00000000e+00 3.38326151e+02] [-3.58573468e-01 9.33501509e-01 0.00000000e+00 -8.86885633e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64183442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.36, Y:-88.70, Z:0.02 [[ 9.33062014e-01 3.59715553e-01 0.00000000e+00 3.38356702e+02] [-3.59715553e-01 9.33062014e-01 0.00000000e+00 -8.86964722e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59384639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.39, Y:-88.71, Z:0.01 [[ 9.32906632e-01 3.60118335e-01 0.00000000e+00 3.38387883e+02] [-3.60118335e-01 9.32906632e-01 0.00000000e+00 -8.87058002e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42787155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.42, Y:-88.72, Z:0.01 [[ 9.33025344e-01 3.59810655e-01 0.00000000e+00 3.38418808e+02] [-3.59810655e-01 9.33025344e-01 0.00000000e+00 -8.87157835e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30033917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.45, Y:-88.72, Z:0.01 [[ 9.33734984e-01 3.57965053e-01 0.00000000e+00 3.38450878e+02] [-3.57965053e-01 9.33734984e-01 0.00000000e+00 -8.87244488e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46389688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.48, Y:-88.73, Z:0.02 [[ 9.33822650e-01 3.57736297e-01 0.00000000e+00 3.38481880e+02] [-3.57736297e-01 9.33822650e-01 0.00000000e+00 -8.87319730e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63276794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.51, Y:-88.74, Z:0.02 [[ 9.33497551e-01 3.58583772e-01 0.00000000e+00 3.38513972e+02] [-3.58583772e-01 9.33497551e-01 0.00000000e+00 -8.87409071e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72305299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.54, Y:-88.75, Z:0.02 [[ 9.32292566e-01 3.61705090e-01 0.00000000e+00 3.38544946e+02] [-3.61705090e-01 9.32292566e-01 0.00000000e+00 -8.87491808e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53265463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.58, Y:-88.76, Z:0.01 [[ 9.31657764e-01 3.63337049e-01 0.00000000e+00 3.38576123e+02] [-3.63337049e-01 9.31657764e-01 0.00000000e+00 -8.87566969e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31807560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.61, Y:-88.76, Z:0.01 [[ 9.31092016e-01 3.64784400e-01 0.00000000e+00 3.38606010e+02] [-3.64784400e-01 9.31092016e-01 0.00000000e+00 -8.87634903e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21771504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.64, Y:-88.77, Z:0.01 [[ 9.30672342e-01 3.65853786e-01 0.00000000e+00 3.38635992e+02] [-3.65853786e-01 9.30672342e-01 0.00000000e+00 -8.87704096e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21143704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.67, Y:-88.78, Z:0.01 [[ 9.30616678e-01 3.65995354e-01 0.00000000e+00 3.38665502e+02] [-3.65995354e-01 9.30616678e-01 0.00000000e+00 -8.87772932e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30750900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.69, Y:-88.78, Z:0.01 [[ 9.31013184e-01 3.64985550e-01 0.00000000e+00 3.38693958e+02] [-3.64985550e-01 9.31013184e-01 0.00000000e+00 -8.87846122e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24303761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.72, Y:-88.79, Z:0.01 [[ 9.31769316e-01 3.63050880e-01 0.00000000e+00 3.38722959e+02] [-3.63050880e-01 9.31769316e-01 0.00000000e+00 -8.87917491e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16543791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.75, Y:-88.80, Z:0.01 [[ 9.32716908e-01 3.60609442e-01 0.00000000e+00 3.38752341e+02] [-3.60609442e-01 9.32716908e-01 0.00000000e+00 -8.87995530e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10936972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.78, Y:-88.81, Z:0.01 [[ 9.33697774e-01 3.58062098e-01 0.00000000e+00 3.38780347e+02] [-3.58062098e-01 9.33697774e-01 0.00000000e+00 -8.88079282e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08337466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.81, Y:-88.82, Z:0.01 [[ 9.34523338e-01 3.55901856e-01 0.00000000e+00 3.38807538e+02] [-3.55901856e-01 9.34523338e-01 0.00000000e+00 -8.88169326e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05670916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.84, Y:-88.83, Z:0.01 [[ 9.35695329e-01 3.52809086e-01 0.00000000e+00 3.38835646e+02] [-3.52809086e-01 9.35695329e-01 0.00000000e+00 -8.88274583e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05644178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.86, Y:-88.84, Z:0.01 [[ 9.35940058e-01 3.52159349e-01 0.00000000e+00 3.38863222e+02] [-3.52159349e-01 9.35940058e-01 0.00000000e+00 -8.88362892e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08854665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.89, Y:-88.85, Z:0.01 [[ 9.35725643e-01 3.52728680e-01 0.00000000e+00 3.38893374e+02] [-3.52728680e-01 9.35725643e-01 0.00000000e+00 -8.88458512e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11832796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.92, Y:-88.86, Z:0.01 [[ 9.34200822e-01 3.56747563e-01 0.00000000e+00 3.38924199e+02] [-3.56747563e-01 9.34200822e-01 0.00000000e+00 -8.88566371e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18143851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.96, Y:-88.87, Z:0.01 [[ 9.34137429e-01 3.56913524e-01 0.00000000e+00 3.38956294e+02] [-3.56913524e-01 9.34137429e-01 0.00000000e+00 -8.88661682e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18143851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.99, Y:-88.88, Z:0.01 [[ 9.33192852e-01 3.59375989e-01 0.00000000e+00 3.38987442e+02] [-3.59375989e-01 9.33192852e-01 0.00000000e+00 -8.88761826e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18649527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.02, Y:-88.89, Z:0.01 [[ 9.32396206e-01 3.61437843e-01 0.00000000e+00 3.39018056e+02] [-3.61437843e-01 9.32396206e-01 0.00000000e+00 -8.88859049e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18346329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.05, Y:-88.89, Z:0.01 [[ 9.31903330e-01 3.62706745e-01 0.00000000e+00 3.39048726e+02] [-3.62706745e-01 9.31903330e-01 0.00000000e+00 -8.88949239e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21095668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.08, Y:-88.90, Z:0.01 [[ 9.31276881e-01 3.64312190e-01 0.00000000e+00 3.39079639e+02] [-3.64312190e-01 9.31276881e-01 0.00000000e+00 -8.89045389e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.85358111e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.11, Y:-88.91, Z:0.01 [[ 9.30821867e-01 3.65473189e-01 0.00000000e+00 3.39109620e+02] [-3.65473189e-01 9.30821867e-01 0.00000000e+00 -8.89139009e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.24322860e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.14, Y:-88.92, Z:0.01 [[ 9.30380334e-01 3.66595737e-01 0.00000000e+00 3.39139880e+02] [-3.66595737e-01 9.30380334e-01 0.00000000e+00 -8.89234944e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.65247547e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.17, Y:-88.93, Z:0.01 [[ 9.30096605e-01 3.67314996e-01 0.00000000e+00 3.39170835e+02] [-3.67314996e-01 9.30096605e-01 0.00000000e+00 -8.89332869e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.91207805e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.20, Y:-88.94, Z:0.01 [[ 9.29969279e-01 3.67637239e-01 0.00000000e+00 3.39202996e+02] [-3.67637239e-01 9.29969279e-01 0.00000000e+00 -8.89424250e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.61948213e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.23, Y:-88.95, Z:0.01 [[ 9.29841810e-01 3.67959519e-01 0.00000000e+00 3.39234087e+02] [-3.67959519e-01 9.29841810e-01 0.00000000e+00 -8.89512042e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00401025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.26, Y:-88.96, Z:0.01 [[ 9.29596161e-01 3.68579676e-01 0.00000000e+00 3.39264340e+02] [-3.68579676e-01 9.29596161e-01 0.00000000e+00 -8.89579638e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.81232155e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.29, Y:-88.96, Z:0.01 [[ 9.29632281e-01 3.68488564e-01 0.00000000e+00 3.39293307e+02] [-3.68488564e-01 9.29632281e-01 0.00000000e+00 -8.89645724e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.06477860e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.33, Y:-88.97, Z:0.01 [[ 9.29845507e-01 3.67950177e-01 0.00000000e+00 3.39325625e+02] [-3.67950177e-01 9.29845507e-01 0.00000000e+00 -8.89724402e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.91111034e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.36, Y:-88.98, Z:0.01 [[ 9.30338246e-01 3.66702533e-01 0.00000000e+00 3.39356892e+02] [-3.66702533e-01 9.30338246e-01 0.00000000e+00 -8.89805214e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01302499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.39, Y:-88.99, Z:0.01 [[ 9.32055726e-01 3.62314952e-01 0.00000000e+00 3.39386874e+02] [-3.62314952e-01 9.32055726e-01 0.00000000e+00 -8.89878315e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28765200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.42, Y:-89.00, Z:0.01 [[ 9.33133738e-01 3.59529451e-01 0.00000000e+00 3.39416391e+02] [-3.59529451e-01 9.33133738e-01 0.00000000e+00 -8.89954209e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21431714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.44, Y:-89.00, Z:0.01 [[ 9.34253166e-01 3.56610462e-01 0.00000000e+00 3.39444447e+02] [-3.56610462e-01 9.34253166e-01 0.00000000e+00 -8.90031308e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15310148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.47, Y:-89.01, Z:0.01 [[ 9.35454291e-01 3.53447691e-01 0.00000000e+00 3.39473227e+02] [-3.53447691e-01 9.35454291e-01 0.00000000e+00 -8.90119860e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09619862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.50, Y:-89.02, Z:0.01 [[ 9.36599322e-01 3.50402213e-01 0.00000000e+00 3.39503536e+02] [-3.50402213e-01 9.36599322e-01 0.00000000e+00 -8.90219521e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19829640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.53, Y:-89.03, Z:0.01 [[ 9.38870057e-01 3.44271718e-01 0.00000000e+00 3.39533669e+02] [-3.44271718e-01 9.38870057e-01 0.00000000e+00 -8.90298650e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40293077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.56, Y:-89.04, Z:0.01 [[ 9.39763332e-01 3.41825802e-01 0.00000000e+00 3.39564412e+02] [-3.41825802e-01 9.39763332e-01 0.00000000e+00 -8.90376801e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45045879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.60, Y:-89.05, Z:0.01 [[ 9.40576956e-01 3.39580609e-01 0.00000000e+00 3.39595949e+02] [-3.39580609e-01 9.40576956e-01 0.00000000e+00 -8.90461351e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44503298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.63, Y:-89.05, Z:0.01 [[ 9.41335546e-01 3.37472057e-01 0.00000000e+00 3.39626875e+02] [-3.37472057e-01 9.41335546e-01 0.00000000e+00 -8.90547475e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30228398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.66, Y:-89.06, Z:0.01 [[ 9.42092056e-01 3.35354378e-01 0.00000000e+00 3.39659011e+02] [-3.35354378e-01 9.42092056e-01 0.00000000e+00 -8.90637413e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20443604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.171400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:339.69, Y:-89.07, Z:0.01 [[ 9.43981662e-01 3.29997913e-01 0.00000000e+00 3.39691286e+02] [-3.29997913e-01 9.43981662e-01 0.00000000e+00 -8.90712023e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17163564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.72, Y:-89.08, Z:0.01 [[ 9.44925800e-01 3.27284635e-01 0.00000000e+00 3.39722275e+02] [-3.27284635e-01 9.44925800e-01 0.00000000e+00 -8.90802342e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27081491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.75, Y:-89.09, Z:0.01 [[ 9.45908214e-01 3.24434355e-01 0.00000000e+00 3.39753073e+02] [-3.24434355e-01 9.45908214e-01 0.00000000e+00 -8.90887313e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40929833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.79, Y:-89.10, Z:0.01 [[ 9.47282303e-01 3.20400122e-01 0.00000000e+00 3.39785268e+02] [-3.20400122e-01 9.47282303e-01 0.00000000e+00 -8.90963156e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35818418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.82, Y:-89.10, Z:0.01 [[ 9.47679496e-01 3.19223391e-01 0.00000000e+00 3.39817471e+02] [-3.19223391e-01 9.47679496e-01 0.00000000e+00 -8.91041727e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26187038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.85, Y:-89.11, Z:0.01 [[ 9.47961467e-01 3.18385075e-01 0.00000000e+00 3.39849215e+02] [-3.18385075e-01 9.47961467e-01 0.00000000e+00 -8.91114169e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22851517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.88, Y:-89.12, Z:0.01 [[ 9.48366161e-01 3.17177591e-01 0.00000000e+00 3.39880050e+02] [-3.17177591e-01 9.48366161e-01 0.00000000e+00 -8.91184619e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23832875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.91, Y:-89.12, Z:0.01 [[ 9.49652739e-01 3.13304447e-01 0.00000000e+00 3.39912340e+02] [-3.13304447e-01 9.49652739e-01 0.00000000e+00 -8.91240970e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21474870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.94, Y:-89.13, Z:0.01 [[ 9.50462324e-01 3.10839782e-01 0.00000000e+00 3.39943379e+02] [-3.10839782e-01 9.50462324e-01 0.00000000e+00 -8.91317649e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10023204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.97, Y:-89.14, Z:0.01 [[ 9.51335480e-01 3.08157110e-01 0.00000000e+00 3.39974707e+02] [-3.08157110e-01 9.51335480e-01 0.00000000e+00 -8.91398697e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.83363632e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.01, Y:-89.15, Z:0.01 [[ 9.52627197e-01 3.04140466e-01 0.00000000e+00 3.40005182e+02] [-3.04140466e-01 9.52627197e-01 0.00000000e+00 -8.91473707e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07175668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.04, Y:-89.16, Z:0.01 [[ 9.52969603e-01 3.03065894e-01 0.00000000e+00 3.40036031e+02] [-3.03065894e-01 9.52969603e-01 0.00000000e+00 -8.91553170e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22704735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.531400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:340.07, Y:-89.16, Z:0.01 [[ 9.53329152e-01 3.01932987e-01 0.00000000e+00 3.40066761e+02] [-3.01932987e-01 9.53329152e-01 0.00000000e+00 -8.91618275e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25775274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.10, Y:-89.17, Z:0.01 [[ 9.53472108e-01 3.01481242e-01 0.00000000e+00 3.40098985e+02] [-3.01481242e-01 9.53472108e-01 0.00000000e+00 -8.91697543e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32478611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.13, Y:-89.18, Z:0.01 [[ 9.53717622e-01 3.00703670e-01 0.00000000e+00 3.40129792e+02] [-3.00703670e-01 9.53717622e-01 0.00000000e+00 -8.91770063e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42010606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.16, Y:-89.18, Z:0.02 [[ 9.54072660e-01 2.99575300e-01 0.00000000e+00 3.40161229e+02] [-2.99575300e-01 9.54072660e-01 0.00000000e+00 -8.91846633e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53311151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.19, Y:-89.19, Z:0.01 [[ 9.54828772e-01 2.97156553e-01 0.00000000e+00 3.40192110e+02] [-2.97156553e-01 9.54828772e-01 0.00000000e+00 -8.91901310e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41694951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.22, Y:-89.20, Z:0.01 [[ 9.55306981e-01 2.95615582e-01 0.00000000e+00 3.40222357e+02] [-2.95615582e-01 9.55306981e-01 0.00000000e+00 -8.91976179e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15027212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.25, Y:-89.21, Z:0.01 [[ 9.55985388e-01 2.93414276e-01 0.00000000e+00 3.40251415e+02] [-2.93414276e-01 9.55985388e-01 0.00000000e+00 -8.92061494e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.57937921e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.28, Y:-89.22, Z:0.01 [[ 9.56933703e-01 2.90306542e-01 0.00000000e+00 3.40281670e+02] [-2.90306542e-01 9.56933703e-01 0.00000000e+00 -8.92160665e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.09686531e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.771400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:340.31, Y:-89.23, Z:0.01 [[ 9.58954447e-01 2.83560169e-01 0.00000000e+00 3.40313098e+02] [-2.83560169e-01 9.58954447e-01 0.00000000e+00 -8.92261544e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.93151134e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.34, Y:-89.24, Z:0.01 [[ 9.59621029e-01 2.81296072e-01 0.00000000e+00 3.40343702e+02] [-2.81296072e-01 9.59621029e-01 0.00000000e+00 -8.92359409e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00387472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.38, Y:-89.25, Z:0.01 [[ 9.60092476e-01 2.79682745e-01 0.00000000e+00 3.40375046e+02] [-2.79682745e-01 9.60092476e-01 0.00000000e+00 -8.92450737e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.95265113e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.41, Y:-89.26, Z:0.01 [[ 9.60363327e-01 2.78751286e-01 0.00000000e+00 3.40406357e+02] [-2.78751286e-01 9.60363327e-01 0.00000000e+00 -8.92563203e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.00635273e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.44, Y:-89.27, Z:0.01 [[ 9.60357521e-01 2.78771289e-01 0.00000000e+00 3.40438239e+02] [-2.78771289e-01 9.60357521e-01 0.00000000e+00 -8.92661353e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.46592613e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.47, Y:-89.27, Z:0.01 [[ 9.60229913e-01 2.79210519e-01 0.00000000e+00 3.40468592e+02] [-2.79210519e-01 9.60229913e-01 0.00000000e+00 -8.92740672e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.34120585e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.50, Y:-89.28, Z:0.01 [[ 9.60107688e-01 2.79630521e-01 0.00000000e+00 3.40499187e+02] [-2.79630521e-01 9.60107688e-01 0.00000000e+00 -8.92809526e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.82120472e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.53, Y:-89.29, Z:0.01 [[ 9.59991813e-01 2.80028069e-01 0.00000000e+00 3.40528449e+02] [-2.80028069e-01 9.59991813e-01 0.00000000e+00 -8.92875936e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.68559378e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.56, Y:-89.29, Z:0.01 [[ 9.60008752e-01 2.79969992e-01 0.00000000e+00 3.40558116e+02] [-2.79969992e-01 9.60008752e-01 0.00000000e+00 -8.92933110e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13452713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.59, Y:-89.30, Z:0.01 [[ 9.60225207e-01 2.79226703e-01 0.00000000e+00 3.40587832e+02] [-2.79226703e-01 9.60225207e-01 0.00000000e+00 -8.93002792e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27032217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.62, Y:-89.31, Z:0.01 [[ 9.60545530e-01 2.78122786e-01 0.00000000e+00 3.40618557e+02] [-2.78122786e-01 9.60545530e-01 0.00000000e+00 -8.93067180e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38200417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.65, Y:-89.31, Z:0.01 [[ 9.60893620e-01 2.76917770e-01 0.00000000e+00 3.40648116e+02] [-2.76917770e-01 9.60893620e-01 0.00000000e+00 -8.93130633e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44233087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.68, Y:-89.32, Z:0.01 [[ 9.61649188e-01 2.74282407e-01 0.00000000e+00 3.40678607e+02] [-2.74282407e-01 9.61649188e-01 0.00000000e+00 -8.93189328e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49703783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.71, Y:-89.33, Z:0.01 [[ 9.62028100e-01 2.72950426e-01 0.00000000e+00 3.40706871e+02] [-2.72950426e-01 9.62028100e-01 0.00000000e+00 -8.93263825e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43294269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.191400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:340.74, Y:-89.33, Z:0.01 [[ 9.62432089e-01 2.71522512e-01 0.00000000e+00 3.40736308e+02] [-2.71522512e-01 9.62432089e-01 0.00000000e+00 -8.93331561e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39697767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.221400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:340.77, Y:-89.34, Z:0.01 [[ 9.62505716e-01 2.71261399e-01 0.00000000e+00 3.40765097e+02] [-2.71261399e-01 9.62505716e-01 0.00000000e+00 -8.93414726e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37160692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.79, Y:-89.35, Z:0.01 [[ 9.62189565e-01 2.72380690e-01 0.00000000e+00 3.40794220e+02] [-2.72380690e-01 9.62189565e-01 0.00000000e+00 -8.93490215e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31579390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.82, Y:-89.36, Z:0.01 [[ 9.61737940e-01 2.73971046e-01 0.00000000e+00 3.40821417e+02] [-2.73971046e-01 9.61737940e-01 0.00000000e+00 -8.93570720e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20947356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.85, Y:-89.37, Z:0.01 [[ 9.61044100e-01 2.76395076e-01 0.00000000e+00 3.40849484e+02] [-2.76395076e-01 9.61044100e-01 0.00000000e+00 -8.93653948e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07358984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.88, Y:-89.37, Z:0.01 [[ 9.61050755e-01 2.76371933e-01 0.00000000e+00 3.40878393e+02] [-2.76371933e-01 9.61050755e-01 0.00000000e+00 -8.93740221e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07358984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.91, Y:-89.38, Z:0.01 [[ 9.60134504e-01 2.79538430e-01 0.00000000e+00 3.40905739e+02] [-2.79538430e-01 9.60134504e-01 0.00000000e+00 -8.93823249e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.85422102e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.401400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:340.93, Y:-89.39, Z:0.01 [[ 9.57622521e-01 2.88026228e-01 0.00000000e+00 3.40933388e+02] [-2.88026228e-01 9.57622521e-01 0.00000000e+00 -8.93902495e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03421558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.96, Y:-89.40, Z:0.01 [[ 9.56240502e-01 2.92581787e-01 0.00000000e+00 3.40960961e+02] [-2.92581787e-01 9.56240502e-01 0.00000000e+00 -8.93986496e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25059493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.461400513 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:340.99, Y:-89.41, Z:0.01 [[ 9.55080289e-01 2.96347164e-01 0.00000000e+00 3.40989271e+02] [-2.96347164e-01 9.55080289e-01 0.00000000e+00 -8.94051993e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32985614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.49140051300003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:341.02, Y:-89.41, Z:0.01 [[ 9.53976093e-01 2.99882666e-01 0.00000000e+00 3.41017051e+02] [-2.99882666e-01 9.53976093e-01 0.00000000e+00 -8.94116230e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29092722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.04, Y:-89.42, Z:0.01 [[ 9.52028923e-01 3.06008055e-01 0.00000000e+00 3.41044922e+02] [-3.06008055e-01 9.52028923e-01 0.00000000e+00 -8.94175923e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.96753134e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.07, Y:-89.42, Z:0.01 [[ 9.51438582e-01 3.07838634e-01 0.00000000e+00 3.41071488e+02] [-3.07838634e-01 9.51438582e-01 0.00000000e+00 -8.94245687e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.60585397e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.581400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:341.10, Y:-89.43, Z:0.01 [[ 9.50925565e-01 3.09419730e-01 0.00000000e+00 3.41100021e+02] [-3.09419730e-01 9.50925565e-01 0.00000000e+00 -8.94305888e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14100628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.61140051300004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:341.13, Y:-89.44, Z:0.01 [[ 9.50987844e-01 3.09228266e-01 0.00000000e+00 3.41126991e+02] [-3.09228266e-01 9.50987844e-01 0.00000000e+00 -8.94381034e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14982316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.641400513 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:341.15, Y:-89.45, Z:0.01 [[ 9.51358063e-01 3.08087385e-01 0.00000000e+00 3.41154698e+02] [-3.08087385e-01 9.51358063e-01 0.00000000e+00 -8.94462721e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19737314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.18, Y:-89.46, Z:0.01 [[ 9.51698968e-01 3.07032692e-01 0.00000000e+00 3.41180532e+02] [-3.07032692e-01 9.51698968e-01 0.00000000e+00 -8.94553265e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07962872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.21, Y:-89.46, Z:0.01 [[ 9.52183820e-01 3.05525733e-01 0.00000000e+00 3.41208096e+02] [-3.05525733e-01 9.52183820e-01 0.00000000e+00 -8.94648116e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13906042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.731400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:341.23, Y:-89.48, Z:0.01 [[ 9.52821903e-01 3.03529933e-01 0.00000000e+00 3.41234834e+02] [-3.03529933e-01 9.52821903e-01 0.00000000e+00 -8.94754472e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12513519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.26, Y:-89.49, Z:0.01 [[ 9.52680520e-01 3.03973397e-01 0.00000000e+00 3.41260810e+02] [-3.03973397e-01 9.52680520e-01 0.00000000e+00 -8.94858149e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13670500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.29, Y:-89.50, Z:0.01 [[ 9.52402508e-01 3.04843341e-01 0.00000000e+00 3.41287939e+02] [-3.04843341e-01 9.52402508e-01 0.00000000e+00 -8.94954644e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17268109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.32, Y:-89.50, Z:0.01 [[ 9.51882579e-01 3.06462977e-01 0.00000000e+00 3.41315509e+02] [-3.06462977e-01 9.51882579e-01 0.00000000e+00 -8.95044829e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25433450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.34, Y:-89.51, Z:0.01 [[ 9.51230702e-01 3.08480392e-01 0.00000000e+00 3.41341760e+02] [-3.08480392e-01 9.51230702e-01 0.00000000e+00 -8.95126650e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31640112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.37, Y:-89.52, Z:0.01 [[ 9.49799052e-01 3.12860608e-01 0.00000000e+00 3.41368470e+02] [-3.12860608e-01 9.49799052e-01 0.00000000e+00 -8.95220395e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22924807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.911400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:341.40, Y:-89.53, Z:0.01 [[ 9.49255215e-01 3.14506815e-01 0.00000000e+00 3.41396068e+02] [-3.14506815e-01 9.49255215e-01 0.00000000e+00 -8.95310448e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01961246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.42, Y:-89.54, Z:0.01 [[ 9.48593129e-01 3.16498146e-01 0.00000000e+00 3.41421526e+02] [-3.16498146e-01 9.48593129e-01 0.00000000e+00 -8.95402931e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.13493095e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.45, Y:-89.55, Z:0.01 [[ 9.47981693e-01 3.18324849e-01 0.00000000e+00 3.41449450e+02] [-3.18324849e-01 9.47981693e-01 0.00000000e+00 -8.95492288e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.68439173e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.48, Y:-89.56, Z:0.01 [[ 9.46642443e-01 3.22285719e-01 0.00000000e+00 3.41475663e+02] [-3.22285719e-01 9.46642443e-01 0.00000000e+00 -8.95576674e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19442947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.50, Y:-89.57, Z:0.01 [[ 9.46124021e-01 3.23804474e-01 0.00000000e+00 3.41502945e+02] [-3.23804474e-01 9.46124021e-01 0.00000000e+00 -8.95661424e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49622783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.53, Y:-89.57, Z:0.02 [[ 9.45651389e-01 3.25182181e-01 0.00000000e+00 3.41530157e+02] [-3.25182181e-01 9.45651389e-01 0.00000000e+00 -8.95741754e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57465018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.56, Y:-89.58, Z:0.02 [[ 9.45409534e-01 3.25884662e-01 0.00000000e+00 3.41556774e+02] [-3.25884662e-01 9.45409534e-01 0.00000000e+00 -8.95817629e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52682632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.58, Y:-89.59, Z:0.01 [[ 9.44882315e-01 3.27410155e-01 0.00000000e+00 3.41583633e+02] [-3.27410155e-01 9.44882315e-01 0.00000000e+00 -8.95909745e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29508107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.61, Y:-89.60, Z:0.01 [[ 9.44685694e-01 3.27977041e-01 0.00000000e+00 3.41610242e+02] [-3.27977041e-01 9.44685694e-01 0.00000000e+00 -8.96003666e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25713478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.64, Y:-89.61, Z:0.01 [[ 9.44385306e-01 3.28840986e-01 0.00000000e+00 3.41636641e+02] [-3.28840986e-01 9.44385306e-01 0.00000000e+00 -8.96098882e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27872286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.66, Y:-89.62, Z:0.01 [[ 9.44120261e-01 3.29601172e-01 0.00000000e+00 3.41664067e+02] [-3.29601172e-01 9.44120261e-01 0.00000000e+00 -8.96189256e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26944799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.24140051300003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:341.69, Y:-89.63, Z:0.01 [[ 9.44005159e-01 3.29930689e-01 0.00000000e+00 3.41692284e+02] [-3.29930689e-01 9.44005159e-01 0.00000000e+00 -8.96261003e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19400394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.72, Y:-89.63, Z:0.01 [[ 9.43679874e-01 3.30859933e-01 0.00000000e+00 3.41719397e+02] [-3.30859933e-01 9.43679874e-01 0.00000000e+00 -8.96344745e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21995963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.75, Y:-89.64, Z:0.01 [[ 9.42533945e-01 3.34110405e-01 0.00000000e+00 3.41746741e+02] [-3.34110405e-01 9.42533945e-01 0.00000000e+00 -8.96415845e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25762345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.77, Y:-89.65, Z:0.01 [[ 9.41678198e-01 3.36514742e-01 0.00000000e+00 3.41773303e+02] [-3.36514742e-01 9.41678198e-01 0.00000000e+00 -8.96486003e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20103222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.80, Y:-89.66, Z:0.01 [[ 9.39792242e-01 3.41746313e-01 0.00000000e+00 3.41801416e+02] [-3.41746313e-01 9.39792242e-01 0.00000000e+00 -8.96554182e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13142168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.391400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:341.83, Y:-89.66, Z:0.01 [[ 9.39072419e-01 3.43719351e-01 0.00000000e+00 3.41828763e+02] [-3.43719351e-01 9.39072419e-01 0.00000000e+00 -8.96622154e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09445494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.86, Y:-89.67, Z:0.01 [[ 9.38614976e-01 3.44966560e-01 0.00000000e+00 3.41856763e+02] [-3.44966560e-01 9.38614976e-01 0.00000000e+00 -8.96706872e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28263243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.88, Y:-89.68, Z:0.01 [[ 9.38499213e-01 3.45281374e-01 0.00000000e+00 3.41883522e+02] [-3.45281374e-01 9.38499213e-01 0.00000000e+00 -8.96779290e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32658787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.91, Y:-89.68, Z:0.01 [[ 9.38680006e-01 3.44789569e-01 0.00000000e+00 3.41910208e+02] [-3.44789569e-01 9.38680006e-01 0.00000000e+00 -8.96848686e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30025006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.94, Y:-89.69, Z:0.01 [[ 9.39064580e-01 3.43740767e-01 0.00000000e+00 3.41937433e+02] [-3.43740767e-01 9.39064580e-01 0.00000000e+00 -8.96924124e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31942407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.96, Y:-89.70, Z:0.01 [[ 9.40186931e-01 3.40658971e-01 0.00000000e+00 3.41962481e+02] [-3.40658971e-01 9.40186931e-01 0.00000000e+00 -8.97029705e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30207278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.99, Y:-89.71, Z:0.01 [[ 9.40651634e-01 3.39373694e-01 0.00000000e+00 3.41987419e+02] [-3.39373694e-01 9.40651634e-01 0.00000000e+00 -8.97138735e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31740904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.01, Y:-89.72, Z:0.01 [[ 9.41290881e-01 3.37596620e-01 0.00000000e+00 3.42013708e+02] [-3.37596620e-01 9.41290881e-01 0.00000000e+00 -8.97249316e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49709271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.04, Y:-89.74, Z:0.02 [[ 9.41631325e-01 3.36645878e-01 0.00000000e+00 3.42040296e+02] [-3.36645878e-01 9.41631325e-01 0.00000000e+00 -8.97354593e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57694915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.07, Y:-89.75, Z:0.02 [[ 9.41834337e-01 3.36077494e-01 0.00000000e+00 3.42066859e+02] [-3.36077494e-01 9.41834337e-01 0.00000000e+00 -8.97456294e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56099804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.09, Y:-89.76, Z:0.01 [[ 9.41786913e-01 3.36210365e-01 0.00000000e+00 3.42092185e+02] [-3.36210365e-01 9.41786913e-01 0.00000000e+00 -8.97604735e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37435134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.721400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:342.12, Y:-89.77, Z:0.01 [[ 9.41633960e-01 3.36638508e-01 0.00000000e+00 3.42120192e+02] [-3.36638508e-01 9.41633960e-01 0.00000000e+00 -8.97720509e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37485894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.15, Y:-89.78, Z:0.01 [[ 9.41190062e-01 3.37877591e-01 0.00000000e+00 3.42147689e+02] [-3.37877591e-01 9.41190062e-01 0.00000000e+00 -8.97838314e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42302578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.18, Y:-89.79, Z:0.01 [[ 9.40602741e-01 3.39509181e-01 0.00000000e+00 3.42175663e+02] [-3.39509181e-01 9.40602741e-01 0.00000000e+00 -8.97939754e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39806129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.20, Y:-89.80, Z:0.01 [[ 9.39820849e-01 3.41667634e-01 0.00000000e+00 3.42203941e+02] [-3.41667634e-01 9.39820849e-01 0.00000000e+00 -8.98042068e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33835232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.23, Y:-89.82, Z:0.01 [[ 9.38873622e-01 3.44261996e-01 0.00000000e+00 3.42231514e+02] [-3.44261996e-01 9.38873622e-01 0.00000000e+00 -8.98150116e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25083792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.26, Y:-89.83, Z:0.01 [[ 9.36805336e-01 3.49851057e-01 0.00000000e+00 3.42255867e+02] [-3.49851057e-01 9.36805336e-01 0.00000000e+00 -8.98264049e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.24749491e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.28, Y:-89.83, Z:0.01 [[ 9.36098726e-01 3.51737367e-01 0.00000000e+00 3.42284482e+02] [-3.51737367e-01 9.36098726e-01 0.00000000e+00 -8.98346567e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.75302744e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.31, Y:-89.84, Z:0.01 [[ 9.34870534e-01 3.54988850e-01 0.00000000e+00 3.42312346e+02] [-3.54988850e-01 9.34870534e-01 0.00000000e+00 -8.98429480e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.40612947e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.34, Y:-89.85, Z:0.01 [[ 9.34601096e-01 3.55697613e-01 0.00000000e+00 3.42340085e+02] [-3.55697613e-01 9.34601096e-01 0.00000000e+00 -8.98522124e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.50564135e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.37, Y:-89.86, Z:0.01 [[ 9.34596962e-01 3.55708473e-01 0.00000000e+00 3.42369471e+02] [-3.55708473e-01 9.34596962e-01 0.00000000e+00 -8.98614600e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.09385981e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.40, Y:-89.87, Z:0.01 [[ 9.34732857e-01 3.55351215e-01 0.00000000e+00 3.42396812e+02] [-3.55351215e-01 9.34732857e-01 0.00000000e+00 -8.98694053e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.84094717e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.42, Y:-89.88, Z:0.01 [[ 9.35110348e-01 3.54356653e-01 0.00000000e+00 3.42424614e+02] [-3.54356653e-01 9.35110348e-01 0.00000000e+00 -8.98764789e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.43838467e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.45, Y:-89.88, Z:0.01 [[ 9.35311188e-01 3.53826202e-01 0.00000000e+00 3.42454055e+02] [-3.53826202e-01 9.35311188e-01 0.00000000e+00 -8.98845578e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.44414609e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.48, Y:-89.89, Z:0.01 [[ 9.35174917e-01 3.54186214e-01 0.00000000e+00 3.42481545e+02] [-3.54186214e-01 9.35174917e-01 0.00000000e+00 -8.98924921e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.60090525e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.51, Y:-89.90, Z:0.00 [[ 9.34785166e-01 3.55213587e-01 0.00000000e+00 3.42509101e+02] [-3.55213587e-01 9.34785166e-01 0.00000000e+00 -8.98996588e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.78515459e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.54, Y:-89.91, Z:0.00 [[ 9.34282204e-01 3.56534378e-01 0.00000000e+00 3.42536159e+02] [-3.56534378e-01 9.34282204e-01 0.00000000e+00 -8.99053039e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.78803687e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.201400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:342.56, Y:-89.91, Z:0.01 [[ 9.33937719e-01 3.57435780e-01 0.00000000e+00 3.42564934e+02] [-3.57435780e-01 9.33937719e-01 0.00000000e+00 -8.99102775e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.36349298e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.59, Y:-89.92, Z:0.01 [[ 9.33162104e-01 3.59455821e-01 0.00000000e+00 3.42592850e+02] [-3.59455821e-01 9.33162104e-01 0.00000000e+00 -8.99159432e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48150181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.62, Y:-89.92, Z:0.02 [[ 9.32995029e-01 3.59889254e-01 0.00000000e+00 3.42619791e+02] [-3.59889254e-01 9.32995029e-01 0.00000000e+00 -8.99234193e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59818851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.65, Y:-89.93, Z:0.02 [[ 9.33018539e-01 3.59828300e-01 0.00000000e+00 3.42647151e+02] [-3.59828300e-01 9.33018539e-01 0.00000000e+00 -8.99314245e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59818851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.67, Y:-89.94, Z:0.02 [[ 9.32937373e-01 3.60038689e-01 0.00000000e+00 3.42674518e+02] [-3.60038689e-01 9.32937373e-01 0.00000000e+00 -8.99391174e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50309819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.70, Y:-89.95, Z:0.01 [[ 9.32815385e-01 3.60354629e-01 0.00000000e+00 3.42702559e+02] [-3.60354629e-01 9.32815385e-01 0.00000000e+00 -8.99473275e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37335600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.73, Y:-89.96, Z:0.01 [[ 9.32353364e-01 3.61548343e-01 0.00000000e+00 3.42729982e+02] [-3.61548343e-01 9.32353364e-01 0.00000000e+00 -8.99554096e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32120298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.76, Y:-89.96, Z:0.01 [[ 9.32074957e-01 3.62265476e-01 0.00000000e+00 3.42758106e+02] [-3.62265476e-01 9.32074957e-01 0.00000000e+00 -8.99630018e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33852066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.79, Y:-89.97, Z:0.01 [[ 9.31784620e-01 3.63011601e-01 0.00000000e+00 3.42785076e+02] [-3.63011601e-01 9.31784620e-01 0.00000000e+00 -8.99700682e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37158800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.81, Y:-89.98, Z:0.01 [[ 9.31675120e-01 3.63292543e-01 0.00000000e+00 3.42813191e+02] [-3.63292543e-01 9.31675120e-01 0.00000000e+00 -8.99779173e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41540324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.84, Y:-89.99, Z:0.01 [[ 9.31743849e-01 3.63116235e-01 0.00000000e+00 3.42839469e+02] [-3.63116235e-01 9.31743849e-01 0.00000000e+00 -8.99865193e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43563085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.87, Y:-90.00, Z:0.01 [[ 9.32156191e-01 3.62056398e-01 0.00000000e+00 3.42865975e+02] [-3.62056398e-01 9.32156191e-01 0.00000000e+00 -8.99969797e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38719170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.89, Y:-90.01, Z:0.01 [[ 9.33756579e-01 3.57908720e-01 0.00000000e+00 3.42891579e+02] [-3.57908720e-01 9.33756579e-01 0.00000000e+00 -9.00117393e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26727449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.92, Y:-90.02, Z:0.01 [[ 9.34637288e-01 3.55602502e-01 0.00000000e+00 3.42920248e+02] [-3.55602502e-01 9.34637288e-01 0.00000000e+00 -9.00228042e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20812695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.95, Y:-90.03, Z:0.01 [[ 9.35284935e-01 3.53895593e-01 0.00000000e+00 3.42948764e+02] [-3.53895593e-01 9.35284935e-01 0.00000000e+00 -9.00332298e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11864861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.651400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:342.98, Y:-90.04, Z:0.01 [[ 9.35521156e-01 3.53270670e-01 0.00000000e+00 3.42976820e+02] [-3.53270670e-01 9.35521156e-01 0.00000000e+00 -9.00447068e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05792328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.00, Y:-90.06, Z:0.01 [[ 9.34997424e-01 3.54654503e-01 0.00000000e+00 3.43002900e+02] [-3.54654503e-01 9.34997424e-01 0.00000000e+00 -9.00561026e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.74664620e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.03, Y:-90.07, Z:0.01 [[ 9.34536022e-01 3.55868548e-01 0.00000000e+00 3.43030128e+02] [-3.55868548e-01 9.34536022e-01 0.00000000e+00 -9.00672937e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.71989838e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.06, Y:-90.08, Z:0.01 [[ 9.34003341e-01 3.57264271e-01 0.00000000e+00 3.43060592e+02] [-3.57264271e-01 9.34003341e-01 0.00000000e+00 -9.00787313e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.25669152e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.09, Y:-90.09, Z:0.00 [[ 9.33004909e-01 3.59863640e-01 0.00000000e+00 3.43090181e+02] [-3.59863640e-01 9.33004909e-01 0.00000000e+00 -9.00903162e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.53403425e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.12, Y:-90.10, Z:0.01 [[ 9.32751594e-01 3.60519714e-01 0.00000000e+00 3.43120227e+02] [-3.60519714e-01 9.32751594e-01 0.00000000e+00 -9.01005035e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.11699984e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.831400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:343.15, Y:-90.11, Z:0.01 [[ 9.32891384e-01 3.60157834e-01 0.00000000e+00 3.43148762e+02] [-3.60157834e-01 9.32891384e-01 0.00000000e+00 -9.01098662e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.64783887e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.18, Y:-90.12, Z:0.01 [[ 9.32902540e-01 3.60128936e-01 0.00000000e+00 3.43179345e+02] [-3.60128936e-01 9.32902540e-01 0.00000000e+00 -9.01217022e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17954975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.21, Y:-90.13, Z:0.01 [[ 9.33094410e-01 3.59631510e-01 0.00000000e+00 3.43210016e+02] [-3.59631510e-01 9.33094410e-01 0.00000000e+00 -9.01317497e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32513990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.24, Y:-90.14, Z:0.01 [[ 9.33080052e-01 3.59668760e-01 0.00000000e+00 3.43239900e+02] [-3.59668760e-01 9.33080052e-01 0.00000000e+00 -9.01418860e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.91527566e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.27, Y:-90.15, Z:0.01 [[ 9.32833233e-01 3.60308423e-01 0.00000000e+00 3.43271182e+02] [-3.60308423e-01 9.32833233e-01 0.00000000e+00 -9.01530179e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.40701556e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.30, Y:-90.16, Z:0.01 [[ 9.32360212e-01 3.61530684e-01 0.00000000e+00 3.43301652e+02] [-3.61530684e-01 9.32360212e-01 0.00000000e+00 -9.01636643e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.58954819e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.33, Y:-90.17, Z:0.01 [[ 9.31709008e-01 3.63205622e-01 0.00000000e+00 3.43331067e+02] [-3.63205622e-01 9.31709008e-01 0.00000000e+00 -9.01726635e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.30618734e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.36, Y:-90.18, Z:0.01 [[ 9.30638389e-01 3.65940144e-01 0.00000000e+00 3.43360869e+02] [-3.65940144e-01 9.30638389e-01 0.00000000e+00 -9.01782457e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.92955536e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.39, Y:-90.19, Z:0.01 [[ 9.30315516e-01 3.66760195e-01 0.00000000e+00 3.43389865e+02] [-3.66760195e-01 9.30315516e-01 0.00000000e+00 -9.01857092e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.28042003e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.42, Y:-90.20, Z:0.01 [[ 9.30133699e-01 3.67221053e-01 0.00000000e+00 3.43421116e+02] [-3.67221053e-01 9.30133699e-01 0.00000000e+00 -9.01953616e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.29776306e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.131400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:343.45, Y:-90.20, Z:0.01 [[ 9.30178560e-01 3.67107404e-01 0.00000000e+00 3.43452060e+02] [-3.67107404e-01 9.30178560e-01 0.00000000e+00 -9.02048598e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.93370435e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.48, Y:-90.22, Z:0.01 [[ 9.30081998e-01 3.67351979e-01 0.00000000e+00 3.43482971e+02] [-3.67351979e-01 9.30081998e-01 0.00000000e+00 -9.02162365e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25228562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.51, Y:-90.22, Z:0.02 [[ 9.29959600e-01 3.67661722e-01 0.00000000e+00 3.43511701e+02] [-3.67661722e-01 9.29959600e-01 0.00000000e+00 -9.02248944e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57706556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.221400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:343.54, Y:-90.23, Z:0.02 [[ 9.29672165e-01 3.68387928e-01 0.00000000e+00 3.43543467e+02] [-3.68387928e-01 9.29672165e-01 0.00000000e+00 -9.02299160e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68842495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.57, Y:-90.24, Z:0.02 [[ 9.28722997e-01 3.70774317e-01 0.00000000e+00 3.43572888e+02] [-3.70774317e-01 9.28722997e-01 0.00000000e+00 -9.02376497e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69390913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.60, Y:-90.24, Z:0.02 [[ 9.27676170e-01 3.73385757e-01 0.00000000e+00 3.43600607e+02] [-3.73385757e-01 9.27676170e-01 0.00000000e+00 -9.02436067e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66506424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.63, Y:-90.25, Z:0.02 [[ 9.25398532e-01 3.78995457e-01 0.00000000e+00 3.43628273e+02] [-3.78995457e-01 9.25398532e-01 0.00000000e+00 -9.02487185e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54983950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.66, Y:-90.26, Z:0.01 [[ 9.24661489e-01 3.80790141e-01 0.00000000e+00 3.43656234e+02] [-3.80790141e-01 9.24661489e-01 0.00000000e+00 -9.02562303e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34293837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.69, Y:-90.26, Z:0.01 [[ 9.24442293e-01 3.81321973e-01 0.00000000e+00 3.43685136e+02] [-3.81321973e-01 9.24442293e-01 0.00000000e+00 -9.02642398e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20369348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.71, Y:-90.27, Z:0.01 [[ 9.24431628e-01 3.81347828e-01 0.00000000e+00 3.43713056e+02] [-3.81347828e-01 9.24431628e-01 0.00000000e+00 -9.02719339e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10766284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.74, Y:-90.28, Z:0.01 [[ 9.24630752e-01 3.80864770e-01 0.00000000e+00 3.43743025e+02] [-3.80864770e-01 9.24630752e-01 0.00000000e+00 -9.02796442e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10336488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.77, Y:-90.28, Z:0.01 [[ 9.25151715e-01 3.79597555e-01 0.00000000e+00 3.43771304e+02] [-3.79597555e-01 9.25151715e-01 0.00000000e+00 -9.02845887e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12625013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.80, Y:-90.29, Z:0.01 [[ 9.25340742e-01 3.79136535e-01 0.00000000e+00 3.43798266e+02] [-3.79136535e-01 9.25340742e-01 0.00000000e+00 -9.02908181e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09543027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.83, Y:-90.30, Z:0.01 [[ 9.25415829e-01 3.78953221e-01 0.00000000e+00 3.43826635e+02] [-3.78953221e-01 9.25415829e-01 0.00000000e+00 -9.02979225e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07897090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.85, Y:-90.30, Z:0.01 [[ 9.25312849e-01 3.79204604e-01 0.00000000e+00 3.43851831e+02] [-3.79204604e-01 9.25312849e-01 0.00000000e+00 -9.03046492e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.73634633e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.88, Y:-90.31, Z:0.01 [[ 9.26513006e-01 3.76262741e-01 0.00000000e+00 3.43880830e+02] [-3.76262741e-01 9.26513006e-01 0.00000000e+00 -9.03110096e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.81225878e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.91, Y:-90.32, Z:0.01 [[ 9.27328853e-01 3.74247510e-01 0.00000000e+00 3.43908288e+02] [-3.74247510e-01 9.27328853e-01 0.00000000e+00 -9.03170578e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.43293664e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.94, Y:-90.32, Z:0.01 [[ 9.28043176e-01 3.72472635e-01 0.00000000e+00 3.43936868e+02] [-3.72472635e-01 9.28043176e-01 0.00000000e+00 -9.03233133e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.01707307e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.96, Y:-90.33, Z:0.01 [[ 9.28711101e-01 3.70804113e-01 0.00000000e+00 3.43964362e+02] [-3.70804113e-01 9.28711101e-01 0.00000000e+00 -9.03299321e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.07955933e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.99, Y:-90.34, Z:0.00 [[ 9.30278138e-01 3.66854993e-01 0.00000000e+00 3.43991789e+02] [-3.66854993e-01 9.30278138e-01 0.00000000e+00 -9.03384404e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.68177511e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.02, Y:-90.35, Z:0.01 [[ 9.31264532e-01 3.64343754e-01 0.00000000e+00 3.44018233e+02] [-3.64343754e-01 9.31264532e-01 0.00000000e+00 -9.03461972e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.38834226e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.04, Y:-90.35, Z:0.01 [[ 9.31888368e-01 3.62745186e-01 0.00000000e+00 3.44044160e+02] [-3.62745186e-01 9.31888368e-01 0.00000000e+00 -9.03526745e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.05347318e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.07, Y:-90.36, Z:0.01 [[ 9.32615563e-01 3.60871462e-01 0.00000000e+00 3.44073173e+02] [-3.60871462e-01 9.32615563e-01 0.00000000e+00 -9.03590223e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17858076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.10, Y:-90.37, Z:0.01 [[ 9.32807077e-01 3.60376133e-01 0.00000000e+00 3.44100600e+02] [-3.60376133e-01 9.32807077e-01 0.00000000e+00 -9.03653047e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36879580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.13, Y:-90.37, Z:0.01 [[ 9.32665900e-01 3.60741346e-01 0.00000000e+00 3.44129075e+02] [-3.60741346e-01 9.32665900e-01 0.00000000e+00 -9.03730695e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33032444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.16, Y:-90.38, Z:0.01 [[ 9.31991211e-01 3.62480873e-01 0.00000000e+00 3.44156811e+02] [-3.62480873e-01 9.31991211e-01 0.00000000e+00 -9.03816486e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19026715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.18, Y:-90.39, Z:0.01 [[ 9.31541463e-01 3.63635122e-01 0.00000000e+00 3.44184581e+02] [-3.63635122e-01 9.31541463e-01 0.00000000e+00 -9.03897282e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15835742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.21, Y:-90.40, Z:0.01 [[ 9.31145149e-01 3.64648750e-01 0.00000000e+00 3.44212344e+02] [-3.64648750e-01 9.31145149e-01 0.00000000e+00 -9.03972187e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21949296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.24, Y:-90.41, Z:0.01 [[ 9.30394014e-01 3.66561016e-01 0.00000000e+00 3.44239842e+02] [-3.66561016e-01 9.30394014e-01 0.00000000e+00 -9.04052509e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38192360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.27, Y:-90.41, Z:0.01 [[ 9.30148230e-01 3.67184245e-01 0.00000000e+00 3.44266426e+02] [-3.67184245e-01 9.30148230e-01 0.00000000e+00 -9.04135807e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40608467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.29, Y:-90.42, Z:0.01 [[ 9.29970515e-01 3.67634113e-01 0.00000000e+00 3.44294609e+02] [-3.67634113e-01 9.29970515e-01 0.00000000e+00 -9.04216331e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36629151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.32, Y:-90.43, Z:0.01 [[ 9.29900441e-01 3.67811323e-01 0.00000000e+00 3.44321740e+02] [-3.67811323e-01 9.29900441e-01 0.00000000e+00 -9.04286124e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35030952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.35, Y:-90.44, Z:0.01 [[ 9.29809437e-01 3.68041316e-01 0.00000000e+00 3.44348001e+02] [-3.68041316e-01 9.29809437e-01 0.00000000e+00 -9.04350396e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28849705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.38, Y:-90.44, Z:0.01 [[ 9.29491902e-01 3.68842520e-01 0.00000000e+00 3.44375760e+02] [-3.68842520e-01 9.29491902e-01 0.00000000e+00 -9.04401216e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29609451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.40, Y:-90.45, Z:0.01 [[ 9.29516233e-01 3.68781198e-01 0.00000000e+00 3.44403115e+02] [-3.68781198e-01 9.29516233e-01 0.00000000e+00 -9.04481415e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29609451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.43, Y:-90.45, Z:0.01 [[ 9.29349874e-01 3.69200232e-01 0.00000000e+00 3.44429572e+02] [-3.69200232e-01 9.29349874e-01 0.00000000e+00 -9.04532698e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32516400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.46, Y:-90.46, Z:0.01 [[ 9.29303233e-01 3.69317615e-01 0.00000000e+00 3.44457911e+02] [-3.69317615e-01 9.29303233e-01 0.00000000e+00 -9.04579610e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18959835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.49, Y:-90.46, Z:0.01 [[ 9.29260136e-01 3.69426042e-01 0.00000000e+00 3.44486634e+02] [-3.69426042e-01 9.29260136e-01 0.00000000e+00 -9.04628375e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.62520558e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.51, Y:-90.47, Z:0.00 [[ 9.29369023e-01 3.69152028e-01 0.00000000e+00 3.44514344e+02] [-3.69152028e-01 9.29369023e-01 0.00000000e+00 -9.04680288e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.46524600e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.54, Y:-90.47, Z:0.00 [[ 9.29885681e-01 3.67848637e-01 0.00000000e+00 3.44542815e+02] [-3.67848637e-01 9.29885681e-01 0.00000000e+00 -9.04704560e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.91149498e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.331400513 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:344.57, Y:-90.47, Z:0.01 [[ 9.30357301e-01 3.66654186e-01 0.00000000e+00 3.44571406e+02] [-3.66654186e-01 9.30357301e-01 0.00000000e+00 -9.04742072e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.60361912e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.60, Y:-90.48, Z:0.01 [[ 9.30625822e-01 3.65972103e-01 0.00000000e+00 3.44599130e+02] [-3.65972103e-01 9.30625822e-01 0.00000000e+00 -9.04794575e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.14900022e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.63, Y:-90.48, Z:0.01 [[ 9.31524716e-01 3.63678022e-01 0.00000000e+00 3.44627615e+02] [-3.63678022e-01 9.31524716e-01 0.00000000e+00 -9.04821629e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.78362298e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.66, Y:-90.49, Z:0.01 [[ 9.31868304e-01 3.62796725e-01 0.00000000e+00 3.44655074e+02] [-3.62796725e-01 9.31868304e-01 0.00000000e+00 -9.04883760e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.24918830e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.68, Y:-90.49, Z:0.01 [[ 9.32209581e-01 3.61918909e-01 0.00000000e+00 3.44681468e+02] [-3.61918909e-01 9.32209581e-01 0.00000000e+00 -9.04946498e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.03347866e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.71, Y:-90.50, Z:0.00 [[ 9.32502392e-01 3.61163799e-01 0.00000000e+00 3.44708986e+02] [-3.61163799e-01 9.32502392e-01 0.00000000e+00 -9.05011830e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.93334532e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.74, Y:-90.51, Z:0.01 [[ 9.32766180e-01 3.60481974e-01 0.00000000e+00 3.44735305e+02] [-3.60481974e-01 9.32766180e-01 0.00000000e+00 -9.05070638e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.19198770e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.76, Y:-90.51, Z:0.01 [[ 9.32900385e-01 3.60134519e-01 0.00000000e+00 3.44761866e+02] [-3.60134519e-01 9.32900385e-01 0.00000000e+00 -9.05136135e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.47191674e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.79, Y:-90.52, Z:0.01 [[ 9.33903746e-01 3.57524535e-01 0.00000000e+00 3.44789718e+02] [-3.57524535e-01 9.33903746e-01 0.00000000e+00 -9.05226983e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.88280221e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.82, Y:-90.53, Z:0.00 [[ 9.34555151e-01 3.55818310e-01 0.00000000e+00 3.44817066e+02] [-3.55818310e-01 9.34555151e-01 0.00000000e+00 -9.05320014e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.41045929e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.84, Y:-90.54, Z:0.00 [[ 9.35221792e-01 3.54062425e-01 0.00000000e+00 3.44844608e+02] [-3.54062425e-01 9.35221792e-01 0.00000000e+00 -9.05411366e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27058070e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.87, Y:-90.55, Z:0.00 [[ 9.35970368e-01 3.52078785e-01 0.00000000e+00 3.44871211e+02] [-3.52078785e-01 9.35970368e-01 0.00000000e+00 -9.05497605e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21248881e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.90, Y:-90.56, Z:0.01 [[ 9.37137459e-01 3.48960433e-01 0.00000000e+00 3.44897759e+02] [-3.48960433e-01 9.37137459e-01 0.00000000e+00 -9.05612623e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.99979868e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.92, Y:-90.57, Z:0.01 [[ 9.37484739e-01 3.48026385e-01 0.00000000e+00 3.44923698e+02] [-3.48026385e-01 9.37484739e-01 0.00000000e+00 -9.05715219e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.39587052e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.95, Y:-90.58, Z:0.01 [[ 9.37678584e-01 3.47503774e-01 0.00000000e+00 3.44949959e+02] [-3.47503774e-01 9.37678584e-01 0.00000000e+00 -9.05812746e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.30262155e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.98, Y:-90.59, Z:0.01 [[ 9.37680397e-01 3.47498881e-01 0.00000000e+00 3.44975352e+02] [-3.47498881e-01 9.37680397e-01 0.00000000e+00 -9.05902306e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.64549012e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.00, Y:-90.60, Z:0.01 [[ 9.37510941e-01 3.47955794e-01 0.00000000e+00 3.45001936e+02] [-3.47955794e-01 9.37510941e-01 0.00000000e+00 -9.05993917e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.20474388e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.03, Y:-90.61, Z:0.01 [[ 9.36835783e-01 3.49769519e-01 0.00000000e+00 3.45027008e+02] [-3.49769519e-01 9.36835783e-01 0.00000000e+00 -9.06108246e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.57938616e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.871400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:345.05, Y:-90.62, Z:0.01 [[ 9.36431104e-01 3.50851517e-01 0.00000000e+00 3.45053916e+02] [-3.50851517e-01 9.36431104e-01 0.00000000e+00 -9.06203738e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05345688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.08, Y:-90.63, Z:0.01 [[ 9.35857639e-01 3.52378318e-01 0.00000000e+00 3.45079781e+02] [-3.52378318e-01 9.35857639e-01 0.00000000e+00 -9.06302687e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17579348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.11, Y:-90.64, Z:0.01 [[ 9.35160006e-01 3.54225583e-01 0.00000000e+00 3.45105515e+02] [-3.54225583e-01 9.35160006e-01 0.00000000e+00 -9.06420037e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02498703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.13, Y:-90.65, Z:0.01 [[ 9.35008127e-01 3.54626286e-01 0.00000000e+00 3.45131324e+02] [-3.54626286e-01 9.35008127e-01 0.00000000e+00 -9.06525193e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05209243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.99140051300003 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:345.16, Y:-90.66, Z:0.01 [[ 9.35014132e-01 3.54610454e-01 0.00000000e+00 3.45158534e+02] [-3.54610454e-01 9.35014132e-01 0.00000000e+00 -9.06627881e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07438041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.19, Y:-90.67, Z:0.01 [[ 9.34944034e-01 3.54795228e-01 0.00000000e+00 3.45185090e+02] [-3.54795228e-01 9.34944034e-01 0.00000000e+00 -9.06737928e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30594505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.21, Y:-90.68, Z:0.01 [[ 9.35015978e-01 3.54605584e-01 0.00000000e+00 3.45211013e+02] [-3.54605584e-01 9.35015978e-01 0.00000000e+00 -9.06832890e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42106088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.24, Y:-90.69, Z:0.02 [[ 9.35053274e-01 3.54507228e-01 0.00000000e+00 3.45236870e+02] [-3.54507228e-01 9.35053274e-01 0.00000000e+00 -9.06936136e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53116887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.26, Y:-90.70, Z:0.02 [[ 9.35093942e-01 3.54399944e-01 0.00000000e+00 3.45263655e+02] [-3.54399944e-01 9.35093942e-01 0.00000000e+00 -9.07040180e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57127341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.29, Y:-90.72, Z:0.02 [[ 9.35008055e-01 3.54626476e-01 0.00000000e+00 3.45290043e+02] [-3.54626476e-01 9.35008055e-01 0.00000000e+00 -9.07150755e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50692893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.32, Y:-90.73, Z:0.01 [[ 9.34876525e-01 3.54973075e-01 0.00000000e+00 3.45316438e+02] [-3.54973075e-01 9.34876525e-01 0.00000000e+00 -9.07274447e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17080202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.34, Y:-90.74, Z:0.01 [[ 9.35002126e-01 3.54642108e-01 0.00000000e+00 3.45342349e+02] [-3.54642108e-01 9.35002126e-01 0.00000000e+00 -9.07365234e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.60198543e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.37, Y:-90.75, Z:0.01 [[ 9.35056826e-01 3.54497859e-01 0.00000000e+00 3.45371389e+02] [-3.54497859e-01 9.35056826e-01 0.00000000e+00 -9.07465249e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.01901698e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.40, Y:-90.76, Z:0.01 [[ 9.34914691e-01 3.54872540e-01 0.00000000e+00 3.45398933e+02] [-3.54872540e-01 9.34914691e-01 0.00000000e+00 -9.07560509e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.66757061e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.43, Y:-90.77, Z:0.01 [[ 9.34593681e-01 3.55717096e-01 0.00000000e+00 3.45426618e+02] [-3.55717096e-01 9.34593681e-01 0.00000000e+00 -9.07652398e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.89569673e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.45, Y:-90.77, Z:0.01 [[ 9.34223049e-01 3.56689354e-01 0.00000000e+00 3.45454685e+02] [-3.56689354e-01 9.34223049e-01 0.00000000e+00 -9.07741556e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.93180510e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.48, Y:-90.78, Z:0.00 [[ 9.33335116e-01 3.59006353e-01 0.00000000e+00 3.45481196e+02] [-3.59006353e-01 9.33335116e-01 0.00000000e+00 -9.07814147e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.77964012e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.51, Y:-90.79, Z:0.00 [[ 9.32944520e-01 3.60020169e-01 0.00000000e+00 3.45509202e+02] [-3.60020169e-01 9.32944520e-01 0.00000000e+00 -9.07892290e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.51787899e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.54, Y:-90.80, Z:0.00 [[ 9.32715055e-01 3.60614234e-01 0.00000000e+00 3.45537132e+02] [-3.60614234e-01 9.32715055e-01 0.00000000e+00 -9.07971916e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.88672577e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.56, Y:-90.81, Z:0.00 [[ 9.32688847e-01 3.60682013e-01 0.00000000e+00 3.45563719e+02] [-3.60682013e-01 9.32688847e-01 0.00000000e+00 -9.08050480e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.85477141e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.59, Y:-90.81, Z:0.01 [[ 9.33348685e-01 3.58971076e-01 0.00000000e+00 3.45591042e+02] [-3.58971076e-01 9.33348685e-01 0.00000000e+00 -9.08141755e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.12950951e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.62, Y:-90.82, Z:0.01 [[ 9.33778692e-01 3.57851023e-01 0.00000000e+00 3.45619053e+02] [-3.57851023e-01 9.33778692e-01 0.00000000e+00 -9.08233829e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.75177117e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.65, Y:-90.83, Z:0.01 [[ 9.34139280e-01 3.56908678e-01 0.00000000e+00 3.45647853e+02] [-3.56908678e-01 9.34139280e-01 0.00000000e+00 -9.08336907e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.13838695e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.68, Y:-90.84, Z:0.01 [[ 9.34362954e-01 3.56322705e-01 0.00000000e+00 3.45675553e+02] [-3.56322705e-01 9.34362954e-01 0.00000000e+00 -9.08437247e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.95174675e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.70, Y:-90.85, Z:0.01 [[ 9.34374327e-01 3.56292881e-01 0.00000000e+00 3.45703807e+02] [-3.56292881e-01 9.34374327e-01 0.00000000e+00 -9.08536753e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.96270420e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.73, Y:-90.86, Z:0.01 [[ 9.34225576e-01 3.56682734e-01 0.00000000e+00 3.45731489e+02] [-3.56682734e-01 9.34225576e-01 0.00000000e+00 -9.08630488e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.98435103e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.76, Y:-90.87, Z:0.01 [[ 9.33233081e-01 3.59271509e-01 0.00000000e+00 3.45762084e+02] [-3.59271509e-01 9.33233081e-01 0.00000000e+00 -9.08743206e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00114896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.79, Y:-90.88, Z:0.01 [[ 9.32386757e-01 3.61462220e-01 0.00000000e+00 3.45792936e+02] [-3.61462220e-01 9.32386757e-01 0.00000000e+00 -9.08847211e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14713294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.82, Y:-90.89, Z:0.01 [[ 9.31335589e-01 3.64162079e-01 0.00000000e+00 3.45823725e+02] [-3.64162079e-01 9.31335589e-01 0.00000000e+00 -9.08946877e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17300289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.85, Y:-90.90, Z:0.01 [[ 9.30249899e-01 3.66926595e-01 0.00000000e+00 3.45850962e+02] [-3.66926595e-01 9.30249899e-01 0.00000000e+00 -9.09034655e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14109626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.771400513 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:345.88, Y:-90.91, Z:0.01 [[ 9.28747262e-01 3.70713532e-01 0.00000000e+00 3.45879150e+02] [-3.70713532e-01 9.28747262e-01 0.00000000e+00 -9.09108528e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.63503033e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.91, Y:-90.92, Z:0.01 [[ 9.28075788e-01 3.72391369e-01 0.00000000e+00 3.45905392e+02] [-3.72391369e-01 9.28075788e-01 0.00000000e+00 -9.09188631e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03401908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.93, Y:-90.93, Z:0.01 [[ 9.27745908e-01 3.73212447e-01 0.00000000e+00 3.45933238e+02] [-3.73212447e-01 9.27745908e-01 0.00000000e+00 -9.09269376e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06432841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.96, Y:-90.94, Z:0.01 [[ 9.27697249e-01 3.73333382e-01 0.00000000e+00 3.45962078e+02] [-3.73333382e-01 9.27697249e-01 0.00000000e+00 -9.09355952e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07569605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.99, Y:-90.94, Z:0.01 [[ 9.28190595e-01 3.72105120e-01 0.00000000e+00 3.45990286e+02] [-3.72105120e-01 9.28190595e-01 0.00000000e+00 -9.09428565e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15179411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.02, Y:-90.95, Z:0.01 [[ 9.28586169e-01 3.71116865e-01 0.00000000e+00 3.46017557e+02] [-3.71116865e-01 9.28586169e-01 0.00000000e+00 -9.09504147e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05855154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.05, Y:-90.96, Z:0.01 [[ 9.29149737e-01 3.69703618e-01 0.00000000e+00 3.46047564e+02] [-3.69703618e-01 9.29149737e-01 0.00000000e+00 -9.09596119e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.60466917e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.08, Y:-90.97, Z:0.01 [[ 9.29837328e-01 3.67970846e-01 0.00000000e+00 3.46076695e+02] [-3.67970846e-01 9.29837328e-01 0.00000000e+00 -9.09689177e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.70364845e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.10, Y:-90.98, Z:0.01 [[ 9.30760259e-01 3.65630060e-01 0.00000000e+00 3.46104198e+02] [-3.65630060e-01 9.30760259e-01 0.00000000e+00 -9.09776357e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.45844130e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.13, Y:-90.99, Z:0.01 [[ 9.31617223e-01 3.63440985e-01 0.00000000e+00 3.46131618e+02] [-3.63440985e-01 9.31617223e-01 0.00000000e+00 -9.09864300e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.05431144e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.16, Y:-91.00, Z:0.01 [[ 9.33414445e-01 3.58800048e-01 0.00000000e+00 3.46160728e+02] [-3.58800048e-01 9.33414445e-01 0.00000000e+00 -9.09968270e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.01133620e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.19, Y:-91.01, Z:0.01 [[ 9.33422251e-01 3.58779739e-01 0.00000000e+00 3.46189676e+02] [-3.58779739e-01 9.33422251e-01 0.00000000e+00 -9.10053246e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.01133620e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.22, Y:-91.02, Z:0.01 [[ 9.34141381e-01 3.56903180e-01 0.00000000e+00 3.46220463e+02] [-3.56903180e-01 9.34141381e-01 0.00000000e+00 -9.10161691e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.09709658e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.25, Y:-91.03, Z:0.01 [[ 9.34499103e-01 3.55965484e-01 0.00000000e+00 3.46250131e+02] [-3.55965484e-01 9.34499103e-01 0.00000000e+00 -9.10268996e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.95585010e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.28, Y:-91.04, Z:0.01 [[ 9.34575364e-01 3.55765215e-01 0.00000000e+00 3.46281688e+02] [-3.55765215e-01 9.34575364e-01 0.00000000e+00 -9.10382467e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.05765815e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.31, Y:-91.05, Z:0.01 [[ 9.33579165e-01 3.58371235e-01 0.00000000e+00 3.46311400e+02] [-3.58371235e-01 9.33579165e-01 0.00000000e+00 -9.10511351e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.51446882e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.34, Y:-91.06, Z:0.00 [[ 9.32771408e-01 3.60468446e-01 0.00000000e+00 3.46340528e+02] [-3.60468446e-01 9.32771408e-01 0.00000000e+00 -9.10607433e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.87818203e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.281400513 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:346.37, Y:-91.07, Z:0.00 [[ 9.31805228e-01 3.62958700e-01 0.00000000e+00 3.46370332e+02] [-3.62958700e-01 9.31805228e-01 0.00000000e+00 -9.10692420e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.53346436e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.40, Y:-91.08, Z:0.01 [[ 9.30760864e-01 3.65628518e-01 0.00000000e+00 3.46400231e+02] [-3.65628518e-01 9.30760864e-01 0.00000000e+00 -9.10777368e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.91051213e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.43, Y:-91.09, Z:0.01 [[ 9.29719094e-01 3.68269476e-01 0.00000000e+00 3.46428544e+02] [-3.68269476e-01 9.29719094e-01 0.00000000e+00 -9.10851407e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.14946944e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.46, Y:-91.09, Z:0.01 [[ 9.28828469e-01 3.70510020e-01 0.00000000e+00 3.46456912e+02] [-3.70510020e-01 9.28828469e-01 0.00000000e+00 -9.10921662e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.19602612e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.49, Y:-91.10, Z:0.00 [[ 9.28071294e-01 3.72402570e-01 0.00000000e+00 3.46485957e+02] [-3.72402570e-01 9.28071294e-01 0.00000000e+00 -9.10994072e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.00792395e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.52, Y:-91.11, Z:0.01 [[ 9.26688500e-01 3.75830314e-01 0.00000000e+00 3.46515696e+02] [-3.75830314e-01 9.26688500e-01 0.00000000e+00 -9.11050139e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.22912695e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.55, Y:-91.11, Z:0.01 [[ 9.26252087e-01 3.76904593e-01 0.00000000e+00 3.46545261e+02] [-3.76904593e-01 9.26252087e-01 0.00000000e+00 -9.11122840e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.33220886e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.57, Y:-91.12, Z:0.01 [[ 9.26029850e-01 3.77450284e-01 0.00000000e+00 3.46573870e+02] [-3.77450284e-01 9.26029850e-01 0.00000000e+00 -9.11190574e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.13848895e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.521400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:346.60, Y:-91.13, Z:0.01 [[ 9.26258820e-01 3.76888046e-01 0.00000000e+00 3.46604996e+02] [-3.76888046e-01 9.26258820e-01 0.00000000e+00 -9.11254823e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.10118798e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.64, Y:-91.13, Z:0.01 [[ 9.27503107e-01 3.73815445e-01 0.00000000e+00 3.46635611e+02] [-3.73815445e-01 9.27503107e-01 0.00000000e+00 -9.11278261e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.04144339e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.66, Y:-91.13, Z:0.01 [[ 9.28713613e-01 3.70797822e-01 0.00000000e+00 3.46663329e+02] [-3.70797822e-01 9.28713613e-01 0.00000000e+00 -9.11327458e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.31727515e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.69, Y:-91.14, Z:0.01 [[ 9.30089328e-01 3.67333421e-01 0.00000000e+00 3.46690880e+02] [-3.67333421e-01 9.30089328e-01 0.00000000e+00 -9.11386905e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.13315886e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.72, Y:-91.15, Z:0.01 [[ 9.31606440e-01 3.63468625e-01 0.00000000e+00 3.46719125e+02] [-3.63468625e-01 9.31606440e-01 0.00000000e+00 -9.11451376e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.83619446e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.75, Y:-91.15, Z:0.01 [[ 9.34427397e-01 3.56153675e-01 0.00000000e+00 3.46748499e+02] [-3.56153675e-01 9.34427397e-01 0.00000000e+00 -9.11504858e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07271626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.78, Y:-91.16, Z:0.01 [[ 9.35491592e-01 3.53348951e-01 0.00000000e+00 3.46779269e+02] [-3.53348951e-01 9.35491592e-01 0.00000000e+00 -9.11583086e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17237913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.81, Y:-91.17, Z:0.01 [[ 9.36113245e-01 3.51698723e-01 0.00000000e+00 3.46808776e+02] [-3.51698723e-01 9.36113245e-01 0.00000000e+00 -9.11663806e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29513209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.84, Y:-91.17, Z:0.01 [[ 9.36386794e-01 3.50969761e-01 0.00000000e+00 3.46837717e+02] [-3.50969761e-01 9.36386794e-01 0.00000000e+00 -9.11739707e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22882704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.87, Y:-91.18, Z:0.01 [[ 9.36230850e-01 3.51385536e-01 0.00000000e+00 3.46865946e+02] [-3.51385536e-01 9.36230850e-01 0.00000000e+00 -9.11806155e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10704517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.89, Y:-91.19, Z:0.01 [[ 9.35903544e-01 3.52256378e-01 0.00000000e+00 3.46893626e+02] [-3.52256378e-01 9.35903544e-01 0.00000000e+00 -9.11850783e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.60919030e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.92, Y:-91.18, Z:0.01 [[ 9.34891498e-01 3.54933638e-01 0.00000000e+00 3.46922714e+02] [-3.54933638e-01 9.34891498e-01 0.00000000e+00 -9.11847898e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.00275413e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.95, Y:-91.19, Z:0.01 [[ 9.34554696e-01 3.55819505e-01 0.00000000e+00 3.46950555e+02] [-3.55819505e-01 9.34554696e-01 0.00000000e+00 -9.11907776e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.69216415e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.98, Y:-91.20, Z:0.01 [[ 9.34599734e-01 3.55701190e-01 0.00000000e+00 3.46978488e+02] [-3.55701190e-01 9.34599734e-01 0.00000000e+00 -9.11984749e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.24030265e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.01, Y:-91.20, Z:0.00 [[ 9.35415684e-01 3.53549853e-01 0.00000000e+00 3.47005969e+02] [-3.53549853e-01 9.35415684e-01 0.00000000e+00 -9.12049099e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.97721239e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.03, Y:-91.21, Z:0.00 [[ 9.35920082e-01 3.52212436e-01 0.00000000e+00 3.47032953e+02] [-3.52212436e-01 9.35920082e-01 0.00000000e+00 -9.12102336e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.61266258e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.06, Y:-91.22, Z:0.01 [[ 9.36272062e-01 3.51275712e-01 0.00000000e+00 3.47059371e+02] [-3.51275712e-01 9.36272062e-01 0.00000000e+00 -9.12151581e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.76183290e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.09, Y:-91.22, Z:0.01 [[ 9.36302633e-01 3.51194220e-01 0.00000000e+00 3.47086522e+02] [-3.51194220e-01 9.36302633e-01 0.00000000e+00 -9.12204553e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.19953971e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.11, Y:-91.23, Z:0.01 [[ 9.35953890e-01 3.52122587e-01 0.00000000e+00 3.47114070e+02] [-3.52122587e-01 9.35953890e-01 0.00000000e+00 -9.12256745e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.85456074e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.14, Y:-91.23, Z:0.01 [[ 9.35120180e-01 3.54330705e-01 0.00000000e+00 3.47140514e+02] [-3.54330705e-01 9.35120180e-01 0.00000000e+00 -9.12298834e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.57756256e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.17, Y:-91.23, Z:0.00 [[ 9.32802590e-01 3.60387747e-01 0.00000000e+00 3.47170718e+02] [-3.60387747e-01 9.32802590e-01 0.00000000e+00 -9.12302765e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97780869e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.20, Y:-91.23, Z:0.00 [[ 9.31900110e-01 3.62715018e-01 0.00000000e+00 3.47197733e+02] [-3.62715018e-01 9.31900110e-01 0.00000000e+00 -9.12346885e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57006487e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.23, Y:-91.24, Z:0.00 [[ 9.31221997e-01 3.64452455e-01 0.00000000e+00 3.47226308e+02] [-3.64452455e-01 9.31221997e-01 0.00000000e+00 -9.12402964e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29109857e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.26, Y:-91.25, Z:0.00 [[ 9.31174766e-01 3.64573114e-01 0.00000000e+00 3.47255033e+02] [-3.64573114e-01 9.31174766e-01 0.00000000e+00 -9.12458435e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.80391479e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.28, Y:-91.25, Z:0.01 [[ 9.31497917e-01 3.63746656e-01 0.00000000e+00 3.47282464e+02] [-3.63746656e-01 9.31497917e-01 0.00000000e+00 -9.12508388e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.65219279e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.31, Y:-91.26, Z:0.01 [[ 9.32015013e-01 3.62419666e-01 0.00000000e+00 3.47309213e+02] [-3.62419666e-01 9.32015013e-01 0.00000000e+00 -9.12550207e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.32490935e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.34, Y:-91.26, Z:0.01 [[ 9.33355672e-01 3.58952908e-01 0.00000000e+00 3.47338098e+02] [-3.58952908e-01 9.33355672e-01 0.00000000e+00 -9.12575122e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.40226080e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.37, Y:-91.26, Z:0.01 [[ 9.33900120e-01 3.57534007e-01 0.00000000e+00 3.47365043e+02] [-3.57534007e-01 9.33900120e-01 0.00000000e+00 -9.12633821e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.11161876e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.39, Y:-91.27, Z:0.01 [[ 9.34423074e-01 3.56165016e-01 0.00000000e+00 3.47392384e+02] [-3.56165016e-01 9.34423074e-01 0.00000000e+00 -9.12693140e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.89007658e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.42, Y:-91.28, Z:0.01 [[ 9.34868299e-01 3.54994738e-01 0.00000000e+00 3.47420104e+02] [-3.54994738e-01 9.34868299e-01 0.00000000e+00 -9.12753874e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.19489930e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.45, Y:-91.28, Z:0.01 [[ 9.35699016e-01 3.52799307e-01 0.00000000e+00 3.47446692e+02] [-3.52799307e-01 9.35699016e-01 0.00000000e+00 -9.12815015e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12038462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.47, Y:-91.29, Z:0.01 [[ 9.36290749e-01 3.51225901e-01 0.00000000e+00 3.47473974e+02] [-3.51225901e-01 9.36290749e-01 0.00000000e+00 -9.12892155e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05373922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.50, Y:-91.30, Z:0.01 [[ 9.36845564e-01 3.49743319e-01 0.00000000e+00 3.47499871e+02] [-3.49743319e-01 9.36845564e-01 0.00000000e+00 -9.12964134e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.83878199e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.53, Y:-91.30, Z:0.01 [[ 9.37595403e-01 3.47728141e-01 0.00000000e+00 3.47527038e+02] [-3.47728141e-01 9.37595403e-01 0.00000000e+00 -9.13040862e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.96081458e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.55, Y:-91.31, Z:0.00 [[ 9.38197511e-01 3.46100317e-01 0.00000000e+00 3.47552803e+02] [-3.46100317e-01 9.38197511e-01 0.00000000e+00 -9.13119631e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30735571e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.58, Y:-91.32, Z:0.00 [[ 9.39063898e-01 3.43742629e-01 0.00000000e+00 3.47578668e+02] [-3.43742629e-01 9.39063898e-01 0.00000000e+00 -9.13222349e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48067553e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.60, Y:-91.33, Z:0.00 [[ 9.39328617e-01 3.43018584e-01 0.00000000e+00 3.47604678e+02] [-3.43018584e-01 9.39328617e-01 0.00000000e+00 -9.13311058e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.86242653e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.63, Y:-91.34, Z:0.01 [[ 9.39310534e-01 3.43068099e-01 0.00000000e+00 3.47630503e+02] [-3.43068099e-01 9.39310534e-01 0.00000000e+00 -9.13398537e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.19887701e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.66, Y:-91.35, Z:0.01 [[ 9.39142309e-01 3.43528344e-01 0.00000000e+00 3.47657381e+02] [-3.43528344e-01 9.39142309e-01 0.00000000e+00 -9.13486894e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.22210330e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.68, Y:-91.36, Z:0.00 [[ 9.38812164e-01 3.44429559e-01 0.00000000e+00 3.47684435e+02] [-3.44429559e-01 9.38812164e-01 0.00000000e+00 -9.13576954e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.93962399e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.71, Y:-91.37, Z:0.00 [[ 9.38455892e-01 3.45399102e-01 0.00000000e+00 3.47710519e+02] [-3.45399102e-01 9.38455892e-01 0.00000000e+00 -9.13658496e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.29895625e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.74, Y:-91.37, Z:0.00 [[ 9.37443420e-01 3.48137667e-01 0.00000000e+00 3.47737362e+02] [-3.48137667e-01 9.37443420e-01 0.00000000e+00 -9.13741274e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30617806e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.76, Y:-91.38, Z:0.00 [[ 9.37024697e-01 3.49263106e-01 0.00000000e+00 3.47763918e+02] [-3.49263106e-01 9.37024697e-01 0.00000000e+00 -9.13825049e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81609260e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.79, Y:-91.39, Z:0.01 [[ 9.36570054e-01 3.50480433e-01 0.00000000e+00 3.47790697e+02] [-3.50480433e-01 9.36570054e-01 0.00000000e+00 -9.13911414e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.43218324e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.82, Y:-91.40, Z:0.01 [[ 9.35903318e-01 3.52256979e-01 0.00000000e+00 3.47817554e+02] [-3.52256979e-01 9.35903318e-01 0.00000000e+00 -9.13998527e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.14077572e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.84, Y:-91.41, Z:0.00 [[ 9.34612630e-01 3.55667304e-01 0.00000000e+00 3.47843694e+02] [-3.55667304e-01 9.34612630e-01 0.00000000e+00 -9.14080254e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96675610e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.87, Y:-91.42, Z:0.00 [[ 9.34386547e-01 3.56260832e-01 0.00000000e+00 3.47871275e+02] [-3.56260832e-01 9.34386547e-01 0.00000000e+00 -9.14156419e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02573736e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.90, Y:-91.42, Z:-0.00 [[ 9.34504192e-01 3.55952125e-01 0.00000000e+00 3.47897124e+02] [-3.55952125e-01 9.34504192e-01 0.00000000e+00 -9.14236159e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.80064200e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.92, Y:-91.43, Z:-0.00 [[ 9.34527576e-01 3.55890726e-01 0.00000000e+00 3.47924512e+02] [-3.55890726e-01 9.34527576e-01 0.00000000e+00 -9.14315105e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.80064200e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.95, Y:-91.44, Z:0.00 [[ 9.34881814e-01 3.54959143e-01 0.00000000e+00 3.47952076e+02] [-3.54959143e-01 9.34881814e-01 0.00000000e+00 -9.14412908e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.28325980e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.98, Y:-91.45, Z:0.00 [[ 9.35275587e-01 3.53920296e-01 0.00000000e+00 3.47978168e+02] [-3.53920296e-01 9.35275587e-01 0.00000000e+00 -9.14517197e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22501537e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.00, Y:-91.46, Z:0.00 [[ 9.35721986e-01 3.52738380e-01 0.00000000e+00 3.48003957e+02] [-3.52738380e-01 9.35721986e-01 0.00000000e+00 -9.14620114e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18240488e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.03, Y:-91.47, Z:0.00 [[ 9.36399176e-01 3.50936723e-01 0.00000000e+00 3.48029944e+02] [-3.50936723e-01 9.36399176e-01 0.00000000e+00 -9.14738560e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40359034e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.05, Y:-91.48, Z:0.00 [[ 9.36489721e-01 3.50695027e-01 0.00000000e+00 3.48054918e+02] [-3.50695027e-01 9.36489721e-01 0.00000000e+00 -9.14834110e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40602074e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.08, Y:-91.49, Z:0.00 [[ 9.36381788e-01 3.50983116e-01 0.00000000e+00 3.48080746e+02] [-3.50983116e-01 9.36381788e-01 0.00000000e+00 -9.14937490e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59142521e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.11, Y:-91.50, Z:0.00 [[ 9.36122867e-01 3.51673112e-01 0.00000000e+00 3.48106339e+02] [-3.51673112e-01 9.36122867e-01 0.00000000e+00 -9.15035510e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28043424e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.13, Y:-91.51, Z:0.01 [[ 9.35839511e-01 3.52426460e-01 0.00000000e+00 3.48133109e+02] [-3.52426460e-01 9.35839511e-01 0.00000000e+00 -9.15120751e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.40186449e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.16, Y:-91.52, Z:0.01 [[ 9.35395300e-01 3.53603779e-01 0.00000000e+00 3.48160264e+02] [-3.53603779e-01 9.35395300e-01 0.00000000e+00 -9.15201088e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.53522996e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.19, Y:-91.53, Z:0.01 [[ 9.35467215e-01 3.53413482e-01 0.00000000e+00 3.48186283e+02] [-3.53413482e-01 9.35467215e-01 0.00000000e+00 -9.15282506e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.85330062e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.21, Y:-91.54, Z:0.01 [[ 9.35783937e-01 3.52573996e-01 0.00000000e+00 3.48212646e+02] [-3.52573996e-01 9.35783937e-01 0.00000000e+00 -9.15362929e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.59029995e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.24, Y:-91.54, Z:0.01 [[ 9.36224931e-01 3.51401306e-01 0.00000000e+00 3.48238855e+02] [-3.51401306e-01 9.36224931e-01 0.00000000e+00 -9.15437525e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.27529241e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.27, Y:-91.55, Z:0.01 [[ 9.37475004e-01 3.48052605e-01 0.00000000e+00 3.48265364e+02] [-3.48052605e-01 9.37475004e-01 0.00000000e+00 -9.15529867e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.40124492e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.29, Y:-91.56, Z:0.01 [[ 9.38338970e-01 3.45716614e-01 0.00000000e+00 3.48291673e+02] [-3.45716614e-01 9.38338970e-01 0.00000000e+00 -9.15623488e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.72523989e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.32, Y:-91.57, Z:0.01 [[ 9.39246710e-01 3.43242796e-01 0.00000000e+00 3.48317222e+02] [-3.43242796e-01 9.39246710e-01 0.00000000e+00 -9.15708802e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08987032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.34, Y:-91.58, Z:0.01 [[ 9.40056452e-01 3.41018867e-01 0.00000000e+00 3.48344311e+02] [-3.41018867e-01 9.40056452e-01 0.00000000e+00 -9.15786856e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21658349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.37, Y:-91.59, Z:0.01 [[ 9.40490551e-01 3.39819839e-01 0.00000000e+00 3.48370791e+02] [-3.39819839e-01 9.40490551e-01 0.00000000e+00 -9.15861751e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21173950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.40, Y:-91.59, Z:0.01 [[ 9.40561953e-01 3.39622161e-01 0.00000000e+00 3.48397897e+02] [-3.39622161e-01 9.40561953e-01 0.00000000e+00 -9.15942727e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15378479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.43, Y:-91.60, Z:0.01 [[ 9.39707809e-01 3.41978410e-01 0.00000000e+00 3.48425172e+02] [-3.41978410e-01 9.39707809e-01 0.00000000e+00 -9.16042247e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.84085426e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.45, Y:-91.61, Z:0.01 [[ 9.38860603e-01 3.44297499e-01 0.00000000e+00 3.48451718e+02] [-3.44297499e-01 9.38860603e-01 0.00000000e+00 -9.16119810e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.58525696e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.48, Y:-91.62, Z:0.01 [[ 9.37942344e-01 3.46791232e-01 0.00000000e+00 3.48478117e+02] [-3.46791232e-01 9.37942344e-01 0.00000000e+00 -9.16188191e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.78037970e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.50, Y:-91.63, Z:0.00 [[ 9.37140599e-01 3.48951999e-01 0.00000000e+00 3.48504963e+02] [-3.48951999e-01 9.37140599e-01 0.00000000e+00 -9.16261249e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.74498392e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.53, Y:-91.63, Z:0.00 [[ 9.36661276e-01 3.50236570e-01 0.00000000e+00 3.48531130e+02] [-3.50236570e-01 9.36661276e-01 0.00000000e+00 -9.16337454e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46098407e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.56, Y:-91.64, Z:0.00 [[ 9.36175680e-01 3.51532496e-01 0.00000000e+00 3.48558397e+02] [-3.51532496e-01 9.36175680e-01 0.00000000e+00 -9.16432518e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57979604e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.59, Y:-91.65, Z:0.00 [[ 9.35776774e-01 3.52593008e-01 0.00000000e+00 3.48585926e+02] [-3.52593008e-01 9.35776774e-01 0.00000000e+00 -9.16505415e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.90145451e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.61, Y:-91.66, Z:0.01 [[ 9.35243670e-01 3.54004630e-01 0.00000000e+00 3.48613324e+02] [-3.54004630e-01 9.35243670e-01 0.00000000e+00 -9.16569430e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.93507220e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.64, Y:-91.66, Z:0.00 [[ 9.34638279e-01 3.55599898e-01 0.00000000e+00 3.48639845e+02] [-3.55599898e-01 9.34638279e-01 0.00000000e+00 -9.16634150e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.73281754e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.67, Y:-91.67, Z:0.00 [[ 9.34028010e-01 3.57199771e-01 0.00000000e+00 3.48668025e+02] [-3.57199771e-01 9.34028010e-01 0.00000000e+00 -9.16706713e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11371407e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.70, Y:-91.68, Z:0.00 [[ 9.33045889e-01 3.59757374e-01 0.00000000e+00 3.48696302e+02] [-3.59757374e-01 9.33045889e-01 0.00000000e+00 -9.16770940e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07588218e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.72, Y:-91.68, Z:-0.00 [[ 9.32774615e-01 3.60460146e-01 0.00000000e+00 3.48723016e+02] [-3.60460146e-01 9.32774615e-01 0.00000000e+00 -9.16835072e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.90201839e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.75, Y:-91.69, Z:-0.00 [[ 9.32656098e-01 3.60766686e-01 0.00000000e+00 3.48750379e+02] [-3.60766686e-01 9.32656098e-01 0.00000000e+00 -9.16902902e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.10419158e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.78, Y:-91.70, Z:0.00 [[ 9.32611451e-01 3.60882088e-01 0.00000000e+00 3.48777006e+02] [-3.60882088e-01 9.32611451e-01 0.00000000e+00 -9.16967956e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57049970e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.81, Y:-91.70, Z:0.00 [[ 9.32579411e-01 3.60964876e-01 0.00000000e+00 3.48805038e+02] [-3.60964876e-01 9.32579411e-01 0.00000000e+00 -9.17040605e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99064313e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.83, Y:-91.71, Z:0.01 [[ 9.32696221e-01 3.60662944e-01 0.00000000e+00 3.48833292e+02] [-3.60662944e-01 9.32696221e-01 0.00000000e+00 -9.17080683e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.49804207e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.86, Y:-91.71, Z:0.01 [[ 9.32694679e-01 3.60666933e-01 0.00000000e+00 3.48861644e+02] [-3.60666933e-01 9.32694679e-01 0.00000000e+00 -9.17127633e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.14267846e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.89, Y:-91.72, Z:0.01 [[ 9.32637422e-01 3.60814964e-01 0.00000000e+00 3.48889254e+02] [-3.60814964e-01 9.32637422e-01 0.00000000e+00 -9.17170599e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.89906531e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.92, Y:-91.72, Z:0.01 [[ 9.32490307e-01 3.61195000e-01 0.00000000e+00 3.48915580e+02] [-3.61195000e-01 9.32490307e-01 0.00000000e+00 -9.17215267e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.99628278e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.94, Y:-91.73, Z:0.01 [[ 9.32805985e-01 3.60378960e-01 0.00000000e+00 3.48942013e+02] [-3.60378960e-01 9.32805985e-01 0.00000000e+00 -9.17259145e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.48011806e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.97, Y:-91.73, Z:0.00 [[ 9.33473883e-01 3.58645382e-01 0.00000000e+00 3.48969436e+02] [-3.58645382e-01 9.33473883e-01 0.00000000e+00 -9.17319956e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.52794087e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.00, Y:-91.74, Z:0.01 [[ 9.34218227e-01 3.56701983e-01 0.00000000e+00 3.48996299e+02] [-3.56701983e-01 9.34218227e-01 0.00000000e+00 -9.17374179e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.16245388e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.02, Y:-91.74, Z:0.01 [[ 9.35000804e-01 3.54645592e-01 0.00000000e+00 3.49024801e+02] [-3.54645592e-01 9.35000804e-01 0.00000000e+00 -9.17431800e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.89396829e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.05, Y:-91.75, Z:0.01 [[ 9.35770348e-01 3.52610063e-01 0.00000000e+00 3.49051808e+02] [-3.52610063e-01 9.35770348e-01 0.00000000e+00 -9.17492934e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12171458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.08, Y:-91.76, Z:0.01 [[ 9.36571881e-01 3.50475551e-01 0.00000000e+00 3.49079553e+02] [-3.50475551e-01 9.36571881e-01 0.00000000e+00 -9.17569429e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38088052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.11, Y:-91.76, Z:0.01 [[ 9.37838835e-01 3.47071059e-01 0.00000000e+00 3.49106191e+02] [-3.47071059e-01 9.37838835e-01 0.00000000e+00 -9.17645689e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18390536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.13, Y:-91.77, Z:0.01 [[ 9.38170752e-01 3.46172848e-01 0.00000000e+00 3.49132629e+02] [-3.46172848e-01 9.38170752e-01 0.00000000e+00 -9.17708727e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.59016639e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.16, Y:-91.78, Z:0.00 [[ 9.38191103e-01 3.46117689e-01 0.00000000e+00 3.49160773e+02] [-3.46117689e-01 9.38191103e-01 0.00000000e+00 -9.17771645e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.96452508e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.19, Y:-91.78, Z:0.00 [[ 9.37909171e-01 3.46880939e-01 0.00000000e+00 3.49187805e+02] [-3.46880939e-01 9.37909171e-01 0.00000000e+00 -9.17832327e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78397697e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.21, Y:-91.79, Z:0.00 [[ 9.37413965e-01 3.48216970e-01 0.00000000e+00 3.49213975e+02] [-3.48216970e-01 9.37413965e-01 0.00000000e+00 -9.17886749e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.21335266e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.24, Y:-91.79, Z:0.01 [[ 9.36487067e-01 3.50702115e-01 0.00000000e+00 3.49242345e+02] [-3.50702115e-01 9.36487067e-01 0.00000000e+00 -9.17927270e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.93891728e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.27, Y:-91.80, Z:0.01 [[ 9.36324626e-01 3.51135580e-01 0.00000000e+00 3.49268487e+02] [-3.51135580e-01 9.36324626e-01 0.00000000e+00 -9.17981953e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.31821726e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.30, Y:-91.80, Z:0.01 [[ 9.36237441e-01 3.51367976e-01 0.00000000e+00 3.49296034e+02] [-3.51367976e-01 9.36237441e-01 0.00000000e+00 -9.18033739e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.19487406e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.32, Y:-91.81, Z:0.01 [[ 9.36222773e-01 3.51407056e-01 0.00000000e+00 3.49323912e+02] [-3.51407056e-01 9.36222773e-01 0.00000000e+00 -9.18065055e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.94114918e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.35, Y:-91.81, Z:0.01 [[ 9.36310629e-01 3.51172899e-01 0.00000000e+00 3.49352368e+02] [-3.51172899e-01 9.36310629e-01 0.00000000e+00 -9.18131192e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.33515853e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.38, Y:-91.82, Z:0.01 [[ 9.36578288e-01 3.50458428e-01 0.00000000e+00 3.49378412e+02] [-3.50458428e-01 9.36578288e-01 0.00000000e+00 -9.18197267e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.65329442e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.40, Y:-91.83, Z:0.01 [[ 9.37000467e-01 3.49328104e-01 0.00000000e+00 3.49404043e+02] [-3.49328104e-01 9.37000467e-01 0.00000000e+00 -9.18276028e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02710947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.43, Y:-91.84, Z:0.01 [[ 9.37536371e-01 3.47887272e-01 0.00000000e+00 3.49430113e+02] [-3.47887272e-01 9.37536371e-01 0.00000000e+00 -9.18367612e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10189367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.46, Y:-91.85, Z:0.01 [[ 9.38036504e-01 3.46536457e-01 0.00000000e+00 3.49455630e+02] [-3.46536457e-01 9.38036504e-01 0.00000000e+00 -9.18459368e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07414859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.48, Y:-91.86, Z:0.01 [[ 9.38501451e-01 3.45275292e-01 0.00000000e+00 3.49482438e+02] [-3.45275292e-01 9.38501451e-01 0.00000000e+00 -9.18556266e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.17079667e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.51, Y:-91.86, Z:0.00 [[ 9.38334839e-01 3.45727827e-01 0.00000000e+00 3.49510500e+02] [-3.45727827e-01 9.38334839e-01 0.00000000e+00 -9.18639867e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97312639e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.54, Y:-91.87, Z:0.00 [[ 9.38109618e-01 3.46338483e-01 0.00000000e+00 3.49537044e+02] [-3.46338483e-01 9.38109618e-01 0.00000000e+00 -9.18722308e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18629509e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.56, Y:-91.88, Z:0.00 [[ 9.37988624e-01 3.46666037e-01 0.00000000e+00 3.49562789e+02] [-3.46666037e-01 9.37988624e-01 0.00000000e+00 -9.18808858e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50247276e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.59, Y:-91.89, Z:0.00 [[ 9.38107725e-01 3.46343609e-01 0.00000000e+00 3.49589919e+02] [-3.46343609e-01 9.38107725e-01 0.00000000e+00 -9.18900110e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.58587401e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.62, Y:-91.90, Z:0.01 [[ 9.38945669e-01 3.44065444e-01 0.00000000e+00 3.49617170e+02] [-3.44065444e-01 9.38945669e-01 0.00000000e+00 -9.18996936e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.37458134e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.64, Y:-91.91, Z:0.01 [[ 9.39495863e-01 3.42560248e-01 0.00000000e+00 3.49643310e+02] [-3.42560248e-01 9.39495863e-01 0.00000000e+00 -9.19082476e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.90718389e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.67, Y:-91.92, Z:0.01 [[ 9.39518506e-01 3.42498142e-01 0.00000000e+00 3.49670734e+02] [-3.42498142e-01 9.39518506e-01 0.00000000e+00 -9.19160161e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.90718389e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.70, Y:-91.92, Z:0.01 [[ 9.39943443e-01 3.41330228e-01 0.00000000e+00 3.49697172e+02] [-3.41330228e-01 9.39943443e-01 0.00000000e+00 -9.19243545e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.05266035e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.72, Y:-91.93, Z:0.01 [[ 9.40199166e-01 3.40625201e-01 0.00000000e+00 3.49722504e+02] [-3.40625201e-01 9.40199166e-01 0.00000000e+00 -9.19323626e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.74264632e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.75, Y:-91.94, Z:0.01 [[ 9.40349256e-01 3.40210636e-01 0.00000000e+00 3.49748163e+02] [-3.40210636e-01 9.40349256e-01 0.00000000e+00 -9.19400762e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.79529772e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.77, Y:-91.95, Z:0.00 [[ 9.39776680e-01 3.41789105e-01 0.00000000e+00 3.49774031e+02] [-3.41789105e-01 9.39776680e-01 0.00000000e+00 -9.19481158e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20657055e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.80, Y:-91.96, Z:0.00 [[ 9.39515513e-01 3.42506351e-01 0.00000000e+00 3.49800569e+02] [-3.42506351e-01 9.39515513e-01 0.00000000e+00 -9.19566360e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13224890e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.83, Y:-91.96, Z:0.00 [[ 9.39405143e-01 3.42808952e-01 0.00000000e+00 3.49826024e+02] [-3.42808952e-01 9.39405143e-01 0.00000000e+00 -9.19649626e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95600320e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.85, Y:-91.97, Z:0.00 [[ 9.39223818e-01 3.43305432e-01 0.00000000e+00 3.49851521e+02] [-3.43305432e-01 9.39223818e-01 0.00000000e+00 -9.19738203e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19317981e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.88, Y:-91.98, Z:0.00 [[ 9.38970112e-01 3.43998733e-01 0.00000000e+00 3.49877934e+02] [-3.43998733e-01 9.38970112e-01 0.00000000e+00 -9.19827361e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01290779e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.90, Y:-91.99, Z:0.00 [[ 9.38531767e-01 3.45192877e-01 0.00000000e+00 3.49903444e+02] [-3.45192877e-01 9.38531767e-01 0.00000000e+00 -9.19917603e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79250269e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.93, Y:-92.00, Z:0.00 [[ 9.38101748e-01 3.46359799e-01 0.00000000e+00 3.49929662e+02] [-3.46359799e-01 9.38101748e-01 0.00000000e+00 -9.20008592e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47127350e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.96, Y:-92.01, Z:0.00 [[ 9.37767391e-01 3.47264051e-01 0.00000000e+00 3.49955743e+02] [-3.47264051e-01 9.37767391e-01 0.00000000e+00 -9.20095144e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63114613e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.98, Y:-92.02, Z:0.00 [[ 9.37464558e-01 3.48080742e-01 0.00000000e+00 3.49982357e+02] [-3.48080742e-01 9.37464558e-01 0.00000000e+00 -9.20177799e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.83465640e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.01, Y:-92.03, Z:-0.00 [[ 9.36615088e-01 3.50360067e-01 0.00000000e+00 3.50009418e+02] [-3.50360067e-01 9.36615088e-01 0.00000000e+00 -9.20278615e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66278462e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.04, Y:-92.04, Z:-0.00 [[ 9.36343979e-01 3.51083968e-01 0.00000000e+00 3.50035325e+02] [-3.51083968e-01 9.36343979e-01 0.00000000e+00 -9.20382335e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46041688e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.06, Y:-92.05, Z:-0.00 [[ 9.36509745e-01 3.50641552e-01 0.00000000e+00 3.50061573e+02] [-3.50641552e-01 9.36509745e-01 0.00000000e+00 -9.20497284e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38674636e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.09, Y:-92.06, Z:-0.00 [[ 9.37094916e-01 3.49074661e-01 0.00000000e+00 3.50086306e+02] [-3.49074661e-01 9.37094916e-01 0.00000000e+00 -9.20603675e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.04701004e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.11, Y:-92.07, Z:-0.00 [[ 9.38161529e-01 3.46197842e-01 0.00000000e+00 3.50112210e+02] [-3.46197842e-01 9.38161529e-01 0.00000000e+00 -9.20731316e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.26449180e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.451400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:350.14, Y:-92.08, Z:0.00 [[ 9.38267577e-01 3.45910327e-01 0.00000000e+00 3.50138889e+02] [-3.45910327e-01 9.38267577e-01 0.00000000e+00 -9.20832106e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.41399502e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.17, Y:-92.09, Z:0.00 [[ 9.38088425e-01 3.46395882e-01 0.00000000e+00 3.50165498e+02] [-3.46395882e-01 9.38088425e-01 0.00000000e+00 -9.20936145e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76653431e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.511400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:350.19, Y:-92.10, Z:0.00 [[ 9.37620744e-01 3.47659807e-01 0.00000000e+00 3.50189600e+02] [-3.47659807e-01 9.37620744e-01 0.00000000e+00 -9.21022829e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78120900e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.22, Y:-92.11, Z:0.00 [[ 9.37446661e-01 3.48128939e-01 0.00000000e+00 3.50219311e+02] [-3.48128939e-01 9.37446661e-01 0.00000000e+00 -9.21118628e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25805572e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.24, Y:-92.12, Z:0.00 [[ 9.37233498e-01 3.48702409e-01 0.00000000e+00 3.50244980e+02] [-3.48702409e-01 9.37233498e-01 0.00000000e+00 -9.21190648e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37735191e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.27, Y:-92.13, Z:0.00 [[ 9.37337423e-01 3.48422955e-01 0.00000000e+00 3.50271589e+02] [-3.48422955e-01 9.37337423e-01 0.00000000e+00 -9.21284656e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76611133e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.30, Y:-92.14, Z:0.00 [[ 9.37591470e-01 3.47738745e-01 0.00000000e+00 3.50297877e+02] [-3.47738745e-01 9.37591470e-01 0.00000000e+00 -9.21383805e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20146948e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.32, Y:-92.15, Z:0.00 [[ 9.37975580e-01 3.46701328e-01 0.00000000e+00 3.50323750e+02] [-3.46701328e-01 9.37975580e-01 0.00000000e+00 -9.21481694e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66436936e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.35, Y:-92.16, Z:0.01 [[ 9.38906763e-01 3.44171599e-01 0.00000000e+00 3.50350825e+02] [-3.44171599e-01 9.38906763e-01 0.00000000e+00 -9.21578817e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.56947948e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.38, Y:-92.17, Z:0.01 [[ 9.39305569e-01 3.43081694e-01 0.00000000e+00 3.50377988e+02] [-3.43081694e-01 9.39305569e-01 0.00000000e+00 -9.21656932e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.13290164e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.41, Y:-92.17, Z:0.01 [[ 9.39467238e-01 3.42638744e-01 0.00000000e+00 3.50405544e+02] [-3.42638744e-01 9.39467238e-01 0.00000000e+00 -9.21740386e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.92189207e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.43, Y:-92.18, Z:0.01 [[ 9.39367446e-01 3.42912234e-01 0.00000000e+00 3.50432039e+02] [-3.42912234e-01 9.39367446e-01 0.00000000e+00 -9.21831818e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.91080246e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.46, Y:-92.19, Z:0.01 [[ 9.38903256e-01 3.44181167e-01 0.00000000e+00 3.50457992e+02] [-3.44181167e-01 9.38903256e-01 0.00000000e+00 -9.21924641e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.06490826e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.48, Y:-92.20, Z:0.01 [[ 9.38287801e-01 3.45855465e-01 0.00000000e+00 3.50483745e+02] [-3.45855465e-01 9.38287801e-01 0.00000000e+00 -9.22000695e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.66312205e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.51, Y:-92.20, Z:0.00 [[ 9.36926468e-01 3.49526527e-01 0.00000000e+00 3.50510447e+02] [-3.49526527e-01 9.36926468e-01 0.00000000e+00 -9.22034947e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.25896458e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.54, Y:-92.21, Z:0.00 [[ 9.36611327e-01 3.50370122e-01 0.00000000e+00 3.50538532e+02] [-3.50370122e-01 9.36611327e-01 0.00000000e+00 -9.22100796e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90923319e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.931400513 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:350.57, Y:-92.22, Z:0.00 [[ 9.36574474e-01 3.50468622e-01 0.00000000e+00 3.50565150e+02] [-3.50468622e-01 9.36574474e-01 0.00000000e+00 -9.22172209e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49918204e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.59, Y:-92.23, Z:0.00 [[ 9.36585075e-01 3.50440291e-01 0.00000000e+00 3.50592832e+02] [-3.50440291e-01 9.36585075e-01 0.00000000e+00 -9.22251710e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.07163448e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.62, Y:-92.23, Z:0.00 [[ 9.36934030e-01 3.49506255e-01 0.00000000e+00 3.50620312e+02] [-3.49506255e-01 9.36934030e-01 0.00000000e+00 -9.22303331e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42579352e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.65, Y:-92.24, Z:0.00 [[ 9.37340804e-01 3.48413859e-01 0.00000000e+00 3.50646074e+02] [-3.48413859e-01 9.37340804e-01 0.00000000e+00 -9.22368333e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.73482469e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.67, Y:-92.25, Z:0.00 [[ 9.37979780e-01 3.46689967e-01 0.00000000e+00 3.50674046e+02] [-3.46689967e-01 9.37979780e-01 0.00000000e+00 -9.22453247e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34925248e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.70, Y:-92.25, Z:0.00 [[ 9.38857433e-01 3.44306143e-01 0.00000000e+00 3.50701442e+02] [-3.44306143e-01 9.38857433e-01 0.00000000e+00 -9.22537045e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37637967e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.73, Y:-92.26, Z:0.00 [[ 9.39877537e-01 3.41511661e-01 0.00000000e+00 3.50728778e+02] [-3.41511661e-01 9.39877537e-01 0.00000000e+00 -9.22610798e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19954665e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.76, Y:-92.27, Z:0.00 [[ 9.40882436e-01 3.38733289e-01 0.00000000e+00 3.50757267e+02] [-3.38733289e-01 9.40882436e-01 0.00000000e+00 -9.22677714e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85489646e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.78, Y:-92.28, Z:0.00 [[ 9.42670361e-01 3.33725321e-01 0.00000000e+00 3.50783872e+02] [-3.33725321e-01 9.42670361e-01 0.00000000e+00 -9.22753955e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74202425e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.81, Y:-92.29, Z:0.00 [[ 9.43453894e-01 3.31503770e-01 0.00000000e+00 3.50809830e+02] [-3.31503770e-01 9.43453894e-01 0.00000000e+00 -9.22852583e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15442458e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.84, Y:-92.30, Z:0.00 [[ 9.44199868e-01 3.29373056e-01 0.00000000e+00 3.50837277e+02] [-3.29373056e-01 9.44199868e-01 0.00000000e+00 -9.22958291e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91425480e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.87, Y:-92.31, Z:0.00 [[ 9.44718883e-01 3.27881431e-01 0.00000000e+00 3.50865125e+02] [-3.27881431e-01 9.44718883e-01 0.00000000e+00 -9.23065492e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52020305e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.89, Y:-92.32, Z:0.00 [[ 9.45108234e-01 3.26757441e-01 0.00000000e+00 3.50891665e+02] [-3.26757441e-01 9.45108234e-01 0.00000000e+00 -9.23166274e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57710606e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.92, Y:-92.33, Z:0.00 [[ 9.45230312e-01 3.26404133e-01 0.00000000e+00 3.50918723e+02] [-3.26404133e-01 9.45230312e-01 0.00000000e+00 -9.23285516e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92300027e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.95, Y:-92.34, Z:0.00 [[ 9.44867637e-01 3.27452514e-01 0.00000000e+00 3.50945845e+02] [-3.27452514e-01 9.44867637e-01 0.00000000e+00 -9.23388008e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96998116e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.381400513 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:350.97, Y:-92.35, Z:0.01 [[ 9.44332300e-01 3.28993172e-01 0.00000000e+00 3.50973831e+02] [-3.28993172e-01 9.44332300e-01 0.00000000e+00 -9.23496541e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.09611389e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.00, Y:-92.36, Z:0.01 [[ 9.42446024e-01 3.34358330e-01 0.00000000e+00 3.50999892e+02] [-3.34358330e-01 9.42446024e-01 0.00000000e+00 -9.23604194e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.26456042e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.03, Y:-92.37, Z:0.01 [[ 9.41212824e-01 3.37814179e-01 0.00000000e+00 3.51026771e+02] [-3.37814179e-01 9.41212824e-01 0.00000000e+00 -9.23677192e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.51910439e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.05, Y:-92.37, Z:0.01 [[ 9.39889100e-01 3.41479838e-01 0.00000000e+00 3.51054470e+02] [-3.41479838e-01 9.39889100e-01 0.00000000e+00 -9.23748964e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.67866415e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.08, Y:-92.38, Z:0.01 [[ 9.38665623e-01 3.44828724e-01 0.00000000e+00 3.51082722e+02] [-3.44828724e-01 9.38665623e-01 0.00000000e+00 -9.23824324e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.59038782e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.11, Y:-92.39, Z:0.00 [[ 9.37546289e-01 3.47860542e-01 0.00000000e+00 3.51109494e+02] [-3.47860542e-01 9.37546289e-01 0.00000000e+00 -9.23898213e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15450556e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.14, Y:-92.40, Z:0.00 [[ 9.36663588e-01 3.50230385e-01 0.00000000e+00 3.51137630e+02] [-3.50230385e-01 9.36663588e-01 0.00000000e+00 -9.23971169e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62614171e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.17, Y:-92.40, Z:0.00 [[ 9.35540156e-01 3.53220352e-01 0.00000000e+00 3.51165490e+02] [-3.53220352e-01 9.35540156e-01 0.00000000e+00 -9.24010085e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62030981e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.19, Y:-92.41, Z:0.00 [[ 9.35419542e-01 3.53539644e-01 0.00000000e+00 3.51192758e+02] [-3.53539644e-01 9.35419542e-01 0.00000000e+00 -9.24063568e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43885352e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.22, Y:-92.41, Z:0.00 [[ 9.35570587e-01 3.53139742e-01 0.00000000e+00 3.51220176e+02] [-3.53139742e-01 9.35570587e-01 0.00000000e+00 -9.24118492e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15145289e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.25, Y:-92.42, Z:0.00 [[ 9.35927551e-01 3.52192587e-01 0.00000000e+00 3.51249070e+02] [-3.52192587e-01 9.35927551e-01 0.00000000e+00 -9.24172694e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60355630e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.28, Y:-92.42, Z:-0.00 [[ 9.37059224e-01 3.49170462e-01 0.00000000e+00 3.51278704e+02] [-3.49170462e-01 9.37059224e-01 0.00000000e+00 -9.24186184e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13794205e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.31, Y:-92.42, Z:-0.00 [[ 9.37596636e-01 3.47724815e-01 0.00000000e+00 3.51305323e+02] [-3.47724815e-01 9.37596636e-01 0.00000000e+00 -9.24222130e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25450117e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.33, Y:-92.43, Z:-0.00 [[ 9.37619340e-01 3.47663592e-01 0.00000000e+00 3.51332778e+02] [-3.47663592e-01 9.37619340e-01 0.00000000e+00 -9.24298774e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25450117e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.36, Y:-92.43, Z:0.00 [[ 9.38212077e-01 3.46060829e-01 0.00000000e+00 3.51361901e+02] [-3.46060829e-01 9.38212077e-01 0.00000000e+00 -9.24344222e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.36758849e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.39, Y:-92.44, Z:0.00 [[ 9.38807316e-01 3.44442773e-01 0.00000000e+00 3.51389449e+02] [-3.44442773e-01 9.38807316e-01 0.00000000e+00 -9.24392995e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89826773e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.42, Y:-92.45, Z:0.01 [[ 9.39458711e-01 3.42662123e-01 0.00000000e+00 3.51417665e+02] [-3.42662123e-01 9.39458711e-01 0.00000000e+00 -9.24452267e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.07626711e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.44, Y:-92.45, Z:0.01 [[ 9.40125784e-01 3.40827684e-01 0.00000000e+00 3.51444631e+02] [-3.40827684e-01 9.40125784e-01 0.00000000e+00 -9.24516193e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.53609457e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.47, Y:-92.46, Z:0.01 [[ 9.41297929e-01 3.37576968e-01 0.00000000e+00 3.51473004e+02] [-3.37576968e-01 9.41297929e-01 0.00000000e+00 -9.24557649e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.20378477e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.50, Y:-92.46, Z:0.00 [[ 9.41628879e-01 3.36652721e-01 0.00000000e+00 3.51500600e+02] [-3.36652721e-01 9.41628879e-01 0.00000000e+00 -9.24599405e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39809537e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.53, Y:-92.46, Z:0.00 [[ 9.41599826e-01 3.36733971e-01 0.00000000e+00 3.51529442e+02] [-3.36733971e-01 9.41599826e-01 0.00000000e+00 -9.24638527e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08105432e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.56, Y:-92.47, Z:0.00 [[ 9.41321005e-01 3.37512615e-01 0.00000000e+00 3.51556464e+02] [-3.37512615e-01 9.41321005e-01 0.00000000e+00 -9.24671494e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89929258e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.58, Y:-92.47, Z:0.00 [[ 9.40829939e-01 3.38879072e-01 0.00000000e+00 3.51584657e+02] [-3.38879072e-01 9.40829939e-01 0.00000000e+00 -9.24718188e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50588306e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.61, Y:-92.48, Z:0.00 [[ 9.39737506e-01 3.41896798e-01 0.00000000e+00 3.51612085e+02] [-3.41896798e-01 9.39737506e-01 0.00000000e+00 -9.24759405e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59718245e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.64, Y:-92.48, Z:0.00 [[ 9.39418229e-01 3.42773091e-01 0.00000000e+00 3.51638277e+02] [-3.42773091e-01 9.39418229e-01 0.00000000e+00 -9.24812644e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55361387e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.67, Y:-92.49, Z:0.00 [[ 9.39272957e-01 3.43170967e-01 0.00000000e+00 3.51665526e+02] [-3.43170967e-01 9.39272957e-01 0.00000000e+00 -9.24863972e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38010954e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.69, Y:-92.49, Z:0.00 [[ 9.39316309e-01 3.43052286e-01 0.00000000e+00 3.51691917e+02] [-3.43052286e-01 9.39316309e-01 0.00000000e+00 -9.24923849e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38192512e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.72, Y:-92.50, Z:0.00 [[ 9.40299387e-01 3.40348442e-01 0.00000000e+00 3.51719228e+02] [-3.40348442e-01 9.40299387e-01 0.00000000e+00 -9.25007684e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59666902e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.75, Y:-92.51, Z:0.00 [[ 9.41100575e-01 3.38126764e-01 0.00000000e+00 3.51745393e+02] [-3.38126764e-01 9.41100575e-01 0.00000000e+00 -9.25088125e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77551907e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.77, Y:-92.52, Z:0.00 [[ 9.42007029e-01 3.35593144e-01 0.00000000e+00 3.51772747e+02] [-3.35593144e-01 9.42007029e-01 0.00000000e+00 -9.25163752e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62727909e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.80, Y:-92.52, Z:0.00 [[ 9.42857719e-01 3.33195621e-01 0.00000000e+00 3.51799501e+02] [-3.33195621e-01 9.42857719e-01 0.00000000e+00 -9.25241180e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13423678e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.83, Y:-92.53, Z:0.00 [[ 9.43590562e-01 3.31114558e-01 0.00000000e+00 3.51827330e+02] [-3.31114558e-01 9.43590562e-01 0.00000000e+00 -9.25334879e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.39618680e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.85, Y:-92.54, Z:-0.00 [[ 9.44208987e-01 3.29346911e-01 0.00000000e+00 3.51854129e+02] [-3.29346911e-01 9.44208987e-01 0.00000000e+00 -9.25435127e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.40605490e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.88, Y:-92.55, Z:-0.00 [[ 9.44775166e-01 3.27719217e-01 0.00000000e+00 3.51879722e+02] [-3.27719217e-01 9.44775166e-01 0.00000000e+00 -9.25544489e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.69742398e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.91, Y:-92.56, Z:0.00 [[ 9.44730303e-01 3.27848524e-01 0.00000000e+00 3.51906387e+02] [-3.27848524e-01 9.44730303e-01 0.00000000e+00 -9.25629956e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70942559e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.93, Y:-92.57, Z:0.00 [[ 9.44482005e-01 3.28563147e-01 0.00000000e+00 3.51934047e+02] [-3.28563147e-01 9.44482005e-01 0.00000000e+00 -9.25720365e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95863221e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.96, Y:-92.58, Z:0.00 [[ 9.44150688e-01 3.29514003e-01 0.00000000e+00 3.51959942e+02] [-3.29514003e-01 9.44150688e-01 0.00000000e+00 -9.25814188e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80809874e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.98, Y:-92.59, Z:0.00 [[ 9.43881772e-01 3.30283515e-01 0.00000000e+00 3.51984970e+02] [-3.30283515e-01 9.43881772e-01 0.00000000e+00 -9.25912334e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64402865e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.01, Y:-92.60, Z:0.00 [[ 9.43700802e-01 3.30800237e-01 0.00000000e+00 3.52011825e+02] [-3.30800237e-01 9.43700802e-01 0.00000000e+00 -9.26017137e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04068101e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.04, Y:-92.62, Z:-0.00 [[ 9.43268677e-01 3.32030424e-01 0.00000000e+00 3.52037881e+02] [-3.32030424e-01 9.43268677e-01 0.00000000e+00 -9.26157228e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10466045e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.06, Y:-92.63, Z:-0.00 [[ 9.42964916e-01 3.32892126e-01 0.00000000e+00 3.52063792e+02] [-3.32892126e-01 9.42964916e-01 0.00000000e+00 -9.26268090e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03308136e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.09, Y:-92.64, Z:-0.00 [[ 9.42477677e-01 3.34269095e-01 0.00000000e+00 3.52089690e+02] [-3.34269095e-01 9.42477677e-01 0.00000000e+00 -9.26373058e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74009137e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.12, Y:-92.65, Z:-0.00 [[ 9.41876631e-01 3.35958945e-01 0.00000000e+00 3.52116241e+02] [-3.35958945e-01 9.41876631e-01 0.00000000e+00 -9.26472119e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.81657074e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.14, Y:-92.66, Z:0.00 [[ 9.40352906e-01 3.40200548e-01 0.00000000e+00 3.52143096e+02] [-3.40200548e-01 9.40352906e-01 0.00000000e+00 -9.26575583e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55858817e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.17, Y:-92.67, Z:0.00 [[ 9.39365308e-01 3.42918091e-01 0.00000000e+00 3.52170174e+02] [-3.42918091e-01 9.39365308e-01 0.00000000e+00 -9.26662938e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22213477e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.20, Y:-92.67, Z:0.00 [[ 9.38354131e-01 3.45675462e-01 0.00000000e+00 3.52195331e+02] [-3.45675462e-01 9.38354131e-01 0.00000000e+00 -9.26748044e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34359927e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.22, Y:-92.68, Z:0.00 [[ 9.37469474e-01 3.48067500e-01 0.00000000e+00 3.52222207e+02] [-3.48067500e-01 9.37469474e-01 0.00000000e+00 -9.26838308e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85527874e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.25, Y:-92.69, Z:0.00 [[ 9.36823639e-01 3.49802043e-01 0.00000000e+00 3.52248577e+02] [-3.49802043e-01 9.36823639e-01 0.00000000e+00 -9.26920700e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38067952e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.28, Y:-92.70, Z:0.00 [[ 9.36558369e-01 3.50511658e-01 0.00000000e+00 3.52276507e+02] [-3.50511658e-01 9.36558369e-01 0.00000000e+00 -9.27009200e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74694864e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.30, Y:-92.71, Z:0.00 [[ 9.36950999e-01 3.49460763e-01 0.00000000e+00 3.52304222e+02] [-3.49460763e-01 9.36950999e-01 0.00000000e+00 -9.27105203e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89011487e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.33, Y:-92.72, Z:-0.00 [[ 9.37684167e-01 3.47488709e-01 0.00000000e+00 3.52330036e+02] [-3.47488709e-01 9.37684167e-01 0.00000000e+00 -9.27207117e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.91202174e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.36, Y:-92.73, Z:-0.00 [[ 9.38529417e-01 3.45199266e-01 0.00000000e+00 3.52356642e+02] [-3.45199266e-01 9.38529417e-01 0.00000000e+00 -9.27308768e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21391919e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.38, Y:-92.74, Z:-0.00 [[ 9.39391374e-01 3.42846681e-01 0.00000000e+00 3.52383087e+02] [-3.42846681e-01 9.39391374e-01 0.00000000e+00 -9.27393634e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15289461e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.41, Y:-92.75, Z:-0.00 [[ 9.40163175e-01 3.40724528e-01 0.00000000e+00 3.52411018e+02] [-3.40724528e-01 9.40163175e-01 0.00000000e+00 -9.27465876e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.61389289e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.44, Y:-92.75, Z:0.00 [[ 9.41199532e-01 3.37851213e-01 0.00000000e+00 3.52440908e+02] [-3.37851213e-01 9.41199532e-01 0.00000000e+00 -9.27548197e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60931546e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.47, Y:-92.76, Z:0.00 [[ 9.41304785e-01 3.37557850e-01 0.00000000e+00 3.52468702e+02] [-3.37557850e-01 9.41304785e-01 0.00000000e+00 -9.27639558e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52930970e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.49, Y:-92.77, Z:0.00 [[ 9.41250213e-01 3.37709990e-01 0.00000000e+00 3.52494729e+02] [-3.37709990e-01 9.41250213e-01 0.00000000e+00 -9.27728010e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.80853306e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.091400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:352.52, Y:-92.78, Z:0.01 [[ 9.41135485e-01 3.38029583e-01 0.00000000e+00 3.52522370e+02] [-3.38029583e-01 9.41135485e-01 0.00000000e+00 -9.27812193e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.53691741e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.55, Y:-92.79, Z:0.00 [[ 9.40669266e-01 3.39324817e-01 0.00000000e+00 3.52551335e+02] [-3.39324817e-01 9.40669266e-01 0.00000000e+00 -9.27904178e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24046113e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.58, Y:-92.80, Z:0.00 [[ 9.40612292e-01 3.39482718e-01 0.00000000e+00 3.52579101e+02] [-3.39482718e-01 9.40612292e-01 0.00000000e+00 -9.27990290e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81937241e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.61, Y:-92.81, Z:0.00 [[ 9.40569508e-01 3.39601237e-01 0.00000000e+00 3.52607169e+02] [-3.39601237e-01 9.40569508e-01 0.00000000e+00 -9.28074198e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46501046e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.64, Y:-92.82, Z:0.00 [[ 9.40501725e-01 3.39788914e-01 0.00000000e+00 3.52636522e+02] [-3.39788914e-01 9.40501725e-01 0.00000000e+00 -9.28155908e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.48827491e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.67, Y:-92.82, Z:0.00 [[ 9.40345840e-01 3.40220077e-01 0.00000000e+00 3.52665340e+02] [-3.40220077e-01 9.40345840e-01 0.00000000e+00 -9.28224492e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.93023807e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.69, Y:-92.83, Z:0.01 [[ 9.39288577e-01 3.43128212e-01 0.00000000e+00 3.52693473e+02] [-3.43128212e-01 9.39288577e-01 0.00000000e+00 -9.28271877e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.17589359e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.72, Y:-92.83, Z:0.00 [[ 9.38503159e-01 3.45270649e-01 0.00000000e+00 3.52721813e+02] [-3.45270649e-01 9.38503159e-01 0.00000000e+00 -9.28345175e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11783606e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.75, Y:-92.84, Z:0.00 [[ 9.37793457e-01 3.47193652e-01 0.00000000e+00 3.52748290e+02] [-3.47193652e-01 9.37793457e-01 0.00000000e+00 -9.28416377e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80366822e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.78, Y:-92.85, Z:0.00 [[ 9.37260436e-01 3.48629997e-01 0.00000000e+00 3.52776155e+02] [-3.48629997e-01 9.37260436e-01 0.00000000e+00 -9.28486719e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81314199e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.80, Y:-92.85, Z:0.00 [[ 9.36984573e-01 3.49370735e-01 0.00000000e+00 3.52804510e+02] [-3.49370735e-01 9.36984573e-01 0.00000000e+00 -9.28534085e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.30777967e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.83, Y:-92.86, Z:0.00 [[ 9.37318039e-01 3.48475099e-01 0.00000000e+00 3.52831625e+02] [-3.48475099e-01 9.37318039e-01 0.00000000e+00 -9.28601685e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18736804e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.86, Y:-92.87, Z:0.00 [[ 9.37862191e-01 3.47007941e-01 0.00000000e+00 3.52857878e+02] [-3.47007941e-01 9.37862191e-01 0.00000000e+00 -9.28681244e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06027476e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.89, Y:-92.88, Z:-0.00 [[ 9.38550837e-01 3.45141025e-01 0.00000000e+00 3.52885472e+02] [-3.45141025e-01 9.38550837e-01 0.00000000e+00 -9.28768969e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.90639785e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.91, Y:-92.89, Z:-0.00 [[ 9.39364849e-01 3.42919350e-01 0.00000000e+00 3.52912804e+02] [-3.42919350e-01 9.39364849e-01 0.00000000e+00 -9.28856702e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.09502543e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.94, Y:-92.89, Z:0.00 [[ 9.40098735e-01 3.40902285e-01 0.00000000e+00 3.52940824e+02] [-3.40902285e-01 9.40098735e-01 0.00000000e+00 -9.28942775e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35489123e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.97, Y:-92.90, Z:0.00 [[ 9.41254441e-01 3.37698204e-01 0.00000000e+00 3.52969495e+02] [-3.37698204e-01 9.41254441e-01 0.00000000e+00 -9.29038264e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22217752e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.00, Y:-92.91, Z:0.00 [[ 9.41723208e-01 3.36388762e-01 0.00000000e+00 3.52997304e+02] [-3.36388762e-01 9.41723208e-01 0.00000000e+00 -9.29130835e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15425932e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.631400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:353.02, Y:-92.92, Z:0.00 [[ 9.42251064e-01 3.34907348e-01 0.00000000e+00 3.53024552e+02] [-3.34907348e-01 9.42251064e-01 0.00000000e+00 -9.29231910e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15211575e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.05, Y:-92.94, Z:0.00 [[ 9.42774831e-01 3.33430079e-01 0.00000000e+00 3.53053564e+02] [-3.33430079e-01 9.42774831e-01 0.00000000e+00 -9.29352196e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.72255030e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.08, Y:-92.95, Z:0.00 [[ 9.43672452e-01 3.30881102e-01 0.00000000e+00 3.53082297e+02] [-3.30881102e-01 9.43672452e-01 0.00000000e+00 -9.29511965e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07213850e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.11, Y:-92.96, Z:0.00 [[ 9.43664972e-01 3.30902434e-01 0.00000000e+00 3.53112934e+02] [-3.30902434e-01 9.43664972e-01 0.00000000e+00 -9.29598280e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07213850e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.751400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:353.14, Y:-92.97, Z:0.00 [[ 9.43885723e-01 3.30272224e-01 0.00000000e+00 3.53143985e+02] [-3.30272224e-01 9.43885723e-01 0.00000000e+00 -9.29715671e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55278282e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.17, Y:-92.98, Z:0.00 [[ 9.43964740e-01 3.30046314e-01 0.00000000e+00 3.53173858e+02] [-3.30046314e-01 9.43964740e-01 0.00000000e+00 -9.29825291e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21228898e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.20, Y:-92.99, Z:0.00 [[ 9.43913051e-01 3.30194114e-01 0.00000000e+00 3.53204091e+02] [-3.30194114e-01 9.43913051e-01 0.00000000e+00 -9.29934535e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08103672e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.23, Y:-93.00, Z:0.01 [[ 9.43606273e-01 3.31069785e-01 0.00000000e+00 3.53234925e+02] [-3.31069785e-01 9.43606273e-01 0.00000000e+00 -9.30049404e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.18240709e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.27, Y:-93.02, Z:0.01 [[ 9.43104392e-01 3.32496775e-01 0.00000000e+00 3.53266075e+02] [-3.32496775e-01 9.43104392e-01 0.00000000e+00 -9.30169115e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.57259722e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.30, Y:-93.03, Z:0.01 [[ 9.41897465e-01 3.35900529e-01 0.00000000e+00 3.53296811e+02] [-3.35900529e-01 9.41897465e-01 0.00000000e+00 -9.30309558e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.43282327e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.33, Y:-93.04, Z:0.01 [[ 9.41321023e-01 3.37512565e-01 0.00000000e+00 3.53327577e+02] [-3.37512565e-01 9.41321023e-01 0.00000000e+00 -9.30420404e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.79961489e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.36, Y:-93.05, Z:0.00 [[ 9.40915827e-01 3.38640528e-01 0.00000000e+00 3.53357912e+02] [-3.38640528e-01 9.40915827e-01 0.00000000e+00 -9.30526888e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.66834497e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.39, Y:-93.07, Z:0.00 [[ 9.40613501e-01 3.39479367e-01 0.00000000e+00 3.53388854e+02] [-3.39479367e-01 9.40613501e-01 0.00000000e+00 -9.30656957e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22793049e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.42, Y:-93.08, Z:0.00 [[ 9.40558235e-01 3.39632459e-01 0.00000000e+00 3.53420181e+02] [-3.39632459e-01 9.40558235e-01 0.00000000e+00 -9.30774704e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56378712e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.45, Y:-93.09, Z:0.00 [[ 9.40519303e-01 3.39740255e-01 0.00000000e+00 3.53450258e+02] [-3.39740255e-01 9.40519303e-01 0.00000000e+00 -9.30899667e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01450139e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.48, Y:-93.10, Z:0.00 [[ 9.40423709e-01 3.40004776e-01 0.00000000e+00 3.53479801e+02] [-3.40004776e-01 9.40423709e-01 0.00000000e+00 -9.31022976e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.73417848e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.51, Y:-93.11, Z:0.00 [[ 9.40170946e-01 3.40703085e-01 0.00000000e+00 3.53511107e+02] [-3.40703085e-01 9.40170946e-01 0.00000000e+00 -9.31145258e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.76744531e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.54, Y:-93.13, Z:0.00 [[ 9.39548144e-01 3.42416829e-01 0.00000000e+00 3.53542331e+02] [-3.42416829e-01 9.39548144e-01 0.00000000e+00 -9.31268454e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47446373e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.57, Y:-93.14, Z:0.00 [[ 9.39186856e-01 3.43406538e-01 0.00000000e+00 3.53573326e+02] [-3.43406538e-01 9.39186856e-01 0.00000000e+00 -9.31376055e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84895461e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.60, Y:-93.15, Z:0.00 [[ 9.38841963e-01 3.44348325e-01 0.00000000e+00 3.53603219e+02] [-3.44348325e-01 9.38841963e-01 0.00000000e+00 -9.31486980e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14896036e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.63, Y:-93.16, Z:0.00 [[ 9.38540631e-01 3.45168776e-01 0.00000000e+00 3.53633211e+02] [-3.45168776e-01 9.38540631e-01 0.00000000e+00 -9.31599169e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50618618e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.66, Y:-93.17, Z:0.00 [[ 9.38248867e-01 3.45961072e-01 0.00000000e+00 3.53664346e+02] [-3.45961072e-01 9.38248867e-01 0.00000000e+00 -9.31710478e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70614312e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.70, Y:-93.18, Z:0.00 [[ 9.37981142e-01 3.46686280e-01 0.00000000e+00 3.53695642e+02] [-3.46686280e-01 9.37981142e-01 0.00000000e+00 -9.31820528e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.94183735e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.73, Y:-93.19, Z:0.00 [[ 9.37711507e-01 3.47414925e-01 0.00000000e+00 3.53725856e+02] [-3.47414925e-01 9.37711507e-01 0.00000000e+00 -9.31943929e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.38161038e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.76, Y:-93.20, Z:0.00 [[ 9.37769720e-01 3.47257761e-01 0.00000000e+00 3.53757088e+02] [-3.47257761e-01 9.37769720e-01 0.00000000e+00 -9.32044239e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82534997e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.79, Y:-93.21, Z:0.00 [[ 9.38005762e-01 3.46619663e-01 0.00000000e+00 3.53789032e+02] [-3.46619663e-01 9.38005762e-01 0.00000000e+00 -9.32141257e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26195291e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.82, Y:-93.22, Z:0.00 [[ 9.38277716e-01 3.45882824e-01 0.00000000e+00 3.53819165e+02] [-3.45882824e-01 9.38277716e-01 0.00000000e+00 -9.32233969e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74115762e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.85, Y:-93.23, Z:0.00 [[ 9.38576688e-01 3.45070717e-01 0.00000000e+00 3.53849732e+02] [-3.45070717e-01 9.38576688e-01 0.00000000e+00 -9.32336525e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17692685e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.88, Y:-93.24, Z:0.00 [[ 9.38870828e-01 3.44269614e-01 0.00000000e+00 3.53881060e+02] [-3.44269614e-01 9.38870828e-01 0.00000000e+00 -9.32448423e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89839865e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.91, Y:-93.26, Z:0.00 [[ 9.39357479e-01 3.42939538e-01 0.00000000e+00 3.53911530e+02] [-3.42939538e-01 9.39357479e-01 0.00000000e+00 -9.32569844e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43302273e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.94, Y:-93.27, Z:0.00 [[ 9.39483323e-01 3.42594637e-01 0.00000000e+00 3.53942472e+02] [-3.42594637e-01 9.39483323e-01 0.00000000e+00 -9.32667746e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.80966363e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.97, Y:-93.28, Z:0.01 [[ 9.39553063e-01 3.42403331e-01 0.00000000e+00 3.53972666e+02] [-3.42403331e-01 9.39553063e-01 0.00000000e+00 -9.32760962e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.01349270e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.00, Y:-93.29, Z:0.01 [[ 9.39549952e-01 3.42411867e-01 0.00000000e+00 3.54004090e+02] [-3.42411867e-01 9.39549952e-01 0.00000000e+00 -9.32853441e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.32451836e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.03, Y:-93.29, Z:0.01 [[ 9.39347323e-01 3.42967354e-01 0.00000000e+00 3.54034642e+02] [-3.42967354e-01 9.39347323e-01 0.00000000e+00 -9.32944121e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.69103889e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.07, Y:-93.30, Z:0.01 [[ 9.38837245e-01 3.44361188e-01 0.00000000e+00 3.54066720e+02] [-3.44361188e-01 9.38837245e-01 0.00000000e+00 -9.33037698e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.68359161e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.10, Y:-93.31, Z:0.01 [[ 9.37567838e-01 3.47802458e-01 0.00000000e+00 3.54098688e+02] [-3.47802458e-01 9.37567838e-01 0.00000000e+00 -9.33124521e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.54029802e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.13, Y:-93.32, Z:0.01 [[ 9.37024866e-01 3.49262652e-01 0.00000000e+00 3.54130245e+02] [-3.49262652e-01 9.37024866e-01 0.00000000e+00 -9.33204089e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.10818333e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.16, Y:-93.33, Z:0.00 [[ 9.36612086e-01 3.50368093e-01 0.00000000e+00 3.54161201e+02] [-3.50368093e-01 9.36612086e-01 0.00000000e+00 -9.33271749e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.49771944e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.19, Y:-93.33, Z:0.01 [[ 9.36341902e-01 3.51089509e-01 0.00000000e+00 3.54192280e+02] [-3.51089509e-01 9.36341902e-01 0.00000000e+00 -9.33336132e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.95346102e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.22, Y:-93.34, Z:0.01 [[ 9.36155048e-01 3.51587436e-01 0.00000000e+00 3.54224948e+02] [-3.51587436e-01 9.36155048e-01 0.00000000e+00 -9.33388532e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.20378737e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.26, Y:-93.35, Z:0.01 [[ 9.36200270e-01 3.51467004e-01 0.00000000e+00 3.54256799e+02] [-3.51467004e-01 9.36200270e-01 0.00000000e+00 -9.33467439e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.60786148e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.29, Y:-93.35, Z:0.01 [[ 9.36370902e-01 3.51012156e-01 0.00000000e+00 3.54287467e+02] [-3.51012156e-01 9.36370902e-01 0.00000000e+00 -9.33541307e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.09163231e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.32, Y:-93.36, Z:0.01 [[ 9.36593450e-01 3.50417907e-01 0.00000000e+00 3.54319259e+02] [-3.50417907e-01 9.36593450e-01 0.00000000e+00 -9.33611759e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.11550659e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.35, Y:-93.37, Z:0.01 [[ 9.36936326e-01 3.49500101e-01 0.00000000e+00 3.54351689e+02] [-3.49500101e-01 9.36936326e-01 0.00000000e+00 -9.33676334e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.24944978e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.38, Y:-93.37, Z:0.01 [[ 9.37311383e-01 3.48493001e-01 0.00000000e+00 3.54383168e+02] [-3.48493001e-01 9.37311383e-01 0.00000000e+00 -9.33742912e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.21923960e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.41, Y:-93.38, Z:0.01 [[ 9.38546082e-01 3.45153953e-01 0.00000000e+00 3.54414677e+02] [-3.45153953e-01 9.38546082e-01 0.00000000e+00 -9.33811467e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.65426698e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.45, Y:-93.39, Z:0.01 [[ 9.39400467e-01 3.42821764e-01 0.00000000e+00 3.54447023e+02] [-3.42821764e-01 9.39400467e-01 0.00000000e+00 -9.33895541e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.22243820e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.48, Y:-93.40, Z:0.01 [[ 9.40229950e-01 3.40540219e-01 0.00000000e+00 3.54477714e+02] [-3.40540219e-01 9.40229950e-01 0.00000000e+00 -9.33974663e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.22758889e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.51, Y:-93.41, Z:0.00 [[ 9.40986402e-01 3.38444369e-01 0.00000000e+00 3.54508379e+02] [-3.38444369e-01 9.40986402e-01 0.00000000e+00 -9.34052155e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.97796818e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.54, Y:-93.41, Z:0.01 [[ 9.41609684e-01 3.36706405e-01 0.00000000e+00 3.54540219e+02] [-3.36706405e-01 9.41609684e-01 0.00000000e+00 -9.34138652e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.28899487e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.57, Y:-93.42, Z:0.01 [[ 9.42145779e-01 3.35203418e-01 0.00000000e+00 3.54572249e+02] [-3.35203418e-01 9.42145779e-01 0.00000000e+00 -9.34229745e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.16352506e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.161400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:354.60, Y:-93.43, Z:0.01 [[ 9.42865189e-01 3.33174483e-01 0.00000000e+00 3.54604592e+02] [-3.33174483e-01 9.42865189e-01 0.00000000e+00 -9.34302450e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.88336789e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.64, Y:-93.44, Z:0.01 [[ 9.43033042e-01 3.32699087e-01 0.00000000e+00 3.54635885e+02] [-3.32699087e-01 9.43033042e-01 0.00000000e+00 -9.34380848e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.71327631e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.221400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:354.67, Y:-93.45, Z:0.01 [[ 9.43247386e-01 3.32090905e-01 0.00000000e+00 3.54667783e+02] [-3.32090905e-01 9.43247386e-01 0.00000000e+00 -9.34467472e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.44709994e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.70, Y:-93.46, Z:0.01 [[ 9.43588342e-01 3.31120886e-01 0.00000000e+00 3.54698733e+02] [-3.31120886e-01 9.43588342e-01 0.00000000e+00 -9.34559698e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.90899097e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.73, Y:-93.47, Z:0.00 [[ 9.44118407e-01 3.29606483e-01 0.00000000e+00 3.54729440e+02] [-3.29606483e-01 9.44118407e-01 0.00000000e+00 -9.34653580e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.47153114e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.76, Y:-93.48, Z:0.01 [[ 9.45592150e-01 3.25354400e-01 0.00000000e+00 3.54759714e+02] [-3.25354400e-01 9.45592150e-01 0.00000000e+00 -9.34758674e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.35497030e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.79, Y:-93.49, Z:0.01 [[ 9.46266171e-01 3.23388827e-01 0.00000000e+00 3.54791245e+02] [-3.23388827e-01 9.46266171e-01 0.00000000e+00 -9.34861824e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.14896944e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.82, Y:-93.50, Z:0.01 [[ 9.46875697e-01 3.21599774e-01 0.00000000e+00 3.54821325e+02] [-3.21599774e-01 9.46875697e-01 0.00000000e+00 -9.34961984e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.98858090e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.85, Y:-93.51, Z:0.01 [[ 9.47520562e-01 3.19694831e-01 0.00000000e+00 3.54852886e+02] [-3.19694831e-01 9.47520562e-01 0.00000000e+00 -9.35068965e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.33368232e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.88, Y:-93.52, Z:0.01 [[ 9.49243546e-01 3.14542031e-01 0.00000000e+00 3.54881606e+02] [-3.14542031e-01 9.49243546e-01 0.00000000e+00 -9.35214822e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.21295396e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.91, Y:-93.53, Z:0.01 [[ 9.50220980e-01 3.11576778e-01 0.00000000e+00 3.54911485e+02] [-3.11576778e-01 9.50220980e-01 0.00000000e+00 -9.35349763e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.88289233e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.94, Y:-93.55, Z:0.01 [[ 9.51162276e-01 3.08691311e-01 0.00000000e+00 3.54942131e+02] [-3.08691311e-01 9.51162276e-01 0.00000000e+00 -9.35488926e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.03415711e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.97, Y:-93.56, Z:0.01 [[ 9.52068130e-01 3.05886049e-01 0.00000000e+00 3.54971518e+02] [-3.05886049e-01 9.52068130e-01 0.00000000e+00 -9.35621752e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.87349025e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.00, Y:-93.58, Z:0.01 [[ 9.52899632e-01 3.03285824e-01 0.00000000e+00 3.55001598e+02] [-3.03285824e-01 9.52899632e-01 0.00000000e+00 -9.35762470e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.70437036e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.03, Y:-93.59, Z:0.01 [[ 9.52843971e-01 3.03460650e-01 0.00000000e+00 3.55033686e+02] [-3.03460650e-01 9.52843971e-01 0.00000000e+00 -9.35857666e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.70437036e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.61140051300004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:355.06, Y:-93.60, Z:0.01 [[ 9.53550129e-01 3.01234380e-01 0.00000000e+00 3.55063662e+02] [-3.01234380e-01 9.53550129e-01 0.00000000e+00 -9.36004932e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.29625713e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.09, Y:-93.62, Z:0.01 [[ 9.54478499e-01 2.98279726e-01 0.00000000e+00 3.55091689e+02] [-2.98279726e-01 9.54478499e-01 0.00000000e+00 -9.36207781e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.17159630e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:-93.63, Z:0.01 [[ 9.54518260e-01 2.98152463e-01 0.00000000e+00 3.55122069e+02] [-2.98152463e-01 9.54518260e-01 0.00000000e+00 -9.36348444e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.43742957e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.15, Y:-93.65, Z:0.00 [[ 9.54334626e-01 2.98739721e-01 0.00000000e+00 3.55152241e+02] [-2.98739721e-01 9.54334626e-01 0.00000000e+00 -9.36471327e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.23464111e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.18, Y:-93.66, Z:0.00 [[ 9.53919449e-01 3.00062802e-01 0.00000000e+00 3.55183677e+02] [-3.00062802e-01 9.53919449e-01 0.00000000e+00 -9.36588369e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.45238682e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.21, Y:-93.67, Z:0.01 [[ 9.53435751e-01 3.01596203e-01 0.00000000e+00 3.55213809e+02] [-3.01596203e-01 9.53435751e-01 0.00000000e+00 -9.36700216e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.65764585e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.24, Y:-93.68, Z:0.01 [[ 9.52992450e-01 3.02994044e-01 0.00000000e+00 3.55244449e+02] [-3.02994044e-01 9.52992450e-01 0.00000000e+00 -9.36815363e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.74719974e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.27, Y:-93.70, Z:0.01 [[ 9.52730163e-01 3.03817768e-01 0.00000000e+00 3.55274882e+02] [-3.03817768e-01 9.52730163e-01 0.00000000e+00 -9.36959168e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.94695522e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.31, Y:-93.71, Z:0.01 [[ 9.52901818e-01 3.03278955e-01 0.00000000e+00 3.55305549e+02] [-3.03278955e-01 9.52901818e-01 0.00000000e+00 -9.37069627e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.92808869e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.881400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:355.34, Y:-93.72, Z:0.01 [[ 9.53147487e-01 3.02505979e-01 0.00000000e+00 3.55335465e+02] [-3.02505979e-01 9.53147487e-01 0.00000000e+00 -9.37172335e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.05893718e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.37, Y:-93.73, Z:0.01 [[ 9.53287840e-01 3.02063395e-01 0.00000000e+00 3.55366570e+02] [-3.02063395e-01 9.53287840e-01 0.00000000e+00 -9.37283839e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.99009810e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.40, Y:-93.74, Z:0.01 [[ 9.53428997e-01 3.01617553e-01 0.00000000e+00 3.55397222e+02] [-3.01617553e-01 9.53428997e-01 0.00000000e+00 -9.37394830e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.61145135e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.43, Y:-93.75, Z:0.01 [[ 9.53818002e-01 3.00385117e-01 0.00000000e+00 3.55428939e+02] [-3.00385117e-01 9.53818002e-01 0.00000000e+00 -9.37500630e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.59651683e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.46, Y:-93.76, Z:0.01 [[ 9.54016901e-01 2.99752820e-01 0.00000000e+00 3.55460028e+02] [-2.99752820e-01 9.54016901e-01 0.00000000e+00 -9.37585888e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.29369006e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.49, Y:-93.77, Z:0.01 [[ 9.54160177e-01 2.99296436e-01 0.00000000e+00 3.55490571e+02] [-2.99296436e-01 9.54160177e-01 0.00000000e+00 -9.37668145e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.73091968e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.52, Y:-93.78, Z:0.01 [[ 9.54666907e-01 2.97676162e-01 0.00000000e+00 3.55522420e+02] [-2.97676162e-01 9.54666907e-01 0.00000000e+00 -9.37755898e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.23394827e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.55, Y:-93.78, Z:0.01 [[ 9.55043205e-01 2.96466652e-01 0.00000000e+00 3.55554060e+02] [-2.96466652e-01 9.55043205e-01 0.00000000e+00 -9.37846555e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.33620613e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.59, Y:-93.79, Z:0.01 [[ 9.55532427e-01 2.94886047e-01 0.00000000e+00 3.55585662e+02] [-2.94886047e-01 9.55532427e-01 0.00000000e+00 -9.37937164e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.50298732e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.62, Y:-93.80, Z:0.01 [[ 9.56092672e-01 2.93064503e-01 0.00000000e+00 3.55616069e+02] [-2.93064503e-01 9.56092672e-01 0.00000000e+00 -9.38027773e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.14179889e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.65, Y:-93.81, Z:0.01 [[ 9.56848824e-01 2.90586179e-01 0.00000000e+00 3.55647960e+02] [-2.90586179e-01 9.56848824e-01 0.00000000e+00 -9.38127000e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.83949277e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.68, Y:-93.82, Z:0.01 [[ 9.57762172e-01 2.87561509e-01 0.00000000e+00 3.55678228e+02] [-2.87561509e-01 9.57762172e-01 0.00000000e+00 -9.38222214e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.68117505e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.71, Y:-93.83, Z:0.01 [[ 9.59787892e-01 2.80726205e-01 0.00000000e+00 3.55710231e+02] [-2.80726205e-01 9.59787892e-01 0.00000000e+00 -9.38316217e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.14319099e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.74, Y:-93.84, Z:0.00 [[ 9.60604722e-01 2.77918276e-01 0.00000000e+00 3.55740321e+02] [-2.77918276e-01 9.60604722e-01 0.00000000e+00 -9.38414111e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.49712430e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.77, Y:-93.85, Z:0.00 [[ 9.61330121e-01 2.75398618e-01 0.00000000e+00 3.55769770e+02] [-2.75398618e-01 9.61330121e-01 0.00000000e+00 -9.38525746e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91937738e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.80, Y:-93.86, Z:0.00 [[ 9.61800623e-01 2.73750913e-01 0.00000000e+00 3.55800656e+02] [-2.73750913e-01 9.61800623e-01 0.00000000e+00 -9.38647233e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78635753e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.36140051300004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:355.83, Y:-93.88, Z:0.00 [[ 9.61983544e-01 2.73107418e-01 0.00000000e+00 3.55831420e+02] [-2.73107418e-01 9.61983544e-01 0.00000000e+00 -9.38760510e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93620931e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.86, Y:-93.89, Z:0.00 [[ 9.61816178e-01 2.73696256e-01 0.00000000e+00 3.55862969e+02] [-2.73696256e-01 9.61816178e-01 0.00000000e+00 -9.38861456e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.99414107e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.90, Y:-93.89, Z:0.01 [[ 9.61094581e-01 2.76219491e-01 0.00000000e+00 3.55895026e+02] [-2.76219491e-01 9.61094581e-01 0.00000000e+00 -9.38941524e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.00703402e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.93, Y:-93.90, Z:0.01 [[ 9.60523079e-01 2.78200315e-01 0.00000000e+00 3.55925426e+02] [-2.78200315e-01 9.60523079e-01 0.00000000e+00 -9.39032646e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.66584778e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.96, Y:-93.91, Z:0.01 [[ 9.59884351e-01 2.80396207e-01 0.00000000e+00 3.55957218e+02] [-2.80396207e-01 9.59884351e-01 0.00000000e+00 -9.39130894e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.72286612e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.99, Y:-93.92, Z:0.01 [[ 9.59241724e-01 2.82586827e-01 0.00000000e+00 3.55988347e+02] [-2.82586827e-01 9.59241724e-01 0.00000000e+00 -9.39222125e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.16315934e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.02, Y:-93.93, Z:0.01 [[ 9.58201478e-01 2.86094265e-01 0.00000000e+00 3.56021051e+02] [-2.86094265e-01 9.58201478e-01 0.00000000e+00 -9.39276044e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22476397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.05, Y:-93.93, Z:0.01 [[ 9.57671664e-01 2.87862786e-01 0.00000000e+00 3.56052441e+02] [-2.87862786e-01 9.57671664e-01 0.00000000e+00 -9.39346668e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43526017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.08, Y:-93.94, Z:0.02 [[ 9.57266466e-01 2.89207387e-01 0.00000000e+00 3.56084761e+02] [-2.89207387e-01 9.57266466e-01 0.00000000e+00 -9.39423335e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55942156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.12, Y:-93.95, Z:0.01 [[ 9.57058289e-01 2.89895553e-01 0.00000000e+00 3.56116600e+02] [-2.89895553e-01 9.57058289e-01 0.00000000e+00 -9.39503110e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38582275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.15, Y:-93.96, Z:0.01 [[ 9.57093165e-01 2.89780387e-01 0.00000000e+00 3.56147327e+02] [-2.89780387e-01 9.57093165e-01 0.00000000e+00 -9.39578012e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04035858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.18, Y:-93.97, Z:0.01 [[ 9.57323384e-01 2.89018924e-01 0.00000000e+00 3.56179433e+02] [-2.89018924e-01 9.57323384e-01 0.00000000e+00 -9.39660019e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.41294513e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.21, Y:-93.97, Z:0.00 [[ 9.58187147e-01 2.86142258e-01 0.00000000e+00 3.56210170e+02] [-2.86142258e-01 9.58187147e-01 0.00000000e+00 -9.39749598e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47911148e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.24, Y:-93.99, Z:0.00 [[ 9.58648697e-01 2.84592122e-01 0.00000000e+00 3.56240658e+02] [-2.84592122e-01 9.58648697e-01 0.00000000e+00 -9.39853170e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28500229e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.27, Y:-94.00, Z:0.00 [[ 9.59131142e-01 2.82961927e-01 0.00000000e+00 3.56271941e+02] [-2.82961927e-01 9.59131142e-01 0.00000000e+00 -9.39954356e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71156173e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.30, Y:-94.00, Z:0.00 [[ 9.59381028e-01 2.82113528e-01 0.00000000e+00 3.56302936e+02] [-2.82113528e-01 9.59381028e-01 0.00000000e+00 -9.40042390e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28135390e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.33, Y:-94.01, Z:0.00 [[ 9.58887287e-01 2.83787192e-01 0.00000000e+00 3.56334187e+02] [-2.83787192e-01 9.58887287e-01 0.00000000e+00 -9.40135911e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68582610e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.36, Y:-94.02, Z:0.00 [[ 9.58097516e-01 2.86442228e-01 0.00000000e+00 3.56363803e+02] [-2.86442228e-01 9.58097516e-01 0.00000000e+00 -9.40230224e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83260286e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.40, Y:-94.03, Z:0.01 [[ 9.57168117e-01 2.89532718e-01 0.00000000e+00 3.56395496e+02] [-2.89532718e-01 9.57168117e-01 0.00000000e+00 -9.40334930e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.67655978e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.43, Y:-94.04, Z:0.01 [[ 9.56196423e-01 2.92725811e-01 0.00000000e+00 3.56426044e+02] [-2.92725811e-01 9.56196423e-01 0.00000000e+00 -9.40432473e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.32097929e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.46, Y:-94.05, Z:0.01 [[ 9.55168109e-01 2.96063986e-01 0.00000000e+00 3.56457291e+02] [-2.96063986e-01 9.55168109e-01 0.00000000e+00 -9.40523613e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.56546052e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.49, Y:-94.06, Z:0.01 [[ 9.52998856e-01 3.02973895e-01 0.00000000e+00 3.56489043e+02] [-3.02973895e-01 9.52998856e-01 0.00000000e+00 -9.40606388e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.16313338e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.52, Y:-94.07, Z:0.00 [[ 9.51940916e-01 3.06281721e-01 0.00000000e+00 3.56519377e+02] [-3.06281721e-01 9.51940916e-01 0.00000000e+00 -9.40701891e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77865467e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.55, Y:-94.08, Z:0.00 [[ 9.50938914e-01 3.09378704e-01 0.00000000e+00 3.56550056e+02] [-3.09378704e-01 9.50938914e-01 0.00000000e+00 -9.40799462e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18987512e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.58, Y:-94.09, Z:0.01 [[ 9.50010802e-01 3.12217035e-01 0.00000000e+00 3.56581262e+02] [-3.12217035e-01 9.50010802e-01 0.00000000e+00 -9.40889696e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.66910433e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.11140051300004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:356.61, Y:-94.10, Z:0.01 [[ 9.48174332e-01 3.17750589e-01 0.00000000e+00 3.56613837e+02] [-3.17750589e-01 9.48174332e-01 0.00000000e+00 -9.40951919e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.80997497e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.141400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:356.65, Y:-94.10, Z:0.01 [[ 9.47253296e-01 3.20485872e-01 0.00000000e+00 3.56645058e+02] [-3.20485872e-01 9.47253296e-01 0.00000000e+00 -9.41039213e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.24581686e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.171400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:356.68, Y:-94.11, Z:0.01 [[ 9.46408897e-01 3.22970897e-01 0.00000000e+00 3.56676491e+02] [-3.22970897e-01 9.46408897e-01 0.00000000e+00 -9.41136618e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05754477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.71, Y:-94.12, Z:0.01 [[ 9.45769303e-01 3.24839077e-01 0.00000000e+00 3.56707192e+02] [-3.24839077e-01 9.45769303e-01 0.00000000e+00 -9.41237289e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20037631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.231400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:356.74, Y:-94.13, Z:0.01 [[ 9.45415948e-01 3.25866055e-01 0.00000000e+00 3.56738517e+02] [-3.25866055e-01 9.45415948e-01 0.00000000e+00 -9.41340689e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22194745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.261400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:356.77, Y:-94.14, Z:0.01 [[ 9.45132769e-01 3.26686468e-01 0.00000000e+00 3.56769783e+02] [-3.26686468e-01 9.45132769e-01 0.00000000e+00 -9.41441441e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08196236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.291400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:356.80, Y:-94.15, Z:0.01 [[ 9.45236735e-01 3.26385532e-01 0.00000000e+00 3.56799538e+02] [-3.26385532e-01 9.45236735e-01 0.00000000e+00 -9.41544639e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.57451258e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.83, Y:-94.17, Z:0.01 [[ 9.45252427e-01 3.26340081e-01 0.00000000e+00 3.56830650e+02] [-3.26340081e-01 9.45252427e-01 0.00000000e+00 -9.41664281e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.17678853e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.86, Y:-94.18, Z:0.01 [[ 9.45338507e-01 3.26090643e-01 0.00000000e+00 3.56861073e+02] [-3.26090643e-01 9.45338507e-01 0.00000000e+00 -9.41775749e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.87423905e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.381400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:356.89, Y:-94.19, Z:0.01 [[ 9.45252683e-01 3.26339340e-01 0.00000000e+00 3.56892059e+02] [-3.26339340e-01 9.45252683e-01 0.00000000e+00 -9.41881727e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.64852400e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.92, Y:-94.20, Z:0.01 [[ 9.44954168e-01 3.27202720e-01 0.00000000e+00 3.56923678e+02] [-3.27202720e-01 9.44954168e-01 0.00000000e+00 -9.41991461e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.40990967e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.441400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:356.95, Y:-94.21, Z:0.01 [[ 9.43900401e-01 3.30230273e-01 0.00000000e+00 3.56952587e+02] [-3.30230273e-01 9.43900401e-01 0.00000000e+00 -9.42127586e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.01020928e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.98, Y:-94.23, Z:0.01 [[ 9.43325702e-01 3.31868378e-01 0.00000000e+00 3.56982535e+02] [-3.31868378e-01 9.43325702e-01 0.00000000e+00 -9.42253463e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.53065503e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.01, Y:-94.24, Z:0.01 [[ 9.42855346e-01 3.33202337e-01 0.00000000e+00 3.57012796e+02] [-3.33202337e-01 9.42855346e-01 0.00000000e+00 -9.42377217e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.70882840e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.04, Y:-94.25, Z:0.01 [[ 9.42792791e-01 3.33379294e-01 0.00000000e+00 3.57044771e+02] [-3.33379294e-01 9.42792791e-01 0.00000000e+00 -9.42475795e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.70882840e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.08, Y:-94.26, Z:0.01 [[ 9.42466806e-01 3.34299745e-01 0.00000000e+00 3.57075006e+02] [-3.34299745e-01 9.42466806e-01 0.00000000e+00 -9.42592105e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.99546681e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.11, Y:-94.27, Z:0.01 [[ 9.42130520e-01 3.35246303e-01 0.00000000e+00 3.57105780e+02] [-3.35246303e-01 9.42130520e-01 0.00000000e+00 -9.42725500e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.74002502e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.14, Y:-94.28, Z:0.00 [[ 9.41981656e-01 3.35664356e-01 0.00000000e+00 3.57135800e+02] [-3.35664356e-01 9.41981656e-01 0.00000000e+00 -9.42839827e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.71586181e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.17, Y:-94.30, Z:0.00 [[ 9.41850401e-01 3.36032471e-01 0.00000000e+00 3.57166515e+02] [-3.36032471e-01 9.41850401e-01 0.00000000e+00 -9.42957876e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.44062932e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.20, Y:-94.31, Z:0.00 [[ 9.41637533e-01 3.36628515e-01 0.00000000e+00 3.57196476e+02] [-3.36628515e-01 9.41637533e-01 0.00000000e+00 -9.43070696e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.17420177e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.23, Y:-94.32, Z:0.00 [[ 9.41326635e-01 3.37496913e-01 0.00000000e+00 3.57227030e+02] [-3.37496913e-01 9.41326635e-01 0.00000000e+00 -9.43181486e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72144740e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.26, Y:-94.33, Z:0.00 [[ 9.40912116e-01 3.38650839e-01 0.00000000e+00 3.57256915e+02] [-3.38650839e-01 9.40912116e-01 0.00000000e+00 -9.43284785e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92390643e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.29, Y:-94.34, Z:0.00 [[ 9.40372585e-01 3.40146147e-01 0.00000000e+00 3.57287989e+02] [-3.40146147e-01 9.40372585e-01 0.00000000e+00 -9.43393429e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51122968e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.32, Y:-94.35, Z:0.01 [[ 9.40117776e-01 3.40849773e-01 0.00000000e+00 3.57319286e+02] [-3.40849773e-01 9.40117776e-01 0.00000000e+00 -9.43493566e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.15574074e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.35, Y:-94.36, Z:0.01 [[ 9.39816931e-01 3.41678410e-01 0.00000000e+00 3.57349479e+02] [-3.41678410e-01 9.39816931e-01 0.00000000e+00 -9.43587906e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.23986845e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.86140051300004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:357.38, Y:-94.37, Z:0.01 [[ 9.39483566e-01 3.42593973e-01 0.00000000e+00 3.57380144e+02] [-3.42593973e-01 9.39483566e-01 0.00000000e+00 -9.43682444e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.28863897e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.41, Y:-94.38, Z:0.01 [[ 9.39212089e-01 3.43337518e-01 0.00000000e+00 3.57410293e+02] [-3.43337518e-01 9.39212089e-01 0.00000000e+00 -9.43774334e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17758733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.44, Y:-94.39, Z:0.01 [[ 9.38960991e-01 3.44023629e-01 0.00000000e+00 3.57441562e+02] [-3.44023629e-01 9.38960991e-01 0.00000000e+00 -9.43855257e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08643638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.47, Y:-94.39, Z:0.01 [[ 9.38777634e-01 3.44523663e-01 0.00000000e+00 3.57473055e+02] [-3.44523663e-01 9.38777634e-01 0.00000000e+00 -9.43944823e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04332242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.50, Y:-94.40, Z:0.01 [[ 9.38595728e-01 3.45018927e-01 0.00000000e+00 3.57503841e+02] [-3.45018927e-01 9.38595728e-01 0.00000000e+00 -9.44028551e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.89303365e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.54, Y:-94.41, Z:0.01 [[ 9.38464214e-01 3.45376488e-01 0.00000000e+00 3.57535404e+02] [-3.45376488e-01 9.38464214e-01 0.00000000e+00 -9.44108591e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01642201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.57, Y:-94.42, Z:0.01 [[ 9.38268020e-01 3.45909125e-01 0.00000000e+00 3.57567666e+02] [-3.45909125e-01 9.38268020e-01 0.00000000e+00 -9.44154888e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08006369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.60, Y:-94.42, Z:0.01 [[ 9.38082714e-01 3.46411348e-01 0.00000000e+00 3.57599370e+02] [-3.46411348e-01 9.38082714e-01 0.00000000e+00 -9.44230696e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11551378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.63, Y:-94.43, Z:0.01 [[ 9.37908604e-01 3.46882474e-01 0.00000000e+00 3.57630741e+02] [-3.46882474e-01 9.37908604e-01 0.00000000e+00 -9.44319468e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10352515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.66, Y:-94.44, Z:0.01 [[ 9.37753307e-01 3.47302080e-01 0.00000000e+00 3.57661026e+02] [-3.47302080e-01 9.37753307e-01 0.00000000e+00 -9.44406954e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.37422671e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.69, Y:-94.45, Z:0.01 [[ 9.37478313e-01 3.48043693e-01 0.00000000e+00 3.57692998e+02] [-3.48043693e-01 9.37478313e-01 0.00000000e+00 -9.44484778e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.37676692e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.72, Y:-94.46, Z:0.01 [[ 9.37303375e-01 3.48514538e-01 0.00000000e+00 3.57724646e+02] [-3.48514538e-01 9.37303375e-01 0.00000000e+00 -9.44577093e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.02892493e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.76, Y:-94.47, Z:0.01 [[ 9.36882078e-01 3.49645495e-01 0.00000000e+00 3.57755333e+02] [-3.49645495e-01 9.36882078e-01 0.00000000e+00 -9.44678103e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.86941735e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.79, Y:-94.48, Z:0.01 [[ 9.36414871e-01 3.50894841e-01 0.00000000e+00 3.57786700e+02] [-3.50894841e-01 9.36414871e-01 0.00000000e+00 -9.44782780e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04630558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.82, Y:-94.49, Z:0.01 [[ 9.35926157e-01 3.52196292e-01 0.00000000e+00 3.57817900e+02] [-3.52196292e-01 9.35926157e-01 0.00000000e+00 -9.44884496e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.41633675e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.85, Y:-94.50, Z:0.01 [[ 9.35441349e-01 3.53481941e-01 0.00000000e+00 3.57848533e+02] [-3.53481941e-01 9.35441349e-01 0.00000000e+00 -9.44977954e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.39077463e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.88, Y:-94.51, Z:0.01 [[ 9.34641281e-01 3.55592008e-01 0.00000000e+00 3.57879921e+02] [-3.55592008e-01 9.34641281e-01 0.00000000e+00 -9.45086943e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.42355633e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.91, Y:-94.52, Z:0.01 [[ 9.34321745e-01 3.56430746e-01 0.00000000e+00 3.57910806e+02] [-3.56430746e-01 9.34321745e-01 0.00000000e+00 -9.45205292e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.02551376e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.94, Y:-94.53, Z:0.01 [[ 9.34026510e-01 3.57203692e-01 0.00000000e+00 3.57941405e+02] [-3.57203692e-01 9.34026510e-01 0.00000000e+00 -9.45328834e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01276581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.97, Y:-94.55, Z:0.01 [[ 9.33803330e-01 3.57786726e-01 0.00000000e+00 3.57969620e+02] [-3.57786726e-01 9.33803330e-01 0.00000000e+00 -9.45460743e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.71711074e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.00, Y:-94.56, Z:0.01 [[ 9.33732881e-01 3.57970538e-01 0.00000000e+00 3.58000763e+02] [-3.57970538e-01 9.33732881e-01 0.00000000e+00 -9.45577754e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.35988321e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.03, Y:-94.57, Z:0.01 [[ 9.33599611e-01 3.58317969e-01 0.00000000e+00 3.58030462e+02] [-3.58317969e-01 9.33599611e-01 0.00000000e+00 -9.45690438e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.72436891e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.06, Y:-94.58, Z:0.01 [[ 9.33302551e-01 3.59091003e-01 0.00000000e+00 3.58060965e+02] [-3.59091003e-01 9.33302551e-01 0.00000000e+00 -9.45805628e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.30094785e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.09, Y:-94.59, Z:0.01 [[ 9.32823775e-01 3.60332908e-01 0.00000000e+00 3.58091998e+02] [-3.60332908e-01 9.32823775e-01 0.00000000e+00 -9.45915314e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.22295364e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.12, Y:-94.60, Z:0.01 [[ 9.31287210e-01 3.64285785e-01 0.00000000e+00 3.58122279e+02] [-3.64285785e-01 9.31287210e-01 0.00000000e+00 -9.46017776e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.84480283e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.15, Y:-94.61, Z:0.01 [[ 9.30410238e-01 3.66519835e-01 0.00000000e+00 3.58153275e+02] [-3.66519835e-01 9.30410238e-01 0.00000000e+00 -9.46120617e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.60108284e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.18, Y:-94.62, Z:0.01 [[ 9.29834784e-01 3.67977275e-01 0.00000000e+00 3.58183940e+02] [-3.67977275e-01 9.29834784e-01 0.00000000e+00 -9.46228334e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.91445355e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.21, Y:-94.63, Z:0.01 [[ 9.29657681e-01 3.68424477e-01 0.00000000e+00 3.58213852e+02] [-3.68424477e-01 9.29657681e-01 0.00000000e+00 -9.46336956e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.57547904e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.25, Y:-94.65, Z:0.01 [[ 9.30231055e-01 3.66974365e-01 0.00000000e+00 3.58245043e+02] [-3.66974365e-01 9.30231055e-01 0.00000000e+00 -9.46453259e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.10007964e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.28, Y:-94.66, Z:0.01 [[ 9.30894679e-01 3.65287689e-01 0.00000000e+00 3.58275716e+02] [-3.65287689e-01 9.30894679e-01 0.00000000e+00 -9.46554520e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.05473658e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.31, Y:-94.67, Z:0.01 [[ 9.31616372e-01 3.63443167e-01 0.00000000e+00 3.58306772e+02] [-3.63443167e-01 9.31616372e-01 0.00000000e+00 -9.46664339e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.56366250e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.34, Y:-94.68, Z:0.01 [[ 9.32105190e-01 3.62187679e-01 0.00000000e+00 3.58337965e+02] [-3.62187679e-01 9.32105190e-01 0.00000000e+00 -9.46780344e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.32842220e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.37, Y:-94.69, Z:0.01 [[ 9.32312824e-01 3.61652869e-01 0.00000000e+00 3.58368982e+02] [-3.61652869e-01 9.32312824e-01 0.00000000e+00 -9.46895870e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.09719236e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.40, Y:-94.70, Z:0.01 [[ 9.31937072e-01 3.62620042e-01 0.00000000e+00 3.58399328e+02] [-3.62620042e-01 9.31937072e-01 0.00000000e+00 -9.47005089e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.86128032e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.43, Y:-94.71, Z:0.01 [[ 9.29853441e-01 3.67930126e-01 0.00000000e+00 3.58429713e+02] [-3.67930126e-01 9.29853441e-01 0.00000000e+00 -9.47100744e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.41347729e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.46, Y:-94.72, Z:0.01 [[ 9.28375154e-01 3.71644417e-01 0.00000000e+00 3.58461897e+02] [-3.71644417e-01 9.28375154e-01 0.00000000e+00 -9.47192080e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.41062282e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.49, Y:-94.73, Z:0.01 [[ 9.26719033e-01 3.75755017e-01 0.00000000e+00 3.58493111e+02] [-3.75755017e-01 9.26719033e-01 0.00000000e+00 -9.47275009e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.46405360e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.53, Y:-94.73, Z:0.01 [[ 9.23517655e-01 3.83555917e-01 0.00000000e+00 3.58525452e+02] [-3.83555917e-01 9.23517655e-01 0.00000000e+00 -9.47334143e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.02885341e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.56, Y:-94.74, Z:0.01 [[ 9.22136088e-01 3.86865655e-01 0.00000000e+00 3.58557554e+02] [-3.86865655e-01 9.22136088e-01 0.00000000e+00 -9.47410865e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.92754440e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.59, Y:-94.75, Z:0.01 [[ 9.21039435e-01 3.89469331e-01 0.00000000e+00 3.58588613e+02] [-3.89469331e-01 9.21039435e-01 0.00000000e+00 -9.47483780e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.16127545e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.62, Y:-94.76, Z:0.01 [[ 9.20204555e-01 3.91437834e-01 0.00000000e+00 3.58619724e+02] [-3.91437834e-01 9.20204555e-01 0.00000000e+00 -9.47555811e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.60401675e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.65, Y:-94.76, Z:0.01 [[ 9.19721539e-01 3.92571383e-01 0.00000000e+00 3.58651959e+02] [-3.92571383e-01 9.19721539e-01 0.00000000e+00 -9.47619911e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.70179027e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.68, Y:-94.77, Z:0.01 [[ 9.19598655e-01 3.92859153e-01 0.00000000e+00 3.58684040e+02] [-3.92859153e-01 9.19598655e-01 0.00000000e+00 -9.47676653e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.31785011e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.72, Y:-94.77, Z:0.01 [[ 9.20007925e-01 3.91899756e-01 0.00000000e+00 3.58718403e+02] [-3.91899756e-01 9.20007925e-01 0.00000000e+00 -9.47689284e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.38569334e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.75, Y:-94.77, Z:0.01 [[ 9.20562026e-01 3.90596410e-01 0.00000000e+00 3.58751533e+02] [-3.90596410e-01 9.20562026e-01 0.00000000e+00 -9.47749982e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.42437337e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.78, Y:-94.78, Z:0.01 [[ 9.21487030e-01 3.88409131e-01 0.00000000e+00 3.58784564e+02] [-3.88409131e-01 9.21487030e-01 0.00000000e+00 -9.47814285e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01858625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.82, Y:-94.79, Z:0.01 [[ 9.22705058e-01 3.85506649e-01 0.00000000e+00 3.58816574e+02] [-3.85506649e-01 9.22705058e-01 0.00000000e+00 -9.47872220e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10160729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.85, Y:-94.79, Z:0.01 [[ 9.25565484e-01 3.78587552e-01 0.00000000e+00 3.58850414e+02] [-3.78587552e-01 9.25565484e-01 0.00000000e+00 -9.47890803e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19584582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.88, Y:-94.80, Z:0.01 [[ 9.26565931e-01 3.76132392e-01 0.00000000e+00 3.58882184e+02] [-3.76132392e-01 9.26565931e-01 0.00000000e+00 -9.47953151e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16629434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.91, Y:-94.80, Z:0.01 [[ 9.27152163e-01 3.74685022e-01 0.00000000e+00 3.58914526e+02] [-3.74685022e-01 9.27152163e-01 0.00000000e+00 -9.48024713e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18443958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.36140051300004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:358.95, Y:-94.81, Z:0.01 [[ 9.27544326e-01 3.73713156e-01 0.00000000e+00 3.58946994e+02] [-3.73713156e-01 9.27544326e-01 0.00000000e+00 -9.48099571e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14574246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.391400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:358.98, Y:-94.82, Z:0.01 [[ 9.27475624e-01 3.73883627e-01 0.00000000e+00 3.58978874e+02] [-3.73883627e-01 9.27475624e-01 0.00000000e+00 -9.48201401e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14574246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.01, Y:-94.83, Z:0.01 [[ 9.27857710e-01 3.72934404e-01 0.00000000e+00 3.59010084e+02] [-3.72934404e-01 9.27857710e-01 0.00000000e+00 -9.48270983e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10496100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.04, Y:-94.83, Z:0.01 [[ 9.28103603e-01 3.72322041e-01 0.00000000e+00 3.59042789e+02] [-3.72322041e-01 9.28103603e-01 0.00000000e+00 -9.48337178e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05343975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.07, Y:-94.84, Z:0.01 [[ 9.28524641e-01 3.71270778e-01 0.00000000e+00 3.59074141e+02] [-3.71270778e-01 9.28524641e-01 0.00000000e+00 -9.48374529e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.69203565e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.11, Y:-94.85, Z:0.01 [[ 9.28666134e-01 3.70916718e-01 0.00000000e+00 3.59105528e+02] [-3.70916718e-01 9.28666134e-01 0.00000000e+00 -9.48460723e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.24010837e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.14, Y:-94.86, Z:0.01 [[ 9.28835862e-01 3.70491485e-01 0.00000000e+00 3.59136217e+02] [-3.70491485e-01 9.28835862e-01 0.00000000e+00 -9.48550749e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.68475965e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.17, Y:-94.86, Z:0.01 [[ 9.29115665e-01 3.69789239e-01 0.00000000e+00 3.59168050e+02] [-3.69789239e-01 9.29115665e-01 0.00000000e+00 -9.48648638e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.24855589e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.20, Y:-94.87, Z:0.01 [[ 9.29775858e-01 3.68126138e-01 0.00000000e+00 3.59198832e+02] [-3.68126138e-01 9.29775858e-01 0.00000000e+00 -9.48739246e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.05825012e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.23, Y:-94.88, Z:0.01 [[ 9.29835659e-01 3.67975063e-01 0.00000000e+00 3.59229653e+02] [-3.67975063e-01 9.29835659e-01 0.00000000e+00 -9.48844621e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.53540371e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.26, Y:-94.90, Z:0.01 [[ 9.29729020e-01 3.68244416e-01 0.00000000e+00 3.59259719e+02] [-3.68244416e-01 9.29729020e-01 0.00000000e+00 -9.48955186e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.91898564e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.29, Y:-94.91, Z:0.01 [[ 9.29356766e-01 3.69182883e-01 0.00000000e+00 3.59290730e+02] [-3.69182883e-01 9.29356766e-01 0.00000000e+00 -9.49068278e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.32222989e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.32, Y:-94.92, Z:0.01 [[ 9.28746430e-01 3.70715617e-01 0.00000000e+00 3.59321184e+02] [-3.70715617e-01 9.28746430e-01 0.00000000e+00 -9.49176364e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.82997897e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.35, Y:-94.93, Z:0.00 [[ 9.26947235e-01 3.75191716e-01 0.00000000e+00 3.59350887e+02] [-3.75191716e-01 9.26947235e-01 0.00000000e+00 -9.49278320e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43762230e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.38, Y:-94.94, Z:0.00 [[ 9.25806536e-01 3.77997696e-01 0.00000000e+00 3.59382856e+02] [-3.77997696e-01 9.25806536e-01 0.00000000e+00 -9.49376131e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04757212e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.41, Y:-94.95, Z:0.00 [[ 9.24720639e-01 3.80646477e-01 0.00000000e+00 3.59414762e+02] [-3.80646477e-01 9.24720639e-01 0.00000000e+00 -9.49471565e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44790102e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.45, Y:-94.96, Z:0.00 [[ 9.23854272e-01 3.82744410e-01 0.00000000e+00 3.59446444e+02] [-3.82744410e-01 9.23854272e-01 0.00000000e+00 -9.49568726e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.99353686e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.48, Y:-94.96, Z:0.01 [[ 9.22662768e-01 3.85607854e-01 0.00000000e+00 3.59477848e+02] [-3.85607854e-01 9.22662768e-01 0.00000000e+00 -9.49643191e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.64075133e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.51, Y:-94.97, Z:0.01 [[ 9.22337080e-01 3.86386219e-01 0.00000000e+00 3.59508978e+02] [-3.86386219e-01 9.22337080e-01 0.00000000e+00 -9.49724052e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.28893019e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.54, Y:-94.98, Z:0.01 [[ 9.22426391e-01 3.86172958e-01 0.00000000e+00 3.59538857e+02] [-3.86172958e-01 9.22426391e-01 0.00000000e+00 -9.49796661e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.70683483e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.57, Y:-94.99, Z:0.01 [[ 9.22700039e-01 3.85518661e-01 0.00000000e+00 3.59570332e+02] [-3.85518661e-01 9.22700039e-01 0.00000000e+00 -9.49875007e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12226714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.60, Y:-95.00, Z:0.01 [[ 9.23106923e-01 3.84543378e-01 0.00000000e+00 3.59602217e+02] [-3.84543378e-01 9.23106923e-01 0.00000000e+00 -9.49951848e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14936254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.63, Y:-95.00, Z:0.01 [[ 9.24056482e-01 3.82255958e-01 0.00000000e+00 3.59634677e+02] [-3.82255958e-01 9.24056482e-01 0.00000000e+00 -9.49986064e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01706181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.67, Y:-95.00, Z:0.01 [[ 9.24491405e-01 3.81202889e-01 0.00000000e+00 3.59667208e+02] [-3.81202889e-01 9.24491405e-01 0.00000000e+00 -9.50047115e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01956269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.70, Y:-95.01, Z:0.01 [[ 9.24833006e-01 3.80373384e-01 0.00000000e+00 3.59699351e+02] [-3.80373384e-01 9.24833006e-01 0.00000000e+00 -9.50107044e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06003928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.73, Y:-95.01, Z:0.01 [[ 9.25392790e-01 3.79009477e-01 0.00000000e+00 3.59731708e+02] [-3.79009477e-01 9.25392790e-01 0.00000000e+00 -9.50134341e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27995492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.76, Y:-95.02, Z:0.01 [[ 9.25544503e-01 3.78638843e-01 0.00000000e+00 3.59760449e+02] [-3.78638843e-01 9.25544503e-01 0.00000000e+00 -9.50189356e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34436082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.79, Y:-95.02, Z:0.01 [[ 9.25760725e-01 3.78109878e-01 0.00000000e+00 3.59791850e+02] [-3.78109878e-01 9.25760725e-01 0.00000000e+00 -9.50248461e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31136905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.82, Y:-95.03, Z:0.01 [[ 9.25867030e-01 3.77849498e-01 0.00000000e+00 3.59821910e+02] [-3.77849498e-01 9.25867030e-01 0.00000000e+00 -9.50303274e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19848494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.85, Y:-95.03, Z:0.01 [[ 9.26243567e-01 3.76925530e-01 0.00000000e+00 3.59851001e+02] [-3.76925530e-01 9.26243567e-01 0.00000000e+00 -9.50331687e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04438124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.88, Y:-95.04, Z:0.01 [[ 9.26404139e-01 3.76530704e-01 0.00000000e+00 3.59878159e+02] [-3.76530704e-01 9.26404139e-01 0.00000000e+00 -9.50396700e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03423508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.91, Y:-95.05, Z:0.01 [[ 9.26515725e-01 3.76256045e-01 0.00000000e+00 3.59906402e+02] [-3.76256045e-01 9.26515725e-01 0.00000000e+00 -9.50463834e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09966666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.93, Y:-95.05, Z:0.01 [[ 9.26472154e-01 3.76363320e-01 0.00000000e+00 3.59934803e+02] [-3.76363320e-01 9.26472154e-01 0.00000000e+00 -9.50531880e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13114730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.96, Y:-95.06, Z:0.01 [[ 9.26464722e-01 3.76381615e-01 0.00000000e+00 3.59962265e+02] [-3.76381615e-01 9.26464722e-01 0.00000000e+00 -9.50591116e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09525651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.99, Y:-95.06, Z:0.01 [[ 9.26323347e-01 3.76729421e-01 0.00000000e+00 3.59990150e+02] [-3.76729421e-01 9.26323347e-01 0.00000000e+00 -9.50626582e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.43262543e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.02, Y:-95.07, Z:0.01 [[ 9.26285092e-01 3.76823471e-01 0.00000000e+00 3.60016930e+02] [-3.76823471e-01 9.26285092e-01 0.00000000e+00 -9.50698329e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.50253274e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.04, Y:-95.08, Z:0.00 [[ 9.26255514e-01 3.76896169e-01 0.00000000e+00 3.60044389e+02] [-3.76896169e-01 9.26255514e-01 0.00000000e+00 -9.50777811e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.34011615e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.07, Y:-95.09, Z:0.00 [[ 9.26268583e-01 3.76864050e-01 0.00000000e+00 3.60072479e+02] [-3.76864050e-01 9.26268583e-01 0.00000000e+00 -9.50859686e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.70552911e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.10, Y:-95.09, Z:0.00 [[ 9.26359646e-01 3.76640154e-01 0.00000000e+00 3.60099719e+02] [-3.76640154e-01 9.26359646e-01 0.00000000e+00 -9.50934474e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36681756e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.13, Y:-95.10, Z:0.00 [[ 9.26679021e-01 3.75853684e-01 0.00000000e+00 3.60127191e+02] [-3.75853684e-01 9.26679021e-01 0.00000000e+00 -9.51003447e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40315303e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.15, Y:-95.11, Z:0.00 [[ 9.26844710e-01 3.75444913e-01 0.00000000e+00 3.60154047e+02] [-3.75444913e-01 9.26844710e-01 0.00000000e+00 -9.51081302e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93949421e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.18, Y:-95.12, Z:0.00 [[ 9.27053037e-01 3.74930215e-01 0.00000000e+00 3.60181893e+02] [-3.74930215e-01 9.27053037e-01 0.00000000e+00 -9.51160127e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.93456367e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.21, Y:-95.12, Z:0.01 [[ 9.27634799e-01 3.73488526e-01 0.00000000e+00 3.60209669e+02] [-3.73488526e-01 9.27634799e-01 0.00000000e+00 -9.51215214e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.53268262e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.651400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:360.24, Y:-95.13, Z:0.01 [[ 9.28095931e-01 3.72341165e-01 0.00000000e+00 3.60237065e+02] [-3.72341165e-01 9.28095931e-01 0.00000000e+00 -9.51289568e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09377960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.26, Y:-95.14, Z:0.01 [[ 9.28593592e-01 3.71098289e-01 0.00000000e+00 3.60263809e+02] [-3.71098289e-01 9.28593592e-01 0.00000000e+00 -9.51371374e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19403306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.29, Y:-95.15, Z:0.01 [[ 9.29016178e-01 3.70039108e-01 0.00000000e+00 3.60291528e+02] [-3.70039108e-01 9.29016178e-01 0.00000000e+00 -9.51457026e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12738613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.32, Y:-95.15, Z:0.01 [[ 9.29413704e-01 3.69039520e-01 0.00000000e+00 3.60319483e+02] [-3.69039520e-01 9.29413704e-01 0.00000000e+00 -9.51536339e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.36512879e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.35, Y:-95.16, Z:0.01 [[ 9.29850873e-01 3.67936618e-01 0.00000000e+00 3.60347682e+02] [-3.67936618e-01 9.29850873e-01 0.00000000e+00 -9.51605408e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.66048114e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.38, Y:-95.16, Z:0.01 [[ 9.30806333e-01 3.65512751e-01 0.00000000e+00 3.60375546e+02] [-3.65512751e-01 9.30806333e-01 0.00000000e+00 -9.51643160e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.89983801e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.40, Y:-95.17, Z:0.01 [[ 9.31366010e-01 3.64084271e-01 0.00000000e+00 3.60403435e+02] [-3.64084271e-01 9.31366010e-01 0.00000000e+00 -9.51718937e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.76402311e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.43, Y:-95.18, Z:0.01 [[ 9.32024926e-01 3.62394173e-01 0.00000000e+00 3.60429836e+02] [-3.62394173e-01 9.32024926e-01 0.00000000e+00 -9.51794780e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09649227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.46, Y:-95.19, Z:0.01 [[ 9.32720770e-01 3.60599454e-01 0.00000000e+00 3.60457305e+02] [-3.60599454e-01 9.32720770e-01 0.00000000e+00 -9.51873692e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22035875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.48, Y:-95.20, Z:0.01 [[ 9.33513579e-01 3.58542044e-01 0.00000000e+00 3.60484508e+02] [-3.58542044e-01 9.33513579e-01 0.00000000e+00 -9.51951768e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29170008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.51, Y:-95.20, Z:0.01 [[ 9.34966579e-01 3.54735812e-01 0.00000000e+00 3.60512381e+02] [-3.54735812e-01 9.34966579e-01 0.00000000e+00 -9.52039124e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47931198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.54, Y:-95.21, Z:0.02 [[ 9.35735386e-01 3.52702832e-01 0.00000000e+00 3.60539556e+02] [-3.52702832e-01 9.35735386e-01 0.00000000e+00 -9.52141869e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57294524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.57, Y:-95.22, Z:0.02 [[ 9.36456338e-01 3.50784161e-01 0.00000000e+00 3.60565221e+02] [-3.50784161e-01 9.36456338e-01 0.00000000e+00 -9.52245665e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55698380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.59, Y:-95.23, Z:0.01 [[ 9.36986983e-01 3.49364270e-01 0.00000000e+00 3.60590842e+02] [-3.49364270e-01 9.36986983e-01 0.00000000e+00 -9.52348254e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47188728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.62, Y:-95.24, Z:0.01 [[ 9.37257770e-01 3.48637165e-01 0.00000000e+00 3.60616493e+02] [-3.48637165e-01 9.37257770e-01 0.00000000e+00 -9.52445717e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28103389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.64, Y:-95.26, Z:0.01 [[ 9.36979529e-01 3.49384261e-01 0.00000000e+00 3.60642720e+02] [-3.49384261e-01 9.36979529e-01 0.00000000e+00 -9.52565474e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06149715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.67, Y:-95.27, Z:0.01 [[ 9.36305075e-01 3.51187708e-01 0.00000000e+00 3.60668365e+02] [-3.51187708e-01 9.36305075e-01 0.00000000e+00 -9.52677665e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14622699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.70, Y:-95.28, Z:0.01 [[ 9.35566526e-01 3.53150500e-01 0.00000000e+00 3.60695383e+02] [-3.53150500e-01 9.35566526e-01 0.00000000e+00 -9.52791624e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39085563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.72, Y:-95.29, Z:0.01 [[ 9.33831085e-01 3.57714278e-01 0.00000000e+00 3.60721546e+02] [-3.57714278e-01 9.33831085e-01 0.00000000e+00 -9.52929755e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46242655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.75, Y:-95.30, Z:0.02 [[ 9.33057655e-01 3.59726858e-01 0.00000000e+00 3.60747964e+02] [-3.59726858e-01 9.33057655e-01 0.00000000e+00 -9.53044601e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53422389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.77, Y:-95.32, Z:0.01 [[ 9.32222450e-01 3.61885761e-01 0.00000000e+00 3.60774705e+02] [-3.61885761e-01 9.32222450e-01 0.00000000e+00 -9.53162032e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48753610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.80, Y:-95.33, Z:0.01 [[ 9.31367747e-01 3.64079827e-01 0.00000000e+00 3.60800239e+02] [-3.64079827e-01 9.31367747e-01 0.00000000e+00 -9.53264895e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35117208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.83, Y:-95.34, Z:0.01 [[ 9.30561957e-01 3.66134463e-01 0.00000000e+00 3.60827720e+02] [-3.66134463e-01 9.30561957e-01 0.00000000e+00 -9.53364354e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38858627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.86, Y:-95.35, Z:0.01 [[ 9.30570146e-01 3.66113649e-01 0.00000000e+00 3.60856484e+02] [-3.66113649e-01 9.30570146e-01 0.00000000e+00 -9.53455349e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38858627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.88, Y:-95.36, Z:0.01 [[ 9.29816092e-01 3.68024503e-01 0.00000000e+00 3.60884232e+02] [-3.68024503e-01 9.29816092e-01 0.00000000e+00 -9.53552320e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42345883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.91, Y:-95.37, Z:0.01 [[ 9.28387001e-01 3.71614823e-01 0.00000000e+00 3.60910519e+02] [-3.71614823e-01 9.28387001e-01 0.00000000e+00 -9.53692970e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35909878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.94, Y:-95.38, Z:0.01 [[ 9.27726071e-01 3.73261753e-01 0.00000000e+00 3.60937485e+02] [-3.73261753e-01 9.27726071e-01 0.00000000e+00 -9.53814839e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13938295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.97, Y:-95.39, Z:0.01 [[ 9.27059339e-01 3.74914632e-01 0.00000000e+00 3.60965371e+02] [-3.74914632e-01 9.27059339e-01 0.00000000e+00 -9.53929297e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22645190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.99, Y:-95.41, Z:0.01 [[ 9.25649512e-01 3.78382056e-01 0.00000000e+00 3.60992630e+02] [-3.78382056e-01 9.25649512e-01 0.00000000e+00 -9.54053967e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34492967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.02, Y:-95.42, Z:0.01 [[ 9.24774371e-01 3.80515916e-01 0.00000000e+00 3.61019820e+02] [-3.80515916e-01 9.24774371e-01 0.00000000e+00 -9.54161779e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41854755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.05, Y:-95.43, Z:0.01 [[ 9.23927136e-01 3.82568488e-01 0.00000000e+00 3.61047831e+02] [-3.82568488e-01 9.23927136e-01 0.00000000e+00 -9.54264049e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46473276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.08, Y:-95.44, Z:0.01 [[ 9.22953032e-01 3.84912589e-01 0.00000000e+00 3.61076456e+02] [-3.84912589e-01 9.22953032e-01 0.00000000e+00 -9.54357415e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44735587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.11, Y:-95.44, Z:0.01 [[ 9.22039391e-01 3.87096062e-01 0.00000000e+00 3.61105127e+02] [-3.87096062e-01 9.22039391e-01 0.00000000e+00 -9.54440685e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34024080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.13, Y:-95.45, Z:0.01 [[ 9.21292397e-01 3.88870569e-01 0.00000000e+00 3.61133101e+02] [-3.88870569e-01 9.21292397e-01 0.00000000e+00 -9.54518784e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10100950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.16, Y:-95.46, Z:0.01 [[ 9.20436288e-01 3.90892619e-01 0.00000000e+00 3.61163137e+02] [-3.90892619e-01 9.20436288e-01 0.00000000e+00 -9.54599706e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.04454558e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.19, Y:-95.47, Z:0.01 [[ 9.20370089e-01 3.91048462e-01 0.00000000e+00 3.61193806e+02] [-3.91048462e-01 9.20370089e-01 0.00000000e+00 -9.54688201e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.02154538e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.22, Y:-95.48, Z:0.00 [[ 9.20577170e-01 3.90560717e-01 0.00000000e+00 3.61223055e+02] [-3.90560717e-01 9.20577170e-01 0.00000000e+00 -9.54765099e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63240328e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.25, Y:-95.48, Z:0.00 [[ 9.21069192e-01 3.89398951e-01 0.00000000e+00 3.61250108e+02] [-3.89398951e-01 9.21069192e-01 0.00000000e+00 -9.54830708e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45059891e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.28, Y:-95.49, Z:0.01 [[ 9.23007997e-01 3.84780765e-01 0.00000000e+00 3.61279359e+02] [-3.84780765e-01 9.23007997e-01 0.00000000e+00 -9.54902042e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.78664631e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.31, Y:-95.50, Z:0.01 [[ 9.24282593e-01 3.81708906e-01 0.00000000e+00 3.61307314e+02] [-3.81708906e-01 9.24282593e-01 0.00000000e+00 -9.54989432e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08920447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.34, Y:-95.51, Z:0.01 [[ 9.25627239e-01 3.78436539e-01 0.00000000e+00 3.61336966e+02] [-3.78436539e-01 9.25627239e-01 0.00000000e+00 -9.55085425e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29094568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.37, Y:-95.52, Z:0.01 [[ 9.26864453e-01 3.75396171e-01 0.00000000e+00 3.61365519e+02] [-3.75396171e-01 9.26864453e-01 0.00000000e+00 -9.55180009e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24507947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.40, Y:-95.53, Z:0.01 [[ 9.29073583e-01 3.69894953e-01 0.00000000e+00 3.61395789e+02] [-3.69894953e-01 9.29073583e-01 0.00000000e+00 -9.55281393e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09732267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.43, Y:-95.54, Z:0.01 [[ 9.30065864e-01 3.67392826e-01 0.00000000e+00 3.61425080e+02] [-3.67392826e-01 9.30065864e-01 0.00000000e+00 -9.55385654e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08940105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.45, Y:-95.55, Z:0.01 [[ 9.31130861e-01 3.64685233e-01 0.00000000e+00 3.61454330e+02] [-3.64685233e-01 9.31130861e-01 0.00000000e+00 -9.55494099e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13233536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.48, Y:-95.56, Z:0.01 [[ 9.32221197e-01 3.61888988e-01 0.00000000e+00 3.61483416e+02] [-3.61888988e-01 9.32221197e-01 0.00000000e+00 -9.55603319e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22880773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.51, Y:-95.57, Z:0.01 [[ 9.33939979e-01 3.57429876e-01 0.00000000e+00 3.61513774e+02] [-3.57429876e-01 9.33939979e-01 0.00000000e+00 -9.55727864e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43846465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.54, Y:-95.58, Z:0.01 [[ 9.34289307e-01 3.56515766e-01 0.00000000e+00 3.61543780e+02] [-3.56515766e-01 9.34289307e-01 0.00000000e+00 -9.55837155e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41031812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.091400513 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:361.58, Y:-95.59, Z:0.01 [[ 9.34403971e-01 3.56215131e-01 0.00000000e+00 3.61575156e+02] [-3.56215131e-01 9.34403971e-01 0.00000000e+00 -9.55948453e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36494756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.61, Y:-95.61, Z:0.01 [[ 9.34407226e-01 3.56206591e-01 0.00000000e+00 3.61605044e+02] [-3.56206591e-01 9.34407226e-01 0.00000000e+00 -9.56065022e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41974038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.63, Y:-95.62, Z:0.02 [[ 9.34015271e-01 3.57233080e-01 0.00000000e+00 3.61634290e+02] [-3.57233080e-01 9.34015271e-01 0.00000000e+00 -9.56204792e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54874642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.66, Y:-95.63, Z:0.02 [[ 9.33643744e-01 3.58202958e-01 0.00000000e+00 3.61664354e+02] [-3.58202958e-01 9.33643744e-01 0.00000000e+00 -9.56331928e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77772188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.69, Y:-95.65, Z:0.02 [[ 9.33211153e-01 3.59328463e-01 0.00000000e+00 3.61694539e+02] [-3.59328463e-01 9.33211153e-01 0.00000000e+00 -9.56453905e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81370849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.73, Y:-95.66, Z:0.02 [[ 9.32659349e-01 3.60758282e-01 0.00000000e+00 3.61725611e+02] [-3.60758282e-01 9.32659349e-01 0.00000000e+00 -9.56573326e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75918233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.76, Y:-95.67, Z:0.02 [[ 9.31836436e-01 3.62878569e-01 0.00000000e+00 3.61755988e+02] [-3.62878569e-01 9.31836436e-01 0.00000000e+00 -9.56685091e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61226741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.79, Y:-95.68, Z:0.02 [[ 9.29615040e-01 3.68532057e-01 0.00000000e+00 3.61786418e+02] [-3.68532057e-01 9.29615040e-01 0.00000000e+00 -9.56810389e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61098796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.82, Y:-95.69, Z:0.02 [[ 9.28391268e-01 3.71604161e-01 0.00000000e+00 3.61816668e+02] [-3.71604161e-01 9.28391268e-01 0.00000000e+00 -9.56918848e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63753237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.85, Y:-95.70, Z:0.02 [[ 9.27268056e-01 3.74398121e-01 0.00000000e+00 3.61847852e+02] [-3.74398121e-01 9.27268056e-01 0.00000000e+00 -9.57017057e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77408560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.88, Y:-95.71, Z:0.02 [[ 9.26227358e-01 3.76965358e-01 0.00000000e+00 3.61879020e+02] [-3.76965358e-01 9.26227358e-01 0.00000000e+00 -9.57102729e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69090700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.91, Y:-95.72, Z:0.02 [[ 9.25250253e-01 3.79357311e-01 0.00000000e+00 3.61910318e+02] [-3.79357311e-01 9.25250253e-01 0.00000000e+00 -9.57190895e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71309647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.94, Y:-95.73, Z:0.02 [[ 9.24347705e-01 3.81551202e-01 0.00000000e+00 3.61940981e+02] [-3.81551202e-01 9.24347705e-01 0.00000000e+00 -9.57280572e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63013319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.97, Y:-95.73, Z:0.02 [[ 9.23121889e-01 3.84507449e-01 0.00000000e+00 3.61972784e+02] [-3.84507449e-01 9.23121889e-01 0.00000000e+00 -9.57342095e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54586658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.00, Y:-95.74, Z:0.01 [[ 9.22643196e-01 3.85654681e-01 0.00000000e+00 3.62003626e+02] [-3.85654681e-01 9.22643196e-01 0.00000000e+00 -9.57409116e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43524949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.03, Y:-95.75, Z:0.01 [[ 9.22411407e-01 3.86208746e-01 0.00000000e+00 3.62032129e+02] [-3.86208746e-01 9.22411407e-01 0.00000000e+00 -9.57459458e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44067540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.06, Y:-95.75, Z:0.02 [[ 9.22221268e-01 3.86662556e-01 0.00000000e+00 3.62061488e+02] [-3.86662556e-01 9.22221268e-01 0.00000000e+00 -9.57514269e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54235000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.09, Y:-95.75, Z:0.02 [[ 9.22240680e-01 3.86616253e-01 0.00000000e+00 3.62091523e+02] [-3.86616253e-01 9.22240680e-01 0.00000000e+00 -9.57523789e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79211074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.12, Y:-95.76, Z:0.02 [[ 9.22381312e-01 3.86280617e-01 0.00000000e+00 3.62121258e+02] [-3.86280617e-01 9.22381312e-01 0.00000000e+00 -9.57577907e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86098368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.15, Y:-95.76, Z:0.02 [[ 9.22495820e-01 3.86007076e-01 0.00000000e+00 3.62149871e+02] [-3.86007076e-01 9.22495820e-01 0.00000000e+00 -9.57634854e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82882575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.18, Y:-95.77, Z:0.02 [[ 9.22748948e-01 3.85401582e-01 0.00000000e+00 3.62176898e+02] [-3.85401582e-01 9.22748948e-01 0.00000000e+00 -9.57693232e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72550248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.721400513 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:362.21, Y:-95.77, Z:0.02 [[ 9.23688781e-01 3.83143622e-01 0.00000000e+00 3.62205586e+02] [-3.83143622e-01 9.23688781e-01 0.00000000e+00 -9.57729290e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73401537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.23, Y:-95.78, Z:0.02 [[ 9.24582138e-01 3.80982770e-01 0.00000000e+00 3.62233225e+02] [-3.80982770e-01 9.24582138e-01 0.00000000e+00 -9.57785658e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87450623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.26, Y:-95.78, Z:0.02 [[ 9.25592470e-01 3.78521570e-01 0.00000000e+00 3.62261876e+02] [-3.78521570e-01 9.25592470e-01 0.00000000e+00 -9.57848131e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93061603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.29, Y:-95.79, Z:0.02 [[ 9.26630278e-01 3.75973838e-01 0.00000000e+00 3.62288448e+02] [-3.75973838e-01 9.26630278e-01 0.00000000e+00 -9.57915398e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88037797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.32, Y:-95.80, Z:0.02 [[ 9.28957606e-01 3.70186123e-01 0.00000000e+00 3.62315821e+02] [-3.70186123e-01 9.28957606e-01 0.00000000e+00 -9.58020498e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57256634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.34, Y:-95.81, Z:0.02 [[ 9.30260246e-01 3.66900360e-01 0.00000000e+00 3.62340781e+02] [-3.66900360e-01 9.30260246e-01 0.00000000e+00 -9.58112076e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66305111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.37, Y:-95.82, Z:0.02 [[ 9.31489899e-01 3.63767191e-01 0.00000000e+00 3.62367286e+02] [-3.63767191e-01 9.31489899e-01 0.00000000e+00 -9.58210244e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83842024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.39, Y:-95.83, Z:0.02 [[ 9.32312051e-01 3.61654863e-01 0.00000000e+00 3.62394506e+02] [-3.61654863e-01 9.32312051e-01 0.00000000e+00 -9.58310606e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09249663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.42, Y:-95.84, Z:0.02 [[ 9.32751518e-01 3.60519910e-01 0.00000000e+00 3.62421249e+02] [-3.60519910e-01 9.32751518e-01 0.00000000e+00 -9.58417434e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23017372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.45, Y:-95.85, Z:0.02 [[ 9.32710195e-01 3.60626804e-01 0.00000000e+00 3.62448351e+02] [-3.60626804e-01 9.32710195e-01 0.00000000e+00 -9.58537665e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26583242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.47, Y:-95.87, Z:0.02 [[ 9.31373288e-01 3.64065651e-01 0.00000000e+00 3.62473240e+02] [-3.64065651e-01 9.31373288e-01 0.00000000e+00 -9.58686097e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00520876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.50, Y:-95.88, Z:0.02 [[ 9.30033764e-01 3.67474079e-01 0.00000000e+00 3.62504356e+02] [-3.67474079e-01 9.30033764e-01 0.00000000e+00 -9.58809481e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97503037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.53, Y:-95.89, Z:0.02 [[ 9.28243835e-01 3.71972288e-01 0.00000000e+00 3.62534671e+02] [-3.71972288e-01 9.28243835e-01 0.00000000e+00 -9.58925671e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88173973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.56, Y:-95.90, Z:0.02 [[ 9.26291001e-01 3.76808945e-01 0.00000000e+00 3.62562628e+02] [-3.76808945e-01 9.26291001e-01 0.00000000e+00 -9.59027120e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83012847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.59, Y:-95.91, Z:0.01 [[ 9.21987269e-01 3.87220190e-01 0.00000000e+00 3.62589174e+02] [-3.87220190e-01 9.21987269e-01 0.00000000e+00 -9.59113702e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46759001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.62, Y:-95.92, Z:0.01 [[ 9.20007611e-01 3.91900491e-01 0.00000000e+00 3.62617104e+02] [-3.91900491e-01 9.20007611e-01 0.00000000e+00 -9.59192227e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41311085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.65, Y:-95.93, Z:0.01 [[ 9.20024775e-01 3.91860195e-01 0.00000000e+00 3.62645062e+02] [-3.91860195e-01 9.20024775e-01 0.00000000e+00 -9.59281155e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41311085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.67, Y:-95.94, Z:0.01 [[ 9.18402397e-01 3.95647618e-01 0.00000000e+00 3.62671543e+02] [-3.95647618e-01 9.18402397e-01 0.00000000e+00 -9.59356038e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33888227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.70, Y:-95.94, Z:0.01 [[ 9.17203510e-01 3.98419027e-01 0.00000000e+00 3.62700987e+02] [-3.98419027e-01 9.17203510e-01 0.00000000e+00 -9.59446022e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40200327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.73, Y:-95.95, Z:0.01 [[ 9.16508812e-01 4.00014497e-01 0.00000000e+00 3.62729469e+02] [-4.00014497e-01 9.16508812e-01 0.00000000e+00 -9.59540057e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31338014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.76, Y:-95.96, Z:0.01 [[ 9.16421106e-01 4.00215387e-01 0.00000000e+00 3.62755708e+02] [-4.00215387e-01 9.16421106e-01 0.00000000e+00 -9.59620155e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20444604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.78, Y:-95.97, Z:0.01 [[ 9.17028100e-01 3.98822596e-01 0.00000000e+00 3.62783884e+02] [-3.98822596e-01 9.17028100e-01 0.00000000e+00 -9.59672191e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17702204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.81, Y:-95.97, Z:0.01 [[ 9.17614086e-01 3.97472502e-01 0.00000000e+00 3.62812371e+02] [-3.97472502e-01 9.17614086e-01 0.00000000e+00 -9.59725702e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25560030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.84, Y:-95.98, Z:0.01 [[ 9.18167149e-01 3.96193245e-01 0.00000000e+00 3.62840109e+02] [-3.96193245e-01 9.18167149e-01 0.00000000e+00 -9.59783063e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33044872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.87, Y:-95.98, Z:0.01 [[ 9.19403621e-01 3.93315372e-01 0.00000000e+00 3.62869447e+02] [-3.93315372e-01 9.19403621e-01 0.00000000e+00 -9.59821736e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49604749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.90, Y:-95.99, Z:0.02 [[ 9.19397577e-01 3.93329499e-01 0.00000000e+00 3.62895176e+02] [-3.93329499e-01 9.19397577e-01 0.00000000e+00 -9.59877171e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55916782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.92, Y:-95.99, Z:0.02 [[ 9.19606726e-01 3.92840260e-01 0.00000000e+00 3.62923560e+02] [-3.92840260e-01 9.19606726e-01 0.00000000e+00 -9.59930731e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65387456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.95, Y:-95.99, Z:0.01 [[ 9.20180075e-01 3.91495376e-01 0.00000000e+00 3.62952391e+02] [-3.91495376e-01 9.20180075e-01 0.00000000e+00 -9.59939497e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49451556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.98, Y:-96.00, Z:0.01 [[ 9.20576873e-01 3.90561417e-01 0.00000000e+00 3.62980916e+02] [-3.90561417e-01 9.20576873e-01 0.00000000e+00 -9.59990911e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40363430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.01, Y:-96.00, Z:0.01 [[ 9.21196367e-01 3.89097999e-01 0.00000000e+00 3.63008034e+02] [-3.89097999e-01 9.21196367e-01 0.00000000e+00 -9.60034471e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36557530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.04, Y:-96.01, Z:0.02 [[ 9.21883649e-01 3.87466821e-01 0.00000000e+00 3.63035469e+02] [-3.87466821e-01 9.21883649e-01 0.00000000e+00 -9.60081718e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50181235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.06, Y:-96.01, Z:0.02 [[ 9.23628588e-01 3.83288705e-01 0.00000000e+00 3.63064675e+02] [-3.83288705e-01 9.23628588e-01 0.00000000e+00 -9.60085027e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92825899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.09, Y:-96.01, Z:0.02 [[ 9.24695294e-01 3.80708042e-01 0.00000000e+00 3.63093674e+02] [-3.80708042e-01 9.24695294e-01 0.00000000e+00 -9.60131973e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03114024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.12, Y:-96.02, Z:0.02 [[ 9.25783124e-01 3.78055031e-01 0.00000000e+00 3.63121956e+02] [-3.78055031e-01 9.25783124e-01 0.00000000e+00 -9.60175473e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08299390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.15, Y:-96.02, Z:0.02 [[ 9.26731279e-01 3.75724814e-01 0.00000000e+00 3.63149186e+02] [-3.75724814e-01 9.26731279e-01 0.00000000e+00 -9.60220232e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00154754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.18, Y:-96.03, Z:0.02 [[ 9.27531942e-01 3.73743891e-01 0.00000000e+00 3.63177383e+02] [-3.73743891e-01 9.27531942e-01 0.00000000e+00 -9.60272263e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99713608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.21, Y:-96.03, Z:0.02 [[ 9.28179429e-01 3.72132971e-01 0.00000000e+00 3.63205180e+02] [-3.72132971e-01 9.28179429e-01 0.00000000e+00 -9.60329185e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01975747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.23, Y:-96.04, Z:0.02 [[ 9.29287826e-01 3.69356381e-01 0.00000000e+00 3.63233332e+02] [-3.69356381e-01 9.29287826e-01 0.00000000e+00 -9.60358253e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94016294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.26, Y:-96.04, Z:0.02 [[ 9.29855335e-01 3.67925340e-01 0.00000000e+00 3.63261129e+02] [-3.67925340e-01 9.29855335e-01 0.00000000e+00 -9.60412488e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98206722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.29, Y:-96.05, Z:0.02 [[ 9.30366452e-01 3.66630967e-01 0.00000000e+00 3.63288884e+02] [-3.66630967e-01 9.30366452e-01 0.00000000e+00 -9.60472292e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02158779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.32, Y:-96.05, Z:0.02 [[ 9.30817895e-01 3.65483305e-01 0.00000000e+00 3.63316645e+02] [-3.65483305e-01 9.30817895e-01 0.00000000e+00 -9.60535880e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04297829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.34, Y:-96.06, Z:0.02 [[ 9.31462218e-01 3.63838064e-01 0.00000000e+00 3.63344147e+02] [-3.63838064e-01 9.31462218e-01 0.00000000e+00 -9.60590412e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85504285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.37, Y:-96.07, Z:0.02 [[ 9.31727529e-01 3.63158108e-01 0.00000000e+00 3.63371690e+02] [-3.63158108e-01 9.31727529e-01 0.00000000e+00 -9.60665675e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76735771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.40, Y:-96.07, Z:0.02 [[ 9.31974725e-01 3.62523257e-01 0.00000000e+00 3.63397295e+02] [-3.62523257e-01 9.31974725e-01 0.00000000e+00 -9.60736673e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62946245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.42, Y:-96.08, Z:0.02 [[ 9.32064592e-01 3.62292142e-01 0.00000000e+00 3.63424800e+02] [-3.62292142e-01 9.32064592e-01 0.00000000e+00 -9.60825031e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64418737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.45, Y:-96.09, Z:0.02 [[ 9.32042600e-01 3.62348716e-01 0.00000000e+00 3.63450598e+02] [-3.62348716e-01 9.32042600e-01 0.00000000e+00 -9.60917550e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63880896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.48, Y:-96.10, Z:0.02 [[ 9.31728117e-01 3.63156599e-01 0.00000000e+00 3.63475447e+02] [-3.63156599e-01 9.31728117e-01 0.00000000e+00 -9.61015244e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61649864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.50, Y:-96.11, Z:0.02 [[ 9.31559621e-01 3.63588605e-01 0.00000000e+00 3.63501649e+02] [-3.63588605e-01 9.31559621e-01 0.00000000e+00 -9.61103760e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59868500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.53, Y:-96.12, Z:0.02 [[ 9.31401804e-01 3.63992692e-01 0.00000000e+00 3.63528036e+02] [-3.63992692e-01 9.31401804e-01 0.00000000e+00 -9.61199302e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60215415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.55, Y:-96.13, Z:0.02 [[ 9.31181417e-01 3.64556125e-01 0.00000000e+00 3.63553490e+02] [-3.64556125e-01 9.31181417e-01 0.00000000e+00 -9.61301648e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65270077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.58, Y:-96.14, Z:0.02 [[ 9.30797716e-01 3.65534693e-01 0.00000000e+00 3.63578427e+02] [-3.65534693e-01 9.30797716e-01 0.00000000e+00 -9.61420572e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89402241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.60, Y:-96.15, Z:0.02 [[ 9.30616913e-01 3.65994755e-01 0.00000000e+00 3.63604595e+02] [-3.65994755e-01 9.30616913e-01 0.00000000e+00 -9.61516391e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87151545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.63, Y:-96.16, Z:0.02 [[ 9.30325014e-01 3.66736101e-01 0.00000000e+00 3.63632314e+02] [-3.66736101e-01 9.30325014e-01 0.00000000e+00 -9.61608536e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73507197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.66, Y:-96.17, Z:0.01 [[ 9.29744351e-01 3.68205707e-01 0.00000000e+00 3.63658926e+02] [-3.68205707e-01 9.29744351e-01 0.00000000e+00 -9.61698923e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43918270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.69, Y:-96.18, Z:0.01 [[ 9.27915653e-01 3.72790210e-01 0.00000000e+00 3.63686700e+02] [-3.72790210e-01 9.27915653e-01 0.00000000e+00 -9.61794064e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30182990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.71, Y:-96.19, Z:0.01 [[ 9.27041400e-01 3.74958988e-01 0.00000000e+00 3.63713129e+02] [-3.74958988e-01 9.27041400e-01 0.00000000e+00 -9.61879383e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28917732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.74, Y:-96.20, Z:0.01 [[ 9.26255327e-01 3.76896629e-01 0.00000000e+00 3.63739583e+02] [-3.76896629e-01 9.26255327e-01 0.00000000e+00 -9.61966067e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47600529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.77, Y:-96.21, Z:0.02 [[ 9.25547297e-01 3.78632014e-01 0.00000000e+00 3.63767183e+02] [-3.78632014e-01 9.25547297e-01 0.00000000e+00 -9.62056525e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69610411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.79, Y:-96.21, Z:0.02 [[ 9.25003307e-01 3.79959052e-01 0.00000000e+00 3.63793438e+02] [-3.79959052e-01 9.25003307e-01 0.00000000e+00 -9.62143422e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75101177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.82, Y:-96.22, Z:0.02 [[ 9.24221249e-01 3.81857412e-01 0.00000000e+00 3.63820945e+02] [-3.81857412e-01 9.24221249e-01 0.00000000e+00 -9.62229466e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82489632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.85, Y:-96.23, Z:0.02 [[ 9.23952486e-01 3.82507259e-01 0.00000000e+00 3.63848419e+02] [-3.82507259e-01 9.23952486e-01 0.00000000e+00 -9.62311177e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88114198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.87, Y:-96.24, Z:0.02 [[ 9.23831709e-01 3.82798868e-01 0.00000000e+00 3.63873807e+02] [-3.82798868e-01 9.23831709e-01 0.00000000e+00 -9.62388135e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85913248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.90, Y:-96.25, Z:0.02 [[ 9.24091326e-01 3.82171717e-01 0.00000000e+00 3.63899836e+02] [-3.82171717e-01 9.24091326e-01 0.00000000e+00 -9.62464776e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86877405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.93, Y:-96.25, Z:0.02 [[ 9.24419580e-01 3.81377031e-01 0.00000000e+00 3.63927588e+02] [-3.81377031e-01 9.24419580e-01 0.00000000e+00 -9.62546279e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94937113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.95, Y:-96.26, Z:0.02 [[ 9.24853442e-01 3.80323692e-01 0.00000000e+00 3.63953605e+02] [-3.80323692e-01 9.24853442e-01 0.00000000e+00 -9.62616992e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96776333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.98, Y:-96.27, Z:0.02 [[ 9.25284999e-01 3.79272554e-01 0.00000000e+00 3.63979319e+02] [-3.79272554e-01 9.25284999e-01 0.00000000e+00 -9.62689573e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92659458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.01, Y:-96.28, Z:0.02 [[ 9.25618102e-01 3.78458887e-01 0.00000000e+00 3.64005960e+02] [-3.78458887e-01 9.25618102e-01 0.00000000e+00 -9.62767931e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83499669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.03, Y:-96.28, Z:0.02 [[ 9.25831171e-01 3.77937352e-01 0.00000000e+00 3.64033450e+02] [-3.77937352e-01 9.25831171e-01 0.00000000e+00 -9.62843587e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69383512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.06, Y:-96.29, Z:0.02 [[ 9.25565123e-01 3.78588436e-01 0.00000000e+00 3.64061171e+02] [-3.78588436e-01 9.25565123e-01 0.00000000e+00 -9.62882170e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52590817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.09, Y:-96.29, Z:0.01 [[ 9.24988645e-01 3.79994746e-01 0.00000000e+00 3.64088125e+02] [-3.79994746e-01 9.24988645e-01 0.00000000e+00 -9.62936464e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49910365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.12, Y:-96.30, Z:0.02 [[ 9.24308276e-01 3.81646709e-01 0.00000000e+00 3.64115717e+02] [-3.81646709e-01 9.24308276e-01 0.00000000e+00 -9.62994295e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70703717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.14, Y:-96.31, Z:0.02 [[ 9.23588076e-01 3.83386313e-01 0.00000000e+00 3.64143344e+02] [-3.83386313e-01 9.23588076e-01 0.00000000e+00 -9.63056179e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73958818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.17, Y:-96.31, Z:0.02 [[ 9.22386664e-01 3.86267838e-01 0.00000000e+00 3.64171691e+02] [-3.86267838e-01 9.22386664e-01 0.00000000e+00 -9.63080005e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83230643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.20, Y:-96.31, Z:0.02 [[ 9.22137034e-01 3.86863400e-01 0.00000000e+00 3.64199207e+02] [-3.86863400e-01 9.22137034e-01 0.00000000e+00 -9.63126190e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86161996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.23, Y:-96.32, Z:0.02 [[ 9.22010953e-01 3.87163794e-01 0.00000000e+00 3.64226559e+02] [-3.87163794e-01 9.22010953e-01 0.00000000e+00 -9.63166837e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83174209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.25, Y:-96.32, Z:0.02 [[ 9.22073507e-01 3.87014791e-01 0.00000000e+00 3.64254523e+02] [-3.87014791e-01 9.22073507e-01 0.00000000e+00 -9.63214447e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87076108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.28, Y:-96.32, Z:0.02 [[ 9.22611112e-01 3.85731431e-01 0.00000000e+00 3.64283231e+02] [-3.85731431e-01 9.22611112e-01 0.00000000e+00 -9.63244592e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65329042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.31, Y:-96.33, Z:0.02 [[ 9.23145033e-01 3.84451881e-01 0.00000000e+00 3.64310702e+02] [-3.84451881e-01 9.23145033e-01 0.00000000e+00 -9.63298755e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57400907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.34, Y:-96.34, Z:0.02 [[ 9.23986271e-01 3.82425641e-01 0.00000000e+00 3.64338489e+02] [-3.82425641e-01 9.23986271e-01 0.00000000e+00 -9.63351174e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54169258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.091400513 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:364.37, Y:-96.34, Z:0.02 [[ 9.24774353e-01 3.80515961e-01 0.00000000e+00 3.64365925e+02] [-3.80515961e-01 9.24774353e-01 0.00000000e+00 -9.63404951e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56434380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.39, Y:-96.35, Z:0.02 [[ 9.26095188e-01 3.77289945e-01 0.00000000e+00 3.64392372e+02] [-3.77289945e-01 9.26095188e-01 0.00000000e+00 -9.63452423e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50365650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.42, Y:-96.35, Z:0.02 [[ 9.26163971e-01 3.77121067e-01 0.00000000e+00 3.64419596e+02] [-3.77121067e-01 9.26163971e-01 0.00000000e+00 -9.63536741e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50365650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.45, Y:-96.36, Z:0.01 [[ 9.28138038e-01 3.72236192e-01 0.00000000e+00 3.64447019e+02] [-3.72236192e-01 9.28138038e-01 0.00000000e+00 -9.63586243e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46183758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.47, Y:-96.37, Z:0.02 [[ 9.28850627e-01 3.70454467e-01 0.00000000e+00 3.64472657e+02] [-3.70454467e-01 9.28850627e-01 0.00000000e+00 -9.63656958e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50705655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.50, Y:-96.37, Z:0.02 [[ 9.29438778e-01 3.68976364e-01 0.00000000e+00 3.64499609e+02] [-3.68976364e-01 9.29438778e-01 0.00000000e+00 -9.63726114e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72803227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.53, Y:-96.38, Z:0.02 [[ 9.29661349e-01 3.68415223e-01 0.00000000e+00 3.64526610e+02] [-3.68415223e-01 9.29661349e-01 0.00000000e+00 -9.63792539e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76144712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.55, Y:-96.39, Z:0.02 [[ 9.29740093e-01 3.68216458e-01 0.00000000e+00 3.64553596e+02] [-3.68216458e-01 9.29740093e-01 0.00000000e+00 -9.63855843e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75204813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.58, Y:-96.39, Z:0.02 [[ 9.29486413e-01 3.68856351e-01 0.00000000e+00 3.64579922e+02] [-3.68856351e-01 9.29486413e-01 0.00000000e+00 -9.63920283e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55467473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.61, Y:-96.40, Z:0.02 [[ 9.29506337e-01 3.68806141e-01 0.00000000e+00 3.64606627e+02] [-3.68806141e-01 9.29506337e-01 0.00000000e+00 -9.64009313e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62991372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.63, Y:-96.41, Z:0.02 [[ 9.29582543e-01 3.68614021e-01 0.00000000e+00 3.64633264e+02] [-3.68614021e-01 9.29582543e-01 0.00000000e+00 -9.64095004e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74351190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.66, Y:-96.42, Z:0.02 [[ 9.29696766e-01 3.68325838e-01 0.00000000e+00 3.64661122e+02] [-3.68325838e-01 9.29696766e-01 0.00000000e+00 -9.64169865e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29236492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.69, Y:-96.42, Z:0.02 [[ 9.29732469e-01 3.68235707e-01 0.00000000e+00 3.64687580e+02] [-3.68235707e-01 9.29732469e-01 0.00000000e+00 -9.64242667e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47832686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.71, Y:-96.43, Z:0.02 [[ 9.29766360e-01 3.68150126e-01 0.00000000e+00 3.64714640e+02] [-3.68150126e-01 9.29766360e-01 0.00000000e+00 -9.64328299e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48327847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.74, Y:-96.44, Z:0.02 [[ 9.29837852e-01 3.67969523e-01 0.00000000e+00 3.64740890e+02] [-3.67969523e-01 9.29837852e-01 0.00000000e+00 -9.64415187e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36379978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.77, Y:-96.45, Z:0.02 [[ 9.29936114e-01 3.67721122e-01 0.00000000e+00 3.64767938e+02] [-3.67721122e-01 9.29936114e-01 0.00000000e+00 -9.64503586e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32376473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.79, Y:-96.46, Z:0.02 [[ 9.30012089e-01 3.67528930e-01 0.00000000e+00 3.64793590e+02] [-3.67528930e-01 9.30012089e-01 0.00000000e+00 -9.64576856e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35940766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.82, Y:-96.47, Z:0.02 [[ 9.30035260e-01 3.67470292e-01 0.00000000e+00 3.64819143e+02] [-3.67470292e-01 9.30035260e-01 0.00000000e+00 -9.64650624e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32699937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.85, Y:-96.47, Z:0.02 [[ 9.30059201e-01 3.67409692e-01 0.00000000e+00 3.64846294e+02] [-3.67409692e-01 9.30059201e-01 0.00000000e+00 -9.64733644e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14895991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.87, Y:-96.48, Z:0.02 [[ 9.30001032e-01 3.67556907e-01 0.00000000e+00 3.64872123e+02] [-3.67556907e-01 9.30001032e-01 0.00000000e+00 -9.64815648e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87186596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.90, Y:-96.49, Z:0.02 [[ 9.29918622e-01 3.67765356e-01 0.00000000e+00 3.64899911e+02] [-3.67765356e-01 9.29918622e-01 0.00000000e+00 -9.64907045e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56263649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.93, Y:-96.50, Z:0.02 [[ 9.29992525e-01 3.67578432e-01 0.00000000e+00 3.64926016e+02] [-3.67578432e-01 9.29992525e-01 0.00000000e+00 -9.64987886e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69474073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.95, Y:-96.51, Z:0.02 [[ 9.30227118e-01 3.66984343e-01 0.00000000e+00 3.64951491e+02] [-3.66984343e-01 9.30227118e-01 0.00000000e+00 -9.65066106e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03896412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.98, Y:-96.52, Z:0.02 [[ 9.30771471e-01 3.65601516e-01 0.00000000e+00 3.64978163e+02] [-3.65601516e-01 9.30771471e-01 0.00000000e+00 -9.65161406e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15769370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.01, Y:-96.53, Z:0.02 [[ 9.31675900e-01 3.63290540e-01 0.00000000e+00 3.65005248e+02] [-3.63290540e-01 9.31675900e-01 0.00000000e+00 -9.65271641e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04688128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.03, Y:-96.54, Z:0.02 [[ 9.33809013e-01 3.57771894e-01 0.00000000e+00 3.65030192e+02] [-3.57771894e-01 9.33809013e-01 0.00000000e+00 -9.65405807e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02662463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.06, Y:-96.55, Z:0.02 [[ 9.35034144e-01 3.54557681e-01 0.00000000e+00 3.65055621e+02] [-3.54557681e-01 9.35034144e-01 0.00000000e+00 -9.65516150e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01596656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.08, Y:-96.56, Z:0.02 [[ 9.36063892e-01 3.51830059e-01 0.00000000e+00 3.65079610e+02] [-3.51830059e-01 9.36063892e-01 0.00000000e+00 -9.65626563e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05748232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.11, Y:-96.58, Z:0.02 [[ 9.37065326e-01 3.49154083e-01 0.00000000e+00 3.65106075e+02] [-3.49154083e-01 9.37065326e-01 0.00000000e+00 -9.65758000e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89817553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.13, Y:-96.59, Z:0.02 [[ 9.37706194e-01 3.47429264e-01 0.00000000e+00 3.65129796e+02] [-3.47429264e-01 9.37706194e-01 0.00000000e+00 -9.65909995e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73390394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.16, Y:-96.60, Z:0.02 [[ 9.37363391e-01 3.48353086e-01 0.00000000e+00 3.65155773e+02] [-3.48353086e-01 9.37363391e-01 0.00000000e+00 -9.66021862e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72106075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.18, Y:-96.61, Z:0.02 [[ 9.36600155e-01 3.50399986e-01 0.00000000e+00 3.65180741e+02] [-3.50399986e-01 9.36600155e-01 0.00000000e+00 -9.66121113e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61781538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.21, Y:-96.62, Z:0.02 [[ 9.35467389e-01 3.53413023e-01 0.00000000e+00 3.65205618e+02] [-3.53413023e-01 9.35467389e-01 0.00000000e+00 -9.66216565e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52525339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.23, Y:-96.63, Z:0.02 [[ 9.34288792e-01 3.56517115e-01 0.00000000e+00 3.65232007e+02] [-3.56517115e-01 9.34288792e-01 0.00000000e+00 -9.66311754e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55380972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.26, Y:-96.64, Z:0.02 [[ 9.33216250e-01 3.59315225e-01 0.00000000e+00 3.65258213e+02] [-3.59315225e-01 9.33216250e-01 0.00000000e+00 -9.66406371e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61393925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.28, Y:-96.65, Z:0.02 [[ 9.31859747e-01 3.62818704e-01 0.00000000e+00 3.65284344e+02] [-3.62818704e-01 9.31859747e-01 0.00000000e+00 -9.66535994e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88627722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.31, Y:-96.66, Z:0.02 [[ 9.31732149e-01 3.63146256e-01 0.00000000e+00 3.65308918e+02] [-3.63146256e-01 9.31732149e-01 0.00000000e+00 -9.66645545e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01851029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.33, Y:-96.68, Z:0.02 [[ 9.31793456e-01 3.62988919e-01 0.00000000e+00 3.65334271e+02] [-3.62988919e-01 9.31793456e-01 0.00000000e+00 -9.66761078e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08206936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.36, Y:-96.69, Z:0.02 [[ 9.32038175e-01 3.62360098e-01 0.00000000e+00 3.65361296e+02] [-3.62360098e-01 9.32038175e-01 0.00000000e+00 -9.66879374e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13550769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.38, Y:-96.70, Z:0.02 [[ 9.32112803e-01 3.62168087e-01 0.00000000e+00 3.65384851e+02] [-3.62168087e-01 9.32112803e-01 0.00000000e+00 -9.67022477e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91298380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.41, Y:-96.71, Z:0.02 [[ 9.32095711e-01 3.62212073e-01 0.00000000e+00 3.65411092e+02] [-3.62212073e-01 9.32095711e-01 0.00000000e+00 -9.67132668e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92732273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.44, Y:-96.72, Z:0.02 [[ 9.31714541e-01 3.63191429e-01 0.00000000e+00 3.65435541e+02] [-3.63191429e-01 9.31714541e-01 0.00000000e+00 -9.67241338e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89687958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.46, Y:-96.74, Z:0.02 [[ 9.30428975e-01 3.66472266e-01 0.00000000e+00 3.65460867e+02] [-3.66472266e-01 9.30428975e-01 0.00000000e+00 -9.67369988e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76451841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.49, Y:-96.75, Z:0.02 [[ 9.29555714e-01 3.68681671e-01 0.00000000e+00 3.65487251e+02] [-3.68681671e-01 9.29555714e-01 0.00000000e+00 -9.67464368e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66679192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.51, Y:-96.75, Z:0.02 [[ 9.28533340e-01 3.71249022e-01 0.00000000e+00 3.65513340e+02] [-3.71249022e-01 9.28533340e-01 0.00000000e+00 -9.67549787e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52994209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.54, Y:-96.76, Z:0.01 [[ 9.27432213e-01 3.73991298e-01 0.00000000e+00 3.65539384e+02] [-3.73991298e-01 9.27432213e-01 0.00000000e+00 -9.67630893e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44045380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.57, Y:-96.77, Z:0.01 [[ 9.26537606e-01 3.76202159e-01 0.00000000e+00 3.65566130e+02] [-3.76202159e-01 9.26537606e-01 0.00000000e+00 -9.67706294e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41632402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.59, Y:-96.78, Z:0.01 [[ 9.25802838e-01 3.78006752e-01 0.00000000e+00 3.65593436e+02] [-3.78006752e-01 9.25802838e-01 0.00000000e+00 -9.67785800e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49612381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.62, Y:-96.79, Z:0.02 [[ 9.25986411e-01 3.77556838e-01 0.00000000e+00 3.65620727e+02] [-3.77556838e-01 9.25986411e-01 0.00000000e+00 -9.67871673e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65315887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.65, Y:-96.80, Z:0.02 [[ 9.26376541e-01 3.76598598e-01 0.00000000e+00 3.65646790e+02] [-3.76598598e-01 9.26376541e-01 0.00000000e+00 -9.67956112e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71998977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.67, Y:-96.80, Z:0.02 [[ 9.27086434e-01 3.74847629e-01 0.00000000e+00 3.65673826e+02] [-3.74847629e-01 9.27086434e-01 0.00000000e+00 -9.68041986e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68540452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.70, Y:-96.81, Z:0.02 [[ 9.27835436e-01 3.72989818e-01 0.00000000e+00 3.65699920e+02] [-3.72989818e-01 9.27835436e-01 0.00000000e+00 -9.68119674e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53702721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.73, Y:-96.82, Z:0.01 [[ 9.29344241e-01 3.69214411e-01 0.00000000e+00 3.65725849e+02] [-3.69214411e-01 9.29344241e-01 0.00000000e+00 -9.68188782e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43930933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.75, Y:-96.83, Z:0.02 [[ 9.29818942e-01 3.68017304e-01 0.00000000e+00 3.65752928e+02] [-3.68017304e-01 9.29818942e-01 0.00000000e+00 -9.68274400e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50853481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.78, Y:-96.84, Z:0.02 [[ 9.30269004e-01 3.66878154e-01 0.00000000e+00 3.65779735e+02] [-3.66878154e-01 9.30269004e-01 0.00000000e+00 -9.68362920e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58390674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.80, Y:-96.85, Z:0.02 [[ 9.30556285e-01 3.66148877e-01 0.00000000e+00 3.65804593e+02] [-3.66148877e-01 9.30556285e-01 0.00000000e+00 -9.68456556e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55414485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.83, Y:-96.85, Z:0.01 [[ 9.30637485e-01 3.65942443e-01 0.00000000e+00 3.65830136e+02] [-3.65942443e-01 9.30637485e-01 0.00000000e+00 -9.68532064e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47826343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.86, Y:-96.86, Z:0.01 [[ 9.30526022e-01 3.66225780e-01 0.00000000e+00 3.65856928e+02] [-3.66225780e-01 9.30526022e-01 0.00000000e+00 -9.68614066e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39476228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.88, Y:-96.87, Z:0.01 [[ 9.30569263e-01 3.66115893e-01 0.00000000e+00 3.65882161e+02] [-3.66115893e-01 9.30569263e-01 0.00000000e+00 -9.68698655e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27314948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.86140051300004 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:365.91, Y:-96.88, Z:0.01 [[ 9.30226079e-01 3.66986979e-01 0.00000000e+00 3.65909077e+02] [-3.66986979e-01 9.30226079e-01 0.00000000e+00 -9.68798173e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47397995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.94, Y:-96.89, Z:0.02 [[ 9.29842916e-01 3.67956726e-01 0.00000000e+00 3.65936190e+02] [-3.67956726e-01 9.29842916e-01 0.00000000e+00 -9.68869555e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62496127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.96, Y:-96.89, Z:0.02 [[ 9.29307814e-01 3.69306089e-01 0.00000000e+00 3.65962625e+02] [-3.69306089e-01 9.29307814e-01 0.00000000e+00 -9.68936604e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64946609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.99, Y:-96.90, Z:0.02 [[ 9.28638858e-01 3.70985002e-01 0.00000000e+00 3.65989794e+02] [-3.70985002e-01 9.28638858e-01 0.00000000e+00 -9.69008448e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69691770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.02, Y:-96.91, Z:0.02 [[ 9.28058471e-01 3.72434523e-01 0.00000000e+00 3.66015619e+02] [-3.72434523e-01 9.28058471e-01 0.00000000e+00 -9.69078027e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72316787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.04, Y:-96.91, Z:0.02 [[ 9.27070833e-01 3.74886210e-01 0.00000000e+00 3.66043373e+02] [-3.74886210e-01 9.27070833e-01 0.00000000e+00 -9.69145144e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84075057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.07, Y:-96.92, Z:0.02 [[ 9.27095779e-01 3.74824514e-01 0.00000000e+00 3.66070648e+02] [-3.74824514e-01 9.27095779e-01 0.00000000e+00 -9.69227938e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84075057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.10, Y:-96.93, Z:0.02 [[ 9.26863474e-01 3.75398589e-01 0.00000000e+00 3.66097220e+02] [-3.75398589e-01 9.26863474e-01 0.00000000e+00 -9.69299624e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91181397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.12, Y:-96.94, Z:0.02 [[ 9.26769009e-01 3.75631739e-01 0.00000000e+00 3.66123312e+02] [-3.75631739e-01 9.26769009e-01 0.00000000e+00 -9.69375130e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93393337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.15, Y:-96.95, Z:0.02 [[ 9.26743966e-01 3.75693522e-01 0.00000000e+00 3.66150018e+02] [-3.75693522e-01 9.26743966e-01 0.00000000e+00 -9.69461030e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91451093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.18, Y:-96.95, Z:0.02 [[ 9.26961019e-01 3.75157659e-01 0.00000000e+00 3.66177100e+02] [-3.75157659e-01 9.26961019e-01 0.00000000e+00 -9.69548952e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84191387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.20, Y:-96.96, Z:0.02 [[ 9.27185588e-01 3.74602304e-01 0.00000000e+00 3.66203570e+02] [-3.74602304e-01 9.27185588e-01 0.00000000e+00 -9.69623708e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76313585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.23, Y:-96.97, Z:0.02 [[ 9.27116595e-01 3.74773023e-01 0.00000000e+00 3.66231295e+02] [-3.74773023e-01 9.27116595e-01 0.00000000e+00 -9.69691079e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72595228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.26, Y:-96.97, Z:0.02 [[ 9.26748965e-01 3.75681188e-01 0.00000000e+00 3.66257570e+02] [-3.75681188e-01 9.26748965e-01 0.00000000e+00 -9.69748538e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62701417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.28, Y:-96.98, Z:0.02 [[ 9.26621023e-01 3.75996649e-01 0.00000000e+00 3.66283951e+02] [-3.75996649e-01 9.26621023e-01 0.00000000e+00 -9.69820239e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51647368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.31, Y:-96.99, Z:0.01 [[ 9.26651284e-01 3.75922064e-01 0.00000000e+00 3.66311197e+02] [-3.75922064e-01 9.26651284e-01 0.00000000e+00 -9.69891033e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48938948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.34, Y:-97.00, Z:0.01 [[ 9.26807051e-01 3.75537867e-01 0.00000000e+00 3.66338225e+02] [-3.75537867e-01 9.26807051e-01 0.00000000e+00 -9.69955159e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43859588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.36, Y:-97.00, Z:0.01 [[ 9.27044504e-01 3.74951315e-01 0.00000000e+00 3.66364345e+02] [-3.74951315e-01 9.27044504e-01 0.00000000e+00 -9.70018660e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35827768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.39, Y:-97.01, Z:0.01 [[ 9.27349244e-01 3.74196979e-01 0.00000000e+00 3.66391639e+02] [-3.74196979e-01 9.27349244e-01 0.00000000e+00 -9.70095496e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27789998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.42, Y:-97.02, Z:0.01 [[ 9.27890268e-01 3.72853390e-01 0.00000000e+00 3.66418688e+02] [-3.72853390e-01 9.27890268e-01 0.00000000e+00 -9.70177844e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.71207909e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.45, Y:-97.03, Z:0.01 [[ 9.27923046e-01 3.72771807e-01 0.00000000e+00 3.66446256e+02] [-3.72771807e-01 9.27923046e-01 0.00000000e+00 -9.70256966e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.53926219e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.47, Y:-97.03, Z:0.01 [[ 9.27812625e-01 3.73046556e-01 0.00000000e+00 3.66473210e+02] [-3.73046556e-01 9.27812625e-01 0.00000000e+00 -9.70329515e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.40425877e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.50, Y:-97.04, Z:0.01 [[ 9.27603964e-01 3.73565103e-01 0.00000000e+00 3.66500495e+02] [-3.73565103e-01 9.27603964e-01 0.00000000e+00 -9.70403277e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.33560627e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.53, Y:-97.05, Z:0.01 [[ 9.27401924e-01 3.74066400e-01 0.00000000e+00 3.66527412e+02] [-3.74066400e-01 9.27401924e-01 0.00000000e+00 -9.70496248e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15292882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.56, Y:-97.06, Z:0.01 [[ 9.27417575e-01 3.74027594e-01 0.00000000e+00 3.66555092e+02] [-3.74027594e-01 9.27417575e-01 0.00000000e+00 -9.70589158e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38016211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.58, Y:-97.07, Z:0.02 [[ 9.27514670e-01 3.73786753e-01 0.00000000e+00 3.66582201e+02] [-3.73786753e-01 9.27514670e-01 0.00000000e+00 -9.70676876e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61117803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.61, Y:-97.08, Z:0.02 [[ 9.27769155e-01 3.73154654e-01 0.00000000e+00 3.66607764e+02] [-3.73154654e-01 9.27769155e-01 0.00000000e+00 -9.70755494e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76043057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.63, Y:-97.09, Z:0.02 [[ 9.28581656e-01 3.71128156e-01 0.00000000e+00 3.66634188e+02] [-3.71128156e-01 9.28581656e-01 0.00000000e+00 -9.70852456e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01237411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.66, Y:-97.09, Z:0.02 [[ 9.29002731e-01 3.70072865e-01 0.00000000e+00 3.66659505e+02] [-3.70072865e-01 9.29002731e-01 0.00000000e+00 -9.70943637e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10001119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.69, Y:-97.10, Z:0.02 [[ 9.29497090e-01 3.68829446e-01 0.00000000e+00 3.66686242e+02] [-3.68829446e-01 9.29497090e-01 0.00000000e+00 -9.71040556e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14955121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.761400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:366.71, Y:-97.11, Z:0.02 [[ 9.29919804e-01 3.67762367e-01 0.00000000e+00 3.66713166e+02] [-3.67762367e-01 9.29919804e-01 0.00000000e+00 -9.71132465e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16992092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.74, Y:-97.12, Z:0.02 [[ 9.30718112e-01 3.65737332e-01 0.00000000e+00 3.66737737e+02] [-3.65737332e-01 9.30718112e-01 0.00000000e+00 -9.71242703e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13398845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.76, Y:-97.13, Z:0.02 [[ 9.30738195e-01 3.65686222e-01 0.00000000e+00 3.66762440e+02] [-3.65686222e-01 9.30738195e-01 0.00000000e+00 -9.71348981e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07330190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.79, Y:-97.15, Z:0.02 [[ 9.30615207e-01 3.65999094e-01 0.00000000e+00 3.66788432e+02] [-3.65999094e-01 9.30615207e-01 0.00000000e+00 -9.71462224e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98952641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.81, Y:-97.16, Z:0.02 [[ 9.30138398e-01 3.67209152e-01 0.00000000e+00 3.66813411e+02] [-3.67209152e-01 9.30138398e-01 0.00000000e+00 -9.71565373e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99025003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.84, Y:-97.17, Z:0.02 [[ 9.29542385e-01 3.68715276e-01 0.00000000e+00 3.66839683e+02] [-3.68715276e-01 9.29542385e-01 0.00000000e+00 -9.71658840e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02075140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.86, Y:-97.18, Z:0.02 [[ 9.28069413e-01 3.72407257e-01 0.00000000e+00 3.66864662e+02] [-3.72407257e-01 9.28069413e-01 0.00000000e+00 -9.71754407e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95707771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.89, Y:-97.19, Z:0.02 [[ 9.27654789e-01 3.73438873e-01 0.00000000e+00 3.66890938e+02] [-3.73438873e-01 9.27654789e-01 0.00000000e+00 -9.71852574e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84824987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.001400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:366.92, Y:-97.20, Z:0.02 [[ 9.27514772e-01 3.73786501e-01 0.00000000e+00 3.66917358e+02] [-3.73786501e-01 9.27514772e-01 0.00000000e+00 -9.71958006e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64128690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.94, Y:-97.21, Z:0.01 [[ 9.28508204e-01 3.71311883e-01 0.00000000e+00 3.66942589e+02] [-3.71311883e-01 9.28508204e-01 0.00000000e+00 -9.72070266e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09706508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.97, Y:-97.22, Z:0.01 [[ 9.29120495e-01 3.69777102e-01 0.00000000e+00 3.66968902e+02] [-3.69777102e-01 9.29120495e-01 0.00000000e+00 -9.72171127e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.72198526e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.00, Y:-97.23, Z:0.01 [[ 9.29679257e-01 3.68370030e-01 0.00000000e+00 3.66995354e+02] [-3.68370030e-01 9.29679257e-01 0.00000000e+00 -9.72277453e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.33344700e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.02, Y:-97.24, Z:0.01 [[ 9.30110708e-01 3.67279281e-01 0.00000000e+00 3.67021498e+02] [-3.67279281e-01 9.30110708e-01 0.00000000e+00 -9.72382149e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.87085027e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.151400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:367.05, Y:-97.25, Z:0.01 [[ 9.30324729e-01 3.66736823e-01 0.00000000e+00 3.67048915e+02] [-3.66736823e-01 9.30324729e-01 0.00000000e+00 -9.72471148e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.76814059e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.08, Y:-97.25, Z:0.01 [[ 9.30231541e-01 3.66973134e-01 0.00000000e+00 3.67076808e+02] [-3.66973134e-01 9.30231541e-01 0.00000000e+00 -9.72541917e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.57995593e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.10, Y:-97.26, Z:0.01 [[ 9.30059708e-01 3.67408409e-01 0.00000000e+00 3.67104411e+02] [-3.67408409e-01 9.30059708e-01 0.00000000e+00 -9.72622039e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.44457421e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.13, Y:-97.27, Z:0.01 [[ 9.29922280e-01 3.67756104e-01 0.00000000e+00 3.67131575e+02] [-3.67756104e-01 9.29922280e-01 0.00000000e+00 -9.72706798e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.42421243e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.16, Y:-97.28, Z:0.01 [[ 9.29819377e-01 3.68016203e-01 0.00000000e+00 3.67159209e+02] [-3.68016203e-01 9.29819377e-01 0.00000000e+00 -9.72793336e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.87312277e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.19, Y:-97.29, Z:0.01 [[ 9.30412505e-01 3.66514080e-01 0.00000000e+00 3.67185300e+02] [-3.66514080e-01 9.30412505e-01 0.00000000e+00 -9.72875602e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.40885814e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.21, Y:-97.30, Z:0.01 [[ 9.31171055e-01 3.64582593e-01 0.00000000e+00 3.67211904e+02] [-3.64582593e-01 9.31171055e-01 0.00000000e+00 -9.72959108e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.60938722e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.24, Y:-97.30, Z:0.01 [[ 9.32095582e-01 3.62212404e-01 0.00000000e+00 3.67238576e+02] [-3.62212404e-01 9.32095582e-01 0.00000000e+00 -9.73037722e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.39325389e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.27, Y:-97.31, Z:0.01 [[ 9.32935814e-01 3.60042730e-01 0.00000000e+00 3.67266020e+02] [-3.60042730e-01 9.32935814e-01 0.00000000e+00 -9.73116076e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.12997080e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.29, Y:-97.32, Z:0.01 [[ 9.34322018e-01 3.56430031e-01 0.00000000e+00 3.67293936e+02] [-3.56430031e-01 9.34322018e-01 0.00000000e+00 -9.73201390e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34503046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.32, Y:-97.33, Z:0.01 [[ 9.34814328e-01 3.55136835e-01 0.00000000e+00 3.67320525e+02] [-3.55136835e-01 9.34814328e-01 0.00000000e+00 -9.73296438e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43815041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.35, Y:-97.34, Z:0.01 [[ 9.35202424e-01 3.54113578e-01 0.00000000e+00 3.67346869e+02] [-3.54113578e-01 9.35202424e-01 0.00000000e+00 -9.73402388e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37963110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.511400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:367.37, Y:-97.35, Z:0.01 [[ 9.35374884e-01 3.53657782e-01 0.00000000e+00 3.67372509e+02] [-3.53657782e-01 9.35374884e-01 0.00000000e+00 -9.73540468e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39516093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.40, Y:-97.36, Z:0.02 [[ 9.35321054e-01 3.53800121e-01 0.00000000e+00 3.67398691e+02] [-3.53800121e-01 9.35321054e-01 0.00000000e+00 -9.73643311e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64000658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.43, Y:-97.38, Z:0.02 [[ 9.34947182e-01 3.54786932e-01 0.00000000e+00 3.67425128e+02] [-3.54786932e-01 9.34947182e-01 0.00000000e+00 -9.73758325e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83640744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.45, Y:-97.39, Z:0.02 [[ 9.34425242e-01 3.56159329e-01 0.00000000e+00 3.67451033e+02] [-3.56159329e-01 9.34425242e-01 0.00000000e+00 -9.73865194e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86984803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.48, Y:-97.40, Z:0.02 [[ 9.33655949e-01 3.58171145e-01 0.00000000e+00 3.67477564e+02] [-3.58171145e-01 9.33655949e-01 0.00000000e+00 -9.73970763e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78229092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.50, Y:-97.41, Z:0.02 [[ 9.31661148e-01 3.63328372e-01 0.00000000e+00 3.67504535e+02] [-3.63328372e-01 9.31661148e-01 0.00000000e+00 -9.74070131e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54728575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.53, Y:-97.42, Z:0.02 [[ 9.30668247e-01 3.65864203e-01 0.00000000e+00 3.67532475e+02] [-3.65864203e-01 9.30668247e-01 0.00000000e+00 -9.74154193e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53405952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.56, Y:-97.42, Z:0.02 [[ 9.29711972e-01 3.68287455e-01 0.00000000e+00 3.67559563e+02] [-3.68287455e-01 9.29711972e-01 0.00000000e+00 -9.74234702e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56746637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.59, Y:-97.43, Z:0.02 [[ 9.28945529e-01 3.70216428e-01 0.00000000e+00 3.67587033e+02] [-3.70216428e-01 9.28945529e-01 0.00000000e+00 -9.74318562e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60524598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.781400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:367.61, Y:-97.44, Z:0.02 [[ 9.28446285e-01 3.71466682e-01 0.00000000e+00 3.67614763e+02] [-3.71466682e-01 9.28446285e-01 0.00000000e+00 -9.74404466e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60993230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.64, Y:-97.45, Z:0.02 [[ 9.28718601e-01 3.70785329e-01 0.00000000e+00 3.67643207e+02] [-3.70785329e-01 9.28718601e-01 0.00000000e+00 -9.74481245e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52730843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.67, Y:-97.46, Z:0.01 [[ 9.29228805e-01 3.69504841e-01 0.00000000e+00 3.67671157e+02] [-3.69504841e-01 9.29228805e-01 0.00000000e+00 -9.74558125e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44240453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.70, Y:-97.46, Z:0.01 [[ 9.29820526e-01 3.68013302e-01 0.00000000e+00 3.67700370e+02] [-3.68013302e-01 9.29820526e-01 0.00000000e+00 -9.74635106e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38335640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.73, Y:-97.47, Z:0.01 [[ 9.31117852e-01 3.64718446e-01 0.00000000e+00 3.67728888e+02] [-3.64718446e-01 9.31117852e-01 0.00000000e+00 -9.74676861e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34906344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.76, Y:-97.47, Z:0.01 [[ 9.31826662e-01 3.62903668e-01 0.00000000e+00 3.67758887e+02] [-3.62903668e-01 9.31826662e-01 0.00000000e+00 -9.74744652e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35957818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.79, Y:-97.48, Z:0.01 [[ 9.31745012e-01 3.63113249e-01 0.00000000e+00 3.67789907e+02] [-3.63113249e-01 9.31745012e-01 0.00000000e+00 -9.74840739e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35957818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.82, Y:-97.49, Z:0.01 [[ 9.32656980e-01 3.60764407e-01 0.00000000e+00 3.67821787e+02] [-3.60764407e-01 9.32656980e-01 0.00000000e+00 -9.74934488e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25392284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.85, Y:-97.50, Z:0.01 [[ 9.33682101e-01 3.58102966e-01 0.00000000e+00 3.67848331e+02] [-3.58102966e-01 9.33682101e-01 0.00000000e+00 -9.75017854e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10758810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.88, Y:-97.51, Z:0.01 [[ 9.34634148e-01 3.55610756e-01 0.00000000e+00 3.67877060e+02] [-3.55610756e-01 9.34634148e-01 0.00000000e+00 -9.75114604e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03407514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.90, Y:-97.52, Z:0.01 [[ 9.35881847e-01 3.52314019e-01 0.00000000e+00 3.67904920e+02] [-3.52314019e-01 9.35881847e-01 0.00000000e+00 -9.75213025e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.19580150e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.93, Y:-97.53, Z:0.01 [[ 9.36072625e-01 3.51806824e-01 0.00000000e+00 3.67933417e+02] [-3.51806824e-01 9.36072625e-01 0.00000000e+00 -9.75306567e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14460153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.96, Y:-97.54, Z:0.01 [[ 9.36032592e-01 3.51913322e-01 0.00000000e+00 3.67961701e+02] [-3.51913322e-01 9.36032592e-01 0.00000000e+00 -9.75401808e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22784028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.99, Y:-97.55, Z:0.01 [[ 9.35967044e-01 3.52087621e-01 0.00000000e+00 3.67989231e+02] [-3.52087621e-01 9.35967044e-01 0.00000000e+00 -9.75496965e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26114155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.02, Y:-97.56, Z:0.01 [[ 9.35735939e-01 3.52701365e-01 0.00000000e+00 3.68018936e+02] [-3.52701365e-01 9.35735939e-01 0.00000000e+00 -9.75606067e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40297818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.05, Y:-97.58, Z:0.01 [[ 9.35152945e-01 3.54244223e-01 0.00000000e+00 3.68047368e+02] [-3.54244223e-01 9.35152945e-01 0.00000000e+00 -9.75757181e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42777498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.07, Y:-97.59, Z:0.01 [[ 9.34977825e-01 3.54706169e-01 0.00000000e+00 3.68074019e+02] [-3.54706169e-01 9.34977825e-01 0.00000000e+00 -9.75871770e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35369046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.10, Y:-97.60, Z:0.01 [[ 9.34865099e-01 3.55003165e-01 0.00000000e+00 3.68101052e+02] [-3.55003165e-01 9.34865099e-01 0.00000000e+00 -9.75987263e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30356628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.13, Y:-97.61, Z:0.01 [[ 9.34678004e-01 3.55495468e-01 0.00000000e+00 3.68126577e+02] [-3.55495468e-01 9.34678004e-01 0.00000000e+00 -9.76097902e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29734752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.15, Y:-97.62, Z:0.01 [[ 9.34009579e-01 3.57247961e-01 0.00000000e+00 3.68154314e+02] [-3.57247961e-01 9.34009579e-01 0.00000000e+00 -9.76241495e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41211593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.381400513 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:368.18, Y:-97.64, Z:0.01 [[ 9.33186184e-01 3.59393302e-01 0.00000000e+00 3.68184682e+02] [-3.59393302e-01 9.33186184e-01 0.00000000e+00 -9.76370299e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41588367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.21, Y:-97.65, Z:0.01 [[ 9.32282638e-01 3.61730677e-01 0.00000000e+00 3.68214825e+02] [-3.61730677e-01 9.32282638e-01 0.00000000e+00 -9.76482581e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40861600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.24, Y:-97.66, Z:0.01 [[ 9.30141744e-01 3.67200676e-01 0.00000000e+00 3.68241111e+02] [-3.67200676e-01 9.30141744e-01 0.00000000e+00 -9.76612783e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36507795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.27, Y:-97.67, Z:0.01 [[ 9.29034417e-01 3.69993313e-01 0.00000000e+00 3.68272491e+02] [-3.69993313e-01 9.29034417e-01 0.00000000e+00 -9.76725733e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31227227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.30, Y:-97.68, Z:0.01 [[ 9.27987170e-01 3.72612148e-01 0.00000000e+00 3.68302402e+02] [-3.72612148e-01 9.27987170e-01 0.00000000e+00 -9.76828521e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21075639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.33, Y:-97.69, Z:0.01 [[ 9.26634037e-01 3.75964576e-01 0.00000000e+00 3.68333474e+02] [-3.75964576e-01 9.26634037e-01 0.00000000e+00 -9.76939074e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14206447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.36, Y:-97.70, Z:0.01 [[ 9.26349549e-01 3.76664987e-01 0.00000000e+00 3.68364106e+02] [-3.76664987e-01 9.26349549e-01 0.00000000e+00 -9.77039943e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06730944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.39, Y:-97.71, Z:0.01 [[ 9.26455131e-01 3.76405221e-01 0.00000000e+00 3.68394858e+02] [-3.76405221e-01 9.26455131e-01 0.00000000e+00 -9.77139941e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05148611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.43, Y:-97.72, Z:0.01 [[ 9.26729504e-01 3.75729194e-01 0.00000000e+00 3.68426089e+02] [-3.75729194e-01 9.26729504e-01 0.00000000e+00 -9.77233086e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08094206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.46, Y:-97.73, Z:0.01 [[ 9.26988130e-01 3.75090664e-01 0.00000000e+00 3.68458129e+02] [-3.75090664e-01 9.26988130e-01 0.00000000e+00 -9.77321383e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11574909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.49, Y:-97.74, Z:0.01 [[ 9.27335049e-01 3.74232155e-01 0.00000000e+00 3.68489650e+02] [-3.74232155e-01 9.27335049e-01 0.00000000e+00 -9.77393010e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.90974258e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.52, Y:-97.75, Z:0.01 [[ 9.27622363e-01 3.73519413e-01 0.00000000e+00 3.68520499e+02] [-3.73519413e-01 9.27622363e-01 0.00000000e+00 -9.77477031e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.31604911e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.55, Y:-97.76, Z:0.01 [[ 9.28133083e-01 3.72248547e-01 0.00000000e+00 3.68552524e+02] [-3.72248547e-01 9.28133083e-01 0.00000000e+00 -9.77559161e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.15591235e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.58, Y:-97.76, Z:0.01 [[ 9.28692372e-01 3.70851019e-01 0.00000000e+00 3.68584902e+02] [-3.70851019e-01 9.28692372e-01 0.00000000e+00 -9.77639584e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.94120398e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.62, Y:-97.77, Z:0.01 [[ 9.29403811e-01 3.69064434e-01 0.00000000e+00 3.68615961e+02] [-3.69064434e-01 9.29403811e-01 0.00000000e+00 -9.77714610e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.79646694e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.65, Y:-97.78, Z:0.01 [[ 9.31095590e-01 3.64775276e-01 0.00000000e+00 3.68647358e+02] [-3.64775276e-01 9.31095590e-01 0.00000000e+00 -9.77787001e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.78810648e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.68, Y:-97.79, Z:0.01 [[ 9.31958768e-01 3.62564276e-01 0.00000000e+00 3.68678084e+02] [-3.62564276e-01 9.31958768e-01 0.00000000e+00 -9.77874214e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.99606701e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.71, Y:-97.80, Z:0.01 [[ 9.32951012e-01 3.60003345e-01 0.00000000e+00 3.68708933e+02] [-3.60003345e-01 9.32951012e-01 0.00000000e+00 -9.77966248e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.04649795e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.74, Y:-97.81, Z:0.01 [[ 9.33798385e-01 3.57799632e-01 0.00000000e+00 3.68739706e+02] [-3.57799632e-01 9.33798385e-01 0.00000000e+00 -9.78072642e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.45258952e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.77, Y:-97.82, Z:0.01 [[ 9.34901268e-01 3.54907902e-01 0.00000000e+00 3.68769935e+02] [-3.54907902e-01 9.34901268e-01 0.00000000e+00 -9.78190764e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.65717211e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.80, Y:-97.83, Z:0.01 [[ 9.34940315e-01 3.54805028e-01 0.00000000e+00 3.68798969e+02] [-3.54805028e-01 9.34940315e-01 0.00000000e+00 -9.78288815e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.05212831e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.83, Y:-97.84, Z:0.01 [[ 9.33990495e-01 3.57297852e-01 0.00000000e+00 3.68829336e+02] [-3.57297852e-01 9.33990495e-01 0.00000000e+00 -9.78396582e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.22575652e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.86, Y:-97.85, Z:0.01 [[ 9.32963127e-01 3.59971949e-01 0.00000000e+00 3.68859459e+02] [-3.59971949e-01 9.32963127e-01 0.00000000e+00 -9.78494764e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.09120996e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.89, Y:-97.86, Z:0.01 [[ 9.31828840e-01 3.62898076e-01 0.00000000e+00 3.68888897e+02] [-3.62898076e-01 9.31828840e-01 0.00000000e+00 -9.78587758e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.43301841e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.92, Y:-97.87, Z:0.01 [[ 9.30748402e-01 3.65660241e-01 0.00000000e+00 3.68918360e+02] [-3.65660241e-01 9.30748402e-01 0.00000000e+00 -9.78682428e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.28910445e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.95, Y:-97.88, Z:0.01 [[ 9.29843886e-01 3.67954274e-01 0.00000000e+00 3.68948407e+02] [-3.67954274e-01 9.29843886e-01 0.00000000e+00 -9.78779662e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06986020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.161400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:368.98, Y:-97.89, Z:0.01 [[ 9.28773897e-01 3.70646798e-01 0.00000000e+00 3.68978242e+02] [-3.70646798e-01 9.28773897e-01 0.00000000e+00 -9.78885941e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32304623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.01, Y:-97.90, Z:0.01 [[ 9.28422303e-01 3.71526618e-01 0.00000000e+00 3.69009545e+02] [-3.71526618e-01 9.28422303e-01 0.00000000e+00 -9.78983104e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40747123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.04, Y:-97.91, Z:0.01 [[ 9.28305249e-01 3.71818993e-01 0.00000000e+00 3.69039091e+02] [-3.71818993e-01 9.28305249e-01 0.00000000e+00 -9.79066709e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36037723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.07, Y:-97.92, Z:0.01 [[ 9.28233055e-01 3.71999188e-01 0.00000000e+00 3.69070545e+02] [-3.71999188e-01 9.28233055e-01 0.00000000e+00 -9.79153466e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31608351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.10, Y:-97.92, Z:0.01 [[ 9.28125935e-01 3.72266369e-01 0.00000000e+00 3.69102593e+02] [-3.72266369e-01 9.28125935e-01 0.00000000e+00 -9.79247169e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30889550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.13, Y:-97.93, Z:0.01 [[ 9.28136558e-01 3.72239881e-01 0.00000000e+00 3.69134168e+02] [-3.72239881e-01 9.28136558e-01 0.00000000e+00 -9.79329864e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40070431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.16, Y:-97.94, Z:0.01 [[ 9.28224670e-01 3.72020109e-01 0.00000000e+00 3.69164690e+02] [-3.72020109e-01 9.28224670e-01 0.00000000e+00 -9.79412233e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33706775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.19, Y:-97.95, Z:0.01 [[ 9.28230598e-01 3.72005317e-01 0.00000000e+00 3.69194220e+02] [-3.72005317e-01 9.28230598e-01 0.00000000e+00 -9.79483679e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31561329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.22, Y:-97.96, Z:0.01 [[ 9.28303757e-01 3.71822720e-01 0.00000000e+00 3.69222543e+02] [-3.71822720e-01 9.28303757e-01 0.00000000e+00 -9.79556954e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29963711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.25, Y:-97.96, Z:0.01 [[ 9.28395006e-01 3.71594823e-01 0.00000000e+00 3.69250832e+02] [-3.71594823e-01 9.28395006e-01 0.00000000e+00 -9.79629962e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32348776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.28, Y:-97.97, Z:0.01 [[ 9.28508547e-01 3.71311026e-01 0.00000000e+00 3.69278584e+02] [-3.71311026e-01 9.28508547e-01 0.00000000e+00 -9.79697705e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27096972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.31, Y:-97.98, Z:0.01 [[ 9.28848767e-01 3.70459132e-01 0.00000000e+00 3.69308184e+02] [-3.70459132e-01 9.28848767e-01 0.00000000e+00 -9.79759155e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15218668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.34, Y:-97.98, Z:0.01 [[ 9.29062536e-01 3.69922700e-01 0.00000000e+00 3.69336722e+02] [-3.69922700e-01 9.29062536e-01 0.00000000e+00 -9.79818828e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09782324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.55140051300003 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:369.37, Y:-97.99, Z:0.01 [[ 9.28995399e-01 3.70091271e-01 0.00000000e+00 3.69365412e+02] [-3.70091271e-01 9.28995399e-01 0.00000000e+00 -9.79873812e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15082190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.40, Y:-98.00, Z:0.01 [[ 9.28833307e-01 3.70497893e-01 0.00000000e+00 3.69396299e+02] [-3.70497893e-01 9.28833307e-01 0.00000000e+00 -9.79952293e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32687407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.43, Y:-98.00, Z:0.01 [[ 9.28695345e-01 3.70843573e-01 0.00000000e+00 3.69425998e+02] [-3.70843573e-01 9.28695345e-01 0.00000000e+00 -9.80022112e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39234739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.45, Y:-98.01, Z:0.01 [[ 9.28862860e-01 3.70423795e-01 0.00000000e+00 3.69454694e+02] [-3.70423795e-01 9.28862860e-01 0.00000000e+00 -9.80068295e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29677481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.48, Y:-98.01, Z:0.01 [[ 9.28929671e-01 3.70256217e-01 0.00000000e+00 3.69481594e+02] [-3.70256217e-01 9.28929671e-01 0.00000000e+00 -9.80145068e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15783543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.51, Y:-98.02, Z:0.01 [[ 9.28972580e-01 3.70148546e-01 0.00000000e+00 3.69509769e+02] [-3.70148546e-01 9.28972580e-01 0.00000000e+00 -9.80229095e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13381800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.54, Y:-98.03, Z:0.01 [[ 9.28986522e-01 3.70113554e-01 0.00000000e+00 3.69537389e+02] [-3.70113554e-01 9.28986522e-01 0.00000000e+00 -9.80300470e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08726153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.57, Y:-98.03, Z:0.01 [[ 9.28627192e-01 3.71014203e-01 0.00000000e+00 3.69566929e+02] [-3.71014203e-01 9.28627192e-01 0.00000000e+00 -9.80324501e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20787638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.59, Y:-98.04, Z:0.01 [[ 9.28286381e-01 3.71866098e-01 0.00000000e+00 3.69594210e+02] [-3.71866098e-01 9.28286381e-01 0.00000000e+00 -9.80372388e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24136800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.62, Y:-98.04, Z:0.01 [[ 9.27861454e-01 3.72925090e-01 0.00000000e+00 3.69622261e+02] [-3.72925090e-01 9.27861454e-01 0.00000000e+00 -9.80429750e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32802860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.65, Y:-98.05, Z:0.01 [[ 9.27878111e-01 3.72883644e-01 0.00000000e+00 3.69650314e+02] [-3.72883644e-01 9.27878111e-01 0.00000000e+00 -9.80515631e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32802860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.68, Y:-98.06, Z:0.01 [[ 9.27319133e-01 3.74271594e-01 0.00000000e+00 3.69677468e+02] [-3.74271594e-01 9.27319133e-01 0.00000000e+00 -9.80574251e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28498620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.911400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:369.71, Y:-98.06, Z:0.01 [[ 9.26769794e-01 3.75629802e-01 0.00000000e+00 3.69705949e+02] [-3.75629802e-01 9.26769794e-01 0.00000000e+00 -9.80631194e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15528425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.74, Y:-98.06, Z:0.01 [[ 9.26470230e-01 3.76368056e-01 0.00000000e+00 3.69735584e+02] [-3.76368056e-01 9.26470230e-01 0.00000000e+00 -9.80648562e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.92957116e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.76, Y:-98.07, Z:0.01 [[ 9.26770621e-01 3.75627762e-01 0.00000000e+00 3.69762088e+02] [-3.75627762e-01 9.26770621e-01 0.00000000e+00 -9.80699556e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02184054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.79, Y:-98.08, Z:0.01 [[ 9.27245358e-01 3.74454332e-01 0.00000000e+00 3.69789624e+02] [-3.74454332e-01 9.27245358e-01 0.00000000e+00 -9.80751436e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11806523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.82, Y:-98.08, Z:0.01 [[ 9.27859198e-01 3.72930702e-01 0.00000000e+00 3.69815907e+02] [-3.72930702e-01 9.27859198e-01 0.00000000e+00 -9.80800769e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17000206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.84, Y:-98.09, Z:0.01 [[ 9.29388450e-01 3.69103114e-01 0.00000000e+00 3.69844715e+02] [-3.69103114e-01 9.29388450e-01 0.00000000e+00 -9.80852004e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31212832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.87, Y:-98.09, Z:0.01 [[ 9.30285770e-01 3.66835639e-01 0.00000000e+00 3.69872095e+02] [-3.66835639e-01 9.30285770e-01 0.00000000e+00 -9.80925258e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26224319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.90, Y:-98.10, Z:0.01 [[ 9.31227555e-01 3.64438253e-01 0.00000000e+00 3.69898076e+02] [-3.64438253e-01 9.31227555e-01 0.00000000e+00 -9.80998826e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12714848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.92, Y:-98.11, Z:0.01 [[ 9.32793302e-01 3.60411786e-01 0.00000000e+00 3.69924139e+02] [-3.60411786e-01 9.32793302e-01 0.00000000e+00 -9.81064071e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09159203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.95, Y:-98.12, Z:0.01 [[ 9.33334046e-01 3.59009133e-01 0.00000000e+00 3.69950949e+02] [-3.59009133e-01 9.33334046e-01 0.00000000e+00 -9.81150514e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11473700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.211400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:369.98, Y:-98.12, Z:0.01 [[ 9.33735679e-01 3.57963241e-01 0.00000000e+00 3.69976377e+02] [-3.57963241e-01 9.33735679e-01 0.00000000e+00 -9.81243986e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02971228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.00, Y:-98.13, Z:0.01 [[ 9.34013712e-01 3.57237155e-01 0.00000000e+00 3.70002349e+02] [-3.57237155e-01 9.34013712e-01 0.00000000e+00 -9.81339260e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02007353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.03, Y:-98.14, Z:0.01 [[ 9.34023274e-01 3.57212155e-01 0.00000000e+00 3.70028442e+02] [-3.57212155e-01 9.34023274e-01 0.00000000e+00 -9.81433113e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06487541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.05, Y:-98.15, Z:0.01 [[ 9.33326160e-01 3.59029634e-01 0.00000000e+00 3.70054881e+02] [-3.59029634e-01 9.33326160e-01 0.00000000e+00 -9.81541543e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.58830609e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.08, Y:-98.16, Z:0.01 [[ 9.32965367e-01 3.59966142e-01 0.00000000e+00 3.70081348e+02] [-3.59966142e-01 9.32965367e-01 0.00000000e+00 -9.81639550e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.79850311e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.11, Y:-98.18, Z:0.01 [[ 9.32663820e-01 3.60746725e-01 0.00000000e+00 3.70107696e+02] [-3.60746725e-01 9.32663820e-01 0.00000000e+00 -9.81772295e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.79755344e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.13, Y:-98.19, Z:0.01 [[ 9.32699186e-01 3.60655277e-01 0.00000000e+00 3.70134759e+02] [-3.60655277e-01 9.32699186e-01 0.00000000e+00 -9.81881616e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08557977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.421400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:370.16, Y:-98.20, Z:0.01 [[ 9.32756467e-01 3.60507106e-01 0.00000000e+00 3.70160538e+02] [-3.60507106e-01 9.32756467e-01 0.00000000e+00 -9.81991688e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08403578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.19, Y:-98.21, Z:0.01 [[ 9.32975704e-01 3.59939350e-01 0.00000000e+00 3.70186942e+02] [-3.59939350e-01 9.32975704e-01 0.00000000e+00 -9.82099417e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01796958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.21, Y:-98.22, Z:0.01 [[ 9.32684621e-01 3.60692941e-01 0.00000000e+00 3.70212384e+02] [-3.60692941e-01 9.32684621e-01 0.00000000e+00 -9.82236414e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.09573020e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.24, Y:-98.23, Z:0.01 [[ 9.32067276e-01 3.62285237e-01 0.00000000e+00 3.70238727e+02] [-3.62285237e-01 9.32067276e-01 0.00000000e+00 -9.82349388e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.45693151e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.27, Y:-98.25, Z:0.01 [[ 9.31244321e-01 3.64395408e-01 0.00000000e+00 3.70265068e+02] [-3.64395408e-01 9.31244321e-01 0.00000000e+00 -9.82461859e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.63469724e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.29, Y:-98.26, Z:0.01 [[ 9.30294573e-01 3.66813314e-01 0.00000000e+00 3.70291137e+02] [-3.66813314e-01 9.30294573e-01 0.00000000e+00 -9.82566965e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.37576441e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.32, Y:-98.27, Z:0.01 [[ 9.28253478e-01 3.71948223e-01 0.00000000e+00 3.70317950e+02] [-3.71948223e-01 9.28253478e-01 0.00000000e+00 -9.82676177e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.99823047e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.35, Y:-98.28, Z:0.01 [[ 9.27166708e-01 3.74649031e-01 0.00000000e+00 3.70345104e+02] [-3.74649031e-01 9.27166708e-01 0.00000000e+00 -9.82766644e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.11256185e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.37, Y:-98.29, Z:0.01 [[ 9.26044018e-01 3.77415522e-01 0.00000000e+00 3.70372740e+02] [-3.77415522e-01 9.26044018e-01 0.00000000e+00 -9.82861385e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.08613846e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.40, Y:-98.29, Z:0.01 [[ 9.24954654e-01 3.80077477e-01 0.00000000e+00 3.70399345e+02] [-3.80077477e-01 9.24954654e-01 0.00000000e+00 -9.82947788e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.97251212e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.43, Y:-98.30, Z:0.01 [[ 9.22978395e-01 3.84851766e-01 0.00000000e+00 3.70427144e+02] [-3.84851766e-01 9.22978395e-01 0.00000000e+00 -9.83015302e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.27785026e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.46, Y:-98.31, Z:0.01 [[ 9.22313539e-01 3.86442409e-01 0.00000000e+00 3.70455718e+02] [-3.86442409e-01 9.22313539e-01 0.00000000e+00 -9.83081214e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.49749788e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.48, Y:-98.31, Z:0.00 [[ 9.22029800e-01 3.87118908e-01 0.00000000e+00 3.70484065e+02] [-3.87118908e-01 9.22029800e-01 0.00000000e+00 -9.83149170e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86233823e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.51, Y:-98.32, Z:0.00 [[ 9.22094214e-01 3.86965450e-01 0.00000000e+00 3.70510991e+02] [-3.86965450e-01 9.22094214e-01 0.00000000e+00 -9.83221675e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36645303e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.54, Y:-98.33, Z:0.00 [[ 9.23662255e-01 3.83207565e-01 0.00000000e+00 3.70539357e+02] [-3.83207565e-01 9.23662255e-01 0.00000000e+00 -9.83292788e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.38605773e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.57, Y:-98.34, Z:0.00 [[ 9.25139154e-01 3.79628167e-01 0.00000000e+00 3.70566345e+02] [-3.79628167e-01 9.25139154e-01 0.00000000e+00 -9.83362576e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10125581e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.59, Y:-98.34, Z:0.00 [[ 9.26797050e-01 3.75562549e-01 0.00000000e+00 3.70594536e+02] [-3.75562549e-01 9.26797050e-01 0.00000000e+00 -9.83441098e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68068003e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.62, Y:-98.35, Z:0.00 [[ 9.28476174e-01 3.71391970e-01 0.00000000e+00 3.70620624e+02] [-3.71391970e-01 9.28476174e-01 0.00000000e+00 -9.83526180e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37053837e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.65, Y:-98.36, Z:0.01 [[ 9.31392539e-01 3.64016399e-01 0.00000000e+00 3.70649477e+02] [-3.64016399e-01 9.31392539e-01 0.00000000e+00 -9.83646961e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.16492888e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.68, Y:-98.37, Z:0.01 [[ 9.32491847e-01 3.61191023e-01 0.00000000e+00 3.70677237e+02] [-3.61191023e-01 9.32491847e-01 0.00000000e+00 -9.83744450e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.34608869e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.71, Y:-98.38, Z:0.01 [[ 9.33258066e-01 3.59206602e-01 0.00000000e+00 3.70705556e+02] [-3.59206602e-01 9.33258066e-01 0.00000000e+00 -9.83842995e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.29574593e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.73, Y:-98.39, Z:0.01 [[ 9.33751879e-01 3.57920980e-01 0.00000000e+00 3.70734917e+02] [-3.57920980e-01 9.33751879e-01 0.00000000e+00 -9.83942558e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.12419925e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.76, Y:-98.40, Z:0.01 [[ 9.33831950e-01 3.57712020e-01 0.00000000e+00 3.70764080e+02] [-3.57712020e-01 9.33831950e-01 0.00000000e+00 -9.84043069e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.65728456e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.79, Y:-98.41, Z:0.01 [[ 9.33516798e-01 3.58533663e-01 0.00000000e+00 3.70791266e+02] [-3.58533663e-01 9.33516798e-01 0.00000000e+00 -9.84122767e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10217064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.82, Y:-98.42, Z:0.01 [[ 9.33069655e-01 3.59695732e-01 0.00000000e+00 3.70818673e+02] [-3.59695732e-01 9.33069655e-01 0.00000000e+00 -9.84196201e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32507921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.85, Y:-98.43, Z:0.01 [[ 9.32563715e-01 3.61005425e-01 0.00000000e+00 3.70846919e+02] [-3.61005425e-01 9.32563715e-01 0.00000000e+00 -9.84275547e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47181242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.88, Y:-98.44, Z:0.01 [[ 9.32233113e-01 3.61858290e-01 0.00000000e+00 3.70876201e+02] [-3.61858290e-01 9.32233113e-01 0.00000000e+00 -9.84373977e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33981724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.90, Y:-98.45, Z:0.01 [[ 9.32535771e-01 3.61077603e-01 0.00000000e+00 3.70903834e+02] [-3.61077603e-01 9.32535771e-01 0.00000000e+00 -9.84475040e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11307246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.93, Y:-98.46, Z:0.01 [[ 9.33130025e-01 3.59539088e-01 0.00000000e+00 3.70930906e+02] [-3.59539088e-01 9.33130025e-01 0.00000000e+00 -9.84574373e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05269951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.96, Y:-98.47, Z:0.01 [[ 9.34298874e-01 3.56490693e-01 0.00000000e+00 3.70960917e+02] [-3.56490693e-01 9.34298874e-01 0.00000000e+00 -9.84714514e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21664199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.99, Y:-98.48, Z:0.01 [[ 9.34632194e-01 3.55615892e-01 0.00000000e+00 3.70990274e+02] [-3.55615892e-01 9.34632194e-01 0.00000000e+00 -9.84838812e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22213762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.02, Y:-98.50, Z:0.01 [[ 9.34906240e-01 3.54894806e-01 0.00000000e+00 3.71019985e+02] [-3.54894806e-01 9.34906240e-01 0.00000000e+00 -9.84960543e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25103998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.05, Y:-98.51, Z:0.01 [[ 9.34937581e-01 3.54812232e-01 0.00000000e+00 3.71050238e+02] [-3.54812232e-01 9.34937581e-01 0.00000000e+00 -9.85087023e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16129791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.08, Y:-98.53, Z:0.01 [[ 9.34375727e-01 3.56289210e-01 0.00000000e+00 3.71079665e+02] [-3.56289210e-01 9.34375727e-01 0.00000000e+00 -9.85255325e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.36383485e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.11, Y:-98.54, Z:0.01 [[ 9.33751397e-01 3.57922238e-01 0.00000000e+00 3.71109234e+02] [-3.57922238e-01 9.33751397e-01 0.00000000e+00 -9.85387594e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.83757402e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.14, Y:-98.55, Z:0.01 [[ 9.33065740e-01 3.59705887e-01 0.00000000e+00 3.71139987e+02] [-3.59705887e-01 9.33065740e-01 0.00000000e+00 -9.85518755e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.83422127e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.501400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:371.17, Y:-98.56, Z:0.01 [[ 9.32330052e-01 3.61608455e-01 0.00000000e+00 3.71169772e+02] [-3.61608455e-01 9.32330052e-01 0.00000000e+00 -9.85647460e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.41351896e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.20, Y:-98.58, Z:0.00 [[ 9.30906541e-01 3.65257460e-01 0.00000000e+00 3.71198758e+02] [-3.65257460e-01 9.30906541e-01 0.00000000e+00 -9.85796674e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.80458182e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.23, Y:-98.59, Z:0.00 [[ 9.30029577e-01 3.67484675e-01 0.00000000e+00 3.71228801e+02] [-3.67484675e-01 9.30029577e-01 0.00000000e+00 -9.85921977e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52223222e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.591400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:371.26, Y:-98.61, Z:0.00 [[ 9.28715866e-01 3.70792180e-01 0.00000000e+00 3.71258251e+02] [-3.70792180e-01 9.28715866e-01 0.00000000e+00 -9.86062919e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.66511554e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.29, Y:-98.62, Z:0.00 [[ 9.28319584e-01 3.71783202e-01 0.00000000e+00 3.71289424e+02] [-3.71783202e-01 9.28319584e-01 0.00000000e+00 -9.86175216e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.90085265e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.32, Y:-98.63, Z:0.00 [[ 9.28016386e-01 3.72539377e-01 0.00000000e+00 3.71320452e+02] [-3.72539377e-01 9.28016386e-01 0.00000000e+00 -9.86293884e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.42412010e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.35, Y:-98.64, Z:0.00 [[ 9.27920271e-01 3.72778715e-01 0.00000000e+00 3.71350011e+02] [-3.72778715e-01 9.27920271e-01 0.00000000e+00 -9.86410304e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62442225e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.38, Y:-98.65, Z:0.00 [[ 9.27855342e-01 3.72940296e-01 0.00000000e+00 3.71379808e+02] [-3.72940296e-01 9.27855342e-01 0.00000000e+00 -9.86527117e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90093276e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.41, Y:-98.67, Z:0.00 [[ 9.27560592e-01 3.73672782e-01 0.00000000e+00 3.71408750e+02] [-3.73672782e-01 9.27560592e-01 0.00000000e+00 -9.86650757e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54858758e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.44, Y:-98.68, Z:0.00 [[ 9.27495106e-01 3.73835296e-01 0.00000000e+00 3.71440683e+02] [-3.73835296e-01 9.27495106e-01 0.00000000e+00 -9.86751096e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54858758e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.47, Y:-98.69, Z:0.01 [[ 9.27005321e-01 3.75048177e-01 0.00000000e+00 3.71470673e+02] [-3.75048177e-01 9.27005321e-01 0.00000000e+00 -9.86852690e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.34789832e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.50, Y:-98.69, Z:0.01 [[ 9.26269773e-01 3.76861126e-01 0.00000000e+00 3.71501465e+02] [-3.76861126e-01 9.26269773e-01 0.00000000e+00 -9.86947516e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.97886617e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.53, Y:-98.70, Z:0.01 [[ 9.24554051e-01 3.81050925e-01 0.00000000e+00 3.71533665e+02] [-3.81050925e-01 9.24554051e-01 0.00000000e+00 -9.87007220e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.71022102e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.57, Y:-98.71, Z:0.01 [[ 9.23614579e-01 3.83322461e-01 0.00000000e+00 3.71565793e+02] [-3.83322461e-01 9.23614579e-01 0.00000000e+00 -9.87077280e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.59457228e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.60, Y:-98.72, Z:0.01 [[ 9.23049310e-01 3.84681649e-01 0.00000000e+00 3.71598051e+02] [-3.84681649e-01 9.23049310e-01 0.00000000e+00 -9.87150697e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.63805651e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.63, Y:-98.72, Z:0.01 [[ 9.22921772e-01 3.84987535e-01 0.00000000e+00 3.71629358e+02] [-3.84987535e-01 9.22921772e-01 0.00000000e+00 -9.87227894e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.84606955e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.66, Y:-98.73, Z:0.01 [[ 9.24353980e-01 3.81536001e-01 0.00000000e+00 3.71661274e+02] [-3.81536001e-01 9.24353980e-01 0.00000000e+00 -9.87295828e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22185849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.69, Y:-98.74, Z:0.01 [[ 9.25578501e-01 3.78555728e-01 0.00000000e+00 3.71692156e+02] [-3.78555728e-01 9.25578501e-01 0.00000000e+00 -9.87381478e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30151407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.72, Y:-98.75, Z:0.01 [[ 9.27008093e-01 3.75041325e-01 0.00000000e+00 3.71722649e+02] [-3.75041325e-01 9.27008093e-01 0.00000000e+00 -9.87471744e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39739758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.75, Y:-98.76, Z:0.01 [[ 9.28400456e-01 3.71581207e-01 0.00000000e+00 3.71754278e+02] [-3.71581207e-01 9.28400456e-01 0.00000000e+00 -9.87567082e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46347464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.79, Y:-98.76, Z:0.01 [[ 9.30604973e-01 3.66025115e-01 0.00000000e+00 3.71786533e+02] [-3.66025115e-01 9.30604973e-01 0.00000000e+00 -9.87648097e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45435732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.82, Y:-98.77, Z:0.01 [[ 9.31235067e-01 3.64419057e-01 0.00000000e+00 3.71818529e+02] [-3.64419057e-01 9.31235067e-01 0.00000000e+00 -9.87732416e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37769673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.85, Y:-98.78, Z:0.01 [[ 9.31437890e-01 3.63900338e-01 0.00000000e+00 3.71849101e+02] [-3.63900338e-01 9.31437890e-01 0.00000000e+00 -9.87821679e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25871372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.88, Y:-98.79, Z:0.01 [[ 9.30824967e-01 3.65465292e-01 0.00000000e+00 3.71879129e+02] [-3.65465292e-01 9.30824967e-01 0.00000000e+00 -9.87930488e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09753305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.91, Y:-98.80, Z:0.01 [[ 9.30125196e-01 3.67242589e-01 0.00000000e+00 3.71910257e+02] [-3.67242589e-01 9.30125196e-01 0.00000000e+00 -9.88039353e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18712433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.94, Y:-98.81, Z:0.01 [[ 9.29414721e-01 3.69036957e-01 0.00000000e+00 3.71941687e+02] [-3.69036957e-01 9.29414721e-01 0.00000000e+00 -9.88146644e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24598460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.97, Y:-98.83, Z:0.01 [[ 9.28684718e-01 3.70870186e-01 0.00000000e+00 3.71972600e+02] [-3.70870186e-01 9.28684718e-01 0.00000000e+00 -9.88251692e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35230995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.00, Y:-98.83, Z:0.01 [[ 9.27279733e-01 3.74369197e-01 0.00000000e+00 3.72004217e+02] [-3.74369197e-01 9.27279733e-01 0.00000000e+00 -9.88343396e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24466226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.04, Y:-98.84, Z:0.01 [[ 9.26571640e-01 3.76118327e-01 0.00000000e+00 3.72036589e+02] [-3.76118327e-01 9.26571640e-01 0.00000000e+00 -9.88426955e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16931010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.07, Y:-98.85, Z:0.01 [[ 9.25815493e-01 3.77975756e-01 0.00000000e+00 3.72067530e+02] [-3.77975756e-01 9.25815493e-01 0.00000000e+00 -9.88500688e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14425784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.10, Y:-98.86, Z:0.01 [[ 9.25125273e-01 3.79661994e-01 0.00000000e+00 3.72098986e+02] [-3.79661994e-01 9.25125273e-01 0.00000000e+00 -9.88588576e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18153523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.13, Y:-98.87, Z:0.01 [[ 9.23993003e-01 3.82409375e-01 0.00000000e+00 3.72130074e+02] [-3.82409375e-01 9.23993003e-01 0.00000000e+00 -9.88688576e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09951800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.16, Y:-98.88, Z:0.01 [[ 9.23573078e-01 3.83422443e-01 0.00000000e+00 3.72160238e+02] [-3.83422443e-01 9.23573078e-01 0.00000000e+00 -9.88773335e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.94777131e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.19, Y:-98.89, Z:0.01 [[ 9.23175013e-01 3.84379884e-01 0.00000000e+00 3.72191316e+02] [-3.84379884e-01 9.23175013e-01 0.00000000e+00 -9.88852002e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.25638286e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.22, Y:-98.89, Z:0.01 [[ 9.22907383e-01 3.85022028e-01 0.00000000e+00 3.72222404e+02] [-3.85022028e-01 9.22907383e-01 0.00000000e+00 -9.88935022e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.82899452e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.25, Y:-98.90, Z:0.01 [[ 9.23105833e-01 3.84545993e-01 0.00000000e+00 3.72250802e+02] [-3.84545993e-01 9.23105833e-01 0.00000000e+00 -9.89025715e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.10907798e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.28, Y:-98.91, Z:0.01 [[ 9.23350969e-01 3.83957014e-01 0.00000000e+00 3.72279123e+02] [-3.83957014e-01 9.23350969e-01 0.00000000e+00 -9.89100682e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02627251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.31, Y:-98.92, Z:0.01 [[ 9.23622908e-01 3.83302391e-01 0.00000000e+00 3.72307000e+02] [-3.83302391e-01 9.23622908e-01 0.00000000e+00 -9.89154629e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.78691526e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.34, Y:-98.92, Z:0.01 [[ 9.23778916e-01 3.82926251e-01 0.00000000e+00 3.72337634e+02] [-3.82926251e-01 9.23778916e-01 0.00000000e+00 -9.89211500e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.74729135e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.37, Y:-98.93, Z:0.01 [[ 9.23834385e-01 3.82792410e-01 0.00000000e+00 3.72369179e+02] [-3.82792410e-01 9.23834385e-01 0.00000000e+00 -9.89273054e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.83711152e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.40, Y:-98.94, Z:0.01 [[ 9.23710018e-01 3.83092421e-01 0.00000000e+00 3.72400874e+02] [-3.83092421e-01 9.23710018e-01 0.00000000e+00 -9.89360383e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02066094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.43, Y:-98.94, Z:0.01 [[ 9.23628753e-01 3.83288307e-01 0.00000000e+00 3.72431743e+02] [-3.83288307e-01 9.23628753e-01 0.00000000e+00 -9.89434438e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21454908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.46, Y:-98.95, Z:0.01 [[ 9.24231403e-01 3.81832835e-01 0.00000000e+00 3.72459631e+02] [-3.81832835e-01 9.24231403e-01 0.00000000e+00 -9.89464480e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46033136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.49, Y:-98.95, Z:0.02 [[ 9.24736848e-01 3.80607096e-01 0.00000000e+00 3.72487659e+02] [-3.80607096e-01 9.24736848e-01 0.00000000e+00 -9.89536492e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51383416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.52, Y:-98.96, Z:0.02 [[ 9.25375024e-01 3.79052851e-01 0.00000000e+00 3.72515145e+02] [-3.79052851e-01 9.25375024e-01 0.00000000e+00 -9.89612968e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58256476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.54, Y:-98.97, Z:0.02 [[ 9.26071407e-01 3.77348312e-01 0.00000000e+00 3.72542842e+02] [-3.77348312e-01 9.26071407e-01 0.00000000e+00 -9.89687796e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58063510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.57, Y:-98.97, Z:0.01 [[ 9.27596666e-01 3.73583224e-01 0.00000000e+00 3.72572972e+02] [-3.73583224e-01 9.27596666e-01 0.00000000e+00 -9.89731844e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45963968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.60, Y:-98.98, Z:0.01 [[ 9.28232468e-01 3.72000653e-01 0.00000000e+00 3.72601267e+02] [-3.72000653e-01 9.28232468e-01 0.00000000e+00 -9.89797270e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42298238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.63, Y:-98.99, Z:0.01 [[ 9.28663657e-01 3.70922919e-01 0.00000000e+00 3.72630518e+02] [-3.70922919e-01 9.28663657e-01 0.00000000e+00 -9.89870517e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44496616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.66, Y:-98.99, Z:0.01 [[ 9.28990468e-01 3.70103648e-01 0.00000000e+00 3.72660158e+02] [-3.70103648e-01 9.28990468e-01 0.00000000e+00 -9.89945044e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44617316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.69, Y:-99.00, Z:0.02 [[ 9.29753037e-01 3.68183773e-01 0.00000000e+00 3.72688910e+02] [-3.68183773e-01 9.29753037e-01 0.00000000e+00 -9.89996444e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50669011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.72, Y:-99.01, Z:0.02 [[ 9.30183289e-01 3.67095422e-01 0.00000000e+00 3.72717507e+02] [-3.67095422e-01 9.30183289e-01 0.00000000e+00 -9.90070528e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57934565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.75, Y:-99.01, Z:0.02 [[ 9.30706351e-01 3.65767259e-01 0.00000000e+00 3.72745160e+02] [-3.65767259e-01 9.30706351e-01 0.00000000e+00 -9.90145893e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57999583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.77, Y:-99.02, Z:0.01 [[ 9.32145911e-01 3.62082864e-01 0.00000000e+00 3.72773103e+02] [-3.62082864e-01 9.32145911e-01 0.00000000e+00 -9.90221138e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37995228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.80, Y:-99.03, Z:0.01 [[ 9.33071606e-01 3.59690671e-01 0.00000000e+00 3.72799682e+02] [-3.59690671e-01 9.33071606e-01 0.00000000e+00 -9.90289835e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21389494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.83, Y:-99.04, Z:0.01 [[ 9.33965279e-01 3.57363760e-01 0.00000000e+00 3.72827901e+02] [-3.57363760e-01 9.33965279e-01 0.00000000e+00 -9.90360121e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22563736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.181400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:372.85, Y:-99.04, Z:0.01 [[ 9.34585165e-01 3.55739469e-01 0.00000000e+00 3.72854502e+02] [-3.55739469e-01 9.34585165e-01 0.00000000e+00 -9.90431403e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23606538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.88, Y:-99.05, Z:0.01 [[ 9.35469420e-01 3.53407646e-01 0.00000000e+00 3.72883108e+02] [-3.53407646e-01 9.35469420e-01 0.00000000e+00 -9.90488103e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48698362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.91, Y:-99.06, Z:0.02 [[ 9.35742426e-01 3.52684154e-01 0.00000000e+00 3.72911576e+02] [-3.52684154e-01 9.35742426e-01 0.00000000e+00 -9.90561644e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51707986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.94, Y:-99.06, Z:0.01 [[ 9.36054046e-01 3.51856255e-01 0.00000000e+00 3.72938537e+02] [-3.51856255e-01 9.36054046e-01 0.00000000e+00 -9.90626360e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39738331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.97, Y:-99.07, Z:0.01 [[ 9.36450386e-01 3.50800049e-01 0.00000000e+00 3.72965523e+02] [-3.50800049e-01 9.36450386e-01 0.00000000e+00 -9.90693848e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20463039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.99, Y:-99.08, Z:0.01 [[ 9.38236790e-01 3.45993823e-01 0.00000000e+00 3.72992227e+02] [-3.45993823e-01 9.38236790e-01 0.00000000e+00 -9.90760308e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21933520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.36140051300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:373.02, Y:-99.08, Z:0.01 [[ 9.39704668e-01 3.41987043e-01 0.00000000e+00 3.73019636e+02] [-3.41987043e-01 9.39704668e-01 0.00000000e+00 -9.90846588e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37588929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.05, Y:-99.09, Z:0.01 [[ 9.43219714e-01 3.32169490e-01 0.00000000e+00 3.73049253e+02] [-3.32169490e-01 9.43219714e-01 0.00000000e+00 -9.90934479e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41931273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.421400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:373.08, Y:-99.10, Z:0.01 [[ 9.44803602e-01 3.27637227e-01 0.00000000e+00 3.73076541e+02] [-3.27637227e-01 9.44803602e-01 0.00000000e+00 -9.91035798e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34849538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.10, Y:-99.11, Z:0.01 [[ 9.46145765e-01 3.23740934e-01 0.00000000e+00 3.73104747e+02] [-3.23740934e-01 9.46145765e-01 0.00000000e+00 -9.91136570e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38288508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.481400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:373.13, Y:-99.12, Z:0.01 [[ 9.47030918e-01 3.21142400e-01 0.00000000e+00 3.73132168e+02] [-3.21142400e-01 9.47030918e-01 0.00000000e+00 -9.91245320e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46521154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.16, Y:-99.13, Z:0.02 [[ 9.47665032e-01 3.19266327e-01 0.00000000e+00 3.73161903e+02] [-3.19266327e-01 9.47665032e-01 0.00000000e+00 -9.91344724e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61074512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.19, Y:-99.15, Z:0.02 [[ 9.47770413e-01 3.18953356e-01 0.00000000e+00 3.73190139e+02] [-3.18953356e-01 9.47770413e-01 0.00000000e+00 -9.91463398e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57809205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.571400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:373.22, Y:-99.16, Z:0.02 [[ 9.47302796e-01 3.20339528e-01 0.00000000e+00 3.73219549e+02] [-3.20339528e-01 9.47302796e-01 0.00000000e+00 -9.91590098e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56043320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.25, Y:-99.17, Z:0.02 [[ 9.46763724e-01 3.21929264e-01 0.00000000e+00 3.73248704e+02] [-3.21929264e-01 9.46763724e-01 0.00000000e+00 -9.91708916e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52813585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.28, Y:-99.19, Z:0.01 [[ 9.45702473e-01 3.25033586e-01 0.00000000e+00 3.73276163e+02] [-3.25033586e-01 9.45702473e-01 0.00000000e+00 -9.91850108e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31555824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.30, Y:-99.19, Z:0.01 [[ 9.45709852e-01 3.25012117e-01 0.00000000e+00 3.73304956e+02] [-3.25012117e-01 9.45709852e-01 0.00000000e+00 -9.91940167e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31555824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.33, Y:-99.20, Z:0.01 [[ 9.45315783e-01 3.26156513e-01 0.00000000e+00 3.73331517e+02] [-3.26156513e-01 9.45315783e-01 0.00000000e+00 -9.92044284e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21891285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.36, Y:-99.22, Z:0.01 [[ 9.44951777e-01 3.27209627e-01 0.00000000e+00 3.73361978e+02] [-3.27209627e-01 9.44951777e-01 0.00000000e+00 -9.92163276e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24188333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.39, Y:-99.23, Z:0.01 [[ 9.44664714e-01 3.28037464e-01 0.00000000e+00 3.73391803e+02] [-3.28037464e-01 9.44664714e-01 0.00000000e+00 -9.92280649e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32980349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.42, Y:-99.24, Z:0.01 [[ 9.44747894e-01 3.27797828e-01 0.00000000e+00 3.73420654e+02] [-3.27797828e-01 9.44747894e-01 0.00000000e+00 -9.92414860e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46286401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.45, Y:-99.25, Z:0.01 [[ 9.45004960e-01 3.27055997e-01 0.00000000e+00 3.73451828e+02] [-3.27055997e-01 9.45004960e-01 0.00000000e+00 -9.92537030e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47816155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.48, Y:-99.27, Z:0.01 [[ 9.45306138e-01 3.26184466e-01 0.00000000e+00 3.73482420e+02] [-3.26184466e-01 9.45306138e-01 0.00000000e+00 -9.92660898e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45572975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.51, Y:-99.28, Z:0.01 [[ 9.45757091e-01 3.24874630e-01 0.00000000e+00 3.73513536e+02] [-3.24874630e-01 9.45757091e-01 0.00000000e+00 -9.92782650e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40861404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.54, Y:-99.29, Z:0.01 [[ 9.46215367e-01 3.23537447e-01 0.00000000e+00 3.73544704e+02] [-3.23537447e-01 9.46215367e-01 0.00000000e+00 -9.92901677e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38488049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.57, Y:-99.30, Z:0.02 [[ 9.47434158e-01 3.19950803e-01 0.00000000e+00 3.73574432e+02] [-3.19950803e-01 9.47434158e-01 0.00000000e+00 -9.93039256e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58390289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.60, Y:-99.32, Z:0.02 [[ 9.47991323e-01 3.18296169e-01 0.00000000e+00 3.73603914e+02] [-3.18296169e-01 9.47991323e-01 0.00000000e+00 -9.93157872e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76750479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.63, Y:-99.33, Z:0.02 [[ 9.48352710e-01 3.17217807e-01 0.00000000e+00 3.73634149e+02] [-3.17217807e-01 9.48352710e-01 0.00000000e+00 -9.93273804e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85289982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.66, Y:-99.34, Z:0.02 [[ 9.48556417e-01 3.16608156e-01 0.00000000e+00 3.73664148e+02] [-3.16608156e-01 9.48556417e-01 0.00000000e+00 -9.93379850e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90498065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.70, Y:-99.35, Z:0.02 [[ 9.48583702e-01 3.16526398e-01 0.00000000e+00 3.73695560e+02] [-3.16526398e-01 9.48583702e-01 0.00000000e+00 -9.93476539e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87717947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.73, Y:-99.36, Z:0.02 [[ 9.48221733e-01 3.17609108e-01 0.00000000e+00 3.73727131e+02] [-3.17609108e-01 9.48221733e-01 0.00000000e+00 -9.93576081e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90683405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.76, Y:-99.37, Z:0.02 [[ 9.47825650e-01 3.18789175e-01 0.00000000e+00 3.73758643e+02] [-3.18789175e-01 9.47825650e-01 0.00000000e+00 -9.93679646e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92783305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.79, Y:-99.38, Z:0.02 [[ 9.47253074e-01 3.20486525e-01 0.00000000e+00 3.73789831e+02] [-3.20486525e-01 9.47253074e-01 0.00000000e+00 -9.93768534e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91103185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.82, Y:-99.39, Z:0.02 [[ 9.47046832e-01 3.21095467e-01 0.00000000e+00 3.73821671e+02] [-3.21095467e-01 9.47046832e-01 0.00000000e+00 -9.93857579e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76602050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.201400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:373.85, Y:-99.40, Z:0.02 [[ 9.46767525e-01 3.21918085e-01 0.00000000e+00 3.73852729e+02] [-3.21918085e-01 9.46767525e-01 0.00000000e+00 -9.93950203e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55950146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.88, Y:-99.40, Z:0.01 [[ 9.46581437e-01 3.22464855e-01 0.00000000e+00 3.73884818e+02] [-3.22464855e-01 9.46581437e-01 0.00000000e+00 -9.94041404e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29106774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.92, Y:-99.41, Z:0.01 [[ 9.46375061e-01 3.23070029e-01 0.00000000e+00 3.73916565e+02] [-3.23070029e-01 9.46375061e-01 0.00000000e+00 -9.94119978e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01254006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.95, Y:-99.42, Z:0.01 [[ 9.46388912e-01 3.23029454e-01 0.00000000e+00 3.73948364e+02] [-3.23029454e-01 9.46388912e-01 0.00000000e+00 -9.94200090e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01731989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.98, Y:-99.43, Z:0.01 [[ 9.46441609e-01 3.22875023e-01 0.00000000e+00 3.73980773e+02] [-3.22875023e-01 9.46441609e-01 0.00000000e+00 -9.94281107e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10945633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.01, Y:-99.44, Z:0.01 [[ 9.46375939e-01 3.23067459e-01 0.00000000e+00 3.74011740e+02] [-3.23067459e-01 9.46375939e-01 0.00000000e+00 -9.94363996e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21585173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.381400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:374.04, Y:-99.44, Z:0.01 [[ 9.45828162e-01 3.24667658e-01 0.00000000e+00 3.74043693e+02] [-3.24667658e-01 9.45828162e-01 0.00000000e+00 -9.94442221e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34154664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.411400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:374.08, Y:-99.45, Z:0.01 [[ 9.45596345e-01 3.25342207e-01 0.00000000e+00 3.74076119e+02] [-3.25342207e-01 9.45596345e-01 0.00000000e+00 -9.94515601e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14929843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.11, Y:-99.46, Z:0.01 [[ 9.45442940e-01 3.25787734e-01 0.00000000e+00 3.74107957e+02] [-3.25787734e-01 9.45442940e-01 0.00000000e+00 -9.94572149e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.52624520e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.14, Y:-99.46, Z:0.01 [[ 9.45361647e-01 3.26023552e-01 0.00000000e+00 3.74138678e+02] [-3.26023552e-01 9.45361647e-01 0.00000000e+00 -9.94614022e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.27403117e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.501400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:374.17, Y:-99.47, Z:0.01 [[ 9.45328903e-01 3.26118484e-01 0.00000000e+00 3.74167198e+02] [-3.26118484e-01 9.45328903e-01 0.00000000e+00 -9.94697766e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.74544893e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.20, Y:-99.48, Z:0.01 [[ 9.45245748e-01 3.26359428e-01 0.00000000e+00 3.74198123e+02] [-3.26359428e-01 9.45245748e-01 0.00000000e+00 -9.94785143e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.05614737e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.23, Y:-99.49, Z:0.01 [[ 9.45120152e-01 3.26722968e-01 0.00000000e+00 3.74227842e+02] [-3.26722968e-01 9.45120152e-01 0.00000000e+00 -9.94863807e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.89049589e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.591400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:374.26, Y:-99.50, Z:0.01 [[ 9.44857326e-01 3.27482266e-01 0.00000000e+00 3.74256723e+02] [-3.27482266e-01 9.44857326e-01 0.00000000e+00 -9.94957574e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08795356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.29, Y:-99.50, Z:0.01 [[ 9.44497793e-01 3.28517760e-01 0.00000000e+00 3.74286884e+02] [-3.28517760e-01 9.44497793e-01 0.00000000e+00 -9.95047451e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28618531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.32, Y:-99.51, Z:0.01 [[ 9.43878875e-01 3.30291796e-01 0.00000000e+00 3.74316327e+02] [-3.30291796e-01 9.43878875e-01 0.00000000e+00 -9.95135318e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46975803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.35, Y:-99.52, Z:0.02 [[ 9.42027522e-01 3.35535614e-01 0.00000000e+00 3.74345814e+02] [-3.35535614e-01 9.42027522e-01 0.00000000e+00 -9.95207893e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67232041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.37, Y:-99.53, Z:0.02 [[ 9.40892468e-01 3.38705423e-01 0.00000000e+00 3.74374922e+02] [-3.38705423e-01 9.40892468e-01 0.00000000e+00 -9.95297652e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58736544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.40, Y:-99.54, Z:0.01 [[ 9.39735880e-01 3.41901265e-01 0.00000000e+00 3.74403034e+02] [-3.41901265e-01 9.39735880e-01 0.00000000e+00 -9.95393186e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46470600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.43, Y:-99.55, Z:0.01 [[ 9.38600525e-01 3.45005875e-01 0.00000000e+00 3.74429852e+02] [-3.45005875e-01 9.38600525e-01 0.00000000e+00 -9.95487309e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31069057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.46, Y:-99.56, Z:0.01 [[ 9.36998642e-01 3.49332999e-01 0.00000000e+00 3.74456057e+02] [-3.49332999e-01 9.36998642e-01 0.00000000e+00 -9.95592997e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32585636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.48, Y:-99.57, Z:0.01 [[ 9.36664299e-01 3.50228484e-01 0.00000000e+00 3.74483003e+02] [-3.50228484e-01 9.36664299e-01 0.00000000e+00 -9.95690018e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44651872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.51, Y:-99.58, Z:0.02 [[ 9.36587615e-01 3.50433501e-01 0.00000000e+00 3.74509580e+02] [-3.50433501e-01 9.36587615e-01 0.00000000e+00 -9.95789544e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54049536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.54, Y:-99.59, Z:0.02 [[ 9.36429731e-01 3.50855183e-01 0.00000000e+00 3.74536880e+02] [-3.50855183e-01 9.36429731e-01 0.00000000e+00 -9.95911273e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58835951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.57, Y:-99.60, Z:0.01 [[ 9.36194007e-01 3.51483685e-01 0.00000000e+00 3.74565686e+02] [-3.51483685e-01 9.36194007e-01 0.00000000e+00 -9.96023792e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49182481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.59, Y:-99.61, Z:0.01 [[ 9.35801731e-01 3.52526766e-01 0.00000000e+00 3.74594260e+02] [-3.52526766e-01 9.35801731e-01 0.00000000e+00 -9.96132276e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27408703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.62, Y:-99.62, Z:0.01 [[ 9.35189010e-01 3.54149001e-01 0.00000000e+00 3.74622925e+02] [-3.54149001e-01 9.35189010e-01 0.00000000e+00 -9.96229771e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15675421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.65, Y:-99.63, Z:0.01 [[ 9.33541030e-01 3.58470564e-01 0.00000000e+00 3.74652825e+02] [-3.58470564e-01 9.33541030e-01 0.00000000e+00 -9.96327338e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.01013810e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.68, Y:-99.64, Z:0.01 [[ 9.32723374e-01 3.60592716e-01 0.00000000e+00 3.74681759e+02] [-3.60592716e-01 9.32723374e-01 0.00000000e+00 -9.96423738e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.88318489e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.71, Y:-99.65, Z:0.01 [[ 9.32124992e-01 3.62136713e-01 0.00000000e+00 3.74709917e+02] [-3.62136713e-01 9.32124992e-01 0.00000000e+00 -9.96518709e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.44034745e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.74, Y:-99.66, Z:0.01 [[ 9.31857702e-01 3.62823955e-01 0.00000000e+00 3.74737140e+02] [-3.62823955e-01 9.31857702e-01 0.00000000e+00 -9.96607064e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.23299572e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.76, Y:-99.67, Z:0.01 [[ 9.31977778e-01 3.62515408e-01 0.00000000e+00 3.74764874e+02] [-3.62515408e-01 9.31977778e-01 0.00000000e+00 -9.96682765e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14456959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.79, Y:-99.68, Z:0.01 [[ 9.32265528e-01 3.61774771e-01 0.00000000e+00 3.74792911e+02] [-3.61774771e-01 9.32265528e-01 0.00000000e+00 -9.96755295e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21438624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.82, Y:-99.68, Z:0.01 [[ 9.32612066e-01 3.60880500e-01 0.00000000e+00 3.74821189e+02] [-3.60880500e-01 9.32612066e-01 0.00000000e+00 -9.96831338e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22666630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.85, Y:-99.69, Z:0.01 [[ 9.33071024e-01 3.59692180e-01 0.00000000e+00 3.74848665e+02] [-3.59692180e-01 9.33071024e-01 0.00000000e+00 -9.96913712e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08880156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.88, Y:-99.70, Z:0.01 [[ 9.33097816e-01 3.59622671e-01 0.00000000e+00 3.74876547e+02] [-3.59622671e-01 9.33097816e-01 0.00000000e+00 -9.96999545e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06785382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.90, Y:-99.71, Z:0.01 [[ 9.32892598e-01 3.60154689e-01 0.00000000e+00 3.74904984e+02] [-3.60154689e-01 9.32892598e-01 0.00000000e+00 -9.97080459e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10562763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.93, Y:-99.72, Z:0.01 [[ 9.31872591e-01 3.62785713e-01 0.00000000e+00 3.74931620e+02] [-3.62785713e-01 9.31872591e-01 0.00000000e+00 -9.97151311e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02831893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.96, Y:-99.72, Z:0.01 [[ 9.31182749e-01 3.64552722e-01 0.00000000e+00 3.74958964e+02] [-3.64552722e-01 9.31182749e-01 0.00000000e+00 -9.97234976e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11254928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.99, Y:-99.73, Z:0.01 [[ 9.30512679e-01 3.66259681e-01 0.00000000e+00 3.74986293e+02] [-3.66259681e-01 9.30512679e-01 0.00000000e+00 -9.97317096e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21239710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.01, Y:-99.74, Z:0.01 [[ 9.30007912e-01 3.67539500e-01 0.00000000e+00 3.75012695e+02] [-3.67539500e-01 9.30007912e-01 0.00000000e+00 -9.97395788e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25069082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.04, Y:-99.75, Z:0.01 [[ 9.29544411e-01 3.68710167e-01 0.00000000e+00 3.75040097e+02] [-3.68710167e-01 9.29544411e-01 0.00000000e+00 -9.97496804e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42009215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.07, Y:-99.76, Z:0.02 [[ 9.29470828e-01 3.68895621e-01 0.00000000e+00 3.75066528e+02] [-3.68895621e-01 9.29470828e-01 0.00000000e+00 -9.97598642e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50339246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.09, Y:-99.77, Z:0.02 [[ 9.29283124e-01 3.69368212e-01 0.00000000e+00 3.75093636e+02] [-3.69368212e-01 9.29283124e-01 0.00000000e+00 -9.97697213e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64173718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.12, Y:-99.78, Z:0.02 [[ 9.28883412e-01 3.70372256e-01 0.00000000e+00 3.75120350e+02] [-3.70372256e-01 9.28883412e-01 0.00000000e+00 -9.97788103e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68327738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.15, Y:-99.79, Z:0.02 [[ 9.27546510e-01 3.73707736e-01 0.00000000e+00 3.75147411e+02] [-3.73707736e-01 9.27546510e-01 0.00000000e+00 -9.97881034e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69811982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.18, Y:-99.80, Z:0.02 [[ 9.27563686e-01 3.73665102e-01 0.00000000e+00 3.75175389e+02] [-3.73665102e-01 9.27563686e-01 0.00000000e+00 -9.97969337e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69811982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.20, Y:-99.81, Z:0.02 [[ 9.26737593e-01 3.75709242e-01 0.00000000e+00 3.75201331e+02] [-3.75709242e-01 9.26737593e-01 0.00000000e+00 -9.98056674e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63855853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.23, Y:-99.81, Z:0.01 [[ 9.25923060e-01 3.77712174e-01 0.00000000e+00 3.75227985e+02] [-3.77712174e-01 9.25923060e-01 0.00000000e+00 -9.98145939e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42533743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.26, Y:-99.82, Z:0.01 [[ 9.25113098e-01 3.79691660e-01 0.00000000e+00 3.75255622e+02] [-3.79691660e-01 9.25113098e-01 0.00000000e+00 -9.98236557e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31032289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.28, Y:-99.83, Z:0.01 [[ 9.23946515e-01 3.82521681e-01 0.00000000e+00 3.75282050e+02] [-3.82521681e-01 9.23946515e-01 0.00000000e+00 -9.98329157e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18221204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.31, Y:-99.84, Z:0.01 [[ 9.23833345e-01 3.82794921e-01 0.00000000e+00 3.75309426e+02] [-3.82794921e-01 9.23833345e-01 0.00000000e+00 -9.98422492e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17614102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.34, Y:-99.85, Z:0.01 [[ 9.24041828e-01 3.82291381e-01 0.00000000e+00 3.75337126e+02] [-3.82291381e-01 9.24041828e-01 0.00000000e+00 -9.98516450e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11468364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.36, Y:-99.86, Z:0.01 [[ 9.24441661e-01 3.81323504e-01 0.00000000e+00 3.75363600e+02] [-3.81323504e-01 9.24441661e-01 0.00000000e+00 -9.98605655e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10870769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.39, Y:-99.87, Z:0.01 [[ 9.25319463e-01 3.79188464e-01 0.00000000e+00 3.75389193e+02] [-3.79188464e-01 9.25319463e-01 0.00000000e+00 -9.98710671e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.64642511e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.42, Y:-99.88, Z:0.01 [[ 9.25546763e-01 3.78633319e-01 0.00000000e+00 3.75416433e+02] [-3.78633319e-01 9.25546763e-01 0.00000000e+00 -9.98815061e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.70307075e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.44, Y:-99.89, Z:0.01 [[ 9.25821025e-01 3.77962206e-01 0.00000000e+00 3.75443927e+02] [-3.77962206e-01 9.25821025e-01 0.00000000e+00 -9.98910490e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.55231287e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.47, Y:-99.90, Z:0.00 [[ 9.25894557e-01 3.77782039e-01 0.00000000e+00 3.75471499e+02] [-3.77782039e-01 9.25894557e-01 0.00000000e+00 -9.98988806e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.76980906e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.50, Y:-99.91, Z:0.00 [[ 9.25733992e-01 3.78175323e-01 0.00000000e+00 3.75497827e+02] [-3.78175323e-01 9.25733992e-01 0.00000000e+00 -9.99069555e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26831299e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.52, Y:-99.92, Z:0.00 [[ 9.25413973e-01 3.78957752e-01 0.00000000e+00 3.75524971e+02] [-3.78957752e-01 9.25413973e-01 0.00000000e+00 -9.99158722e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.17468191e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.55, Y:-99.92, Z:0.01 [[ 9.25034775e-01 3.79882437e-01 0.00000000e+00 3.75551646e+02] [-3.79882437e-01 9.25034775e-01 0.00000000e+00 -9.99239990e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.40569147e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.58, Y:-99.93, Z:0.01 [[ 9.24165880e-01 3.81991395e-01 0.00000000e+00 3.75580358e+02] [-3.81991395e-01 9.24165880e-01 0.00000000e+00 -9.99292050e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.25756073e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.61, Y:-99.94, Z:0.01 [[ 9.23675520e-01 3.83175592e-01 0.00000000e+00 3.75608159e+02] [-3.83175592e-01 9.23675520e-01 0.00000000e+00 -9.99361712e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.37069613e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.64, Y:-99.94, Z:0.01 [[ 9.23221008e-01 3.84269398e-01 0.00000000e+00 3.75635880e+02] [-3.84269398e-01 9.23221008e-01 0.00000000e+00 -9.99437872e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.37887861e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.66, Y:-99.95, Z:0.01 [[ 9.22829637e-01 3.85208334e-01 0.00000000e+00 3.75663162e+02] [-3.85208334e-01 9.22829637e-01 0.00000000e+00 -9.99506059e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.84112591e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.151400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:375.69, Y:-99.95, Z:0.01 [[ 9.22642811e-01 3.85655602e-01 0.00000000e+00 3.75692746e+02] [-3.85655602e-01 9.22642811e-01 0.00000000e+00 -9.99528078e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08563706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.72, Y:-99.96, Z:0.01 [[ 9.22891845e-01 3.85059272e-01 0.00000000e+00 3.75720040e+02] [-3.85059272e-01 9.22891845e-01 0.00000000e+00 -9.99578948e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19565083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.75, Y:-99.96, Z:0.01 [[ 9.23397021e-01 3.83846246e-01 0.00000000e+00 3.75746406e+02] [-3.83846246e-01 9.23397021e-01 0.00000000e+00 -9.99646863e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16464550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.77, Y:-99.97, Z:0.01 [[ 9.24089835e-01 3.82175323e-01 0.00000000e+00 3.75773491e+02] [-3.82175323e-01 9.24089835e-01 0.00000000e+00 -9.99722310e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19950966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.80, Y:-99.98, Z:0.01 [[ 9.25427489e-01 3.78924745e-01 0.00000000e+00 3.75799999e+02] [-3.78924745e-01 9.25427489e-01 0.00000000e+00 -9.99773012e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30534797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.83, Y:-99.98, Z:0.01 [[ 9.26009438e-01 3.77500359e-01 0.00000000e+00 3.75828496e+02] [-3.77500359e-01 9.26009438e-01 0.00000000e+00 -9.99839001e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46356107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.86, Y:-99.99, Z:0.02 [[ 9.26351320e-01 3.76660633e-01 0.00000000e+00 3.75855595e+02] [-3.76660633e-01 9.26351320e-01 0.00000000e+00 -9.99900469e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55682774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.88, Y:-99.99, Z:0.02 [[ 9.26448063e-01 3.76422617e-01 0.00000000e+00 3.75883426e+02] [-3.76422617e-01 9.26448063e-01 0.00000000e+00 -9.99939548e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75719780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.91, Y:-100.00, Z:0.02 [[ 9.26322972e-01 3.76730344e-01 0.00000000e+00 3.75910628e+02] [-3.76730344e-01 9.26322972e-01 0.00000000e+00 -9.99991766e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76364579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.94, Y:-100.00, Z:0.02 [[ 9.26198376e-01 3.77036561e-01 0.00000000e+00 3.75937347e+02] [-3.77036561e-01 9.26198376e-01 0.00000000e+00 -1.00004387e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62612112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.96, Y:-100.01, Z:0.01 [[ 9.26196889e-01 3.77040213e-01 0.00000000e+00 3.75964006e+02] [-3.77040213e-01 9.26196889e-01 0.00000000e+00 -1.00010619e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45176592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.99, Y:-100.02, Z:0.01 [[ 9.26549775e-01 3.76172188e-01 0.00000000e+00 3.75992075e+02] [-3.76172188e-01 9.26549775e-01 0.00000000e+00 -1.00017283e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28403483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.02, Y:-100.02, Z:0.01 [[ 9.26931074e-01 3.75231640e-01 0.00000000e+00 3.76019080e+02] [-3.75231640e-01 9.26931074e-01 0.00000000e+00 -1.00024692e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22531632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.04, Y:-100.03, Z:0.01 [[ 9.27347703e-01 3.74200799e-01 0.00000000e+00 3.76044931e+02] [-3.74200799e-01 9.27347703e-01 0.00000000e+00 -1.00031461e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08991400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.07, Y:-100.04, Z:0.01 [[ 9.27606913e-01 3.73557779e-01 0.00000000e+00 3.76072756e+02] [-3.73557779e-01 9.27606913e-01 0.00000000e+00 -1.00038729e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.81825272e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.10, Y:-100.05, Z:0.01 [[ 9.27772957e-01 3.73145200e-01 0.00000000e+00 3.76101250e+02] [-3.73145200e-01 9.27772957e-01 0.00000000e+00 -1.00045624e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17801196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.13, Y:-100.05, Z:0.01 [[ 9.27608265e-01 3.73554424e-01 0.00000000e+00 3.76129503e+02] [-3.73554424e-01 9.27608265e-01 0.00000000e+00 -1.00053243e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35848257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.16, Y:-100.06, Z:0.01 [[ 9.27309868e-01 3.74294549e-01 0.00000000e+00 3.76155805e+02] [-3.74294549e-01 9.27309868e-01 0.00000000e+00 -1.00059916e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41316651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.18, Y:-100.06, Z:0.01 [[ 9.26560024e-01 3.76146943e-01 0.00000000e+00 3.76184856e+02] [-3.76146943e-01 9.26560024e-01 0.00000000e+00 -1.00064703e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26788664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.21, Y:-100.07, Z:0.01 [[ 9.26333437e-01 3.76704612e-01 0.00000000e+00 3.76212768e+02] [-3.76704612e-01 9.26333437e-01 0.00000000e+00 -1.00070685e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13315416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.24, Y:-100.08, Z:0.01 [[ 9.26137040e-01 3.77187200e-01 0.00000000e+00 3.76240166e+02] [-3.77187200e-01 9.26137040e-01 0.00000000e+00 -1.00077051e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.22256692e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.27, Y:-100.08, Z:0.01 [[ 9.26004925e-01 3.77511430e-01 0.00000000e+00 3.76268381e+02] [-3.77511430e-01 9.26004925e-01 0.00000000e+00 -1.00084120e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.71838374e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.30, Y:-100.09, Z:0.01 [[ 9.26045223e-01 3.77412567e-01 0.00000000e+00 3.76295694e+02] [-3.77412567e-01 9.26045223e-01 0.00000000e+00 -1.00089121e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.21710725e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.32, Y:-100.10, Z:0.01 [[ 9.25985610e-01 3.77558805e-01 0.00000000e+00 3.76323859e+02] [-3.77558805e-01 9.25985610e-01 0.00000000e+00 -1.00095505e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.82286759e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.35, Y:-100.10, Z:0.01 [[ 9.25804187e-01 3.78003449e-01 0.00000000e+00 3.76350083e+02] [-3.78003449e-01 9.25804187e-01 0.00000000e+00 -1.00101098e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.65411815e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.901400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:376.38, Y:-100.11, Z:0.01 [[ 9.25531503e-01 3.78670618e-01 0.00000000e+00 3.76377525e+02] [-3.78670618e-01 9.25531503e-01 0.00000000e+00 -1.00107746e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.76948294e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.41, Y:-100.11, Z:0.01 [[ 9.24457976e-01 3.81283949e-01 0.00000000e+00 3.76406417e+02] [-3.81283949e-01 9.24457976e-01 0.00000000e+00 -1.00112730e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.75082551e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.43, Y:-100.12, Z:0.01 [[ 9.23963384e-01 3.82480935e-01 0.00000000e+00 3.76432467e+02] [-3.82480935e-01 9.23963384e-01 0.00000000e+00 -1.00118638e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.69468333e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.46, Y:-100.13, Z:0.01 [[ 9.23563351e-01 3.83445873e-01 0.00000000e+00 3.76459861e+02] [-3.83445873e-01 9.23563351e-01 0.00000000e+00 -1.00125118e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.05903238e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.49, Y:-100.13, Z:0.01 [[ 9.22820172e-01 3.85231008e-01 0.00000000e+00 3.76486894e+02] [-3.85231008e-01 9.22820172e-01 0.00000000e+00 -1.00131193e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05761348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.51, Y:-100.14, Z:0.01 [[ 9.22611457e-01 3.85730605e-01 0.00000000e+00 3.76514289e+02] [-3.85730605e-01 9.22611457e-01 0.00000000e+00 -1.00138366e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21619823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.54, Y:-100.14, Z:0.01 [[ 9.22324325e-01 3.86416666e-01 0.00000000e+00 3.76541505e+02] [-3.86416666e-01 9.22324325e-01 0.00000000e+00 -1.00144374e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34563755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.57, Y:-100.15, Z:0.01 [[ 9.21427721e-01 3.88549811e-01 0.00000000e+00 3.76570027e+02] [-3.88549811e-01 9.21427721e-01 0.00000000e+00 -1.00145461e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24369667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.60, Y:-100.15, Z:0.01 [[ 9.20971657e-01 3.89629577e-01 0.00000000e+00 3.76596408e+02] [-3.89629577e-01 9.20971657e-01 0.00000000e+00 -1.00150346e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13420000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.62, Y:-100.16, Z:0.01 [[ 9.20767685e-01 3.90111355e-01 0.00000000e+00 3.76623671e+02] [-3.90111355e-01 9.20767685e-01 0.00000000e+00 -1.00156287e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14272242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.65, Y:-100.16, Z:0.01 [[ 9.20724720e-01 3.90212751e-01 0.00000000e+00 3.76650574e+02] [-3.90212751e-01 9.20724720e-01 0.00000000e+00 -1.00161700e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10464468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.68, Y:-100.16, Z:0.01 [[ 9.21204528e-01 3.89078678e-01 0.00000000e+00 3.76679450e+02] [-3.89078678e-01 9.21204528e-01 0.00000000e+00 -1.00164582e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22895874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.71, Y:-100.17, Z:0.01 [[ 9.21881590e-01 3.87471721e-01 0.00000000e+00 3.76705944e+02] [-3.87471721e-01 9.21881590e-01 0.00000000e+00 -1.00169669e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31753593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.73, Y:-100.18, Z:0.01 [[ 9.22839157e-01 3.85185527e-01 0.00000000e+00 3.76733453e+02] [-3.85185527e-01 9.22839157e-01 0.00000000e+00 -1.00175085e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47560921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.76, Y:-100.18, Z:0.02 [[ 9.23829733e-01 3.82803636e-01 0.00000000e+00 3.76760339e+02] [-3.82803636e-01 9.23829733e-01 0.00000000e+00 -1.00180606e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50660453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.79, Y:-100.18, Z:0.02 [[ 9.25583610e-01 3.78543236e-01 0.00000000e+00 3.76788479e+02] [-3.78543236e-01 9.25583610e-01 0.00000000e+00 -1.00184583e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53132650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.82, Y:-100.19, Z:0.01 [[ 9.26336673e-01 3.76696653e-01 0.00000000e+00 3.76815499e+02] [-3.76696653e-01 9.26336673e-01 0.00000000e+00 -1.00190873e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40696243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.84, Y:-100.20, Z:0.01 [[ 9.26694464e-01 3.75815607e-01 0.00000000e+00 3.76844409e+02] [-3.75815607e-01 9.26694464e-01 0.00000000e+00 -1.00195150e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33103224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.87, Y:-100.20, Z:0.01 [[ 9.26226092e-01 3.76968468e-01 0.00000000e+00 3.76871673e+02] [-3.76968468e-01 9.26226092e-01 0.00000000e+00 -1.00199805e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27419363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.90, Y:-100.21, Z:0.01 [[ 9.26291990e-01 3.76806513e-01 0.00000000e+00 3.76898916e+02] [-3.76806513e-01 9.26291990e-01 0.00000000e+00 -1.00208165e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27419363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.93, Y:-100.21, Z:0.01 [[ 9.25711286e-01 3.78230903e-01 0.00000000e+00 3.76926672e+02] [-3.78230903e-01 9.25711286e-01 0.00000000e+00 -1.00212873e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32704493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.95, Y:-100.22, Z:0.01 [[ 9.25141042e-01 3.79623568e-01 0.00000000e+00 3.76954680e+02] [-3.79623568e-01 9.25141042e-01 0.00000000e+00 -1.00218200e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43334628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.98, Y:-100.22, Z:0.01 [[ 9.24750101e-01 3.80574894e-01 0.00000000e+00 3.76981669e+02] [-3.80574894e-01 9.24750101e-01 0.00000000e+00 -1.00223574e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46393296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.01, Y:-100.23, Z:0.01 [[ 9.24930154e-01 3.80137093e-01 0.00000000e+00 3.77009582e+02] [-3.80137093e-01 9.24930154e-01 0.00000000e+00 -1.00227083e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40112221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.04, Y:-100.23, Z:0.01 [[ 9.25497115e-01 3.78754656e-01 0.00000000e+00 3.77037405e+02] [-3.78754656e-01 9.25497115e-01 0.00000000e+00 -1.00233061e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33299816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.07, Y:-100.24, Z:0.01 [[ 9.26299006e-01 3.76789266e-01 0.00000000e+00 3.77065210e+02] [-3.76789266e-01 9.26299006e-01 0.00000000e+00 -1.00239266e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32898238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.09, Y:-100.24, Z:0.01 [[ 9.28048435e-01 3.72459530e-01 0.00000000e+00 3.77093098e+02] [-3.72459530e-01 9.28048435e-01 0.00000000e+00 -1.00242641e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45367514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.12, Y:-100.25, Z:0.01 [[ 9.28835113e-01 3.70493365e-01 0.00000000e+00 3.77120026e+02] [-3.70493365e-01 9.28835113e-01 0.00000000e+00 -1.00247513e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36436282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.74140051300003 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:377.15, Y:-100.25, Z:0.01 [[ 9.29574625e-01 3.68633986e-01 0.00000000e+00 3.77147907e+02] [-3.68633986e-01 9.29574625e-01 0.00000000e+00 -1.00252893e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14276879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.18, Y:-100.26, Z:0.01 [[ 9.30782878e-01 3.65572474e-01 0.00000000e+00 3.77176330e+02] [-3.65572474e-01 9.30782878e-01 0.00000000e+00 -1.00259810e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.05169860e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.20, Y:-100.27, Z:0.01 [[ 9.31484131e-01 3.63781960e-01 0.00000000e+00 3.77203281e+02] [-3.63781960e-01 9.31484131e-01 0.00000000e+00 -1.00268111e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02568306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.23, Y:-100.28, Z:0.01 [[ 9.32229529e-01 3.61867524e-01 0.00000000e+00 3.77230485e+02] [-3.61867524e-01 9.32229529e-01 0.00000000e+00 -1.00276644e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14346388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.26, Y:-100.28, Z:0.01 [[ 9.32958652e-01 3.59983546e-01 0.00000000e+00 3.77256771e+02] [-3.59983546e-01 9.32958652e-01 0.00000000e+00 -1.00284502e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30983602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.28, Y:-100.29, Z:0.01 [[ 9.33605141e-01 3.58303558e-01 0.00000000e+00 3.77283670e+02] [-3.58303558e-01 9.33605141e-01 0.00000000e+00 -1.00292418e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45710054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.31, Y:-100.30, Z:0.01 [[ 9.34231337e-01 3.56667645e-01 0.00000000e+00 3.77309545e+02] [-3.56667645e-01 9.34231337e-01 0.00000000e+00 -1.00300568e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37416578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.34, Y:-100.31, Z:0.01 [[ 9.34212301e-01 3.56717502e-01 0.00000000e+00 3.77336556e+02] [-3.56717502e-01 9.34212301e-01 0.00000000e+00 -1.00309348e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36387510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.36, Y:-100.32, Z:0.01 [[ 9.34148999e-01 3.56883241e-01 0.00000000e+00 3.77363153e+02] [-3.56883241e-01 9.34148999e-01 0.00000000e+00 -1.00317922e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31462327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.39, Y:-100.33, Z:0.01 [[ 9.33494741e-01 3.58591087e-01 0.00000000e+00 3.77389628e+02] [-3.58591087e-01 9.33494741e-01 0.00000000e+00 -1.00327774e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16638685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.41, Y:-100.34, Z:0.01 [[ 9.33022614e-01 3.59817733e-01 0.00000000e+00 3.77414877e+02] [-3.59817733e-01 9.33022614e-01 0.00000000e+00 -1.00336670e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17601132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.44, Y:-100.35, Z:0.01 [[ 9.32165066e-01 3.62033547e-01 0.00000000e+00 3.77441744e+02] [-3.62033547e-01 9.32165066e-01 0.00000000e+00 -1.00347352e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45603124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.47, Y:-100.36, Z:0.02 [[ 9.32046219e-01 3.62339406e-01 0.00000000e+00 3.77468519e+02] [-3.62339406e-01 9.32046219e-01 0.00000000e+00 -1.00356120e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51023377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.49, Y:-100.37, Z:0.01 [[ 9.32050138e-01 3.62329325e-01 0.00000000e+00 3.77494359e+02] [-3.62329325e-01 9.32050138e-01 0.00000000e+00 -1.00365073e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47156158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.52, Y:-100.38, Z:0.01 [[ 9.32239915e-01 3.61840767e-01 0.00000000e+00 3.77519842e+02] [-3.61840767e-01 9.32239915e-01 0.00000000e+00 -1.00377481e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49017457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.54, Y:-100.39, Z:0.01 [[ 9.32464026e-01 3.61262841e-01 0.00000000e+00 3.77544957e+02] [-3.61262841e-01 9.32464026e-01 0.00000000e+00 -1.00388518e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47255849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.57, Y:-100.40, Z:0.02 [[ 9.32846857e-01 3.60273148e-01 0.00000000e+00 3.77569237e+02] [-3.60273148e-01 9.32846857e-01 0.00000000e+00 -1.00399716e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50561509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.59, Y:-100.41, Z:0.02 [[ 9.33845933e-01 3.57675515e-01 0.00000000e+00 3.77594536e+02] [-3.57675515e-01 9.33845933e-01 0.00000000e+00 -1.00413582e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67236559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.62, Y:-100.42, Z:0.02 [[ 9.34290661e-01 3.56512216e-01 0.00000000e+00 3.77619563e+02] [-3.56512216e-01 9.34290661e-01 0.00000000e+00 -1.00423438e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62633583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.65, Y:-100.43, Z:0.02 [[ 9.34556560e-01 3.55814609e-01 0.00000000e+00 3.77645477e+02] [-3.55814609e-01 9.34556560e-01 0.00000000e+00 -1.00433976e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51639178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.67, Y:-100.44, Z:0.02 [[ 9.34779689e-01 3.55228003e-01 0.00000000e+00 3.77671301e+02] [-3.55228003e-01 9.34779689e-01 0.00000000e+00 -1.00444974e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51160673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.70, Y:-100.46, Z:0.02 [[ 9.34756815e-01 3.55288187e-01 0.00000000e+00 3.77696079e+02] [-3.55288187e-01 9.34756815e-01 0.00000000e+00 -1.00459752e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61903345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.72, Y:-100.47, Z:0.02 [[ 9.34617137e-01 3.55655460e-01 0.00000000e+00 3.77722082e+02] [-3.55655460e-01 9.34617137e-01 0.00000000e+00 -1.00470559e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81335384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.75, Y:-100.48, Z:0.02 [[ 9.34284361e-01 3.56528726e-01 0.00000000e+00 3.77747188e+02] [-3.56528726e-01 9.34284361e-01 0.00000000e+00 -1.00480473e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80411133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.77, Y:-100.49, Z:0.01 [[ 9.33154205e-01 3.59476327e-01 0.00000000e+00 3.77773159e+02] [-3.59476327e-01 9.33154205e-01 0.00000000e+00 -1.00492066e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45821116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.80, Y:-100.50, Z:0.01 [[ 9.32705359e-01 3.60639313e-01 0.00000000e+00 3.77799480e+02] [-3.60639313e-01 9.32705359e-01 0.00000000e+00 -1.00501869e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44715744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.83, Y:-100.51, Z:0.01 [[ 9.32292425e-01 3.61705451e-01 0.00000000e+00 3.77825097e+02] [-3.61705451e-01 9.32292425e-01 0.00000000e+00 -1.00511820e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36389885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.85, Y:-100.52, Z:0.01 [[ 9.32039993e-01 3.62355421e-01 0.00000000e+00 3.77851010e+02] [-3.62355421e-01 9.32039993e-01 0.00000000e+00 -1.00522598e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39805060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.88, Y:-100.54, Z:0.02 [[ 9.32026094e-01 3.62391169e-01 0.00000000e+00 3.77876946e+02] [-3.62391169e-01 9.32026094e-01 0.00000000e+00 -1.00536766e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62126050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.90, Y:-100.55, Z:0.02 [[ 9.32133775e-01 3.62114106e-01 0.00000000e+00 3.77902100e+02] [-3.62114106e-01 9.32133775e-01 0.00000000e+00 -1.00547060e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65399680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.93, Y:-100.56, Z:0.02 [[ 9.32281585e-01 3.61733392e-01 0.00000000e+00 3.77928196e+02] [-3.61733392e-01 9.32281585e-01 0.00000000e+00 -1.00556821e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72702205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.95, Y:-100.57, Z:0.02 [[ 9.32266889e-01 3.61771265e-01 0.00000000e+00 3.77954574e+02] [-3.61771265e-01 9.32266889e-01 0.00000000e+00 -1.00566224e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79719192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.98, Y:-100.58, Z:0.02 [[ 9.31727078e-01 3.63159265e-01 0.00000000e+00 3.77980247e+02] [-3.63159265e-01 9.31727078e-01 0.00000000e+00 -1.00577520e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60483197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.01, Y:-100.59, Z:0.01 [[ 9.31345613e-01 3.64136444e-01 0.00000000e+00 3.78006679e+02] [-3.64136444e-01 9.31345613e-01 0.00000000e+00 -1.00587499e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40592939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.03, Y:-100.60, Z:0.01 [[ 9.30853891e-01 3.65391617e-01 0.00000000e+00 3.78033537e+02] [-3.65391617e-01 9.30853891e-01 0.00000000e+00 -1.00596867e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33611468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.06, Y:-100.60, Z:0.01 [[ 9.30000147e-01 3.67559146e-01 0.00000000e+00 3.78060027e+02] [-3.67559146e-01 9.30000147e-01 0.00000000e+00 -1.00604874e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24993171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.09, Y:-100.61, Z:0.01 [[ 9.30005567e-01 3.67545433e-01 0.00000000e+00 3.78085759e+02] [-3.67545433e-01 9.30005567e-01 0.00000000e+00 -1.00611844e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24385103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.11, Y:-100.62, Z:0.01 [[ 9.30282578e-01 3.66843735e-01 0.00000000e+00 3.78113239e+02] [-3.66843735e-01 9.30282578e-01 0.00000000e+00 -1.00619921e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41513657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.14, Y:-100.63, Z:0.01 [[ 9.31263879e-01 3.64345424e-01 0.00000000e+00 3.78139667e+02] [-3.64345424e-01 9.31263879e-01 0.00000000e+00 -1.00627405e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43281681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.17, Y:-100.64, Z:0.01 [[ 9.31760894e-01 3.63072495e-01 0.00000000e+00 3.78166927e+02] [-3.63072495e-01 9.31760894e-01 0.00000000e+00 -1.00635577e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37438830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.19, Y:-100.64, Z:0.01 [[ 9.32268848e-01 3.61766215e-01 0.00000000e+00 3.78193775e+02] [-3.61766215e-01 9.32268848e-01 0.00000000e+00 -1.00644061e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23312182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.22, Y:-100.65, Z:0.01 [[ 9.32897780e-01 3.60141268e-01 0.00000000e+00 3.78220534e+02] [-3.60141268e-01 9.32897780e-01 0.00000000e+00 -1.00652475e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27020470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.25, Y:-100.66, Z:0.01 [[ 9.34420075e-01 3.56172883e-01 0.00000000e+00 3.78246750e+02] [-3.56172883e-01 9.34420075e-01 0.00000000e+00 -1.00661013e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21035997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.27, Y:-100.67, Z:0.01 [[ 9.35308434e-01 3.53833483e-01 0.00000000e+00 3.78273408e+02] [-3.53833483e-01 9.35308434e-01 0.00000000e+00 -1.00669819e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30011995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.30, Y:-100.68, Z:0.01 [[ 9.36126851e-01 3.51662508e-01 0.00000000e+00 3.78299360e+02] [-3.51662508e-01 9.36126851e-01 0.00000000e+00 -1.00678928e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18530824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.33, Y:-100.69, Z:0.01 [[ 9.36858540e-01 3.49708559e-01 0.00000000e+00 3.78327039e+02] [-3.49708559e-01 9.36858540e-01 0.00000000e+00 -1.00688483e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12860366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.35, Y:-100.70, Z:0.01 [[ 9.37892187e-01 3.46926859e-01 0.00000000e+00 3.78353827e+02] [-3.46926859e-01 9.37892187e-01 0.00000000e+00 -1.00698059e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29775520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.38, Y:-100.71, Z:0.01 [[ 9.38185482e-01 3.46132924e-01 0.00000000e+00 3.78380973e+02] [-3.46132924e-01 9.38185482e-01 0.00000000e+00 -1.00706706e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39220186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.41, Y:-100.72, Z:0.02 [[ 9.38488386e-01 3.45310802e-01 0.00000000e+00 3.78408212e+02] [-3.45310802e-01 9.38488386e-01 0.00000000e+00 -1.00716038e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67218913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.43, Y:-100.73, Z:0.02 [[ 9.38508009e-01 3.45257466e-01 0.00000000e+00 3.78433808e+02] [-3.45257466e-01 9.38508009e-01 0.00000000e+00 -1.00725132e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56272284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.46, Y:-100.74, Z:0.01 [[ 9.38478723e-01 3.45337063e-01 0.00000000e+00 3.78460411e+02] [-3.45337063e-01 9.38478723e-01 0.00000000e+00 -1.00735189e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47707150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.49, Y:-100.75, Z:0.01 [[ 9.38295207e-01 3.45835373e-01 0.00000000e+00 3.78485919e+02] [-3.45835373e-01 9.38295207e-01 0.00000000e+00 -1.00746584e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36211534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.51, Y:-100.76, Z:0.02 [[ 9.38190130e-01 3.46120326e-01 0.00000000e+00 3.78512872e+02] [-3.46120326e-01 9.38190130e-01 0.00000000e+00 -1.00755532e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58071999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.54, Y:-100.76, Z:0.02 [[ 9.38071392e-01 3.46442005e-01 0.00000000e+00 3.78539319e+02] [-3.46442005e-01 9.38071392e-01 0.00000000e+00 -1.00764614e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68678604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.56, Y:-100.78, Z:0.02 [[ 9.37805520e-01 3.47161066e-01 0.00000000e+00 3.78563707e+02] [-3.47161066e-01 9.37805520e-01 0.00000000e+00 -1.00775933e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65798845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.59, Y:-100.78, Z:0.02 [[ 9.37828276e-01 3.47099590e-01 0.00000000e+00 3.78591003e+02] [-3.47099590e-01 9.37828276e-01 0.00000000e+00 -1.00784136e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65798845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.62, Y:-100.79, Z:0.02 [[ 9.37586088e-01 3.47753258e-01 0.00000000e+00 3.78617642e+02] [-3.47753258e-01 9.37586088e-01 0.00000000e+00 -1.00794171e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81785964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.64, Y:-100.80, Z:0.02 [[ 9.37131187e-01 3.48977275e-01 0.00000000e+00 3.78642751e+02] [-3.48977275e-01 9.37131187e-01 0.00000000e+00 -1.00803487e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83334223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.67, Y:-100.81, Z:0.02 [[ 9.36637255e-01 3.50300803e-01 0.00000000e+00 3.78669402e+02] [-3.50300803e-01 9.36637255e-01 0.00000000e+00 -1.00813264e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96539178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.70, Y:-100.82, Z:0.02 [[ 9.35758998e-01 3.52640181e-01 0.00000000e+00 3.78695371e+02] [-3.52640181e-01 9.35758998e-01 0.00000000e+00 -1.00824913e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10534970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.72, Y:-100.84, Z:0.02 [[ 9.35294947e-01 3.53869132e-01 0.00000000e+00 3.78722672e+02] [-3.53869132e-01 9.35294947e-01 0.00000000e+00 -1.00835079e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25572900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.75, Y:-100.84, Z:0.02 [[ 9.34817767e-01 3.55127784e-01 0.00000000e+00 3.78748123e+02] [-3.55127784e-01 9.34817767e-01 0.00000000e+00 -1.00844329e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29778432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.77, Y:-100.85, Z:0.02 [[ 9.33536177e-01 3.58483202e-01 0.00000000e+00 3.78774067e+02] [-3.58483202e-01 9.33536177e-01 0.00000000e+00 -1.00854172e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00441218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.80, Y:-100.86, Z:0.02 [[ 9.32669254e-01 3.60732676e-01 0.00000000e+00 3.78801204e+02] [-3.60732676e-01 9.32669254e-01 0.00000000e+00 -1.00863269e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76188750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.83, Y:-100.87, Z:0.02 [[ 9.31752017e-01 3.63095276e-01 0.00000000e+00 3.78827564e+02] [-3.63095276e-01 9.31752017e-01 0.00000000e+00 -1.00872162e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51159397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.85, Y:-100.88, Z:0.01 [[ 9.30859493e-01 3.65377345e-01 0.00000000e+00 3.78854900e+02] [-3.65377345e-01 9.30859493e-01 0.00000000e+00 -1.00881050e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49274180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.88, Y:-100.89, Z:0.02 [[ 9.29297856e-01 3.69331146e-01 0.00000000e+00 3.78881823e+02] [-3.69331146e-01 9.29297856e-01 0.00000000e+00 -1.00889518e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62193998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.91, Y:-100.90, Z:0.02 [[ 9.28797272e-01 3.70588219e-01 0.00000000e+00 3.78909444e+02] [-3.70588219e-01 9.28797272e-01 0.00000000e+00 -1.00897625e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63852980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.94, Y:-100.91, Z:0.02 [[ 9.28463166e-01 3.71424488e-01 0.00000000e+00 3.78936117e+02] [-3.71424488e-01 9.28463166e-01 0.00000000e+00 -1.00905723e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69357709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.96, Y:-100.92, Z:0.02 [[ 9.27809752e-01 3.73053700e-01 0.00000000e+00 3.78962611e+02] [-3.73053700e-01 9.27809752e-01 0.00000000e+00 -1.00916708e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79557420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.99, Y:-100.93, Z:0.02 [[ 9.27533381e-01 3.73740321e-01 0.00000000e+00 3.78989371e+02] [-3.73740321e-01 9.27533381e-01 0.00000000e+00 -1.00927005e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72148385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.02, Y:-100.94, Z:0.02 [[ 9.27362561e-01 3.74163974e-01 0.00000000e+00 3.79016291e+02] [-3.74163974e-01 9.27362561e-01 0.00000000e+00 -1.00936125e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64022816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.04, Y:-100.94, Z:0.02 [[ 9.26321509e-01 3.76733939e-01 0.00000000e+00 3.79044443e+02] [-3.76733939e-01 9.26321509e-01 0.00000000e+00 -1.00943143e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56280098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.07, Y:-100.95, Z:0.02 [[ 9.25426460e-01 3.78927259e-01 0.00000000e+00 3.79070188e+02] [-3.78927259e-01 9.25426460e-01 0.00000000e+00 -1.00950359e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59428179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.10, Y:-100.96, Z:0.02 [[ 9.24559502e-01 3.81037697e-01 0.00000000e+00 3.79097921e+02] [-3.81037697e-01 9.24559502e-01 0.00000000e+00 -1.00958557e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69371543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.12, Y:-100.96, Z:0.02 [[ 9.23509325e-01 3.83575973e-01 0.00000000e+00 3.79124369e+02] [-3.83575973e-01 9.23509325e-01 0.00000000e+00 -1.00963721e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71095208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.15, Y:-100.97, Z:0.02 [[ 9.23396120e-01 3.83848415e-01 0.00000000e+00 3.79151316e+02] [-3.83848415e-01 9.23396120e-01 0.00000000e+00 -1.00969720e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72053458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.18, Y:-100.98, Z:0.02 [[ 9.24000051e-01 3.82392346e-01 0.00000000e+00 3.79178054e+02] [-3.82392346e-01 9.24000051e-01 0.00000000e+00 -1.00975946e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56066883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.21, Y:-100.98, Z:0.02 [[ 9.24728424e-01 3.80627563e-01 0.00000000e+00 3.79205240e+02] [-3.80627563e-01 9.24728424e-01 0.00000000e+00 -1.00982861e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65972385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.23, Y:-100.99, Z:0.02 [[ 9.25710948e-01 3.78231730e-01 0.00000000e+00 3.79232170e+02] [-3.78231730e-01 9.25710948e-01 0.00000000e+00 -1.00988323e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68766782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.26, Y:-100.99, Z:0.02 [[ 9.26885475e-01 3.75344264e-01 0.00000000e+00 3.79260873e+02] [-3.75344264e-01 9.26885475e-01 0.00000000e+00 -1.00993978e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80888608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.29, Y:-101.00, Z:0.02 [[ 9.29724806e-01 3.68255054e-01 0.00000000e+00 3.79288980e+02] [-3.68255054e-01 9.29724806e-01 0.00000000e+00 -1.00998680e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88610723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.32, Y:-101.01, Z:0.02 [[ 9.31298347e-01 3.64257312e-01 0.00000000e+00 3.79316336e+02] [-3.64257312e-01 9.31298347e-01 0.00000000e+00 -1.01007345e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00221437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.34, Y:-101.02, Z:0.02 [[ 9.32977238e-01 3.59935374e-01 0.00000000e+00 3.79342680e+02] [-3.59935374e-01 9.32977238e-01 0.00000000e+00 -1.01015751e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05645981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.37, Y:-101.02, Z:0.02 [[ 9.34623562e-01 3.55638577e-01 0.00000000e+00 3.79370652e+02] [-3.55638577e-01 9.34623562e-01 0.00000000e+00 -1.01024120e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26950555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.40, Y:-101.03, Z:0.02 [[ 9.37502038e-01 3.47979781e-01 0.00000000e+00 3.79397272e+02] [-3.47979781e-01 9.37502038e-01 0.00000000e+00 -1.01032379e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37508992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.42, Y:-101.04, Z:0.02 [[ 9.38551085e-01 3.45140350e-01 0.00000000e+00 3.79423732e+02] [-3.45140350e-01 9.38551085e-01 0.00000000e+00 -1.01042255e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46928195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.45, Y:-101.05, Z:0.02 [[ 9.39440014e-01 3.42713378e-01 0.00000000e+00 3.79449459e+02] [-3.42713378e-01 9.39440014e-01 0.00000000e+00 -1.01052441e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44419562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.47, Y:-101.06, Z:0.02 [[ 9.40371698e-01 3.40148599e-01 0.00000000e+00 3.79473697e+02] [-3.40148599e-01 9.40371698e-01 0.00000000e+00 -1.01064694e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43033412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.50, Y:-101.08, Z:0.02 [[ 9.40423243e-01 3.40006063e-01 0.00000000e+00 3.79500096e+02] [-3.40006063e-01 9.40423243e-01 0.00000000e+00 -1.01075483e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42299472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.53, Y:-101.09, Z:0.02 [[ 9.40298179e-01 3.40351781e-01 0.00000000e+00 3.79525497e+02] [-3.40351781e-01 9.40298179e-01 0.00000000e+00 -1.01086983e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37809549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.55, Y:-101.10, Z:0.02 [[ 9.39709196e-01 3.41974601e-01 0.00000000e+00 3.79550050e+02] [-3.41974601e-01 9.39709196e-01 0.00000000e+00 -1.01103603e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24000785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.58, Y:-101.12, Z:0.02 [[ 9.39262301e-01 3.43200132e-01 0.00000000e+00 3.79576871e+02] [-3.43200132e-01 9.39262301e-01 0.00000000e+00 -1.01115725e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31892326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.60, Y:-101.13, Z:0.02 [[ 9.38795495e-01 3.44474991e-01 0.00000000e+00 3.79603354e+02] [-3.44474991e-01 9.38795495e-01 0.00000000e+00 -1.01127974e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40026676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.63, Y:-101.14, Z:0.02 [[ 9.38280746e-01 3.45874604e-01 0.00000000e+00 3.79628205e+02] [-3.45874604e-01 9.38280746e-01 0.00000000e+00 -1.01140558e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42245710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.65, Y:-101.16, Z:0.02 [[ 9.37188854e-01 3.48822378e-01 0.00000000e+00 3.79654179e+02] [-3.48822378e-01 9.37188854e-01 0.00000000e+00 -1.01159597e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16170031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.68, Y:-101.17, Z:0.02 [[ 9.36493123e-01 3.50685943e-01 0.00000000e+00 3.79680777e+02] [-3.50685943e-01 9.36493123e-01 0.00000000e+00 -1.01172773e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84743491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.70, Y:-101.19, Z:0.02 [[ 9.34846445e-01 3.55052283e-01 0.00000000e+00 3.79704808e+02] [-3.55052283e-01 9.34846445e-01 0.00000000e+00 -1.01189859e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82864248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.73, Y:-101.20, Z:0.02 [[ 9.33707583e-01 3.58036520e-01 0.00000000e+00 3.79733010e+02] [-3.58036520e-01 9.33707583e-01 0.00000000e+00 -1.01203396e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08270935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.76, Y:-101.22, Z:0.02 [[ 9.32384147e-01 3.61468950e-01 0.00000000e+00 3.79760123e+02] [-3.61468950e-01 9.32384147e-01 0.00000000e+00 -1.01215983e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16628755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.79, Y:-101.23, Z:0.02 [[ 9.29242148e-01 3.69471284e-01 0.00000000e+00 3.79786540e+02] [-3.69471284e-01 9.29242148e-01 0.00000000e+00 -1.01229975e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01327958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.81, Y:-101.24, Z:0.02 [[ 9.27543682e-01 3.73714755e-01 0.00000000e+00 3.79813152e+02] [-3.73714755e-01 9.27543682e-01 0.00000000e+00 -1.01239585e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83040144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.84, Y:-101.25, Z:0.02 [[ 9.25894600e-01 3.77781934e-01 0.00000000e+00 3.79841286e+02] [-3.77781934e-01 9.25894600e-01 0.00000000e+00 -1.01249646e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83580848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.87, Y:-101.26, Z:0.02 [[ 9.24555941e-01 3.81046338e-01 0.00000000e+00 3.79869064e+02] [-3.81046338e-01 9.24555941e-01 0.00000000e+00 -1.01258934e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93734268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.90, Y:-101.27, Z:0.02 [[ 9.23072618e-01 3.84625717e-01 0.00000000e+00 3.79896886e+02] [-3.84625717e-01 9.23072618e-01 0.00000000e+00 -1.01266561e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16743211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.93, Y:-101.27, Z:0.02 [[ 9.22760635e-01 3.85373598e-01 0.00000000e+00 3.79925237e+02] [-3.85373598e-01 9.22760635e-01 0.00000000e+00 -1.01274405e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24573088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.95, Y:-101.28, Z:0.02 [[ 9.22759905e-01 3.85375346e-01 0.00000000e+00 3.79952732e+02] [-3.85375346e-01 9.22759905e-01 0.00000000e+00 -1.01282450e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31882519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.98, Y:-101.29, Z:0.03 [[ 9.23901068e-01 3.82631438e-01 0.00000000e+00 3.79984356e+02] [-3.82631438e-01 9.23901068e-01 0.00000000e+00 -1.01291606e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67261423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.02, Y:-101.30, Z:0.03 [[ 9.24852275e-01 3.80326530e-01 0.00000000e+00 3.80015031e+02] [-3.80326530e-01 9.24852275e-01 0.00000000e+00 -1.01300510e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67288615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.04, Y:-101.31, Z:0.02 [[ 9.27423453e-01 3.74013020e-01 0.00000000e+00 3.80044892e+02] [-3.74013020e-01 9.27423453e-01 0.00000000e+00 -1.01310740e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28448919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.08, Y:-101.32, Z:0.02 [[ 9.28819500e-01 3.70532504e-01 0.00000000e+00 3.80075578e+02] [-3.70532504e-01 9.28819500e-01 0.00000000e+00 -1.01321956e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06201230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.10, Y:-101.33, Z:0.02 [[ 9.30024957e-01 3.67496367e-01 0.00000000e+00 3.80104558e+02] [-3.67496367e-01 9.30024957e-01 0.00000000e+00 -1.01332682e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01542383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.101400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:380.13, Y:-101.34, Z:0.02 [[ 9.32019090e-01 3.62409182e-01 0.00000000e+00 3.80134583e+02] [-3.62409182e-01 9.32019090e-01 0.00000000e+00 -1.01344159e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23407482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.17, Y:-101.36, Z:0.02 [[ 9.32405511e-01 3.61413838e-01 0.00000000e+00 3.80165934e+02] [-3.61413838e-01 9.32405511e-01 0.00000000e+00 -1.01355498e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41070378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.20, Y:-101.37, Z:0.02 [[ 9.32498867e-01 3.61172899e-01 0.00000000e+00 3.80196010e+02] [-3.61172899e-01 9.32498867e-01 0.00000000e+00 -1.01366409e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30884960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.23, Y:-101.38, Z:0.02 [[ 9.31602908e-01 3.63477678e-01 0.00000000e+00 3.80226896e+02] [-3.63477678e-01 9.31602908e-01 0.00000000e+00 -1.01377643e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31819019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.26, Y:-101.39, Z:0.02 [[ 9.30603575e-01 3.66028668e-01 0.00000000e+00 3.80258649e+02] [-3.66028668e-01 9.30603575e-01 0.00000000e+00 -1.01387806e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42020330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.29, Y:-101.40, Z:0.02 [[ 9.29479280e-01 3.68874326e-01 0.00000000e+00 3.80289234e+02] [-3.68874326e-01 9.29479280e-01 0.00000000e+00 -1.01397713e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48416955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.32, Y:-101.41, Z:0.02 [[ 9.29479280e-01 3.68874326e-01 0.00000000e+00 3.80318891e+02] [-3.68874326e-01 9.29479280e-01 0.00000000e+00 -1.01406736e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48416955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.35, Y:-101.41, Z:0.02 [[ 9.28503938e-01 3.71322552e-01 0.00000000e+00 3.80345997e+02] [-3.71322552e-01 9.28503938e-01 0.00000000e+00 -1.01414923e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49576168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.38, Y:-101.42, Z:0.02 [[ 9.27386608e-01 3.74104369e-01 0.00000000e+00 3.80375732e+02] [-3.74104369e-01 9.27386608e-01 0.00000000e+00 -1.01421479e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37839385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.41, Y:-101.43, Z:0.02 [[ 9.27271652e-01 3.74389214e-01 0.00000000e+00 3.80407086e+02] [-3.74389214e-01 9.27271652e-01 0.00000000e+00 -1.01430401e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31319261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.44, Y:-101.44, Z:0.02 [[ 9.27596767e-01 3.73582972e-01 0.00000000e+00 3.80437019e+02] [-3.73582972e-01 9.27596767e-01 0.00000000e+00 -1.01439687e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26616167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.47, Y:-101.45, Z:0.02 [[ 9.29415090e-01 3.69036029e-01 0.00000000e+00 3.80468688e+02] [-3.69036029e-01 9.29415090e-01 0.00000000e+00 -1.01449839e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40701833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.50, Y:-101.46, Z:0.02 [[ 9.30535533e-01 3.66201614e-01 0.00000000e+00 3.80500069e+02] [-3.66201614e-01 9.30535533e-01 0.00000000e+00 -1.01458332e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49627899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.53, Y:-101.47, Z:0.03 [[ 9.31513385e-01 3.63707044e-01 0.00000000e+00 3.80529830e+02] [-3.63707044e-01 9.31513385e-01 0.00000000e+00 -1.01465913e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60155153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.56, Y:-101.47, Z:0.03 [[ 9.32496404e-01 3.61179258e-01 0.00000000e+00 3.80561916e+02] [-3.61179258e-01 9.32496404e-01 0.00000000e+00 -1.01473948e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80228882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.59, Y:-101.48, Z:0.03 [[ 9.32585214e-01 3.60949884e-01 0.00000000e+00 3.80592166e+02] [-3.60949884e-01 9.32585214e-01 0.00000000e+00 -1.01483103e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74756295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.62, Y:-101.49, Z:0.03 [[ 9.32700799e-01 3.60651106e-01 0.00000000e+00 3.80623227e+02] [-3.60651106e-01 9.32700799e-01 0.00000000e+00 -1.01491870e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75437812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.65, Y:-101.50, Z:0.03 [[ 9.33287643e-01 3.59129748e-01 0.00000000e+00 3.80653395e+02] [-3.59129748e-01 9.33287643e-01 0.00000000e+00 -1.01497029e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79746676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.68, Y:-101.51, Z:0.03 [[ 9.33655077e-01 3.58173418e-01 0.00000000e+00 3.80684437e+02] [-3.58173418e-01 9.33655077e-01 0.00000000e+00 -1.01505476e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75702549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.72, Y:-101.52, Z:0.03 [[ 9.34044788e-01 3.57155896e-01 0.00000000e+00 3.80716403e+02] [-3.57155896e-01 9.34044788e-01 0.00000000e+00 -1.01515253e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60339012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.75, Y:-101.52, Z:0.02 [[ 9.34791763e-01 3.55196227e-01 0.00000000e+00 3.80746497e+02] [-3.55196227e-01 9.34791763e-01 0.00000000e+00 -1.01524668e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42708164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.78, Y:-101.53, Z:0.03 [[ 9.34982948e-01 3.54692665e-01 0.00000000e+00 3.80776608e+02] [-3.54692665e-01 9.34982948e-01 0.00000000e+00 -1.01532405e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53559429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.81, Y:-101.54, Z:0.03 [[ 9.34975563e-01 3.54712131e-01 0.00000000e+00 3.80807090e+02] [-3.54712131e-01 9.34975563e-01 0.00000000e+00 -1.01539634e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64943361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.84, Y:-101.55, Z:0.03 [[ 9.34820041e-01 3.55121797e-01 0.00000000e+00 3.80836806e+02] [-3.55121797e-01 9.34820041e-01 0.00000000e+00 -1.01547355e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62067461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.87, Y:-101.56, Z:0.03 [[ 9.34495344e-01 3.55975353e-01 0.00000000e+00 3.80865289e+02] [-3.55975353e-01 9.34495344e-01 0.00000000e+00 -1.01555442e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50526643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.90, Y:-101.56, Z:0.03 [[ 9.34404352e-01 3.56214130e-01 0.00000000e+00 3.80896804e+02] [-3.56214130e-01 9.34404352e-01 0.00000000e+00 -1.01564752e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52490439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.881400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:380.93, Y:-101.57, Z:0.02 [[ 9.34642346e-01 3.55589207e-01 0.00000000e+00 3.80927331e+02] [-3.55589207e-01 9.34642346e-01 0.00000000e+00 -1.01573362e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45583589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.96, Y:-101.59, Z:0.02 [[ 9.35374713e-01 3.53658234e-01 0.00000000e+00 3.80957485e+02] [-3.53658234e-01 9.35374713e-01 0.00000000e+00 -1.01586968e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39608195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.99, Y:-101.60, Z:0.02 [[ 9.35886479e-01 3.52301715e-01 0.00000000e+00 3.80988016e+02] [-3.52301715e-01 9.35886479e-01 0.00000000e+00 -1.01600404e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34116576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.02, Y:-101.61, Z:0.02 [[ 9.36302867e-01 3.51193595e-01 0.00000000e+00 3.81017098e+02] [-3.51193595e-01 9.36302867e-01 0.00000000e+00 -1.01614168e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26024715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.05, Y:-101.63, Z:0.03 [[ 9.36174087e-01 3.51536739e-01 0.00000000e+00 3.81046597e+02] [-3.51536739e-01 9.36174087e-01 0.00000000e+00 -1.01631225e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58294048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.08, Y:-101.64, Z:0.03 [[ 9.35350183e-01 3.53723105e-01 0.00000000e+00 3.81077256e+02] [-3.53723105e-01 9.35350183e-01 0.00000000e+00 -1.01643799e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69656486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.11, Y:-101.66, Z:0.03 [[ 9.34248709e-01 3.56622140e-01 0.00000000e+00 3.81108108e+02] [-3.56622140e-01 9.34248709e-01 0.00000000e+00 -1.01655573e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74580563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.14, Y:-101.67, Z:0.03 [[ 9.32840759e-01 3.60288938e-01 0.00000000e+00 3.81138133e+02] [-3.60288938e-01 9.32840759e-01 0.00000000e+00 -1.01666523e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70022273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.17, Y:-101.68, Z:0.03 [[ 9.29694361e-01 3.68331908e-01 0.00000000e+00 3.81168918e+02] [-3.68331908e-01 9.29694361e-01 0.00000000e+00 -1.01678064e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67822255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.20, Y:-101.69, Z:0.03 [[ 9.28175730e-01 3.72142197e-01 0.00000000e+00 3.81199035e+02] [-3.72142197e-01 9.28175730e-01 0.00000000e+00 -1.01688794e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77264876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.23, Y:-101.70, Z:0.03 [[ 9.26958387e-01 3.75164163e-01 0.00000000e+00 3.81229500e+02] [-3.75164163e-01 9.26958387e-01 0.00000000e+00 -1.01699882e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85006663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.26, Y:-101.71, Z:0.03 [[ 9.25669524e-01 3.78333096e-01 0.00000000e+00 3.81260213e+02] [-3.78333096e-01 9.25669524e-01 0.00000000e+00 -1.01711125e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79941144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.24140051300003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:381.29, Y:-101.72, Z:0.03 [[ 9.25666705e-01 3.78339993e-01 0.00000000e+00 3.81292086e+02] [-3.78339993e-01 9.25666705e-01 0.00000000e+00 -1.01719442e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77337793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.32, Y:-101.73, Z:0.03 [[ 9.25704493e-01 3.78247527e-01 0.00000000e+00 3.81322958e+02] [-3.78247527e-01 9.25704493e-01 0.00000000e+00 -1.01728031e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80550857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.36, Y:-101.74, Z:0.03 [[ 9.26238360e-01 3.76938325e-01 0.00000000e+00 3.81355144e+02] [-3.76938325e-01 9.26238360e-01 0.00000000e+00 -1.01736378e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67352070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.39, Y:-101.75, Z:0.02 [[ 9.26629422e-01 3.75975949e-01 0.00000000e+00 3.81385659e+02] [-3.75975949e-01 9.26629422e-01 0.00000000e+00 -1.01745887e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44539341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.42, Y:-101.76, Z:0.02 [[ 9.27762687e-01 3.73170734e-01 0.00000000e+00 3.81417082e+02] [-3.73170734e-01 9.27762687e-01 0.00000000e+00 -1.01755067e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36566213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.45, Y:-101.76, Z:0.03 [[ 9.28313295e-01 3.71798907e-01 0.00000000e+00 3.81448142e+02] [-3.71798907e-01 9.28313295e-01 0.00000000e+00 -1.01764800e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55473033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.48, Y:-101.78, Z:0.03 [[ 9.28786304e-01 3.70615706e-01 0.00000000e+00 3.81479005e+02] [-3.70615706e-01 9.28786304e-01 0.00000000e+00 -1.01775088e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67663923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.51, Y:-101.79, Z:0.03 [[ 9.29190931e-01 3.69600072e-01 0.00000000e+00 3.81510040e+02] [-3.69600072e-01 9.29190931e-01 0.00000000e+00 -1.01785374e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59769598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.54, Y:-101.79, Z:0.02 [[ 9.29567975e-01 3.68650757e-01 0.00000000e+00 3.81539956e+02] [-3.68650757e-01 9.29567975e-01 0.00000000e+00 -1.01793676e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12010345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.57, Y:-101.80, Z:0.02 [[ 9.29407019e-01 3.69056356e-01 0.00000000e+00 3.81570848e+02] [-3.69056356e-01 9.29407019e-01 0.00000000e+00 -1.01802386e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95954372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.60, Y:-101.81, Z:0.02 [[ 9.29331566e-01 3.69246315e-01 0.00000000e+00 3.81600245e+02] [-3.69246315e-01 9.29331566e-01 0.00000000e+00 -1.01811218e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00201157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.63, Y:-101.82, Z:0.02 [[ 9.29411924e-01 3.69044003e-01 0.00000000e+00 3.81631865e+02] [-3.69044003e-01 9.29411924e-01 0.00000000e+00 -1.01821776e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24232736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.66, Y:-101.83, Z:0.02 [[ 9.30177369e-01 3.67110422e-01 0.00000000e+00 3.81663387e+02] [-3.67110422e-01 9.30177369e-01 0.00000000e+00 -1.01831774e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44240585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.70, Y:-101.84, Z:0.02 [[ 9.30658746e-01 3.65888370e-01 0.00000000e+00 3.81695186e+02] [-3.65888370e-01 9.30658746e-01 0.00000000e+00 -1.01840973e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40984957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.72, Y:-101.85, Z:0.02 [[ 9.31390157e-01 3.64022492e-01 0.00000000e+00 3.81724396e+02] [-3.64022492e-01 9.31390157e-01 0.00000000e+00 -1.01851792e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07003045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.75, Y:-101.86, Z:0.02 [[ 9.31617540e-01 3.63440174e-01 0.00000000e+00 3.81754223e+02] [-3.63440174e-01 9.31617540e-01 0.00000000e+00 -1.01862762e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89445712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.721400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:381.78, Y:-101.87, Z:0.02 [[ 9.31679170e-01 3.63282155e-01 0.00000000e+00 3.81784683e+02] [-3.63282155e-01 9.31679170e-01 0.00000000e+00 -1.01872992e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54411187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.82, Y:-101.88, Z:0.02 [[ 9.31095664e-01 3.64775089e-01 0.00000000e+00 3.81815508e+02] [-3.64775089e-01 9.31095664e-01 0.00000000e+00 -1.01880601e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99477422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.85, Y:-101.89, Z:0.02 [[ 9.30585655e-01 3.66074225e-01 0.00000000e+00 3.81847081e+02] [-3.66074225e-01 9.30585655e-01 0.00000000e+00 -1.01891011e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23356469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.88, Y:-101.90, Z:0.02 [[ 9.30148514e-01 3.67183525e-01 0.00000000e+00 3.81877585e+02] [-3.67183525e-01 9.30148514e-01 0.00000000e+00 -1.01901539e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36898955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.91, Y:-101.91, Z:0.03 [[ 9.29357686e-01 3.69180568e-01 0.00000000e+00 3.81909405e+02] [-3.69180568e-01 9.29357686e-01 0.00000000e+00 -1.01911266e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54987786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.871400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:381.94, Y:-101.92, Z:0.03 [[ 9.29062341e-01 3.69923191e-01 0.00000000e+00 3.81940781e+02] [-3.69923191e-01 9.29062341e-01 0.00000000e+00 -1.01920199e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53982314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.97, Y:-101.93, Z:0.03 [[ 9.28553152e-01 3.71199466e-01 0.00000000e+00 3.81970875e+02] [-3.71199466e-01 9.28553152e-01 0.00000000e+00 -1.01929832e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58955480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.00, Y:-101.94, Z:0.03 [[ 9.27834211e-01 3.72992864e-01 0.00000000e+00 3.82002382e+02] [-3.72992864e-01 9.27834211e-01 0.00000000e+00 -1.01939677e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82531066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.03, Y:-101.95, Z:0.03 [[ 9.27582898e-01 3.73617409e-01 0.00000000e+00 3.82034114e+02] [-3.73617409e-01 9.27582898e-01 0.00000000e+00 -1.01948738e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94425140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.07, Y:-101.96, Z:0.03 [[ 9.27354135e-01 3.74184859e-01 0.00000000e+00 3.82065318e+02] [-3.74184859e-01 9.27354135e-01 0.00000000e+00 -1.01957621e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02362839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.10, Y:-101.97, Z:0.03 [[ 9.27210535e-01 3.74540550e-01 0.00000000e+00 3.82096557e+02] [-3.74540550e-01 9.27210535e-01 0.00000000e+00 -1.01966673e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04415852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.13, Y:-101.97, Z:0.03 [[ 9.27117715e-01 3.74770253e-01 0.00000000e+00 3.82126809e+02] [-3.74770253e-01 9.27117715e-01 0.00000000e+00 -1.01974240e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98307790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.16, Y:-101.98, Z:0.03 [[ 9.26922890e-01 3.75251857e-01 0.00000000e+00 3.82156155e+02] [-3.75251857e-01 9.26922890e-01 0.00000000e+00 -1.01982414e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86021929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.11140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.19, Y:-101.99, Z:0.03 [[ 9.26769280e-01 3.75631072e-01 0.00000000e+00 3.82186363e+02] [-3.75631072e-01 9.26769280e-01 0.00000000e+00 -1.01990408e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71969177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.22, Y:-102.00, Z:0.03 [[ 9.26140899e-01 3.77177724e-01 0.00000000e+00 3.82218658e+02] [-3.77177724e-01 9.26140899e-01 0.00000000e+00 -1.01997153e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57013943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.25, Y:-102.01, Z:0.03 [[ 9.26072884e-01 3.77344687e-01 0.00000000e+00 3.82250561e+02] [-3.77344687e-01 9.26072884e-01 0.00000000e+00 -1.02007298e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57013943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.28, Y:-102.01, Z:0.02 [[ 9.25838993e-01 3.77918190e-01 0.00000000e+00 3.82281179e+02] [-3.77918190e-01 9.25838993e-01 0.00000000e+00 -1.02014686e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47039639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.31, Y:-102.02, Z:0.02 [[ 9.25806614e-01 3.77997504e-01 0.00000000e+00 3.82313149e+02] [-3.77997504e-01 9.25806614e-01 0.00000000e+00 -1.02022275e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42114864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.34, Y:-102.03, Z:0.02 [[ 9.26441941e-01 3.76437684e-01 0.00000000e+00 3.82344746e+02] [-3.76437684e-01 9.26441941e-01 0.00000000e+00 -1.02027831e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24632913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.38, Y:-102.04, Z:0.02 [[ 9.27084696e-01 3.74851927e-01 0.00000000e+00 3.82375438e+02] [-3.74851927e-01 9.27084696e-01 0.00000000e+00 -1.02035874e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16381478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.40, Y:-102.04, Z:0.02 [[ 9.28026846e-01 3.72513320e-01 0.00000000e+00 3.82404892e+02] [-3.72513320e-01 9.28026846e-01 0.00000000e+00 -1.02043964e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02718897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.43, Y:-102.05, Z:0.02 [[ 9.30751703e-01 3.65651839e-01 0.00000000e+00 3.82433681e+02] [-3.65651839e-01 9.30751703e-01 0.00000000e+00 -1.02052380e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95251344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.46, Y:-102.06, Z:0.02 [[ 9.32049939e-01 3.62329838e-01 0.00000000e+00 3.82462307e+02] [-3.62329838e-01 9.32049939e-01 0.00000000e+00 -1.02061794e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02031006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.49, Y:-102.07, Z:0.02 [[ 9.33719295e-01 3.58005974e-01 0.00000000e+00 3.82493227e+02] [-3.58005974e-01 9.33719295e-01 0.00000000e+00 -1.02072558e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24168243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.52, Y:-102.08, Z:0.02 [[ 9.34124856e-01 3.56946430e-01 0.00000000e+00 3.82523389e+02] [-3.56946430e-01 9.34124856e-01 0.00000000e+00 -1.02082270e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32530590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.56, Y:-102.09, Z:0.03 [[ 9.34311810e-01 3.56456789e-01 0.00000000e+00 3.82555414e+02] [-3.56456789e-01 9.34311810e-01 0.00000000e+00 -1.02091645e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61002211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.59, Y:-102.10, Z:0.03 [[ 9.34204641e-01 3.56737563e-01 0.00000000e+00 3.82586254e+02] [-3.56737563e-01 9.34204641e-01 0.00000000e+00 -1.02100154e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79803784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.531400513 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:382.62, Y:-102.11, Z:0.03 [[ 9.33767892e-01 3.57879202e-01 0.00000000e+00 3.82615614e+02] [-3.57879202e-01 9.33767892e-01 0.00000000e+00 -1.02108576e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86590432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.65, Y:-102.12, Z:0.03 [[ 9.32706945e-01 3.60635211e-01 0.00000000e+00 3.82645531e+02] [-3.60635211e-01 9.32706945e-01 0.00000000e+00 -1.02117060e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77408152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.68, Y:-102.13, Z:0.03 [[ 9.32178220e-01 3.61999677e-01 0.00000000e+00 3.82675420e+02] [-3.61999677e-01 9.32178220e-01 0.00000000e+00 -1.02126410e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64540260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.71, Y:-102.14, Z:0.03 [[ 9.31855956e-01 3.62828441e-01 0.00000000e+00 3.82706689e+02] [-3.62828441e-01 9.31855956e-01 0.00000000e+00 -1.02135465e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59229507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.74, Y:-102.14, Z:0.03 [[ 9.31847247e-01 3.62850807e-01 0.00000000e+00 3.82737303e+02] [-3.62850807e-01 9.31847247e-01 0.00000000e+00 -1.02144441e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51575139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.77, Y:-102.15, Z:0.02 [[ 9.31939536e-01 3.62613707e-01 0.00000000e+00 3.82767197e+02] [-3.62613707e-01 9.31939536e-01 0.00000000e+00 -1.02154342e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45811926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.711400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:382.80, Y:-102.16, Z:0.03 [[ 9.32138900e-01 3.62100914e-01 0.00000000e+00 3.82798525e+02] [-3.62100914e-01 9.32138900e-01 0.00000000e+00 -1.02164687e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57002016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.83, Y:-102.17, Z:0.03 [[ 9.32296039e-01 3.61696137e-01 0.00000000e+00 3.82829347e+02] [-3.61696137e-01 9.32296039e-01 0.00000000e+00 -1.02174946e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60002198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.86, Y:-102.19, Z:0.03 [[ 9.32604537e-01 3.60899955e-01 0.00000000e+00 3.82860120e+02] [-3.60899955e-01 9.32604537e-01 0.00000000e+00 -1.02185149e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53717069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.89, Y:-102.19, Z:0.03 [[ 9.33043033e-01 3.59764782e-01 0.00000000e+00 3.82890007e+02] [-3.59764782e-01 9.33043033e-01 0.00000000e+00 -1.02194809e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56858457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.92, Y:-102.20, Z:0.03 [[ 9.33381251e-01 3.58886390e-01 0.00000000e+00 3.82919255e+02] [-3.58886390e-01 9.33381251e-01 0.00000000e+00 -1.02203898e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72303501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.86140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.95, Y:-102.21, Z:0.03 [[ 9.33421833e-01 3.58780826e-01 0.00000000e+00 3.82950437e+02] [-3.58780826e-01 9.33421833e-01 0.00000000e+00 -1.02214581e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96236685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.98, Y:-102.23, Z:0.03 [[ 9.33353535e-01 3.58958463e-01 0.00000000e+00 3.82981378e+02] [-3.58958463e-01 9.33353535e-01 0.00000000e+00 -1.02225158e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93705091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.01, Y:-102.23, Z:0.03 [[ 9.33229691e-01 3.59280313e-01 0.00000000e+00 3.83011522e+02] [-3.59280313e-01 9.33229691e-01 0.00000000e+00 -1.02234998e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74033332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.04, Y:-102.24, Z:0.03 [[ 9.33018909e-01 3.59827341e-01 0.00000000e+00 3.83040640e+02] [-3.59827341e-01 9.33018909e-01 0.00000000e+00 -1.02244220e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50837088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.07, Y:-102.25, Z:0.02 [[ 9.33100323e-01 3.59616167e-01 0.00000000e+00 3.83070271e+02] [-3.59616167e-01 9.33100323e-01 0.00000000e+00 -1.02253435e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49428856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.10, Y:-102.26, Z:0.03 [[ 9.33002938e-01 3.59868751e-01 0.00000000e+00 3.83098604e+02] [-3.59868751e-01 9.33002938e-01 0.00000000e+00 -1.02262573e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50328708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.13, Y:-102.27, Z:0.03 [[ 9.32453533e-01 3.61289923e-01 0.00000000e+00 3.83125259e+02] [-3.61289923e-01 9.32453533e-01 0.00000000e+00 -1.02271729e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58380667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.15, Y:-102.28, Z:0.03 [[ 9.32002502e-01 3.62451839e-01 0.00000000e+00 3.83154339e+02] [-3.62451839e-01 9.32002502e-01 0.00000000e+00 -1.02280476e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60184934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.19, Y:-102.29, Z:0.03 [[ 9.31005212e-01 3.65005885e-01 0.00000000e+00 3.83185507e+02] [-3.65005885e-01 9.31005212e-01 0.00000000e+00 -1.02289311e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68620458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.22, Y:-102.30, Z:0.03 [[ 9.30637038e-01 3.65943580e-01 0.00000000e+00 3.83216545e+02] [-3.65943580e-01 9.30637038e-01 0.00000000e+00 -1.02298845e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75564619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.25, Y:-102.31, Z:0.03 [[ 9.30307791e-01 3.66779790e-01 0.00000000e+00 3.83246737e+02] [-3.66779790e-01 9.30307791e-01 0.00000000e+00 -1.02308194e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79360028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.28, Y:-102.32, Z:0.03 [[ 9.30183511e-01 3.67094859e-01 0.00000000e+00 3.83275605e+02] [-3.67094859e-01 9.30183511e-01 0.00000000e+00 -1.02316662e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86164064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.30, Y:-102.32, Z:0.03 [[ 9.30347067e-01 3.66680154e-01 0.00000000e+00 3.83303603e+02] [-3.66680154e-01 9.30347067e-01 0.00000000e+00 -1.02323429e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14916967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.33, Y:-102.33, Z:0.03 [[ 9.30769610e-01 3.65606255e-01 0.00000000e+00 3.83330556e+02] [-3.65606255e-01 9.30769610e-01 0.00000000e+00 -1.02331140e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29700441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.36, Y:-102.34, Z:0.03 [[ 9.31449454e-01 3.63870738e-01 0.00000000e+00 3.83359071e+02] [-3.63870738e-01 9.31449454e-01 0.00000000e+00 -1.02339682e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38229589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.39, Y:-102.35, Z:0.03 [[ 9.32389776e-01 3.61454432e-01 0.00000000e+00 3.83388201e+02] [-3.61454432e-01 9.32389776e-01 0.00000000e+00 -1.02349096e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37866370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.42, Y:-102.36, Z:0.03 [[ 9.35325776e-01 3.53787638e-01 0.00000000e+00 3.83418343e+02] [-3.53787638e-01 9.35325776e-01 0.00000000e+00 -1.02361039e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22249536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.45, Y:-102.37, Z:0.03 [[ 9.37133635e-01 3.48970700e-01 0.00000000e+00 3.83447659e+02] [-3.48970700e-01 9.37133635e-01 0.00000000e+00 -1.02372253e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18492067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.48, Y:-102.38, Z:0.03 [[ 9.38835726e-01 3.44365328e-01 0.00000000e+00 3.83477443e+02] [-3.44365328e-01 9.38835726e-01 0.00000000e+00 -1.02383912e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20002762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.51, Y:-102.40, Z:0.03 [[ 9.41690752e-01 3.36479609e-01 0.00000000e+00 3.83507186e+02] [-3.36479609e-01 9.41690752e-01 0.00000000e+00 -1.02398401e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23185909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.54, Y:-102.41, Z:0.03 [[ 9.42556299e-01 3.34047337e-01 0.00000000e+00 3.83537005e+02] [-3.34047337e-01 9.42556299e-01 0.00000000e+00 -1.02410776e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37628702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.57, Y:-102.42, Z:0.03 [[ 9.43134152e-01 3.32412350e-01 0.00000000e+00 3.83567888e+02] [-3.32412350e-01 9.43134152e-01 0.00000000e+00 -1.02423969e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41220993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.60, Y:-102.44, Z:0.03 [[ 9.43490502e-01 3.31399567e-01 0.00000000e+00 3.83596806e+02] [-3.31399567e-01 9.43490502e-01 0.00000000e+00 -1.02439429e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46662295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.63, Y:-102.45, Z:0.03 [[ 9.43330598e-01 3.31854460e-01 0.00000000e+00 3.83627522e+02] [-3.31854460e-01 9.43330598e-01 0.00000000e+00 -1.02451784e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35826193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.581400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:383.66, Y:-102.46, Z:0.03 [[ 9.43121718e-01 3.32447628e-01 0.00000000e+00 3.83657706e+02] [-3.32447628e-01 9.43121718e-01 0.00000000e+00 -1.02463931e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24267678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.61140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.69, Y:-102.48, Z:0.03 [[ 9.42922769e-01 3.33011490e-01 0.00000000e+00 3.83688484e+02] [-3.33011490e-01 9.42922769e-01 0.00000000e+00 -1.02475881e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15463247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.72, Y:-102.49, Z:0.03 [[ 9.42906642e-01 3.33057150e-01 0.00000000e+00 3.83718025e+02] [-3.33057150e-01 9.42906642e-01 0.00000000e+00 -1.02488240e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90323222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.75, Y:-102.50, Z:0.03 [[ 9.42907868e-01 3.33053678e-01 0.00000000e+00 3.83748927e+02] [-3.33053678e-01 9.42907868e-01 0.00000000e+00 -1.02498755e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77846598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.78, Y:-102.51, Z:0.02 [[ 9.43128179e-01 3.32429298e-01 0.00000000e+00 3.83779073e+02] [-3.32429298e-01 9.43128179e-01 0.00000000e+00 -1.02507114e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29261545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.731400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:383.81, Y:-102.52, Z:0.02 [[ 9.43569560e-01 3.31174402e-01 0.00000000e+00 3.83810255e+02] [-3.31174402e-01 9.43569560e-01 0.00000000e+00 -1.02516380e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13581597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.84, Y:-102.53, Z:0.02 [[ 9.44330549e-01 3.28998199e-01 0.00000000e+00 3.83840735e+02] [-3.28998199e-01 9.44330549e-01 0.00000000e+00 -1.02525963e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13490804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.791400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:383.87, Y:-102.54, Z:0.02 [[ 9.45264121e-01 3.26306207e-01 0.00000000e+00 3.83872305e+02] [-3.26306207e-01 9.45264121e-01 0.00000000e+00 -1.02536429e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39153418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.821400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:383.90, Y:-102.55, Z:0.03 [[ 9.47404038e-01 3.20039981e-01 0.00000000e+00 3.83902299e+02] [-3.20039981e-01 9.47404038e-01 0.00000000e+00 -1.02548853e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62943648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.93, Y:-102.56, Z:0.03 [[ 9.48642905e-01 3.16348919e-01 0.00000000e+00 3.83933079e+02] [-3.16348919e-01 9.48642905e-01 0.00000000e+00 -1.02559740e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74320252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.96, Y:-102.57, Z:0.03 [[ 9.49991398e-01 3.12276071e-01 0.00000000e+00 3.83963640e+02] [-3.12276071e-01 9.49991398e-01 0.00000000e+00 -1.02569907e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84999047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.99, Y:-102.58, Z:0.03 [[ 9.51299865e-01 3.08267039e-01 0.00000000e+00 3.83994822e+02] [-3.08267039e-01 9.51299865e-01 0.00000000e+00 -1.02580118e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96396876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.941400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:384.02, Y:-102.59, Z:0.03 [[ 9.52739259e-01 3.03789245e-01 0.00000000e+00 3.84024886e+02] [-3.03789245e-01 9.52739259e-01 0.00000000e+00 -1.02591058e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09404767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.06, Y:-102.60, Z:0.03 [[ 9.52579384e-01 3.04290185e-01 0.00000000e+00 3.84056256e+02] [-3.04290185e-01 9.52579384e-01 0.00000000e+00 -1.02601514e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13227736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.001400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:384.09, Y:-102.61, Z:0.03 [[ 9.52147983e-01 3.05637398e-01 0.00000000e+00 3.84086621e+02] [-3.05637398e-01 9.52147983e-01 0.00000000e+00 -1.02610993e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07125625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.031400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:384.12, Y:-102.62, Z:0.03 [[ 9.51437598e-01 3.07841675e-01 0.00000000e+00 3.84118332e+02] [-3.07841675e-01 9.51437598e-01 0.00000000e+00 -1.02620083e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11172647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.15, Y:-102.63, Z:0.03 [[ 9.51439914e-01 3.07834516e-01 0.00000000e+00 3.84149368e+02] [-3.07834516e-01 9.51439914e-01 0.00000000e+00 -1.02630424e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21005196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.18, Y:-102.64, Z:0.03 [[ 9.51379829e-01 3.08020164e-01 0.00000000e+00 3.84181178e+02] [-3.08020164e-01 9.51379829e-01 0.00000000e+00 -1.02640840e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21005196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.21, Y:-102.65, Z:0.03 [[ 9.51623827e-01 3.07265508e-01 0.00000000e+00 3.84211663e+02] [-3.07265508e-01 9.51623827e-01 0.00000000e+00 -1.02651962e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22115088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.24, Y:-102.67, Z:0.03 [[ 9.52933344e-01 3.03179885e-01 0.00000000e+00 3.84241782e+02] [-3.03179885e-01 9.52933344e-01 0.00000000e+00 -1.02666347e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22106037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.27, Y:-102.68, Z:0.03 [[ 9.53612323e-01 3.01037437e-01 0.00000000e+00 3.84271758e+02] [-3.01037437e-01 9.53612323e-01 0.00000000e+00 -1.02678579e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18828936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.30, Y:-102.69, Z:0.03 [[ 9.54194867e-01 2.99185823e-01 0.00000000e+00 3.84302144e+02] [-2.99185823e-01 9.54194867e-01 0.00000000e+00 -1.02690307e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05737831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.33, Y:-102.70, Z:0.03 [[ 9.54659995e-01 2.97698328e-01 0.00000000e+00 3.84332548e+02] [-2.97698328e-01 9.54659995e-01 0.00000000e+00 -1.02701588e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87066297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.36, Y:-102.71, Z:0.03 [[ 9.54750088e-01 2.97409263e-01 0.00000000e+00 3.84362020e+02] [-2.97409263e-01 9.54750088e-01 0.00000000e+00 -1.02713776e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62187660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.39, Y:-102.73, Z:0.03 [[ 9.54498153e-01 2.98216826e-01 0.00000000e+00 3.84392512e+02] [-2.98216826e-01 9.54498153e-01 0.00000000e+00 -1.02725089e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63172567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.42, Y:-102.74, Z:0.03 [[ 9.54149963e-01 2.99328997e-01 0.00000000e+00 3.84423930e+02] [-2.99328997e-01 9.54149963e-01 0.00000000e+00 -1.02736010e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78505399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.36140051300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.45, Y:-102.75, Z:0.03 [[ 9.53612216e-01 3.01037774e-01 0.00000000e+00 3.84454884e+02] [-3.01037774e-01 9.53612216e-01 0.00000000e+00 -1.02745759e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99552945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.49, Y:-102.76, Z:0.03 [[ 9.53423126e-01 3.01636109e-01 0.00000000e+00 3.84485888e+02] [-3.01636109e-01 9.53423126e-01 0.00000000e+00 -1.02756865e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03903673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.52, Y:-102.77, Z:0.03 [[ 9.53419056e-01 3.01648973e-01 0.00000000e+00 3.84515679e+02] [-3.01648973e-01 9.53419056e-01 0.00000000e+00 -1.02768405e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07070762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.55, Y:-102.78, Z:0.03 [[ 9.53627003e-01 3.00990929e-01 0.00000000e+00 3.84546777e+02] [-3.00990929e-01 9.53627003e-01 0.00000000e+00 -1.02780420e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08798702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.481400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:384.58, Y:-102.79, Z:0.03 [[ 9.54311868e-01 2.98812415e-01 0.00000000e+00 3.84577599e+02] [-2.98812415e-01 9.54311868e-01 0.00000000e+00 -1.02791465e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01854983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.61, Y:-102.80, Z:0.03 [[ 9.54429505e-01 2.98436458e-01 0.00000000e+00 3.84608226e+02] [-2.98436458e-01 9.54429505e-01 0.00000000e+00 -1.02801955e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90219950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.64, Y:-102.81, Z:0.03 [[ 9.54369859e-01 2.98627147e-01 0.00000000e+00 3.84637737e+02] [-2.98627147e-01 9.54369859e-01 0.00000000e+00 -1.02813626e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74312374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.67, Y:-102.83, Z:0.03 [[ 9.53878591e-01 3.00192661e-01 0.00000000e+00 3.84666866e+02] [-3.00192661e-01 9.53878591e-01 0.00000000e+00 -1.02829051e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72257719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.70, Y:-102.84, Z:0.03 [[ 9.53376234e-01 3.01784288e-01 0.00000000e+00 3.84697546e+02] [-3.01784288e-01 9.53376234e-01 0.00000000e+00 -1.02841383e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96674413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.631400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:384.73, Y:-102.85, Z:0.03 [[ 9.52567779e-01 3.04326512e-01 0.00000000e+00 3.84728691e+02] [-3.04326512e-01 9.52567779e-01 0.00000000e+00 -1.02853221e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00558876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.76, Y:-102.86, Z:0.03 [[ 9.51351963e-01 3.08106221e-01 0.00000000e+00 3.84759679e+02] [-3.08106221e-01 9.51351963e-01 0.00000000e+00 -1.02864311e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05320359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.691400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:384.79, Y:-102.88, Z:0.03 [[ 9.48254738e-01 3.17510555e-01 0.00000000e+00 3.84789022e+02] [-3.17510555e-01 9.48254738e-01 0.00000000e+00 -1.02876069e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00014624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.82, Y:-102.89, Z:0.03 [[ 9.46692302e-01 3.22139234e-01 0.00000000e+00 3.84820182e+02] [-3.22139234e-01 9.46692302e-01 0.00000000e+00 -1.02887446e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13738035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.85, Y:-102.90, Z:0.03 [[ 9.45346471e-01 3.26067555e-01 0.00000000e+00 3.84850827e+02] [-3.26067555e-01 9.45346471e-01 0.00000000e+00 -1.02898367e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20042836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.88, Y:-102.91, Z:0.03 [[ 9.43118556e-01 3.32456597e-01 0.00000000e+00 3.84880925e+02] [-3.32456597e-01 9.43118556e-01 0.00000000e+00 -1.02910157e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13282717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.91, Y:-102.92, Z:0.03 [[ 9.42362863e-01 3.34592641e-01 0.00000000e+00 3.84911596e+02] [-3.34592641e-01 9.42362863e-01 0.00000000e+00 -1.02921847e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02426889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.94, Y:-102.93, Z:0.03 [[ 9.41913957e-01 3.35854279e-01 0.00000000e+00 3.84942431e+02] [-3.35854279e-01 9.41913957e-01 0.00000000e+00 -1.02933894e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95701368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.97, Y:-102.95, Z:0.03 [[ 9.41592742e-01 3.36753780e-01 0.00000000e+00 3.84971501e+02] [-3.36753780e-01 9.41592742e-01 0.00000000e+00 -1.02948668e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18111069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.00, Y:-102.96, Z:0.03 [[ 9.41542830e-01 3.36893306e-01 0.00000000e+00 3.85001821e+02] [-3.36893306e-01 9.41542830e-01 0.00000000e+00 -1.02962291e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32552920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.931400513 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:385.03, Y:-102.98, Z:0.03 [[ 9.41569365e-01 3.36819137e-01 0.00000000e+00 3.85032158e+02] [-3.36819137e-01 9.41569365e-01 0.00000000e+00 -1.02976168e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26455752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.06, Y:-102.99, Z:0.03 [[ 9.41089598e-01 3.38157313e-01 0.00000000e+00 3.85060339e+02] [-3.38157313e-01 9.41089598e-01 0.00000000e+00 -1.02993381e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10585314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.09, Y:-103.01, Z:0.03 [[ 9.40379399e-01 3.40127309e-01 0.00000000e+00 3.85090543e+02] [-3.40127309e-01 9.40379399e-01 0.00000000e+00 -1.03007431e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11294481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.021400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:385.12, Y:-103.02, Z:0.03 [[ 9.39550189e-01 3.42411218e-01 0.00000000e+00 3.85119732e+02] [-3.42411218e-01 9.39550189e-01 0.00000000e+00 -1.03021061e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23286982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.15, Y:-103.03, Z:0.03 [[ 9.38706408e-01 3.44717682e-01 0.00000000e+00 3.85150157e+02] [-3.44717682e-01 9.38706408e-01 0.00000000e+00 -1.03034872e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32390606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.18, Y:-103.05, Z:0.03 [[ 9.36995345e-01 3.49341843e-01 0.00000000e+00 3.85179196e+02] [-3.49341843e-01 9.36995345e-01 0.00000000e+00 -1.03051894e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02714634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.21, Y:-103.07, Z:0.03 [[ 9.36031894e-01 3.51915180e-01 0.00000000e+00 3.85209533e+02] [-3.51915180e-01 9.36031894e-01 0.00000000e+00 -1.03065769e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71382409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.24, Y:-103.08, Z:0.02 [[ 9.35060719e-01 3.54487590e-01 0.00000000e+00 3.85239213e+02] [-3.54487590e-01 9.35060719e-01 0.00000000e+00 -1.03079520e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45438584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.27, Y:-103.09, Z:0.02 [[ 9.34152259e-01 3.56874709e-01 0.00000000e+00 3.85268344e+02] [-3.56874709e-01 9.34152259e-01 0.00000000e+00 -1.03092940e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26519310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.201400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:385.30, Y:-103.11, Z:0.02 [[ 9.32649080e-01 3.60784830e-01 0.00000000e+00 3.85297813e+02] [-3.60784830e-01 9.32649080e-01 0.00000000e+00 -1.03109092e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20251934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.33, Y:-103.12, Z:0.02 [[ 9.31795982e-01 3.62982434e-01 0.00000000e+00 3.85327016e+02] [-3.62982434e-01 9.31795982e-01 0.00000000e+00 -1.03121514e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27326375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.261400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:385.36, Y:-103.13, Z:0.02 [[ 9.30805356e-01 3.65515238e-01 0.00000000e+00 3.85357275e+02] [-3.65515238e-01 9.30805356e-01 0.00000000e+00 -1.03134476e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33198630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.39, Y:-103.15, Z:0.02 [[ 9.28771247e-01 3.70653437e-01 0.00000000e+00 3.85386136e+02] [-3.70653437e-01 9.28771247e-01 0.00000000e+00 -1.03148981e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25520003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.321400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:385.42, Y:-103.16, Z:0.02 [[ 9.28019564e-01 3.72531461e-01 0.00000000e+00 3.85416690e+02] [-3.72531461e-01 9.28019564e-01 0.00000000e+00 -1.03161155e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04858244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.45, Y:-103.17, Z:0.02 [[ 9.27395144e-01 3.74083207e-01 0.00000000e+00 3.85447496e+02] [-3.74083207e-01 9.27395144e-01 0.00000000e+00 -1.03173469e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01731601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.48, Y:-103.19, Z:0.02 [[ 9.26941942e-01 3.75204793e-01 0.00000000e+00 3.85476581e+02] [-3.75204793e-01 9.26941942e-01 0.00000000e+00 -1.03185703e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00186812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.411400513 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:385.51, Y:-103.20, Z:0.02 [[ 9.26951595e-01 3.75180944e-01 0.00000000e+00 3.85506683e+02] [-3.75180944e-01 9.26951595e-01 0.00000000e+00 -1.03200341e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38633044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.54, Y:-103.21, Z:0.02 [[ 9.27407628e-01 3.74052258e-01 0.00000000e+00 3.85537208e+02] [-3.74052258e-01 9.27407628e-01 0.00000000e+00 -1.03212511e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49746914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.57, Y:-103.22, Z:0.02 [[ 9.28220798e-01 3.72029771e-01 0.00000000e+00 3.85566594e+02] [-3.72029771e-01 9.28220798e-01 0.00000000e+00 -1.03224779e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44054733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.501400513 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:385.59, Y:-103.24, Z:0.02 [[ 9.30198477e-01 3.67056936e-01 0.00000000e+00 3.85594571e+02] [-3.67056936e-01 9.30198477e-01 0.00000000e+00 -1.03241926e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31343853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.531400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:385.62, Y:-103.26, Z:0.02 [[ 9.30803910e-01 3.65518921e-01 0.00000000e+00 3.85623410e+02] [-3.65518921e-01 9.30803910e-01 0.00000000e+00 -1.03256599e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39160005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.561400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:385.65, Y:-103.27, Z:0.02 [[ 9.31007085e-01 3.65001106e-01 0.00000000e+00 3.85652191e+02] [-3.65001106e-01 9.31007085e-01 0.00000000e+00 -1.03270828e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49444664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.591400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:385.68, Y:-103.29, Z:0.03 [[ 9.29681349e-01 3.68364749e-01 0.00000000e+00 3.85681793e+02] [-3.68364749e-01 9.29681349e-01 0.00000000e+00 -1.03286644e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61755798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.71, Y:-103.30, Z:0.03 [[ 9.28062646e-01 3.72424119e-01 0.00000000e+00 3.85712783e+02] [-3.72424119e-01 9.28062646e-01 0.00000000e+00 -1.03299025e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61724265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.74, Y:-103.31, Z:0.03 [[ 9.26147278e-01 3.77162061e-01 0.00000000e+00 3.85742710e+02] [-3.77162061e-01 9.26147278e-01 0.00000000e+00 -1.03310355e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61810918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.77, Y:-103.32, Z:0.03 [[ 9.24112727e-01 3.82119966e-01 0.00000000e+00 3.85774214e+02] [-3.82119966e-01 9.24112727e-01 0.00000000e+00 -1.03321200e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68716856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.81, Y:-103.33, Z:0.03 [[ 9.20749340e-01 3.90154652e-01 0.00000000e+00 3.85806484e+02] [-3.90154652e-01 9.20749340e-01 0.00000000e+00 -1.03329872e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78614009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.84, Y:-103.34, Z:0.03 [[ 9.19731873e-01 3.92547172e-01 0.00000000e+00 3.85837662e+02] [-3.92547172e-01 9.19731873e-01 0.00000000e+00 -1.03338828e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74641672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.87, Y:-103.35, Z:0.02 [[ 9.19451875e-01 3.93202554e-01 0.00000000e+00 3.85869266e+02] [-3.93202554e-01 9.19451875e-01 0.00000000e+00 -1.03347492e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48817083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.90, Y:-103.36, Z:0.02 [[ 9.20016123e-01 3.91880510e-01 0.00000000e+00 3.85900644e+02] [-3.91880510e-01 9.20016123e-01 0.00000000e+00 -1.03357324e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41065519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.93, Y:-103.37, Z:0.02 [[ 9.20999888e-01 3.89562839e-01 0.00000000e+00 3.85932042e+02] [-3.89562839e-01 9.20999888e-01 0.00000000e+00 -1.03366578e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35885358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.96, Y:-103.38, Z:0.02 [[ 9.22350370e-01 3.86354493e-01 0.00000000e+00 3.85963006e+02] [-3.86354493e-01 9.22350370e-01 0.00000000e+00 -1.03375409e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31451425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.99, Y:-103.38, Z:0.02 [[ 9.25430817e-01 3.78916618e-01 0.00000000e+00 3.85994654e+02] [-3.78916618e-01 9.25430817e-01 0.00000000e+00 -1.03383888e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21971184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.03, Y:-103.39, Z:0.02 [[ 9.26908110e-01 3.75288363e-01 0.00000000e+00 3.86025654e+02] [-3.75288363e-01 9.26908110e-01 0.00000000e+00 -1.03394748e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20726548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.06, Y:-103.41, Z:0.02 [[ 9.28279297e-01 3.71883782e-01 0.00000000e+00 3.86056412e+02] [-3.71883782e-01 9.28279297e-01 0.00000000e+00 -1.03406420e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22198553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.09, Y:-103.42, Z:0.02 [[ 9.28211595e-01 3.72052731e-01 0.00000000e+00 3.86088091e+02] [-3.72052731e-01 9.28211595e-01 0.00000000e+00 -1.03417161e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22198553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.011400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:386.12, Y:-103.43, Z:0.02 [[ 9.30180755e-01 3.67101843e-01 0.00000000e+00 3.86117208e+02] [-3.67101843e-01 9.30180755e-01 0.00000000e+00 -1.03430742e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14915760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.15, Y:-103.44, Z:0.02 [[ 9.30683068e-01 3.65826498e-01 0.00000000e+00 3.86147317e+02] [-3.65826498e-01 9.30683068e-01 0.00000000e+00 -1.03443225e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15557359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.071400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:386.18, Y:-103.46, Z:0.02 [[ 9.30994726e-01 3.65032630e-01 0.00000000e+00 3.86178238e+02] [-3.65032630e-01 9.30994726e-01 0.00000000e+00 -1.03455945e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11780013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.21, Y:-103.47, Z:0.02 [[ 9.30993373e-01 3.65036081e-01 0.00000000e+00 3.86208341e+02] [-3.65036081e-01 9.30993373e-01 0.00000000e+00 -1.03467418e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16535440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.24, Y:-103.48, Z:0.02 [[ 9.29865683e-01 3.67899187e-01 0.00000000e+00 3.86238409e+02] [-3.67899187e-01 9.29865683e-01 0.00000000e+00 -1.03477028e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26967615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.27, Y:-103.49, Z:0.02 [[ 9.29037144e-01 3.69986466e-01 0.00000000e+00 3.86270074e+02] [-3.69986466e-01 9.29037144e-01 0.00000000e+00 -1.03487750e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19135415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.191400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:386.30, Y:-103.50, Z:0.02 [[ 9.28238508e-01 3.71985582e-01 0.00000000e+00 3.86300806e+02] [-3.71985582e-01 9.28238508e-01 0.00000000e+00 -1.03499158e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00314408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.33, Y:-103.51, Z:0.02 [[ 9.27476074e-01 3.73882511e-01 0.00000000e+00 3.86329868e+02] [-3.73882511e-01 9.27476074e-01 0.00000000e+00 -1.03509924e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68087538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.36, Y:-103.52, Z:0.02 [[ 9.27414978e-01 3.74034035e-01 0.00000000e+00 3.86361277e+02] [-3.74034035e-01 9.27414978e-01 0.00000000e+00 -1.03520344e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63758650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.39, Y:-103.53, Z:0.02 [[ 9.27797438e-01 3.73084326e-01 0.00000000e+00 3.86391235e+02] [-3.73084326e-01 9.27797438e-01 0.00000000e+00 -1.03530951e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71302475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.42, Y:-103.54, Z:0.02 [[ 9.28338235e-01 3.71736628e-01 0.00000000e+00 3.86421221e+02] [-3.71736628e-01 9.28338235e-01 0.00000000e+00 -1.03543232e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91727168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.45, Y:-103.56, Z:0.02 [[ 9.29848109e-01 3.67943602e-01 0.00000000e+00 3.86450553e+02] [-3.67943602e-01 9.29848109e-01 0.00000000e+00 -1.03558267e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17262969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.48, Y:-103.57, Z:0.02 [[ 9.30465410e-01 3.66379751e-01 0.00000000e+00 3.86480618e+02] [-3.66379751e-01 9.30465410e-01 0.00000000e+00 -1.03570465e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09815746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.51, Y:-103.58, Z:0.02 [[ 9.30928560e-01 3.65201336e-01 0.00000000e+00 3.86510586e+02] [-3.65201336e-01 9.30928560e-01 0.00000000e+00 -1.03582490e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99033236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.54, Y:-103.60, Z:0.02 [[ 9.31283822e-01 3.64294445e-01 0.00000000e+00 3.86540327e+02] [-3.64294445e-01 9.31283822e-01 0.00000000e+00 -1.03598009e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10255992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.57, Y:-103.61, Z:0.02 [[ 9.31317381e-01 3.64208644e-01 0.00000000e+00 3.86569205e+02] [-3.64208644e-01 9.31317381e-01 0.00000000e+00 -1.03611006e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14440271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.60, Y:-103.62, Z:0.02 [[ 9.31146943e-01 3.64644169e-01 0.00000000e+00 3.86598314e+02] [-3.64644169e-01 9.31146943e-01 0.00000000e+00 -1.03624009e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07635596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.63, Y:-103.64, Z:0.02 [[ 9.30213489e-01 3.67018890e-01 0.00000000e+00 3.86627651e+02] [-3.67018890e-01 9.30213489e-01 0.00000000e+00 -1.03640191e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10399717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.66, Y:-103.65, Z:0.02 [[ 9.29405621e-01 3.69059874e-01 0.00000000e+00 3.86656837e+02] [-3.69059874e-01 9.29405621e-01 0.00000000e+00 -1.03654110e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22346140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.69, Y:-103.67, Z:0.02 [[ 9.28616438e-01 3.71041117e-01 0.00000000e+00 3.86686672e+02] [-3.71041117e-01 9.28616438e-01 0.00000000e+00 -1.03668100e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44783473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.72, Y:-103.68, Z:0.03 [[ 9.28030005e-01 3.72505450e-01 0.00000000e+00 3.86717308e+02] [-3.72505450e-01 9.28030005e-01 0.00000000e+00 -1.03681456e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59408828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.75, Y:-103.69, Z:0.03 [[ 9.27421981e-01 3.74016669e-01 0.00000000e+00 3.86746892e+02] [-3.74016669e-01 9.27421981e-01 0.00000000e+00 -1.03693599e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69318576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.78, Y:-103.71, Z:0.03 [[ 9.25860331e-01 3.77865913e-01 0.00000000e+00 3.86775748e+02] [-3.77865913e-01 9.25860331e-01 0.00000000e+00 -1.03707771e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72149917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.81, Y:-103.72, Z:0.03 [[ 9.24885733e-01 3.80245160e-01 0.00000000e+00 3.86805078e+02] [-3.80245160e-01 9.24885733e-01 0.00000000e+00 -1.03719526e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73558412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.83, Y:-103.73, Z:0.03 [[ 9.24020264e-01 3.82343501e-01 0.00000000e+00 3.86834663e+02] [-3.82343501e-01 9.24020264e-01 0.00000000e+00 -1.03730544e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81990849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.87, Y:-103.74, Z:0.03 [[ 9.22266798e-01 3.86553947e-01 0.00000000e+00 3.86865700e+02] [-3.86553947e-01 9.22266798e-01 0.00000000e+00 -1.03741524e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82803774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.90, Y:-103.75, Z:0.03 [[ 9.21492127e-01 3.88397040e-01 0.00000000e+00 3.86895878e+02] [-3.88397040e-01 9.21492127e-01 0.00000000e+00 -1.03751358e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69119173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.821400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:386.93, Y:-103.76, Z:0.02 [[ 9.20928995e-01 3.89730402e-01 0.00000000e+00 3.86927565e+02] [-3.89730402e-01 9.20928995e-01 0.00000000e+00 -1.03761739e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44255496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.96, Y:-103.77, Z:0.02 [[ 9.20629163e-01 3.90438144e-01 0.00000000e+00 3.86958121e+02] [-3.90438144e-01 9.20629163e-01 0.00000000e+00 -1.03771756e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15689381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.99, Y:-103.78, Z:0.02 [[ 9.20859091e-01 3.89895543e-01 0.00000000e+00 3.86989605e+02] [-3.89895543e-01 9.20859091e-01 0.00000000e+00 -1.03782590e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21045611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.02, Y:-103.79, Z:0.02 [[ 9.21273319e-01 3.88915764e-01 0.00000000e+00 3.87019562e+02] [-3.88915764e-01 9.21273319e-01 0.00000000e+00 -1.03793117e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33115663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.05, Y:-103.80, Z:0.02 [[ 9.21749527e-01 3.87785778e-01 0.00000000e+00 3.87050926e+02] [-3.87785778e-01 9.21749527e-01 0.00000000e+00 -1.03804342e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43410490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.08, Y:-103.81, Z:0.02 [[ 9.22201986e-01 3.86708543e-01 0.00000000e+00 3.87080730e+02] [-3.86708543e-01 9.22201986e-01 0.00000000e+00 -1.03814396e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42936438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.11, Y:-103.82, Z:0.02 [[ 9.23181221e-01 3.84364974e-01 0.00000000e+00 3.87112073e+02] [-3.84364974e-01 9.23181221e-01 0.00000000e+00 -1.03824234e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10084632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.14, Y:-103.84, Z:0.02 [[ 9.23639262e-01 3.83262981e-01 0.00000000e+00 3.87143348e+02] [-3.83262981e-01 9.23639262e-01 0.00000000e+00 -1.03835522e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93242048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.061400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:387.17, Y:-103.85, Z:0.02 [[ 9.24695683e-01 3.80707098e-01 0.00000000e+00 3.87172359e+02] [-3.80707098e-01 9.24695683e-01 0.00000000e+00 -1.03848983e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90966744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.20, Y:-103.86, Z:0.02 [[ 9.25114339e-01 3.79688635e-01 0.00000000e+00 3.87202211e+02] [-3.79688635e-01 9.25114339e-01 0.00000000e+00 -1.03862202e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98960000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.23, Y:-103.88, Z:0.02 [[ 9.25710999e-01 3.78231604e-01 0.00000000e+00 3.87232362e+02] [-3.78231604e-01 9.25710999e-01 0.00000000e+00 -1.03876114e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01856286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.26, Y:-103.89, Z:0.02 [[ 9.26431602e-01 3.76463127e-01 0.00000000e+00 3.87262049e+02] [-3.76463127e-01 9.26431602e-01 0.00000000e+00 -1.03890524e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00092778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.29, Y:-103.91, Z:0.02 [[ 9.27761923e-01 3.73172634e-01 0.00000000e+00 3.87289365e+02] [-3.73172634e-01 9.27761923e-01 0.00000000e+00 -1.03909945e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93062685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.32, Y:-103.93, Z:0.02 [[ 9.27984091e-01 3.72619815e-01 0.00000000e+00 3.87318443e+02] [-3.72619815e-01 9.27984091e-01 0.00000000e+00 -1.03925347e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97191756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.35, Y:-103.94, Z:0.02 [[ 9.27777215e-01 3.73134613e-01 0.00000000e+00 3.87346645e+02] [-3.73134613e-01 9.27777215e-01 0.00000000e+00 -1.03940575e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01682587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.38, Y:-103.96, Z:0.02 [[ 9.27185086e-01 3.74603546e-01 0.00000000e+00 3.87376400e+02] [-3.74603546e-01 9.27185086e-01 0.00000000e+00 -1.03955631e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10189691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.40, Y:-103.97, Z:0.02 [[ 9.24397390e-01 3.81430814e-01 0.00000000e+00 3.87404495e+02] [-3.81430814e-01 9.24397390e-01 0.00000000e+00 -1.03971549e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20713856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.44, Y:-103.98, Z:0.02 [[ 9.22214300e-01 3.86679176e-01 0.00000000e+00 3.87435391e+02] [-3.86679176e-01 9.22214300e-01 0.00000000e+00 -1.03983139e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21401046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.47, Y:-103.99, Z:0.02 [[ 9.19717417e-01 3.92581040e-01 0.00000000e+00 3.87466219e+02] [-3.92581040e-01 9.19717417e-01 0.00000000e+00 -1.03993884e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22168013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.50, Y:-104.00, Z:0.02 [[ 9.14836483e-01 4.03824478e-01 0.00000000e+00 3.87497812e+02] [-4.03824478e-01 9.14836483e-01 0.00000000e+00 -1.04004224e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19131531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.53, Y:-104.01, Z:0.02 [[ 9.13085799e-01 4.07767487e-01 0.00000000e+00 3.87528389e+02] [-4.07767487e-01 9.13085799e-01 0.00000000e+00 -1.04014535e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16919755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.56, Y:-104.02, Z:0.02 [[ 9.12204406e-01 4.09735430e-01 0.00000000e+00 3.87559239e+02] [-4.09735430e-01 9.12204406e-01 0.00000000e+00 -1.04024769e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13788378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.481400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:387.59, Y:-104.03, Z:0.02 [[ 9.12712608e-01 4.08602124e-01 0.00000000e+00 3.87591245e+02] [-4.08602124e-01 9.12712608e-01 0.00000000e+00 -1.04034077e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94670572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.62, Y:-104.04, Z:0.02 [[ 9.13773618e-01 4.06223799e-01 0.00000000e+00 3.87622205e+02] [-4.06223799e-01 9.13773618e-01 0.00000000e+00 -1.04044429e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97516893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.65, Y:-104.05, Z:0.02 [[ 9.15016146e-01 4.03417219e-01 0.00000000e+00 3.87652828e+02] [-4.03417219e-01 9.15016146e-01 0.00000000e+00 -1.04054919e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08844301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.68, Y:-104.06, Z:0.02 [[ 9.16618439e-01 3.99763227e-01 0.00000000e+00 3.87684270e+02] [-3.99763227e-01 9.16618439e-01 0.00000000e+00 -1.04063490e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28048405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.72, Y:-104.07, Z:0.02 [[ 9.16639116e-01 3.99715813e-01 0.00000000e+00 3.87715132e+02] [-3.99715813e-01 9.16639116e-01 0.00000000e+00 -1.04071787e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24205606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.75, Y:-104.08, Z:0.02 [[ 9.15463351e-01 4.02401357e-01 0.00000000e+00 3.87746889e+02] [-4.02401357e-01 9.15463351e-01 0.00000000e+00 -1.04077689e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97430548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.78, Y:-104.09, Z:0.02 [[ 9.14609538e-01 4.04338216e-01 0.00000000e+00 3.87779048e+02] [-4.04338216e-01 9.14609538e-01 0.00000000e+00 -1.04086352e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91193963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.81, Y:-104.09, Z:0.02 [[ 9.13947844e-01 4.05831663e-01 0.00000000e+00 3.87809965e+02] [-4.05831663e-01 9.13947844e-01 0.00000000e+00 -1.04093875e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81310741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.84, Y:-104.10, Z:0.02 [[ 9.13485521e-01 4.06871237e-01 0.00000000e+00 3.87841805e+02] [-4.06871237e-01 9.13485521e-01 0.00000000e+00 -1.04101310e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74830422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.751400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:387.87, Y:-104.11, Z:0.01 [[ 9.13390918e-01 4.07083568e-01 0.00000000e+00 3.87873689e+02] [-4.07083568e-01 9.13390918e-01 0.00000000e+00 -1.04106399e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42353938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.91, Y:-104.12, Z:0.01 [[ 9.13764072e-01 4.06245272e-01 0.00000000e+00 3.87905004e+02] [-4.06245272e-01 9.13764072e-01 0.00000000e+00 -1.04115108e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33897558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.94, Y:-104.12, Z:0.01 [[ 9.14261122e-01 4.05125413e-01 0.00000000e+00 3.87936795e+02] [-4.05125413e-01 9.14261122e-01 0.00000000e+00 -1.04123599e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41039554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.97, Y:-104.13, Z:0.01 [[ 9.14834430e-01 4.03829129e-01 0.00000000e+00 3.87967200e+02] [-4.03829129e-01 9.14834430e-01 0.00000000e+00 -1.04131764e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48725780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.871400513 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:388.00, Y:-104.14, Z:0.02 [[ 9.15539635e-01 4.02227766e-01 0.00000000e+00 3.87999030e+02] [-4.02227766e-01 9.15539635e-01 0.00000000e+00 -1.04140791e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71904043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.901400513 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:388.03, Y:-104.15, Z:0.02 [[ 9.15469109e-01 4.02388259e-01 0.00000000e+00 3.88030586e+02] [-4.02388259e-01 9.15469109e-01 0.00000000e+00 -1.04151862e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71904043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.06, Y:-104.16, Z:0.02 [[ 9.15500875e-01 4.02315980e-01 0.00000000e+00 3.88061784e+02] [-4.02315980e-01 9.15500875e-01 0.00000000e+00 -1.04162181e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78197218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.09, Y:-104.17, Z:0.02 [[ 9.15377758e-01 4.02596025e-01 0.00000000e+00 3.88092949e+02] [-4.02596025e-01 9.15377758e-01 0.00000000e+00 -1.04171417e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66696057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.12, Y:-104.18, Z:0.01 [[ 9.14694434e-01 4.04146127e-01 0.00000000e+00 3.88123909e+02] [-4.04146127e-01 9.14694434e-01 0.00000000e+00 -1.04176086e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13701984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.16, Y:-104.18, Z:0.01 [[ 9.14287467e-01 4.05065956e-01 0.00000000e+00 3.88155052e+02] [-4.05065956e-01 9.14287467e-01 0.00000000e+00 -1.04184351e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04557331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.19, Y:-104.19, Z:0.01 [[ 9.14037646e-01 4.05629365e-01 0.00000000e+00 3.88186833e+02] [-4.05629365e-01 9.14037646e-01 0.00000000e+00 -1.04193930e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21944092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.22, Y:-104.20, Z:0.02 [[ 9.14044449e-01 4.05614034e-01 0.00000000e+00 3.88216953e+02] [-4.05614034e-01 9.14044449e-01 0.00000000e+00 -1.04203180e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51895338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.25, Y:-104.21, Z:0.02 [[ 9.14820440e-01 4.03860821e-01 0.00000000e+00 3.88249172e+02] [-4.03860821e-01 9.14820440e-01 0.00000000e+00 -1.04211697e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05099402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.28, Y:-104.22, Z:0.02 [[ 9.15442768e-01 4.02448181e-01 0.00000000e+00 3.88279926e+02] [-4.02448181e-01 9.15442768e-01 0.00000000e+00 -1.04221306e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05794069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.31, Y:-104.23, Z:0.02 [[ 9.16020497e-01 4.01131462e-01 0.00000000e+00 3.88311518e+02] [-4.01131462e-01 9.16020497e-01 0.00000000e+00 -1.04231441e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90313804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.34, Y:-104.24, Z:0.02 [[ 9.16461799e-01 4.00122196e-01 0.00000000e+00 3.88342939e+02] [-4.00122196e-01 9.16461799e-01 0.00000000e+00 -1.04241679e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83219031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.37, Y:-104.25, Z:0.02 [[ 9.17179272e-01 3.98474821e-01 0.00000000e+00 3.88374762e+02] [-3.98474821e-01 9.17179272e-01 0.00000000e+00 -1.04251425e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93285306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.41, Y:-104.26, Z:0.02 [[ 9.17237637e-01 3.98340453e-01 0.00000000e+00 3.88405022e+02] [-3.98340453e-01 9.17237637e-01 0.00000000e+00 -1.04260721e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98522333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.291400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:388.44, Y:-104.27, Z:0.02 [[ 9.16465943e-01 4.00112704e-01 0.00000000e+00 3.88437162e+02] [-4.00112704e-01 9.16465943e-01 0.00000000e+00 -1.04269114e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96048018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.47, Y:-104.28, Z:0.02 [[ 9.15565994e-01 4.02167763e-01 0.00000000e+00 3.88467290e+02] [-4.02167763e-01 9.15565994e-01 0.00000000e+00 -1.04278554e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06054275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.50, Y:-104.29, Z:0.02 [[ 9.14587305e-01 4.04388503e-01 0.00000000e+00 3.88499076e+02] [-4.04388503e-01 9.14587305e-01 0.00000000e+00 -1.04287632e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13213890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.53, Y:-104.30, Z:0.02 [[ 9.13523408e-01 4.06786165e-01 0.00000000e+00 3.88531112e+02] [-4.06786165e-01 9.13523408e-01 0.00000000e+00 -1.04295937e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04126529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.56, Y:-104.30, Z:0.02 [[ 9.12410190e-01 4.09276978e-01 0.00000000e+00 3.88562191e+02] [-4.09276978e-01 9.12410190e-01 0.00000000e+00 -1.04303250e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76602955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.441400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:388.59, Y:-104.31, Z:0.01 [[ 9.10902522e-01 4.12621613e-01 0.00000000e+00 3.88594164e+02] [-4.12621613e-01 9.10902522e-01 0.00000000e+00 -1.04308385e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26707420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.471400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:388.63, Y:-104.32, Z:0.01 [[ 9.10629949e-01 4.13222815e-01 0.00000000e+00 3.88625694e+02] [-4.13222815e-01 9.10629949e-01 0.00000000e+00 -1.04316712e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29395738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.66, Y:-104.32, Z:0.01 [[ 9.10610063e-01 4.13266636e-01 0.00000000e+00 3.88656024e+02] [-4.13266636e-01 9.10610063e-01 0.00000000e+00 -1.04324593e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45192897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.69, Y:-104.33, Z:0.02 [[ 9.10888529e-01 4.12652503e-01 0.00000000e+00 3.88688435e+02] [-4.12652503e-01 9.10888529e-01 0.00000000e+00 -1.04330415e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97559041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.561400513 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:388.72, Y:-104.34, Z:0.02 [[ 9.10865722e-01 4.12702843e-01 0.00000000e+00 3.88719719e+02] [-4.12702843e-01 9.10865722e-01 0.00000000e+00 -1.04338534e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00387929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.75, Y:-104.35, Z:0.02 [[ 9.10491777e-01 4.13527176e-01 0.00000000e+00 3.88750738e+02] [-4.13527176e-01 9.10491777e-01 0.00000000e+00 -1.04346949e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97399290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.78, Y:-104.35, Z:0.02 [[ 9.09392385e-01 4.15939286e-01 0.00000000e+00 3.88784120e+02] [-4.15939286e-01 9.09392385e-01 0.00000000e+00 -1.04352035e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87969634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.82, Y:-104.36, Z:0.02 [[ 9.08767903e-01 4.17301927e-01 0.00000000e+00 3.88815135e+02] [-4.17301927e-01 9.08767903e-01 0.00000000e+00 -1.04359828e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89977234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.85, Y:-104.37, Z:0.02 [[ 9.08292341e-01 4.18336016e-01 0.00000000e+00 3.88846723e+02] [-4.18336016e-01 9.08292341e-01 0.00000000e+00 -1.04368337e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93975040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.88, Y:-104.38, Z:0.02 [[ 9.07993176e-01 4.18984954e-01 0.00000000e+00 3.88877447e+02] [-4.18984954e-01 9.07993176e-01 0.00000000e+00 -1.04376543e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81983598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.91, Y:-104.38, Z:0.02 [[ 9.07818488e-01 4.19363319e-01 0.00000000e+00 3.88909061e+02] [-4.19363319e-01 9.07818488e-01 0.00000000e+00 -1.04384510e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68103451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.771400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:388.94, Y:-104.39, Z:0.02 [[ 9.08378405e-01 4.18149105e-01 0.00000000e+00 3.88941692e+02] [-4.18149105e-01 9.08378405e-01 0.00000000e+00 -1.04388563e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56532639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.97, Y:-104.40, Z:0.02 [[ 9.08991236e-01 4.16815227e-01 0.00000000e+00 3.88973672e+02] [-4.16815227e-01 9.08991236e-01 0.00000000e+00 -1.04397122e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81205877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.01, Y:-104.40, Z:0.02 [[ 9.10985649e-01 4.12438053e-01 0.00000000e+00 3.89005259e+02] [-4.12438053e-01 9.10985649e-01 0.00000000e+00 -1.04402969e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94922601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.04, Y:-104.41, Z:0.02 [[ 9.12352649e-01 4.09405232e-01 0.00000000e+00 3.89036460e+02] [-4.09405232e-01 9.12352649e-01 0.00000000e+00 -1.04412021e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87214507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.07, Y:-104.42, Z:0.02 [[ 9.13862165e-01 4.06024561e-01 0.00000000e+00 3.89067680e+02] [-4.06024561e-01 9.13862165e-01 0.00000000e+00 -1.04421937e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90471606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.10, Y:-104.43, Z:0.02 [[ 9.15294594e-01 4.02785062e-01 0.00000000e+00 3.89098896e+02] [-4.02785062e-01 9.15294594e-01 0.00000000e+00 -1.04432705e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02638257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.13, Y:-104.44, Z:0.02 [[ 9.17747307e-01 3.97164802e-01 0.00000000e+00 3.89130691e+02] [-3.97164802e-01 9.17747307e-01 0.00000000e+00 -1.04443008e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29778458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.16, Y:-104.45, Z:0.02 [[ 9.18695424e-01 3.94966731e-01 0.00000000e+00 3.89161686e+02] [-3.94966731e-01 9.18695424e-01 0.00000000e+00 -1.04453069e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25539341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.19, Y:-104.46, Z:0.02 [[ 9.19251432e-01 3.93670934e-01 0.00000000e+00 3.89191870e+02] [-3.93670934e-01 9.19251432e-01 0.00000000e+00 -1.04462902e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12812320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.22, Y:-104.47, Z:0.02 [[ 9.19381200e-01 3.93367778e-01 0.00000000e+00 3.89222927e+02] [-3.93367778e-01 9.19381200e-01 0.00000000e+00 -1.04473263e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00079030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.25, Y:-104.48, Z:0.02 [[ 9.18790151e-01 3.94746322e-01 0.00000000e+00 3.89254333e+02] [-3.94746322e-01 9.18790151e-01 0.00000000e+00 -1.04482414e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82786472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.29, Y:-104.49, Z:0.02 [[ 9.18209706e-01 3.96094605e-01 0.00000000e+00 3.89285420e+02] [-3.96094605e-01 9.18209706e-01 0.00000000e+00 -1.04491891e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82863256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.32, Y:-104.50, Z:0.02 [[ 9.17794245e-01 3.97056322e-01 0.00000000e+00 3.89316146e+02] [-3.97056322e-01 9.17794245e-01 0.00000000e+00 -1.04501169e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81002422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.35, Y:-104.51, Z:0.02 [[ 9.18003572e-01 3.96572115e-01 0.00000000e+00 3.89347527e+02] [-3.96572115e-01 9.18003572e-01 0.00000000e+00 -1.04507495e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83571903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.38, Y:-104.52, Z:0.02 [[ 9.18459177e-01 3.95515791e-01 0.00000000e+00 3.89379486e+02] [-3.95515791e-01 9.18459177e-01 0.00000000e+00 -1.04516414e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82658561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.41, Y:-104.53, Z:0.02 [[ 9.19029268e-01 3.94189300e-01 0.00000000e+00 3.89410246e+02] [-3.94189300e-01 9.19029268e-01 0.00000000e+00 -1.04525357e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81823957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.44, Y:-104.54, Z:0.02 [[ 9.19641123e-01 3.92759728e-01 0.00000000e+00 3.89442061e+02] [-3.92759728e-01 9.19641123e-01 0.00000000e+00 -1.04535399e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88087413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.47, Y:-104.54, Z:0.02 [[ 9.21261961e-01 3.88942668e-01 0.00000000e+00 3.89474179e+02] [-3.88942668e-01 9.21261961e-01 0.00000000e+00 -1.04544058e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12680534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.50, Y:-104.55, Z:0.02 [[ 9.22259441e-01 3.86571499e-01 0.00000000e+00 3.89504668e+02] [-3.86571499e-01 9.22259441e-01 0.00000000e+00 -1.04552447e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09407416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.54, Y:-104.56, Z:0.02 [[ 9.23235768e-01 3.84233936e-01 0.00000000e+00 3.89536672e+02] [-3.84233936e-01 9.23235768e-01 0.00000000e+00 -1.04561041e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07822708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.57, Y:-104.57, Z:0.02 [[ 9.24123542e-01 3.82093810e-01 0.00000000e+00 3.89568311e+02] [-3.82093810e-01 9.24123542e-01 0.00000000e+00 -1.04568831e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98322002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.60, Y:-104.57, Z:0.02 [[ 9.25230953e-01 3.79404379e-01 0.00000000e+00 3.89600939e+02] [-3.79404379e-01 9.25230953e-01 0.00000000e+00 -1.04573787e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06634503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.63, Y:-104.58, Z:0.02 [[ 9.25608857e-01 3.78481496e-01 0.00000000e+00 3.89633118e+02] [-3.78481496e-01 9.25608857e-01 0.00000000e+00 -1.04582346e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19626826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.67, Y:-104.59, Z:0.02 [[ 9.26183294e-01 3.77073607e-01 0.00000000e+00 3.89665270e+02] [-3.77073607e-01 9.26183294e-01 0.00000000e+00 -1.04591189e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32905252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.70, Y:-104.60, Z:0.03 [[ 9.28317540e-01 3.71788307e-01 0.00000000e+00 3.89696807e+02] [-3.71788307e-01 9.28317540e-01 0.00000000e+00 -1.04598756e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65290368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.73, Y:-104.61, Z:0.03 [[ 9.29605995e-01 3.68554872e-01 0.00000000e+00 3.89727380e+02] [-3.68554872e-01 9.29605995e-01 0.00000000e+00 -1.04608250e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77386492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.76, Y:-104.62, Z:0.03 [[ 9.30916601e-01 3.65231819e-01 0.00000000e+00 3.89758655e+02] [-3.65231819e-01 9.30916601e-01 0.00000000e+00 -1.04618216e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80429307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.79, Y:-104.63, Z:0.03 [[ 9.33321124e-01 3.59042727e-01 0.00000000e+00 3.89790525e+02] [-3.59042727e-01 9.33321124e-01 0.00000000e+00 -1.04627447e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91926888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.82, Y:-104.64, Z:0.03 [[ 9.34258973e-01 3.56595248e-01 0.00000000e+00 3.89822026e+02] [-3.56595248e-01 9.34258973e-01 0.00000000e+00 -1.04637825e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98154508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.85, Y:-104.65, Z:0.03 [[ 9.35015341e-01 3.54607265e-01 0.00000000e+00 3.89852699e+02] [-3.54607265e-01 9.35015341e-01 0.00000000e+00 -1.04648060e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03472768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.88, Y:-104.66, Z:0.03 [[ 9.35612500e-01 3.53028682e-01 0.00000000e+00 3.89884182e+02] [-3.53028682e-01 9.35612500e-01 0.00000000e+00 -1.04658852e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89078479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.91, Y:-104.67, Z:0.02 [[ 9.36614020e-01 3.50362922e-01 0.00000000e+00 3.89914179e+02] [-3.50362922e-01 9.36614020e-01 0.00000000e+00 -1.04668738e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46372034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.95, Y:-104.68, Z:0.02 [[ 9.36857341e-01 3.49711770e-01 0.00000000e+00 3.89945456e+02] [-3.49711770e-01 9.36857341e-01 0.00000000e+00 -1.04679101e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32400879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.761400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:389.98, Y:-104.69, Z:0.02 [[ 9.37071449e-01 3.49137652e-01 0.00000000e+00 3.89976450e+02] [-3.49137652e-01 9.37071449e-01 0.00000000e+00 -1.04689133e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29977100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.791400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:390.01, Y:-104.70, Z:0.02 [[ 9.37004977e-01 3.49316009e-01 0.00000000e+00 3.90007901e+02] [-3.49316009e-01 9.37004977e-01 0.00000000e+00 -1.04700564e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29977100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.821400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:390.04, Y:-104.71, Z:0.02 [[ 9.37143566e-01 3.48944032e-01 0.00000000e+00 3.90038010e+02] [-3.48944032e-01 9.37143566e-01 0.00000000e+00 -1.04710713e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39642227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.07, Y:-104.72, Z:0.03 [[ 9.37251369e-01 3.48654372e-01 0.00000000e+00 3.90069130e+02] [-3.48654372e-01 9.37251369e-01 0.00000000e+00 -1.04719103e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66801384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.881400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:390.10, Y:-104.73, Z:0.03 [[ 9.37092878e-01 3.49080132e-01 0.00000000e+00 3.90100991e+02] [-3.49080132e-01 9.37092878e-01 0.00000000e+00 -1.04727222e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63650443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.13, Y:-104.73, Z:0.02 [[ 9.36501767e-01 3.50662858e-01 0.00000000e+00 3.90133154e+02] [-3.50662858e-01 9.36501767e-01 0.00000000e+00 -1.04732192e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43015047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.941400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:390.17, Y:-104.74, Z:0.02 [[ 9.36287670e-01 3.51234107e-01 0.00000000e+00 3.90165436e+02] [-3.51234107e-01 9.36287670e-01 0.00000000e+00 -1.04740762e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29412655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.20, Y:-104.75, Z:0.02 [[ 9.36024459e-01 3.51934955e-01 0.00000000e+00 3.90196706e+02] [-3.51934955e-01 9.36024459e-01 0.00000000e+00 -1.04749088e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25043149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.23, Y:-104.76, Z:0.02 [[ 9.35772231e-01 3.52605064e-01 0.00000000e+00 3.90228797e+02] [-3.52605064e-01 9.35772231e-01 0.00000000e+00 -1.04757038e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25659543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.031400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:390.26, Y:-104.76, Z:0.02 [[ 9.35658892e-01 3.52905707e-01 0.00000000e+00 3.90261627e+02] [-3.52905707e-01 9.35658892e-01 0.00000000e+00 -1.04764507e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26036164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.061400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:390.29, Y:-104.77, Z:0.02 [[ 9.35782993e-01 3.52576502e-01 0.00000000e+00 3.90293699e+02] [-3.52576502e-01 9.35782993e-01 0.00000000e+00 -1.04769303e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05358601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.32, Y:-104.78, Z:0.02 [[ 9.35986002e-01 3.52037218e-01 0.00000000e+00 3.90324859e+02] [-3.52037218e-01 9.35986002e-01 0.00000000e+00 -1.04778942e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95493553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.36, Y:-104.79, Z:0.02 [[ 9.36457771e-01 3.50780335e-01 0.00000000e+00 3.90355800e+02] [-3.50780335e-01 9.36457771e-01 0.00000000e+00 -1.04787976e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90272196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.151400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:390.39, Y:-104.79, Z:0.02 [[ 9.37290712e-01 3.48548593e-01 0.00000000e+00 3.90388667e+02] [-3.48548593e-01 9.37290712e-01 0.00000000e+00 -1.04794557e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20364890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.42, Y:-104.80, Z:0.02 [[ 9.37250051e-01 3.48657914e-01 0.00000000e+00 3.90419701e+02] [-3.48657914e-01 9.37250051e-01 0.00000000e+00 -1.04803518e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27706712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.45, Y:-104.81, Z:0.02 [[ 9.37052431e-01 3.49188691e-01 0.00000000e+00 3.90450273e+02] [-3.49188691e-01 9.37052431e-01 0.00000000e+00 -1.04812380e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31472843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.48, Y:-104.82, Z:0.02 [[ 9.36902362e-01 3.49591138e-01 0.00000000e+00 3.90482057e+02] [-3.49591138e-01 9.36902362e-01 0.00000000e+00 -1.04821546e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34351139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.271400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:390.51, Y:-104.83, Z:0.02 [[ 9.37206214e-01 3.48775733e-01 0.00000000e+00 3.90514566e+02] [-3.48775733e-01 9.37206214e-01 0.00000000e+00 -1.04829167e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28618144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.54, Y:-104.84, Z:0.02 [[ 9.37454386e-01 3.48108136e-01 0.00000000e+00 3.90544841e+02] [-3.48108136e-01 9.37454386e-01 0.00000000e+00 -1.04839744e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25597386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.58, Y:-104.85, Z:0.02 [[ 9.37741869e-01 3.47332963e-01 0.00000000e+00 3.90575334e+02] [-3.47332963e-01 9.37741869e-01 0.00000000e+00 -1.04851487e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22363781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.61, Y:-104.86, Z:0.02 [[ 9.38914415e-01 3.44150724e-01 0.00000000e+00 3.90605376e+02] [-3.44150724e-01 9.38914415e-01 0.00000000e+00 -1.04864621e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29053283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.64, Y:-104.88, Z:0.02 [[ 9.39839736e-01 3.41615678e-01 0.00000000e+00 3.90635383e+02] [-3.41615678e-01 9.39839736e-01 0.00000000e+00 -1.04876148e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42683243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.67, Y:-104.89, Z:0.03 [[ 9.40923457e-01 3.38619326e-01 0.00000000e+00 3.90666222e+02] [-3.38619326e-01 9.40923457e-01 0.00000000e+00 -1.04887781e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51330800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.70, Y:-104.90, Z:0.03 [[ 9.42832867e-01 3.33265936e-01 0.00000000e+00 3.90696748e+02] [-3.33265936e-01 9.42832867e-01 0.00000000e+00 -1.04899304e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53710248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.73, Y:-104.91, Z:0.02 [[ 9.43474110e-01 3.31446229e-01 0.00000000e+00 3.90727305e+02] [-3.31446229e-01 9.43474110e-01 0.00000000e+00 -1.04910089e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47550349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.511400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:390.76, Y:-104.92, Z:0.02 [[ 9.43944059e-01 3.30105459e-01 0.00000000e+00 3.90757329e+02] [-3.30105459e-01 9.43944059e-01 0.00000000e+00 -1.04920184e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35028290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.79, Y:-104.93, Z:0.02 [[ 9.44135399e-01 3.29557807e-01 0.00000000e+00 3.90787650e+02] [-3.29557807e-01 9.44135399e-01 0.00000000e+00 -1.04930476e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38221490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.82, Y:-104.94, Z:0.03 [[ 9.44331929e-01 3.28994238e-01 0.00000000e+00 3.90819056e+02] [-3.28994238e-01 9.44331929e-01 0.00000000e+00 -1.04939351e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52188056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.85, Y:-104.95, Z:0.03 [[ 9.44293502e-01 3.29104517e-01 0.00000000e+00 3.90849434e+02] [-3.29104517e-01 9.44293502e-01 0.00000000e+00 -1.04949162e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51263975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.631400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:390.88, Y:-104.96, Z:0.02 [[ 9.44394667e-01 3.28814102e-01 0.00000000e+00 3.90880841e+02] [-3.28814102e-01 9.44394667e-01 0.00000000e+00 -1.04957970e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47241966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.91, Y:-104.96, Z:0.03 [[ 9.44525725e-01 3.28437443e-01 0.00000000e+00 3.90914272e+02] [-3.28437443e-01 9.44525725e-01 0.00000000e+00 -1.04962065e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71162828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.95, Y:-104.97, Z:0.03 [[ 9.44574822e-01 3.28296217e-01 0.00000000e+00 3.90945677e+02] [-3.28296217e-01 9.44574822e-01 0.00000000e+00 -1.04968280e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82894148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.98, Y:-104.98, Z:0.03 [[ 9.44588537e-01 3.28256752e-01 0.00000000e+00 3.90978359e+02] [-3.28256752e-01 9.44588537e-01 0.00000000e+00 -1.04975501e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78193481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.01, Y:-104.98, Z:0.03 [[ 9.44883351e-01 3.27407167e-01 0.00000000e+00 3.91010039e+02] [-3.27407167e-01 9.44883351e-01 0.00000000e+00 -1.04978182e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65138939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.04, Y:-104.98, Z:0.03 [[ 9.44983088e-01 3.27119188e-01 0.00000000e+00 3.91039752e+02] [-3.27119188e-01 9.44983088e-01 0.00000000e+00 -1.04983798e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70778505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.07, Y:-104.99, Z:0.03 [[ 9.44929885e-01 3.27272840e-01 0.00000000e+00 3.91067466e+02] [-3.27272840e-01 9.44929885e-01 0.00000000e+00 -1.04988187e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76933757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.841400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:391.10, Y:-104.99, Z:0.03 [[ 9.44408591e-01 3.28774106e-01 0.00000000e+00 3.91097642e+02] [-3.28774106e-01 9.44408591e-01 0.00000000e+00 -1.04989565e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64038563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.13, Y:-105.00, Z:0.02 [[ 9.44203842e-01 3.29361663e-01 0.00000000e+00 3.91125992e+02] [-3.29361663e-01 9.44203842e-01 0.00000000e+00 -1.04995366e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30957737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.15, Y:-105.00, Z:0.02 [[ 9.43868601e-01 3.30321152e-01 0.00000000e+00 3.91153392e+02] [-3.30321152e-01 9.43868601e-01 0.00000000e+00 -1.05000139e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88503658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.18, Y:-105.01, Z:0.02 [[ 9.43384798e-01 3.31700352e-01 0.00000000e+00 3.91182432e+02] [-3.31700352e-01 9.43384798e-01 0.00000000e+00 -1.05005096e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68667780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.21, Y:-105.01, Z:0.02 [[ 9.41735087e-01 3.36355506e-01 0.00000000e+00 3.91212752e+02] [-3.36355506e-01 9.41735087e-01 0.00000000e+00 -1.05007368e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99354021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.24, Y:-105.01, Z:0.02 [[ 9.40806328e-01 3.38944617e-01 0.00000000e+00 3.91240058e+02] [-3.38944617e-01 9.40806328e-01 0.00000000e+00 -1.05014314e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11411603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.27, Y:-105.02, Z:0.02 [[ 9.40005751e-01 3.41158597e-01 0.00000000e+00 3.91266528e+02] [-3.41158597e-01 9.40005751e-01 0.00000000e+00 -1.05020687e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10739938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.30, Y:-105.02, Z:0.02 [[ 9.38607414e-01 3.44987133e-01 0.00000000e+00 3.91295098e+02] [-3.44987133e-01 9.38607414e-01 0.00000000e+00 -1.05023250e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99769341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.32, Y:-105.03, Z:0.02 [[ 9.37908564e-01 3.46882581e-01 0.00000000e+00 3.91321677e+02] [-3.46882581e-01 9.37908564e-01 0.00000000e+00 -1.05029641e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91545364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.35, Y:-105.04, Z:0.02 [[ 9.37222231e-01 3.48732692e-01 0.00000000e+00 3.91348584e+02] [-3.48732692e-01 9.37222231e-01 0.00000000e+00 -1.05036839e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89704105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.38, Y:-105.04, Z:0.02 [[ 9.36441577e-01 3.50823564e-01 0.00000000e+00 3.91375791e+02] [-3.50823564e-01 9.36441577e-01 0.00000000e+00 -1.05044566e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99001511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.40, Y:-105.05, Z:0.02 [[ 9.34850763e-01 3.55040914e-01 0.00000000e+00 3.91404020e+02] [-3.55040914e-01 9.34850763e-01 0.00000000e+00 -1.05049230e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32596625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.43, Y:-105.06, Z:0.02 [[ 9.34133294e-01 3.56924346e-01 0.00000000e+00 3.91431140e+02] [-3.56924346e-01 9.34133294e-01 0.00000000e+00 -1.05056110e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37278503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.46, Y:-105.06, Z:0.02 [[ 9.33388494e-01 3.58867552e-01 0.00000000e+00 3.91458500e+02] [-3.58867552e-01 9.33388494e-01 0.00000000e+00 -1.05063796e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35417261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.48, Y:-105.07, Z:0.02 [[ 9.32797038e-01 3.60402117e-01 0.00000000e+00 3.91484206e+02] [-3.60402117e-01 9.32797038e-01 0.00000000e+00 -1.05070921e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26375291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.51, Y:-105.08, Z:0.02 [[ 9.31572259e-01 3.63556221e-01 0.00000000e+00 3.91512523e+02] [-3.63556221e-01 9.31572259e-01 0.00000000e+00 -1.05075241e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27573849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.54, Y:-105.08, Z:0.02 [[ 9.30980941e-01 3.65067785e-01 0.00000000e+00 3.91539581e+02] [-3.65067785e-01 9.30980941e-01 0.00000000e+00 -1.05081099e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28436232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.351400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:391.57, Y:-105.08, Z:0.02 [[ 9.29824819e-01 3.68002454e-01 0.00000000e+00 3.91567787e+02] [-3.68002454e-01 9.29824819e-01 0.00000000e+00 -1.05084560e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31569393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.59, Y:-105.09, Z:0.02 [[ 9.29380830e-01 3.69122302e-01 0.00000000e+00 3.91594872e+02] [-3.69122302e-01 9.29380830e-01 0.00000000e+00 -1.05091723e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39324709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.62, Y:-105.10, Z:0.02 [[ 9.29075245e-01 3.69890780e-01 0.00000000e+00 3.91622298e+02] [-3.69890780e-01 9.29075245e-01 0.00000000e+00 -1.05098317e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45409875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.65, Y:-105.11, Z:0.02 [[ 9.28900293e-01 3.70329915e-01 0.00000000e+00 3.91649674e+02] [-3.70329915e-01 9.28900293e-01 0.00000000e+00 -1.05105018e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41033291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.68, Y:-105.11, Z:0.02 [[ 9.28764966e-01 3.70669175e-01 0.00000000e+00 3.91676670e+02] [-3.70669175e-01 9.28764966e-01 0.00000000e+00 -1.05111190e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06613760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.70, Y:-105.12, Z:0.02 [[ 9.28958457e-01 3.70183987e-01 0.00000000e+00 3.91703532e+02] [-3.70183987e-01 9.28958457e-01 0.00000000e+00 -1.05120497e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06953744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.73, Y:-105.13, Z:0.02 [[ 9.29285600e-01 3.69361981e-01 0.00000000e+00 3.91730053e+02] [-3.69361981e-01 9.29285600e-01 0.00000000e+00 -1.05129582e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09894462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.76, Y:-105.14, Z:0.02 [[ 9.29451974e-01 3.68943124e-01 0.00000000e+00 3.91755681e+02] [-3.68943124e-01 9.29451974e-01 0.00000000e+00 -1.05138055e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13460624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.78, Y:-105.15, Z:0.02 [[ 9.29479289e-01 3.68874304e-01 0.00000000e+00 3.91782487e+02] [-3.68874304e-01 9.29479289e-01 0.00000000e+00 -1.05145367e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23812260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.81, Y:-105.15, Z:0.02 [[ 9.29180455e-01 3.69626408e-01 0.00000000e+00 3.91808482e+02] [-3.69626408e-01 9.29180455e-01 0.00000000e+00 -1.05153541e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28289208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.84, Y:-105.16, Z:0.02 [[ 9.28772316e-01 3.70650758e-01 0.00000000e+00 3.91835312e+02] [-3.70650758e-01 9.28772316e-01 0.00000000e+00 -1.05161807e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38199605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.86, Y:-105.17, Z:0.02 [[ 9.27112556e-01 3.74783015e-01 0.00000000e+00 3.91861578e+02] [-3.74783015e-01 9.27112556e-01 0.00000000e+00 -1.05167736e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39049404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.89, Y:-105.18, Z:0.02 [[ 9.27179828e-01 3.74616560e-01 0.00000000e+00 3.91888439e+02] [-3.74616560e-01 9.27179828e-01 0.00000000e+00 -1.05177264e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39049404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.92, Y:-105.19, Z:0.02 [[ 9.26276064e-01 3.76845662e-01 0.00000000e+00 3.91915208e+02] [-3.76845662e-01 9.26276064e-01 0.00000000e+00 -1.05185664e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29148489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.94, Y:-105.19, Z:0.02 [[ 9.25492774e-01 3.78765264e-01 0.00000000e+00 3.91941527e+02] [-3.78765264e-01 9.25492774e-01 0.00000000e+00 -1.05194562e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11634261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.97, Y:-105.20, Z:0.02 [[ 9.24682689e-01 3.80738658e-01 0.00000000e+00 3.91969138e+02] [-3.80738658e-01 9.24682689e-01 0.00000000e+00 -1.05203098e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73992229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.99, Y:-105.21, Z:0.02 [[ 9.24683315e-01 3.80737135e-01 0.00000000e+00 3.91994583e+02] [-3.80737135e-01 9.24683315e-01 0.00000000e+00 -1.05211054e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75937968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.02, Y:-105.22, Z:0.02 [[ 9.24897532e-01 3.80216459e-01 0.00000000e+00 3.92022227e+02] [-3.80216459e-01 9.24897532e-01 0.00000000e+00 -1.05220475e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94561529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.05, Y:-105.23, Z:0.02 [[ 9.25295363e-01 3.79247268e-01 0.00000000e+00 3.92048604e+02] [-3.79247268e-01 9.25295363e-01 0.00000000e+00 -1.05230489e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26087430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.07, Y:-105.24, Z:0.02 [[ 9.26067248e-01 3.77358520e-01 0.00000000e+00 3.92072643e+02] [-3.77358520e-01 9.26067248e-01 0.00000000e+00 -1.05243052e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43584699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.10, Y:-105.25, Z:0.02 [[ 9.26551369e-01 3.76168261e-01 0.00000000e+00 3.92098849e+02] [-3.76168261e-01 9.26551369e-01 0.00000000e+00 -1.05254401e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22881149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.12, Y:-105.27, Z:0.02 [[ 9.27036749e-01 3.74970487e-01 0.00000000e+00 3.92124295e+02] [-3.74970487e-01 9.27036749e-01 0.00000000e+00 -1.05265480e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03473631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.15, Y:-105.28, Z:0.02 [[ 9.27354828e-01 3.74183140e-01 0.00000000e+00 3.92148741e+02] [-3.74183140e-01 9.27354828e-01 0.00000000e+00 -1.05276584e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90750142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.17, Y:-105.29, Z:0.02 [[ 9.27165439e-01 3.74652171e-01 0.00000000e+00 3.92173475e+02] [-3.74652171e-01 9.27165439e-01 0.00000000e+00 -1.05291192e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91971929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.20, Y:-105.30, Z:0.02 [[ 9.26523545e-01 3.76236787e-01 0.00000000e+00 3.92198263e+02] [-3.76236787e-01 9.26523545e-01 0.00000000e+00 -1.05302387e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85243440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.22, Y:-105.31, Z:0.02 [[ 9.25514421e-01 3.78712366e-01 0.00000000e+00 3.92223856e+02] [-3.78712366e-01 9.25514421e-01 0.00000000e+00 -1.05313107e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83831594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.25, Y:-105.32, Z:0.02 [[ 9.22749985e-01 3.85399099e-01 0.00000000e+00 3.92248447e+02] [-3.85399099e-01 9.22749985e-01 0.00000000e+00 -1.05323232e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62420992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.27, Y:-105.33, Z:0.02 [[ 9.21322123e-01 3.88800137e-01 0.00000000e+00 3.92274394e+02] [-3.88800137e-01 9.21322123e-01 0.00000000e+00 -1.05332690e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70294644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.30, Y:-105.34, Z:0.02 [[ 9.20041109e-01 3.91821845e-01 0.00000000e+00 3.92300749e+02] [-3.91821845e-01 9.20041109e-01 0.00000000e+00 -1.05342562e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92040376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.33, Y:-105.35, Z:0.02 [[ 9.17968075e-01 3.96654274e-01 0.00000000e+00 3.92327145e+02] [-3.96654274e-01 9.17968075e-01 0.00000000e+00 -1.05351822e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23671169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.35, Y:-105.36, Z:0.02 [[ 9.17358998e-01 3.98060886e-01 0.00000000e+00 3.92353563e+02] [-3.98060886e-01 9.17358998e-01 0.00000000e+00 -1.05360343e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29120182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.38, Y:-105.37, Z:0.02 [[ 9.17057500e-01 3.98754990e-01 0.00000000e+00 3.92379353e+02] [-3.98754990e-01 9.17057500e-01 0.00000000e+00 -1.05368245e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28181993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.41, Y:-105.38, Z:0.02 [[ 9.17210148e-01 3.98403745e-01 0.00000000e+00 3.92406005e+02] [-3.98403745e-01 9.17210148e-01 0.00000000e+00 -1.05376342e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19644811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.43, Y:-105.38, Z:0.02 [[ 9.17571285e-01 3.97571298e-01 0.00000000e+00 3.92432356e+02] [-3.97571298e-01 9.17571285e-01 0.00000000e+00 -1.05384718e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17774869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.46, Y:-105.39, Z:0.02 [[ 9.18004729e-01 3.96569436e-01 0.00000000e+00 3.92459309e+02] [-3.96569436e-01 9.18004729e-01 0.00000000e+00 -1.05393530e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22637430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.48, Y:-105.40, Z:0.02 [[ 9.18465183e-01 3.95501842e-01 0.00000000e+00 3.92484530e+02] [-3.95501842e-01 9.18465183e-01 0.00000000e+00 -1.05401862e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26210356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.51, Y:-105.41, Z:0.02 [[ 9.19134145e-01 3.93944697e-01 0.00000000e+00 3.92510938e+02] [-3.93944697e-01 9.19134145e-01 0.00000000e+00 -1.05410117e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29902517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.54, Y:-105.42, Z:0.02 [[ 9.19305107e-01 3.93545575e-01 0.00000000e+00 3.92536635e+02] [-3.93545575e-01 9.19305107e-01 0.00000000e+00 -1.05418838e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22144388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.56, Y:-105.43, Z:0.02 [[ 9.19530517e-01 3.93018610e-01 0.00000000e+00 3.92562518e+02] [-3.93018610e-01 9.19530517e-01 0.00000000e+00 -1.05427918e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18445459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.59, Y:-105.44, Z:0.02 [[ 9.19726042e-01 3.92560833e-01 0.00000000e+00 3.92589154e+02] [-3.92560833e-01 9.19726042e-01 0.00000000e+00 -1.05437963e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09437147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.61, Y:-105.45, Z:0.02 [[ 9.19718398e-01 3.92578743e-01 0.00000000e+00 3.92614636e+02] [-3.92578743e-01 9.19718398e-01 0.00000000e+00 -1.05447000e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96856179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.64, Y:-105.46, Z:0.02 [[ 9.19728474e-01 3.92555135e-01 0.00000000e+00 3.92640739e+02] [-3.92555135e-01 9.19728474e-01 0.00000000e+00 -1.05455899e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94456895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.67, Y:-105.47, Z:0.02 [[ 9.19736792e-01 3.92535646e-01 0.00000000e+00 3.92667454e+02] [-3.92535646e-01 9.19736792e-01 0.00000000e+00 -1.05465011e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89411637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.69, Y:-105.47, Z:0.02 [[ 9.19516739e-01 3.93050846e-01 0.00000000e+00 3.92693665e+02] [-3.93050846e-01 9.19516739e-01 0.00000000e+00 -1.05474012e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22137340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.72, Y:-105.48, Z:0.02 [[ 9.19433841e-01 3.93244723e-01 0.00000000e+00 3.92720224e+02] [-3.93244723e-01 9.19433841e-01 0.00000000e+00 -1.05483551e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30287135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.75, Y:-105.49, Z:0.02 [[ 9.19130826e-01 3.93952439e-01 0.00000000e+00 3.92746045e+02] [-3.93952439e-01 9.19130826e-01 0.00000000e+00 -1.05492739e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35112015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.77, Y:-105.50, Z:0.02 [[ 9.17966190e-01 3.96658636e-01 0.00000000e+00 3.92772634e+02] [-3.96658636e-01 9.17966190e-01 0.00000000e+00 -1.05501181e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27899685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.80, Y:-105.51, Z:0.02 [[ 9.17128514e-01 3.98591632e-01 0.00000000e+00 3.92798416e+02] [-3.98591632e-01 9.17128514e-01 0.00000000e+00 -1.05509914e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19527525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.82, Y:-105.52, Z:0.02 [[ 9.16292312e-01 4.00510173e-01 0.00000000e+00 3.92824778e+02] [-4.00510173e-01 9.16292312e-01 0.00000000e+00 -1.05518524e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18327976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.85, Y:-105.53, Z:0.02 [[ 9.15434857e-01 4.02466176e-01 0.00000000e+00 3.92850442e+02] [-4.02466176e-01 9.15434857e-01 0.00000000e+00 -1.05526188e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13888273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.88, Y:-105.53, Z:0.02 [[ 9.13937222e-01 4.05855583e-01 0.00000000e+00 3.92877982e+02] [-4.05855583e-01 9.13937222e-01 0.00000000e+00 -1.05533535e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85062540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.90, Y:-105.54, Z:0.02 [[ 9.13445922e-01 4.06960130e-01 0.00000000e+00 3.92903847e+02] [-4.06960130e-01 9.13445922e-01 0.00000000e+00 -1.05542425e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67030165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.93, Y:-105.55, Z:0.02 [[ 9.13124263e-01 4.07681346e-01 0.00000000e+00 3.92929628e+02] [-4.07681346e-01 9.13124263e-01 0.00000000e+00 -1.05551310e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62495902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.96, Y:-105.56, Z:0.02 [[ 9.12790705e-01 4.08427630e-01 0.00000000e+00 3.92957982e+02] [-4.08427630e-01 9.12790705e-01 0.00000000e+00 -1.05558495e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87606599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.98, Y:-105.57, Z:0.02 [[ 9.12645377e-01 4.08752267e-01 0.00000000e+00 3.92984597e+02] [-4.08752267e-01 9.12645377e-01 0.00000000e+00 -1.05566046e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11453325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.01, Y:-105.57, Z:0.02 [[ 9.12343594e-01 4.09425411e-01 0.00000000e+00 3.93010949e+02] [-4.09425411e-01 9.12343594e-01 0.00000000e+00 -1.05573898e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26858054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.04, Y:-105.58, Z:0.02 [[ 9.11953287e-01 4.10294044e-01 0.00000000e+00 3.93036976e+02] [-4.10294044e-01 9.11953287e-01 0.00000000e+00 -1.05581876e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36449107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.06, Y:-105.59, Z:0.02 [[ 9.11141612e-01 4.12093392e-01 0.00000000e+00 3.93063388e+02] [-4.12093392e-01 9.11141612e-01 0.00000000e+00 -1.05586979e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19470204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.09, Y:-105.59, Z:0.02 [[ 9.10931777e-01 4.12557024e-01 0.00000000e+00 3.93090808e+02] [-4.12557024e-01 9.10931777e-01 0.00000000e+00 -1.05593936e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02611044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.12, Y:-105.60, Z:0.02 [[ 9.10775383e-01 4.12902170e-01 0.00000000e+00 3.93117576e+02] [-4.12902170e-01 9.10775383e-01 0.00000000e+00 -1.05601326e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92425233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.14, Y:-105.61, Z:0.02 [[ 9.10644608e-01 4.13190510e-01 0.00000000e+00 3.93143777e+02] [-4.13190510e-01 9.10644608e-01 0.00000000e+00 -1.05608570e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71650401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.17, Y:-105.62, Z:0.02 [[ 9.10599748e-01 4.13289365e-01 0.00000000e+00 3.93170081e+02] [-4.13289365e-01 9.10599748e-01 0.00000000e+00 -1.05616265e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54901941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.20, Y:-105.62, Z:0.01 [[ 9.10654521e-01 4.13168662e-01 0.00000000e+00 3.93197364e+02] [-4.13168662e-01 9.10654521e-01 0.00000000e+00 -1.05623311e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48546349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.22, Y:-105.63, Z:0.01 [[ 9.10626192e-01 4.13231096e-01 0.00000000e+00 3.93224600e+02] [-4.13231096e-01 9.10626192e-01 0.00000000e+00 -1.05629782e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47132866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.25, Y:-105.64, Z:0.02 [[ 9.10446077e-01 4.13627781e-01 0.00000000e+00 3.93252732e+02] [-4.13627781e-01 9.10446077e-01 0.00000000e+00 -1.05635099e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64233996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.30140051300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:393.28, Y:-105.64, Z:0.02 [[ 9.10599634e-01 4.13289617e-01 0.00000000e+00 3.93279323e+02] [-4.13289617e-01 9.10599634e-01 0.00000000e+00 -1.05642500e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67574909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.31, Y:-105.65, Z:0.02 [[ 9.10826930e-01 4.12788449e-01 0.00000000e+00 3.93305863e+02] [-4.12788449e-01 9.10826930e-01 0.00000000e+00 -1.05649899e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60192305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.33, Y:-105.65, Z:0.01 [[ 9.11584724e-01 4.11112262e-01 0.00000000e+00 3.93333823e+02] [-4.11112262e-01 9.11584724e-01 0.00000000e+00 -1.05653981e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42305273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.36, Y:-105.66, Z:0.01 [[ 9.12113847e-01 4.09936983e-01 0.00000000e+00 3.93359480e+02] [-4.09936983e-01 9.12113847e-01 0.00000000e+00 -1.05661258e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39056359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.39, Y:-105.67, Z:0.01 [[ 9.12820688e-01 4.08360615e-01 0.00000000e+00 3.93386323e+02] [-4.08360615e-01 9.12820688e-01 0.00000000e+00 -1.05669956e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46308371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.451400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:393.41, Y:-105.68, Z:0.01 [[ 9.13682361e-01 4.06429015e-01 0.00000000e+00 3.93413414e+02] [-4.06429015e-01 9.13682361e-01 0.00000000e+00 -1.05678629e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42841514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.44, Y:-105.69, Z:0.01 [[ 9.15079277e-01 4.03273998e-01 0.00000000e+00 3.93440618e+02] [-4.03273998e-01 9.15079277e-01 0.00000000e+00 -1.05685925e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41853389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.47, Y:-105.69, Z:0.01 [[ 9.15663881e-01 4.01944843e-01 0.00000000e+00 3.93465998e+02] [-4.01944843e-01 9.15663881e-01 0.00000000e+00 -1.05693951e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36692171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.49, Y:-105.70, Z:0.01 [[ 9.16091574e-01 4.00969112e-01 0.00000000e+00 3.93491073e+02] [-4.00969112e-01 9.16091574e-01 0.00000000e+00 -1.05702753e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32979081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.52, Y:-105.71, Z:0.01 [[ 9.16445978e-01 4.00158430e-01 0.00000000e+00 3.93517616e+02] [-4.00158430e-01 9.16445978e-01 0.00000000e+00 -1.05710628e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48446512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.54, Y:-105.72, Z:0.01 [[ 9.16516796e-01 3.99996203e-01 0.00000000e+00 3.93544548e+02] [-3.99996203e-01 9.16516796e-01 0.00000000e+00 -1.05719932e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48446512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.57, Y:-105.73, Z:0.02 [[ 9.16435687e-01 4.00181997e-01 0.00000000e+00 3.93571835e+02] [-4.00181997e-01 9.16435687e-01 0.00000000e+00 -1.05727446e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64066150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.661400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:393.60, Y:-105.74, Z:0.02 [[ 9.16275520e-01 4.00548588e-01 0.00000000e+00 3.93598895e+02] [-4.00548588e-01 9.16275520e-01 0.00000000e+00 -1.05735285e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69200687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.62, Y:-105.74, Z:0.02 [[ 9.15919214e-01 4.01362671e-01 0.00000000e+00 3.93624369e+02] [-4.01362671e-01 9.15919214e-01 0.00000000e+00 -1.05744512e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69320895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.65, Y:-105.75, Z:0.02 [[ 9.15261674e-01 4.02859861e-01 0.00000000e+00 3.93649563e+02] [-4.02859861e-01 9.15261674e-01 0.00000000e+00 -1.05754090e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67785147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.68, Y:-105.76, Z:0.02 [[ 9.14973674e-01 4.03513539e-01 0.00000000e+00 3.93675908e+02] [-4.03513539e-01 9.14973674e-01 0.00000000e+00 -1.05762563e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74256316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.70, Y:-105.77, Z:0.02 [[ 9.14707152e-01 4.04117342e-01 0.00000000e+00 3.93701713e+02] [-4.04117342e-01 9.14707152e-01 0.00000000e+00 -1.05770497e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82171031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.73, Y:-105.78, Z:0.02 [[ 9.14727163e-01 4.04072045e-01 0.00000000e+00 3.93728650e+02] [-4.04072045e-01 9.14727163e-01 0.00000000e+00 -1.05779484e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95481899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.75, Y:-105.79, Z:0.02 [[ 9.15066553e-01 4.03302868e-01 0.00000000e+00 3.93754074e+02] [-4.03302868e-01 9.15066553e-01 0.00000000e+00 -1.05788718e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87782555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.78, Y:-105.80, Z:0.02 [[ 9.15763576e-01 4.01717652e-01 0.00000000e+00 3.93780053e+02] [-4.01717652e-01 9.15763576e-01 0.00000000e+00 -1.05797778e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85068720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.81, Y:-105.81, Z:0.02 [[ 9.16799872e-01 3.99346961e-01 0.00000000e+00 3.93805384e+02] [-3.99346961e-01 9.16799872e-01 0.00000000e+00 -1.05806211e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81358188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.83, Y:-105.82, Z:0.02 [[ 9.19400560e-01 3.93322526e-01 0.00000000e+00 3.93830894e+02] [-3.93322526e-01 9.19400560e-01 0.00000000e+00 -1.05816648e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95627601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.86, Y:-105.83, Z:0.02 [[ 9.20756624e-01 3.90137463e-01 0.00000000e+00 3.93856539e+02] [-3.90137463e-01 9.20756624e-01 0.00000000e+00 -1.05827523e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07591540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.88, Y:-105.84, Z:0.02 [[ 9.21958313e-01 3.87289129e-01 0.00000000e+00 3.93880929e+02] [-3.87289129e-01 9.21958313e-01 0.00000000e+00 -1.05838498e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16878844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.91, Y:-105.85, Z:0.02 [[ 9.23054892e-01 3.84668255e-01 0.00000000e+00 3.93905579e+02] [-3.84668255e-01 9.23054892e-01 0.00000000e+00 -1.05849569e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13339974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.05140051300003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:393.93, Y:-105.86, Z:0.02 [[ 9.24804008e-01 3.80443880e-01 0.00000000e+00 3.93930881e+02] [-3.80443880e-01 9.24804008e-01 0.00000000e+00 -1.05863520e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92876178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.96, Y:-105.88, Z:0.02 [[ 9.25212690e-01 3.79448913e-01 0.00000000e+00 3.93956143e+02] [-3.79448913e-01 9.25212690e-01 0.00000000e+00 -1.05875751e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03983591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.98, Y:-105.89, Z:0.02 [[ 9.25341969e-01 3.79133539e-01 0.00000000e+00 3.93981947e+02] [-3.79133539e-01 9.25341969e-01 0.00000000e+00 -1.05888138e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06723327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.01, Y:-105.90, Z:0.02 [[ 9.25260478e-01 3.79332371e-01 0.00000000e+00 3.94005617e+02] [-3.79332371e-01 9.25260478e-01 0.00000000e+00 -1.05902587e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68508146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.03, Y:-105.91, Z:0.01 [[ 9.24975513e-01 3.80026711e-01 0.00000000e+00 3.94031034e+02] [-3.80026711e-01 9.24975513e-01 0.00000000e+00 -1.05913983e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48661821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.06, Y:-105.93, Z:0.01 [[ 9.24459165e-01 3.81281068e-01 0.00000000e+00 3.94057216e+02] [-3.81281068e-01 9.24459165e-01 0.00000000e+00 -1.05925382e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30263789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.08, Y:-105.94, Z:0.01 [[ 9.23565977e-01 3.83439546e-01 0.00000000e+00 3.94081933e+02] [-3.83439546e-01 9.23565977e-01 0.00000000e+00 -1.05936445e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22354868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.11, Y:-105.95, Z:0.01 [[ 9.21359180e-01 3.88712312e-01 0.00000000e+00 3.94107081e+02] [-3.88712312e-01 9.21359180e-01 0.00000000e+00 -1.05949046e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32198285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.13, Y:-105.96, Z:0.01 [[ 9.20398563e-01 3.90981438e-01 0.00000000e+00 3.94132731e+02] [-3.90981438e-01 9.20398563e-01 0.00000000e+00 -1.05958807e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29826170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.16, Y:-105.97, Z:0.01 [[ 9.19792808e-01 3.92404372e-01 0.00000000e+00 3.94158642e+02] [-3.92404372e-01 9.19792808e-01 0.00000000e+00 -1.05968644e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33795385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.18, Y:-105.98, Z:0.01 [[ 9.19144608e-01 3.93920284e-01 0.00000000e+00 3.94183070e+02] [-3.93920284e-01 9.19144608e-01 0.00000000e+00 -1.05980404e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12148878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.21, Y:-105.99, Z:0.01 [[ 9.19160952e-01 3.93882146e-01 0.00000000e+00 3.94209424e+02] [-3.93882146e-01 9.19160952e-01 0.00000000e+00 -1.05990612e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03350955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.23, Y:-106.00, Z:0.01 [[ 9.19375780e-01 3.93380446e-01 0.00000000e+00 3.94234406e+02] [-3.93380446e-01 9.19375780e-01 0.00000000e+00 -1.05999771e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.52706851e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.441400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:394.26, Y:-106.01, Z:0.01 [[ 9.20587820e-01 3.90535613e-01 0.00000000e+00 3.94260017e+02] [-3.90535613e-01 9.20587820e-01 0.00000000e+00 -1.06012549e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14002012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.28, Y:-106.02, Z:0.01 [[ 9.21436243e-01 3.88529599e-01 0.00000000e+00 3.94284769e+02] [-3.88529599e-01 9.21436243e-01 0.00000000e+00 -1.06024623e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23385308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.31, Y:-106.04, Z:0.01 [[ 9.22224469e-01 3.86654922e-01 0.00000000e+00 3.94309717e+02] [-3.86654922e-01 9.22224469e-01 0.00000000e+00 -1.06036398e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30858829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.34, Y:-106.05, Z:0.01 [[ 9.22890633e-01 3.85062177e-01 0.00000000e+00 3.94335692e+02] [-3.85062177e-01 9.22890633e-01 0.00000000e+00 -1.06047469e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42762516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.36, Y:-106.06, Z:0.01 [[ 9.23442747e-01 3.83736229e-01 0.00000000e+00 3.94359848e+02] [-3.83736229e-01 9.23442747e-01 0.00000000e+00 -1.06060075e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40401409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.39, Y:-106.07, Z:0.01 [[ 9.23566393e-01 3.83438546e-01 0.00000000e+00 3.94385452e+02] [-3.83438546e-01 9.23566393e-01 0.00000000e+00 -1.06072101e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45976322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.41, Y:-106.08, Z:0.02 [[ 9.23777042e-01 3.82930773e-01 0.00000000e+00 3.94410476e+02] [-3.82930773e-01 9.23777042e-01 0.00000000e+00 -1.06084523e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63233477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.44, Y:-106.10, Z:0.02 [[ 9.23941579e-01 3.82533604e-01 0.00000000e+00 3.94436105e+02] [-3.82533604e-01 9.23941579e-01 0.00000000e+00 -1.06097065e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88492383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.46, Y:-106.11, Z:0.02 [[ 9.24140583e-01 3.82052592e-01 0.00000000e+00 3.94459237e+02] [-3.82052592e-01 9.24140583e-01 0.00000000e+00 -1.06111401e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02208506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.48, Y:-106.12, Z:0.02 [[ 9.24238038e-01 3.81816773e-01 0.00000000e+00 3.94483713e+02] [-3.81816773e-01 9.24238038e-01 0.00000000e+00 -1.06123073e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84794923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.51, Y:-106.14, Z:0.02 [[ 9.24510889e-01 3.81155633e-01 0.00000000e+00 3.94506933e+02] [-3.81155633e-01 9.24510889e-01 0.00000000e+00 -1.06139510e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70646968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.53, Y:-106.15, Z:0.02 [[ 9.24632786e-01 3.80859832e-01 0.00000000e+00 3.94532337e+02] [-3.80859832e-01 9.24632786e-01 0.00000000e+00 -1.06152200e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86651553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.56, Y:-106.16, Z:0.02 [[ 9.24675518e-01 3.80756071e-01 0.00000000e+00 3.94557298e+02] [-3.80756071e-01 9.24675518e-01 0.00000000e+00 -1.06164221e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99560256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.58, Y:-106.18, Z:0.02 [[ 9.24537422e-01 3.81091270e-01 0.00000000e+00 3.94581986e+02] [-3.81091270e-01 9.24537422e-01 0.00000000e+00 -1.06175569e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97221050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.61, Y:-106.19, Z:0.02 [[ 9.23232911e-01 3.84240800e-01 0.00000000e+00 3.94607906e+02] [-3.84240800e-01 9.23232911e-01 0.00000000e+00 -1.06189685e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58506184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.63, Y:-106.20, Z:0.01 [[ 9.22378893e-01 3.86286394e-01 0.00000000e+00 3.94633454e+02] [-3.86286394e-01 9.22378893e-01 0.00000000e+00 -1.06200275e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41982818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.66, Y:-106.21, Z:0.02 [[ 9.21530021e-01 3.88307121e-01 0.00000000e+00 3.94659972e+02] [-3.88307121e-01 9.21530021e-01 0.00000000e+00 -1.06209920e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52003343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.69, Y:-106.22, Z:0.02 [[ 9.20565138e-01 3.90589076e-01 0.00000000e+00 3.94685853e+02] [-3.90589076e-01 9.20565138e-01 0.00000000e+00 -1.06218710e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54723454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.71, Y:-106.23, Z:0.02 [[ 9.18488545e-01 3.95447584e-01 0.00000000e+00 3.94710708e+02] [-3.95447584e-01 9.18488545e-01 0.00000000e+00 -1.06228369e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69716503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.74, Y:-106.24, Z:0.02 [[ 9.17748450e-01 3.97162162e-01 0.00000000e+00 3.94737047e+02] [-3.97162162e-01 9.17748450e-01 0.00000000e+00 -1.06238448e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72412330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.76, Y:-106.25, Z:0.02 [[ 9.17243705e-01 3.98326481e-01 0.00000000e+00 3.94763818e+02] [-3.98326481e-01 9.17243705e-01 0.00000000e+00 -1.06247745e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80065779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.79, Y:-106.25, Z:0.02 [[ 9.16616673e-01 3.99767275e-01 0.00000000e+00 3.94791391e+02] [-3.99767275e-01 9.16616673e-01 0.00000000e+00 -1.06254723e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84635572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.82, Y:-106.26, Z:0.02 [[ 9.16377738e-01 4.00314677e-01 0.00000000e+00 3.94816919e+02] [-4.00314677e-01 9.16377738e-01 0.00000000e+00 -1.06262846e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76359080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.84, Y:-106.27, Z:0.02 [[ 9.16209693e-01 4.00699136e-01 0.00000000e+00 3.94843747e+02] [-4.00699136e-01 9.16209693e-01 0.00000000e+00 -1.06272135e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62624822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.87, Y:-106.28, Z:0.01 [[ 9.16235252e-01 4.00640691e-01 0.00000000e+00 3.94870033e+02] [-4.00640691e-01 9.16235252e-01 0.00000000e+00 -1.06280474e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36720806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.90, Y:-106.29, Z:0.01 [[ 9.16780902e-01 3.99390508e-01 0.00000000e+00 3.94898796e+02] [-3.99390508e-01 9.16780902e-01 0.00000000e+00 -1.06286773e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19774336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.93, Y:-106.29, Z:0.01 [[ 9.17197902e-01 3.98431937e-01 0.00000000e+00 3.94925461e+02] [-3.98431937e-01 9.17197902e-01 0.00000000e+00 -1.06294011e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25228504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.95, Y:-106.30, Z:0.01 [[ 9.17447494e-01 3.97856879e-01 0.00000000e+00 3.94952684e+02] [-3.97856879e-01 9.17447494e-01 0.00000000e+00 -1.06302285e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38992022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.98, Y:-106.31, Z:0.01 [[ 9.17633832e-01 3.97426912e-01 0.00000000e+00 3.94978224e+02] [-3.97426912e-01 9.17633832e-01 0.00000000e+00 -1.06309561e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41669849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.01, Y:-106.31, Z:0.01 [[ 9.17534369e-01 3.97656487e-01 0.00000000e+00 3.95005370e+02] [-3.97656487e-01 9.17534369e-01 0.00000000e+00 -1.06312888e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48472702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.03, Y:-106.32, Z:0.02 [[ 9.17306416e-01 3.98182043e-01 0.00000000e+00 3.95033655e+02] [-3.98182043e-01 9.17306416e-01 0.00000000e+00 -1.06318758e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56694785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.06, Y:-106.32, Z:0.02 [[ 9.16830617e-01 3.99276371e-01 0.00000000e+00 3.95060380e+02] [-3.99276371e-01 9.16830617e-01 0.00000000e+00 -1.06324511e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61546161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.09, Y:-106.33, Z:0.02 [[ 9.16259181e-01 4.00585962e-01 0.00000000e+00 3.95087335e+02] [-4.00585962e-01 9.16259181e-01 0.00000000e+00 -1.06330593e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69981021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.12, Y:-106.33, Z:0.02 [[ 9.15105026e-01 4.03215564e-01 0.00000000e+00 3.95116082e+02] [-4.03215564e-01 9.15105026e-01 0.00000000e+00 -1.06331549e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92032791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.14, Y:-106.34, Z:0.02 [[ 9.14795117e-01 4.03918177e-01 0.00000000e+00 3.95143645e+02] [-4.03918177e-01 9.14795117e-01 0.00000000e+00 -1.06336704e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00943561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.17, Y:-106.34, Z:0.02 [[ 9.14812295e-01 4.03879270e-01 0.00000000e+00 3.95170481e+02] [-4.03879270e-01 9.14812295e-01 0.00000000e+00 -1.06342318e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98782431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.20, Y:-106.35, Z:0.02 [[ 9.14884751e-01 4.03715112e-01 0.00000000e+00 3.95197490e+02] [-4.03715112e-01 9.14884751e-01 0.00000000e+00 -1.06351431e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98782431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.22, Y:-106.36, Z:0.02 [[ 9.15338239e-01 4.02685868e-01 0.00000000e+00 3.95224290e+02] [-4.02685868e-01 9.15338239e-01 0.00000000e+00 -1.06357904e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90000412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.25, Y:-106.36, Z:0.02 [[ 9.16336953e-01 4.00408028e-01 0.00000000e+00 3.95251318e+02] [-4.00408028e-01 9.16336953e-01 0.00000000e+00 -1.06364245e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78495620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.28, Y:-106.37, Z:0.02 [[ 9.19051696e-01 3.94137006e-01 0.00000000e+00 3.95279048e+02] [-3.94137006e-01 9.19051696e-01 0.00000000e+00 -1.06366829e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57009804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.31, Y:-106.37, Z:0.02 [[ 9.20662594e-01 3.90359307e-01 0.00000000e+00 3.95306270e+02] [-3.90359307e-01 9.20662594e-01 0.00000000e+00 -1.06372759e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70819970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.671400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:395.33, Y:-106.38, Z:0.02 [[ 9.22346446e-01 3.86363861e-01 0.00000000e+00 3.95333323e+02] [-3.86363861e-01 9.22346446e-01 0.00000000e+00 -1.06380154e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90908304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.36, Y:-106.39, Z:0.02 [[ 9.24968227e-01 3.80044443e-01 0.00000000e+00 3.95359397e+02] [-3.80044443e-01 9.24968227e-01 0.00000000e+00 -1.06388996e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41931698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.39, Y:-106.40, Z:0.03 [[ 9.25844968e-01 3.77903552e-01 0.00000000e+00 3.95385767e+02] [-3.77903552e-01 9.25844968e-01 0.00000000e+00 -1.06397244e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54717721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.41, Y:-106.40, Z:0.03 [[ 9.26382622e-01 3.76583639e-01 0.00000000e+00 3.95413200e+02] [-3.76583639e-01 9.26382622e-01 0.00000000e+00 -1.06404924e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51460881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.44, Y:-106.41, Z:0.02 [[ 9.26512454e-01 3.76264100e-01 0.00000000e+00 3.95439194e+02] [-3.76264100e-01 9.26512454e-01 0.00000000e+00 -1.06412192e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31269986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.46, Y:-106.42, Z:0.02 [[ 9.26565229e-01 3.76134119e-01 0.00000000e+00 3.95464972e+02] [-3.76134119e-01 9.26565229e-01 0.00000000e+00 -1.06419595e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11970906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.49, Y:-106.43, Z:0.02 [[ 9.26642520e-01 3.75943666e-01 0.00000000e+00 3.95491805e+02] [-3.75943666e-01 9.26642520e-01 0.00000000e+00 -1.06428562e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27347671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.52, Y:-106.44, Z:0.02 [[ 9.26686512e-01 3.75835214e-01 0.00000000e+00 3.95517936e+02] [-3.75835214e-01 9.26686512e-01 0.00000000e+00 -1.06436592e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40012879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.54, Y:-106.44, Z:0.02 [[ 9.26774990e-01 3.75616983e-01 0.00000000e+00 3.95544605e+02] [-3.75616983e-01 9.26774990e-01 0.00000000e+00 -1.06444944e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44528610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.941400513 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:395.57, Y:-106.45, Z:0.02 [[ 9.26797747e-01 3.75560830e-01 0.00000000e+00 3.95571873e+02] [-3.75560830e-01 9.26797747e-01 0.00000000e+00 -1.06453183e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29376476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.60, Y:-106.46, Z:0.02 [[ 9.26625749e-01 3.75985001e-01 0.00000000e+00 3.95598860e+02] [-3.75985001e-01 9.26625749e-01 0.00000000e+00 -1.06461495e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22918009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.62, Y:-106.47, Z:0.02 [[ 9.26279426e-01 3.76837398e-01 0.00000000e+00 3.95624733e+02] [-3.76837398e-01 9.26279426e-01 0.00000000e+00 -1.06469486e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11113486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.65, Y:-106.48, Z:0.02 [[ 9.25862373e-01 3.77860908e-01 0.00000000e+00 3.95650260e+02] [-3.77860908e-01 9.25862373e-01 0.00000000e+00 -1.06478088e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06275142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.68, Y:-106.49, Z:0.02 [[ 9.24511102e-01 3.81155117e-01 0.00000000e+00 3.95676460e+02] [-3.81155117e-01 9.24511102e-01 0.00000000e+00 -1.06489287e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05579879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.70, Y:-106.50, Z:0.02 [[ 9.23478097e-01 3.83651148e-01 0.00000000e+00 3.95702627e+02] [-3.83651148e-01 9.23478097e-01 0.00000000e+00 -1.06498926e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05942448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.73, Y:-106.51, Z:0.02 [[ 9.22137998e-01 3.86861101e-01 0.00000000e+00 3.95728283e+02] [-3.86861101e-01 9.22137998e-01 0.00000000e+00 -1.06507330e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04254889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.76, Y:-106.52, Z:0.02 [[ 9.20902547e-01 3.89792892e-01 0.00000000e+00 3.95755494e+02] [-3.89792892e-01 9.20902547e-01 0.00000000e+00 -1.06515420e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08599296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.78, Y:-106.52, Z:0.02 [[ 9.19712565e-01 3.92592407e-01 0.00000000e+00 3.95782064e+02] [-3.92592407e-01 9.19712565e-01 0.00000000e+00 -1.06523284e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11592060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.81, Y:-106.53, Z:0.03 [[ 9.18158040e-01 3.96214354e-01 0.00000000e+00 3.95808777e+02] [-3.96214354e-01 9.18158040e-01 0.00000000e+00 -1.06531314e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51315180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.83, Y:-106.54, Z:0.03 [[ 9.17756675e-01 3.97143155e-01 0.00000000e+00 3.95834896e+02] [-3.97143155e-01 9.17756675e-01 0.00000000e+00 -1.06540074e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63538063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.86, Y:-106.55, Z:0.03 [[ 9.17626265e-01 3.97444383e-01 0.00000000e+00 3.95860714e+02] [-3.97444383e-01 9.17626265e-01 0.00000000e+00 -1.06548628e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55786894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.89, Y:-106.56, Z:0.02 [[ 9.17525048e-01 3.97677994e-01 0.00000000e+00 3.95887131e+02] [-3.97677994e-01 9.17525048e-01 0.00000000e+00 -1.06557435e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28867785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.91, Y:-106.57, Z:0.01 [[ 9.16978418e-01 3.98936813e-01 0.00000000e+00 3.95912996e+02] [-3.98936813e-01 9.16978418e-01 0.00000000e+00 -1.06567093e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42242384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.94, Y:-106.58, Z:0.01 [[ 9.16780702e-01 3.99390968e-01 0.00000000e+00 3.95940058e+02] [-3.99390968e-01 9.16780702e-01 0.00000000e+00 -1.06576467e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31821482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.97, Y:-106.59, Z:0.01 [[ 9.16440600e-01 4.00170746e-01 0.00000000e+00 3.95967303e+02] [-4.00170746e-01 9.16440600e-01 0.00000000e+00 -1.06585356e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43504838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.00, Y:-106.59, Z:0.02 [[ 9.15457996e-01 4.02413541e-01 0.00000000e+00 3.95995434e+02] [-4.02413541e-01 9.15457996e-01 0.00000000e+00 -1.06591980e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87543321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.02, Y:-106.60, Z:0.02 [[ 9.14870005e-01 4.03748529e-01 0.00000000e+00 3.96022242e+02] [-4.03748529e-01 9.14870005e-01 0.00000000e+00 -1.06599525e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92243171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.05, Y:-106.61, Z:0.02 [[ 9.14181689e-01 4.05304626e-01 0.00000000e+00 3.96048679e+02] [-4.05304626e-01 9.14181689e-01 0.00000000e+00 -1.06608131e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85743348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.07, Y:-106.62, Z:0.02 [[ 9.13695194e-01 4.06400164e-01 0.00000000e+00 3.96073834e+02] [-4.06400164e-01 9.13695194e-01 0.00000000e+00 -1.06617274e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80034041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.10, Y:-106.63, Z:0.02 [[ 9.14026232e-01 4.05655084e-01 0.00000000e+00 3.96100619e+02] [-4.05655084e-01 9.14026232e-01 0.00000000e+00 -1.06626453e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96424247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.13, Y:-106.63, Z:0.02 [[ 9.14647552e-01 4.04252217e-01 0.00000000e+00 3.96126925e+02] [-4.04252217e-01 9.14647552e-01 0.00000000e+00 -1.06633800e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13268117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.15, Y:-106.64, Z:0.02 [[ 9.15356482e-01 4.02644397e-01 0.00000000e+00 3.96153457e+02] [-4.02644397e-01 9.15356482e-01 0.00000000e+00 -1.06641677e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26988243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.18, Y:-106.65, Z:0.02 [[ 9.16649615e-01 3.99691736e-01 0.00000000e+00 3.96178497e+02] [-3.99691736e-01 9.16649615e-01 0.00000000e+00 -1.06652525e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35288683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.20, Y:-106.66, Z:0.02 [[ 9.17265315e-01 3.98276716e-01 0.00000000e+00 3.96204796e+02] [-3.98276716e-01 9.17265315e-01 0.00000000e+00 -1.06663183e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28353350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.23, Y:-106.67, Z:0.02 [[ 9.17923193e-01 3.96758127e-01 0.00000000e+00 3.96230574e+02] [-3.96758127e-01 9.17923193e-01 0.00000000e+00 -1.06672430e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03187243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.26, Y:-106.68, Z:0.02 [[ 9.19453824e-01 3.93197997e-01 0.00000000e+00 3.96257421e+02] [-3.93197997e-01 9.19453824e-01 0.00000000e+00 -1.06681342e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87863340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.28, Y:-106.69, Z:0.02 [[ 9.20195787e-01 3.91458443e-01 0.00000000e+00 3.96283509e+02] [-3.91458443e-01 9.20195787e-01 0.00000000e+00 -1.06690762e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08338175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.31, Y:-106.70, Z:0.02 [[ 9.20766293e-01 3.90114642e-01 0.00000000e+00 3.96309607e+02] [-3.90114642e-01 9.20766293e-01 0.00000000e+00 -1.06701154e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33748810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.33, Y:-106.71, Z:0.02 [[ 9.21050941e-01 3.89442120e-01 0.00000000e+00 3.96334755e+02] [-3.89442120e-01 9.21050941e-01 0.00000000e+00 -1.06711121e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37568321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.36, Y:-106.72, Z:0.02 [[ 9.21147082e-01 3.89214661e-01 0.00000000e+00 3.96360729e+02] [-3.89214661e-01 9.21147082e-01 0.00000000e+00 -1.06720693e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37037467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.39, Y:-106.73, Z:0.02 [[ 9.21038339e-01 3.89471921e-01 0.00000000e+00 3.96387243e+02] [-3.89471921e-01 9.21038339e-01 0.00000000e+00 -1.06729831e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32355432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.41, Y:-106.74, Z:0.02 [[ 9.20838184e-01 3.89944917e-01 0.00000000e+00 3.96413065e+02] [-3.89944917e-01 9.20838184e-01 0.00000000e+00 -1.06739263e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43854308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.44, Y:-106.75, Z:0.03 [[ 9.21135811e-01 3.89241337e-01 0.00000000e+00 3.96439316e+02] [-3.89241337e-01 9.21135811e-01 0.00000000e+00 -1.06748860e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60659819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.46, Y:-106.76, Z:0.03 [[ 9.21804105e-01 3.87656023e-01 0.00000000e+00 3.96464771e+02] [-3.87656023e-01 9.21804105e-01 0.00000000e+00 -1.06758246e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74975872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.49, Y:-106.77, Z:0.03 [[ 9.23041003e-01 3.84701581e-01 0.00000000e+00 3.96490689e+02] [-3.84701581e-01 9.23041003e-01 0.00000000e+00 -1.06768026e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75736302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.52, Y:-106.78, Z:0.03 [[ 9.26662459e-01 3.75894517e-01 0.00000000e+00 3.96515694e+02] [-3.75894517e-01 9.26662459e-01 0.00000000e+00 -1.06780586e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50337429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.54, Y:-106.79, Z:0.02 [[ 9.28722245e-01 3.70776201e-01 0.00000000e+00 3.96540634e+02] [-3.70776201e-01 9.28722245e-01 0.00000000e+00 -1.06791462e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40709238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.57, Y:-106.80, Z:0.02 [[ 9.30689836e-01 3.65809281e-01 0.00000000e+00 3.96567060e+02] [-3.65809281e-01 9.30689836e-01 0.00000000e+00 -1.06802186e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49705254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.59, Y:-106.81, Z:0.03 [[ 9.32486078e-01 3.61205917e-01 0.00000000e+00 3.96593620e+02] [-3.61205917e-01 9.32486078e-01 0.00000000e+00 -1.06811940e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64422333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.62, Y:-106.82, Z:0.03 [[ 9.34523059e-01 3.55902589e-01 0.00000000e+00 3.96618675e+02] [-3.55902589e-01 9.34523059e-01 0.00000000e+00 -1.06822796e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71846238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.171400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:396.64, Y:-106.83, Z:0.03 [[ 9.35012323e-01 3.54615223e-01 0.00000000e+00 3.96644838e+02] [-3.54615223e-01 9.35012323e-01 0.00000000e+00 -1.06832882e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63292012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.67, Y:-106.84, Z:0.03 [[ 9.35120745e-01 3.54329214e-01 0.00000000e+00 3.96670276e+02] [-3.54329214e-01 9.35120745e-01 0.00000000e+00 -1.06842772e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63389232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.70, Y:-106.85, Z:0.03 [[ 9.35116820e-01 3.54339573e-01 0.00000000e+00 3.96697207e+02] [-3.54339573e-01 9.35116820e-01 0.00000000e+00 -1.06851919e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62544917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.72, Y:-106.86, Z:0.03 [[ 9.34989625e-01 3.54675063e-01 0.00000000e+00 3.96722550e+02] [-3.54675063e-01 9.34989625e-01 0.00000000e+00 -1.06859752e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57900240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.75, Y:-106.87, Z:0.03 [[ 9.34905064e-01 3.54897902e-01 0.00000000e+00 3.96749264e+02] [-3.54897902e-01 9.34905064e-01 0.00000000e+00 -1.06867565e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58353388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.77, Y:-106.88, Z:0.03 [[ 9.35191354e-01 3.54142811e-01 0.00000000e+00 3.96774904e+02] [-3.54142811e-01 9.35191354e-01 0.00000000e+00 -1.06875772e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53139999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.80, Y:-106.88, Z:0.02 [[ 9.35695035e-01 3.52809865e-01 0.00000000e+00 3.96800489e+02] [-3.52809865e-01 9.35695035e-01 0.00000000e+00 -1.06883402e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45324098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.83, Y:-106.89, Z:0.02 [[ 9.36378992e-01 3.50990574e-01 0.00000000e+00 3.96827025e+02] [-3.50990574e-01 9.36378992e-01 0.00000000e+00 -1.06890582e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37261056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.85, Y:-106.90, Z:0.02 [[ 9.36442120e-01 3.50822115e-01 0.00000000e+00 3.96854118e+02] [-3.50822115e-01 9.36442120e-01 0.00000000e+00 -1.06899441e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37261056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.88, Y:-106.90, Z:0.02 [[ 9.37754116e-01 3.47299895e-01 0.00000000e+00 3.96882105e+02] [-3.47299895e-01 9.37754116e-01 0.00000000e+00 -1.06904470e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34644959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.91, Y:-106.91, Z:0.02 [[ 9.38421993e-01 3.45491190e-01 0.00000000e+00 3.96908543e+02] [-3.45491190e-01 9.38421993e-01 0.00000000e+00 -1.06911735e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32600965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.94, Y:-106.92, Z:0.02 [[ 9.39152118e-01 3.43501526e-01 0.00000000e+00 3.96935355e+02] [-3.43501526e-01 9.39152118e-01 0.00000000e+00 -1.06919809e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40413299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.96, Y:-106.93, Z:0.03 [[ 9.40505947e-01 3.39777227e-01 0.00000000e+00 3.96961254e+02] [-3.39777227e-01 9.40505947e-01 0.00000000e+00 -1.06926634e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59876990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.99, Y:-106.93, Z:0.03 [[ 9.41075192e-01 3.38197402e-01 0.00000000e+00 3.96988507e+02] [-3.38197402e-01 9.41075192e-01 0.00000000e+00 -1.06933769e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51425157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.02, Y:-106.94, Z:0.02 [[ 9.41427810e-01 3.37214588e-01 0.00000000e+00 3.97015473e+02] [-3.37214588e-01 9.41427810e-01 0.00000000e+00 -1.06940872e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29407528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.04, Y:-106.95, Z:0.02 [[ 9.41653525e-01 3.36583778e-01 0.00000000e+00 3.97040992e+02] [-3.36583778e-01 9.41653525e-01 0.00000000e+00 -1.06948396e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04148672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.651400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:397.07, Y:-106.96, Z:0.02 [[ 9.41751565e-01 3.36309366e-01 0.00000000e+00 3.97068752e+02] [-3.36309366e-01 9.41751565e-01 0.00000000e+00 -1.06957453e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89265460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.09, Y:-106.97, Z:0.02 [[ 9.41808064e-01 3.36151112e-01 0.00000000e+00 3.97094990e+02] [-3.36151112e-01 9.41808064e-01 0.00000000e+00 -1.06966106e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88253193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.12, Y:-106.97, Z:0.02 [[ 9.41670165e-01 3.36537220e-01 0.00000000e+00 3.97120885e+02] [-3.36537220e-01 9.41670165e-01 0.00000000e+00 -1.06973192e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96960782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.15, Y:-106.98, Z:0.02 [[ 9.41523762e-01 3.36946591e-01 0.00000000e+00 3.97148115e+02] [-3.36946591e-01 9.41523762e-01 0.00000000e+00 -1.06981311e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15059504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.18, Y:-106.99, Z:0.02 [[ 9.41321567e-01 3.37511048e-01 0.00000000e+00 3.97176042e+02] [-3.37511048e-01 9.41321567e-01 0.00000000e+00 -1.06990073e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33782452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.20, Y:-107.00, Z:0.02 [[ 9.41274580e-01 3.37642067e-01 0.00000000e+00 3.97201555e+02] [-3.37642067e-01 9.41274580e-01 0.00000000e+00 -1.06998117e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46691533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.831400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:397.23, Y:-107.01, Z:0.02 [[ 9.41811277e-01 3.36142110e-01 0.00000000e+00 3.97228262e+02] [-3.36142110e-01 9.41811277e-01 0.00000000e+00 -1.07005974e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40369472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.25, Y:-107.01, Z:0.02 [[ 9.42510024e-01 3.34177878e-01 0.00000000e+00 3.97254958e+02] [-3.34177878e-01 9.42510024e-01 0.00000000e+00 -1.07014516e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39064607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.28, Y:-107.02, Z:0.02 [[ 9.43287092e-01 3.31978104e-01 0.00000000e+00 3.97281259e+02] [-3.31978104e-01 9.43287092e-01 0.00000000e+00 -1.07023524e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44217139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.921400513 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:397.31, Y:-107.03, Z:0.02 [[ 9.44832454e-01 3.27554017e-01 0.00000000e+00 3.97307199e+02] [-3.27554017e-01 9.44832454e-01 0.00000000e+00 -1.07033042e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44541831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.33, Y:-107.04, Z:0.03 [[ 9.45555322e-01 3.25461416e-01 0.00000000e+00 3.97333158e+02] [-3.25461416e-01 9.45555322e-01 0.00000000e+00 -1.07041566e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51183594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.36, Y:-107.05, Z:0.03 [[ 9.46280224e-01 3.23347704e-01 0.00000000e+00 3.97359490e+02] [-3.23347704e-01 9.46280224e-01 0.00000000e+00 -1.07050120e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56122946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.39, Y:-107.06, Z:0.03 [[ 9.46955471e-01 3.21364801e-01 0.00000000e+00 3.97385551e+02] [-3.21364801e-01 9.46955471e-01 0.00000000e+00 -1.07058367e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65497821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.41, Y:-107.07, Z:0.03 [[ 9.48059119e-01 3.18094179e-01 0.00000000e+00 3.97412425e+02] [-3.18094179e-01 9.48059119e-01 0.00000000e+00 -1.07067009e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68263794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.44, Y:-107.08, Z:0.03 [[ 9.48555116e-01 3.16612053e-01 0.00000000e+00 3.97439277e+02] [-3.16612053e-01 9.48555116e-01 0.00000000e+00 -1.07075731e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61829211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.47, Y:-107.08, Z:0.03 [[ 9.48993532e-01 3.15295538e-01 0.00000000e+00 3.97466373e+02] [-3.15295538e-01 9.48993532e-01 0.00000000e+00 -1.07083725e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50990205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.49, Y:-107.09, Z:0.02 [[ 9.49537684e-01 3.13652971e-01 0.00000000e+00 3.97492987e+02] [-3.13652971e-01 9.49537684e-01 0.00000000e+00 -1.07089470e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29205050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.52, Y:-107.10, Z:0.02 [[ 9.49736164e-01 3.13051465e-01 0.00000000e+00 3.97519995e+02] [-3.13051465e-01 9.49736164e-01 0.00000000e+00 -1.07096763e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32612113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.55, Y:-107.10, Z:0.02 [[ 9.49991655e-01 3.12275287e-01 0.00000000e+00 3.97547236e+02] [-3.12275287e-01 9.49991655e-01 0.00000000e+00 -1.07103947e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37536043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.57, Y:-107.11, Z:0.02 [[ 9.50289215e-01 3.11368604e-01 0.00000000e+00 3.97573568e+02] [-3.11368604e-01 9.50289215e-01 0.00000000e+00 -1.07110187e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37268277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.60, Y:-107.12, Z:0.02 [[ 9.50554383e-01 3.10558150e-01 0.00000000e+00 3.97599505e+02] [-3.10558150e-01 9.50554383e-01 0.00000000e+00 -1.07116236e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39745395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.63, Y:-107.12, Z:0.03 [[ 9.51102011e-01 3.08876941e-01 0.00000000e+00 3.97627887e+02] [-3.08876941e-01 9.51102011e-01 0.00000000e+00 -1.07120235e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51184999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.65, Y:-107.13, Z:0.02 [[ 9.51355463e-01 3.08095413e-01 0.00000000e+00 3.97653877e+02] [-3.08095413e-01 9.51355463e-01 0.00000000e+00 -1.07126636e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49255522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.68, Y:-107.13, Z:0.02 [[ 9.51764701e-01 3.06828869e-01 0.00000000e+00 3.97681245e+02] [-3.06828869e-01 9.51764701e-01 0.00000000e+00 -1.07133451e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43837752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.71, Y:-107.14, Z:0.02 [[ 9.52170385e-01 3.05567599e-01 0.00000000e+00 3.97707887e+02] [-3.05567599e-01 9.52170385e-01 0.00000000e+00 -1.07139165e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33341004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.74, Y:-107.14, Z:0.02 [[ 9.52610567e-01 3.04192549e-01 0.00000000e+00 3.97737102e+02] [-3.04192549e-01 9.52610567e-01 0.00000000e+00 -1.07140635e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35722314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.431400513 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:397.76, Y:-107.15, Z:0.02 [[ 9.52686316e-01 3.03955233e-01 0.00000000e+00 3.97763418e+02] [-3.03955233e-01 9.52686316e-01 0.00000000e+00 -1.07145768e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28336612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.461400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:397.79, Y:-107.15, Z:0.02 [[ 9.53004976e-01 3.02954642e-01 0.00000000e+00 3.97791869e+02] [-3.02954642e-01 9.53004976e-01 0.00000000e+00 -1.07152073e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23751129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.82, Y:-107.16, Z:0.02 [[ 9.53194797e-01 3.02356874e-01 0.00000000e+00 3.97820094e+02] [-3.02356874e-01 9.53194797e-01 0.00000000e+00 -1.07158266e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03305207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.85, Y:-107.16, Z:0.02 [[ 9.53700610e-01 3.00757621e-01 0.00000000e+00 3.97849613e+02] [-3.00757621e-01 9.53700610e-01 0.00000000e+00 -1.07161785e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86812325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.88, Y:-107.17, Z:0.02 [[ 9.54027452e-01 2.99719236e-01 0.00000000e+00 3.97875873e+02] [-2.99719236e-01 9.54027452e-01 0.00000000e+00 -1.07167439e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85432656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.90, Y:-107.17, Z:0.02 [[ 9.54418507e-01 2.98471629e-01 0.00000000e+00 3.97903865e+02] [-2.98471629e-01 9.54418507e-01 0.00000000e+00 -1.07174066e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01997056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.93, Y:-107.18, Z:0.02 [[ 9.54769747e-01 2.97346146e-01 0.00000000e+00 3.97931527e+02] [-2.97346146e-01 9.54769747e-01 0.00000000e+00 -1.07177948e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98095965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.96, Y:-107.18, Z:0.02 [[ 9.54834351e-01 2.97138626e-01 0.00000000e+00 3.97959297e+02] [-2.97138626e-01 9.54834351e-01 0.00000000e+00 -1.07183938e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85279948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.99, Y:-107.19, Z:0.02 [[ 9.54800772e-01 2.97246506e-01 0.00000000e+00 3.97985557e+02] [-2.97246506e-01 9.54800772e-01 0.00000000e+00 -1.07189206e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78292982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.01, Y:-107.20, Z:0.02 [[ 9.54911270e-01 2.96891338e-01 0.00000000e+00 3.98012811e+02] [-2.96891338e-01 9.54911270e-01 0.00000000e+00 -1.07195091e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84614617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.04, Y:-107.20, Z:0.02 [[ 9.55098691e-01 2.96287850e-01 0.00000000e+00 3.98039264e+02] [-2.96287850e-01 9.55098691e-01 0.00000000e+00 -1.07201644e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90957539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.761400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:398.07, Y:-107.21, Z:0.02 [[ 9.55938618e-01 2.93566617e-01 0.00000000e+00 3.98066226e+02] [-2.93566617e-01 9.55938618e-01 0.00000000e+00 -1.07206796e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85166165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.09, Y:-107.21, Z:0.02 [[ 9.56388702e-01 2.92096988e-01 0.00000000e+00 3.98093445e+02] [-2.92096988e-01 9.56388702e-01 0.00000000e+00 -1.07214115e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90046691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.12, Y:-107.22, Z:0.02 [[ 9.56696014e-01 2.91088880e-01 0.00000000e+00 3.98119779e+02] [-2.91088880e-01 9.56696014e-01 0.00000000e+00 -1.07221398e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85363429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.15, Y:-107.23, Z:0.02 [[ 9.56938663e-01 2.90290191e-01 0.00000000e+00 3.98146688e+02] [-2.90290191e-01 9.56938663e-01 0.00000000e+00 -1.07229253e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91592549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.17, Y:-107.24, Z:0.02 [[ 9.57016786e-01 2.90032533e-01 0.00000000e+00 3.98173590e+02] [-2.90032533e-01 9.57016786e-01 0.00000000e+00 -1.07237218e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01774755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.20, Y:-107.24, Z:0.02 [[ 9.57004509e-01 2.90073044e-01 0.00000000e+00 3.98200631e+02] [-2.90073044e-01 9.57004509e-01 0.00000000e+00 -1.07244930e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12051130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.23, Y:-107.25, Z:0.02 [[ 9.57034844e-01 2.89972941e-01 0.00000000e+00 3.98227930e+02] [-2.89972941e-01 9.57034844e-01 0.00000000e+00 -1.07252161e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20413023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.25, Y:-107.26, Z:0.02 [[ 9.57036748e-01 2.89966660e-01 0.00000000e+00 3.98254354e+02] [-2.89966660e-01 9.57036748e-01 0.00000000e+00 -1.07259752e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13778022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.28, Y:-107.27, Z:0.02 [[ 9.57367555e-01 2.88872575e-01 0.00000000e+00 3.98280912e+02] [-2.88872575e-01 9.57367555e-01 0.00000000e+00 -1.07268453e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14005353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.31, Y:-107.28, Z:0.02 [[ 9.57710906e-01 2.87732204e-01 0.00000000e+00 3.98306890e+02] [-2.87732204e-01 9.57710906e-01 0.00000000e+00 -1.07277094e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26836957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.33, Y:-107.29, Z:0.02 [[ 9.58215790e-01 2.86046325e-01 0.00000000e+00 3.98333314e+02] [-2.86046325e-01 9.58215790e-01 0.00000000e+00 -1.07285188e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40901260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.36, Y:-107.29, Z:0.02 [[ 9.58707091e-01 2.84395346e-01 0.00000000e+00 3.98359858e+02] [-2.84395346e-01 9.58707091e-01 0.00000000e+00 -1.07292720e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44503359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.39, Y:-107.30, Z:0.02 [[ 9.59891781e-01 2.80370768e-01 0.00000000e+00 3.98387771e+02] [-2.80370768e-01 9.59891781e-01 0.00000000e+00 -1.07300468e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09664891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.41, Y:-107.31, Z:0.02 [[ 9.60689150e-01 2.77626289e-01 0.00000000e+00 3.98413695e+02] [-2.77626289e-01 9.60689150e-01 0.00000000e+00 -1.07309569e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93561708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.44, Y:-107.32, Z:0.02 [[ 9.61672177e-01 2.74201793e-01 0.00000000e+00 3.98440134e+02] [-2.74201793e-01 9.61672177e-01 0.00000000e+00 -1.07319228e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88989948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.47, Y:-107.33, Z:0.02 [[ 9.62710178e-01 2.70534866e-01 0.00000000e+00 3.98465436e+02] [-2.70534866e-01 9.62710178e-01 0.00000000e+00 -1.07328241e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77083256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.49, Y:-107.34, Z:0.02 [[ 9.64414911e-01 2.64393418e-01 0.00000000e+00 3.98492389e+02] [-2.64393418e-01 9.64414911e-01 0.00000000e+00 -1.07337879e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50916359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.52, Y:-107.35, Z:0.01 [[ 9.64872796e-01 2.62717505e-01 0.00000000e+00 3.98519103e+02] [-2.62717505e-01 9.64872796e-01 0.00000000e+00 -1.07347550e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42295871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.30140051300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:398.55, Y:-107.36, Z:0.01 [[ 9.65057616e-01 2.62037781e-01 0.00000000e+00 3.98546255e+02] [-2.62037781e-01 9.65057616e-01 0.00000000e+00 -1.07356915e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46131370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.331400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:398.57, Y:-107.37, Z:0.01 [[ 9.65076715e-01 2.61967430e-01 0.00000000e+00 3.98573381e+02] [-2.61967430e-01 9.65076715e-01 0.00000000e+00 -1.07365642e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46131370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.60, Y:-107.37, Z:0.02 [[ 9.64492063e-01 2.64111833e-01 0.00000000e+00 3.98599981e+02] [-2.64111833e-01 9.64492063e-01 0.00000000e+00 -1.07374198e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57906248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.63, Y:-107.38, Z:0.02 [[ 9.64045507e-01 2.65737200e-01 0.00000000e+00 3.98626835e+02] [-2.65737200e-01 9.64045507e-01 0.00000000e+00 -1.07381751e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65323485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.65, Y:-107.39, Z:0.02 [[ 9.63544530e-01 2.67548013e-01 0.00000000e+00 3.98652639e+02] [-2.67548013e-01 9.63544530e-01 0.00000000e+00 -1.07389088e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62548827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.68, Y:-107.40, Z:0.02 [[ 9.63009190e-01 2.69468549e-01 0.00000000e+00 3.98679095e+02] [-2.69468549e-01 9.63009190e-01 0.00000000e+00 -1.07397260e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63013068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.481400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:398.71, Y:-107.40, Z:0.02 [[ 9.62326900e-01 2.71895085e-01 0.00000000e+00 3.98706024e+02] [-2.71895085e-01 9.62326900e-01 0.00000000e+00 -1.07404930e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68838916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.73, Y:-107.41, Z:0.02 [[ 9.62191790e-01 2.72372832e-01 0.00000000e+00 3.98732969e+02] [-2.72372832e-01 9.62191790e-01 0.00000000e+00 -1.07412403e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67642954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.76, Y:-107.42, Z:0.02 [[ 9.62224506e-01 2.72257233e-01 0.00000000e+00 3.98760124e+02] [-2.72257233e-01 9.62224506e-01 0.00000000e+00 -1.07418858e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80921781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.571400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:398.79, Y:-107.43, Z:0.02 [[ 9.62362820e-01 2.71767922e-01 0.00000000e+00 3.98787715e+02] [-2.71767922e-01 9.62362820e-01 0.00000000e+00 -1.07425605e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82974906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.601400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:398.81, Y:-107.43, Z:0.02 [[ 9.62766899e-01 2.70332939e-01 0.00000000e+00 3.98813877e+02] [-2.70332939e-01 9.62766899e-01 0.00000000e+00 -1.07432640e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69909357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.84, Y:-107.44, Z:0.02 [[ 9.63150656e-01 2.68962476e-01 0.00000000e+00 3.98840837e+02] [-2.68962476e-01 9.63150656e-01 0.00000000e+00 -1.07440967e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80341050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.87, Y:-107.45, Z:0.02 [[ 9.63629214e-01 2.67242846e-01 0.00000000e+00 3.98868505e+02] [-2.67242846e-01 9.63629214e-01 0.00000000e+00 -1.07448900e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98547985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.89, Y:-107.46, Z:0.02 [[ 9.64147137e-01 2.65368233e-01 0.00000000e+00 3.98894950e+02] [-2.65368233e-01 9.64147137e-01 0.00000000e+00 -1.07456457e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98497123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.721400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:398.92, Y:-107.46, Z:0.02 [[ 9.65174901e-01 2.61605447e-01 0.00000000e+00 3.98922024e+02] [-2.61605447e-01 9.65174901e-01 0.00000000e+00 -1.07464679e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80967103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.751400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:398.95, Y:-107.47, Z:0.02 [[ 9.65471203e-01 2.60509800e-01 0.00000000e+00 3.98947390e+02] [-2.60509800e-01 9.65471203e-01 0.00000000e+00 -1.07473037e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81097227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.781400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:398.97, Y:-107.48, Z:0.02 [[ 9.65665563e-01 2.59788416e-01 0.00000000e+00 3.98973865e+02] [-2.59788416e-01 9.65665563e-01 0.00000000e+00 -1.07480921e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95874926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.00, Y:-107.49, Z:0.02 [[ 9.65728303e-01 2.59555090e-01 0.00000000e+00 3.99000437e+02] [-2.59555090e-01 9.65728303e-01 0.00000000e+00 -1.07487754e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01922692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.841400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:399.03, Y:-107.49, Z:0.02 [[ 9.65497415e-01 2.60412638e-01 0.00000000e+00 3.99027801e+02] [-2.60412638e-01 9.65497415e-01 0.00000000e+00 -1.07492803e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83688235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.871400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:399.06, Y:-107.50, Z:0.02 [[ 9.65311104e-01 2.61102418e-01 0.00000000e+00 3.99055000e+02] [-2.61102418e-01 9.65311104e-01 0.00000000e+00 -1.07500207e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83831831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.901400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:399.08, Y:-107.51, Z:0.02 [[ 9.65118843e-01 2.61812184e-01 0.00000000e+00 3.99082351e+02] [-2.61812184e-01 9.65118843e-01 0.00000000e+00 -1.07507642e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81092332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.11, Y:-107.51, Z:0.02 [[ 9.65083858e-01 2.61941115e-01 0.00000000e+00 3.99109500e+02] [-2.61941115e-01 9.65083858e-01 0.00000000e+00 -1.07514369e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88517813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.14, Y:-107.52, Z:0.02 [[ 9.65230733e-01 2.61399374e-01 0.00000000e+00 3.99137352e+02] [-2.61399374e-01 9.65230733e-01 0.00000000e+00 -1.07518835e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81374411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.16, Y:-107.53, Z:0.02 [[ 9.65464432e-01 2.60534893e-01 0.00000000e+00 3.99164767e+02] [-2.60534893e-01 9.65464432e-01 0.00000000e+00 -1.07525769e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71142980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.19, Y:-107.53, Z:0.02 [[ 9.65724020e-01 2.59571026e-01 0.00000000e+00 3.99190588e+02] [-2.59571026e-01 9.65724020e-01 0.00000000e+00 -1.07532978e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55174091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.05140051300003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:399.22, Y:-107.54, Z:0.02 [[ 9.66136619e-01 2.58031072e-01 0.00000000e+00 3.99217532e+02] [-2.58031072e-01 9.66136619e-01 0.00000000e+00 -1.07540114e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56225163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.25, Y:-107.54, Z:0.02 [[ 9.66656476e-01 2.56076663e-01 0.00000000e+00 3.99245624e+02] [-2.56076663e-01 9.66656476e-01 0.00000000e+00 -1.07544172e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73054149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.27, Y:-107.55, Z:0.02 [[ 9.66673970e-01 2.56010615e-01 0.00000000e+00 3.99273256e+02] [-2.56010615e-01 9.66673970e-01 0.00000000e+00 -1.07550981e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84603378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.30, Y:-107.56, Z:0.02 [[ 9.66677641e-01 2.55996753e-01 0.00000000e+00 3.99300390e+02] [-2.55996753e-01 9.66677641e-01 0.00000000e+00 -1.07558749e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88801869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.33, Y:-107.57, Z:0.02 [[ 9.66768001e-01 2.55655301e-01 0.00000000e+00 3.99326082e+02] [-2.55655301e-01 9.66768001e-01 0.00000000e+00 -1.07566757e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83164454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.35, Y:-107.57, Z:0.02 [[ 9.67297434e-01 2.53644778e-01 0.00000000e+00 3.99353542e+02] [-2.53644778e-01 9.67297434e-01 0.00000000e+00 -1.07572024e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69944840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.38, Y:-107.58, Z:0.02 [[ 9.67573369e-01 2.52590135e-01 0.00000000e+00 3.99380753e+02] [-2.52590135e-01 9.67573369e-01 0.00000000e+00 -1.07577427e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75645918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.41, Y:-107.58, Z:0.02 [[ 9.67990327e-01 2.50987504e-01 0.00000000e+00 3.99409021e+02] [-2.50987504e-01 9.67990327e-01 0.00000000e+00 -1.07583005e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00512539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.43, Y:-107.59, Z:0.02 [[ 9.68095320e-01 2.50582225e-01 0.00000000e+00 3.99434929e+02] [-2.50582225e-01 9.68095320e-01 0.00000000e+00 -1.07590378e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88231761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.46, Y:-107.60, Z:0.02 [[ 9.68221218e-01 2.50095330e-01 0.00000000e+00 3.99463082e+02] [-2.50095330e-01 9.68221218e-01 0.00000000e+00 -1.07597121e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89194437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.49, Y:-107.60, Z:0.02 [[ 9.68211399e-01 2.50133336e-01 0.00000000e+00 3.99490951e+02] [-2.50133336e-01 9.68211399e-01 0.00000000e+00 -1.07602280e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67863316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.52, Y:-107.61, Z:0.02 [[ 9.68133808e-01 2.50433485e-01 0.00000000e+00 3.99517878e+02] [-2.50433485e-01 9.68133808e-01 0.00000000e+00 -1.07607129e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61612686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.55, Y:-107.61, Z:0.02 [[ 9.67971885e-01 2.51058617e-01 0.00000000e+00 3.99546426e+02] [-2.51058617e-01 9.67971885e-01 0.00000000e+00 -1.07612078e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92599496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.441400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:399.57, Y:-107.62, Z:0.02 [[ 9.68006706e-01 2.50924326e-01 0.00000000e+00 3.99572723e+02] [-2.50924326e-01 9.68006706e-01 0.00000000e+00 -1.07618525e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00251779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.60, Y:-107.63, Z:0.02 [[ 9.68119817e-01 2.50487565e-01 0.00000000e+00 3.99600287e+02] [-2.50487565e-01 9.68119817e-01 0.00000000e+00 -1.07625040e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05459011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.63, Y:-107.63, Z:0.02 [[ 9.68316282e-01 2.49727008e-01 0.00000000e+00 3.99626971e+02] [-2.49727008e-01 9.68316282e-01 0.00000000e+00 -1.07631285e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92237534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.65, Y:-107.64, Z:0.02 [[ 9.68664502e-01 2.48372871e-01 0.00000000e+00 3.99652859e+02] [-2.48372871e-01 9.68664502e-01 0.00000000e+00 -1.07638479e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86701932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.68, Y:-107.65, Z:0.02 [[ 9.69187088e-01 2.46325777e-01 0.00000000e+00 3.99679815e+02] [-2.46325777e-01 9.69187088e-01 0.00000000e+00 -1.07647096e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89384050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.71, Y:-107.66, Z:0.02 [[ 9.70302348e-01 2.41895336e-01 0.00000000e+00 3.99705633e+02] [-2.41895336e-01 9.70302348e-01 0.00000000e+00 -1.07656569e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82993868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.621400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:399.73, Y:-107.67, Z:0.02 [[ 9.70780430e-01 2.39969490e-01 0.00000000e+00 3.99731951e+02] [-2.39969490e-01 9.70780430e-01 0.00000000e+00 -1.07665226e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79304043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.76, Y:-107.67, Z:0.02 [[ 9.71075832e-01 2.38771289e-01 0.00000000e+00 3.99758541e+02] [-2.38771289e-01 9.71075832e-01 0.00000000e+00 -1.07673454e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86905592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.78, Y:-107.68, Z:0.02 [[ 9.71092516e-01 2.38703426e-01 0.00000000e+00 3.99783979e+02] [-2.38703426e-01 9.71092516e-01 0.00000000e+00 -1.07682228e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83458903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.81, Y:-107.69, Z:0.02 [[ 9.70978087e-01 2.39168465e-01 0.00000000e+00 3.99810360e+02] [-2.39168465e-01 9.70978087e-01 0.00000000e+00 -1.07690658e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91564230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.74140051300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:399.84, Y:-107.70, Z:0.02 [[ 9.70694414e-01 2.40317195e-01 0.00000000e+00 3.99836283e+02] [-2.40317195e-01 9.70694414e-01 0.00000000e+00 -1.07698661e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89866973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.86, Y:-107.71, Z:0.02 [[ 9.70476960e-01 2.41193844e-01 0.00000000e+00 3.99863045e+02] [-2.41193844e-01 9.70476960e-01 0.00000000e+00 -1.07706593e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98310518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.80140051300003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:399.89, Y:-107.72, Z:0.02 [[ 9.70229168e-01 2.42188691e-01 0.00000000e+00 3.99889782e+02] [-2.42188691e-01 9.70229168e-01 0.00000000e+00 -1.07715420e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95210661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.831400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:399.92, Y:-107.72, Z:0.02 [[ 9.70231285e-01 2.42180208e-01 0.00000000e+00 3.99916709e+02] [-2.42180208e-01 9.70231285e-01 0.00000000e+00 -1.07723925e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05786868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.94, Y:-107.73, Z:0.02 [[ 9.70266967e-01 2.42037213e-01 0.00000000e+00 3.99944042e+02] [-2.42037213e-01 9.70266967e-01 0.00000000e+00 -1.07731774e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11646395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.97, Y:-107.74, Z:0.02 [[ 9.70310384e-01 2.41863099e-01 0.00000000e+00 3.99970128e+02] [-2.41863099e-01 9.70310384e-01 0.00000000e+00 -1.07739089e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18541891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.00, Y:-107.75, Z:0.02 [[ 9.70380795e-01 2.41580447e-01 0.00000000e+00 3.99996993e+02] [-2.41580447e-01 9.70380795e-01 0.00000000e+00 -1.07747228e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32675348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.02, Y:-107.75, Z:0.02 [[ 9.70299017e-01 2.41908695e-01 0.00000000e+00 4.00022690e+02] [-2.41908695e-01 9.70299017e-01 0.00000000e+00 -1.07754820e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29588752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.05, Y:-107.76, Z:0.02 [[ 9.69876381e-01 2.43597632e-01 0.00000000e+00 4.00051055e+02] [-2.43597632e-01 9.69876381e-01 0.00000000e+00 -1.07759349e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19745374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.08, Y:-107.77, Z:0.02 [[ 9.69498471e-01 2.45097359e-01 0.00000000e+00 4.00078628e+02] [-2.45097359e-01 9.69498471e-01 0.00000000e+00 -1.07765840e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23231197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.10, Y:-107.77, Z:0.02 [[ 9.68987359e-01 2.47110297e-01 0.00000000e+00 4.00104417e+02] [-2.47110297e-01 9.68987359e-01 0.00000000e+00 -1.07772445e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04136199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.13, Y:-107.78, Z:0.02 [[ 9.68482446e-01 2.49081817e-01 0.00000000e+00 4.00131174e+02] [-2.49081817e-01 9.68482446e-01 0.00000000e+00 -1.07779898e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85854487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.16, Y:-107.79, Z:0.02 [[ 9.67577830e-01 2.52573044e-01 0.00000000e+00 4.00160195e+02] [-2.52573044e-01 9.67577830e-01 0.00000000e+00 -1.07785343e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68704072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.19, Y:-107.79, Z:0.02 [[ 9.67228116e-01 2.53908982e-01 0.00000000e+00 4.00187050e+02] [-2.53908982e-01 9.67228116e-01 0.00000000e+00 -1.07790619e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62517076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.21, Y:-107.80, Z:0.02 [[ 9.66950177e-01 2.54965398e-01 0.00000000e+00 4.00214945e+02] [-2.54965398e-01 9.66950177e-01 0.00000000e+00 -1.07796470e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76650559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.24, Y:-107.80, Z:0.02 [[ 9.66720180e-01 2.55836069e-01 0.00000000e+00 4.00242078e+02] [-2.55836069e-01 9.66720180e-01 0.00000000e+00 -1.07802787e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79236831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.27, Y:-107.81, Z:0.02 [[ 9.66767149e-01 2.55658520e-01 0.00000000e+00 4.00269264e+02] [-2.55658520e-01 9.66767149e-01 0.00000000e+00 -1.07811249e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79236831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.30, Y:-107.82, Z:0.02 [[ 9.66330990e-01 2.57302190e-01 0.00000000e+00 4.00298377e+02] [-2.57302190e-01 9.66330990e-01 0.00000000e+00 -1.07816245e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23009273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.281400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:400.33, Y:-107.82, Z:0.02 [[ 9.66010587e-01 2.58502507e-01 0.00000000e+00 4.00326387e+02] [-2.58502507e-01 9.66010587e-01 0.00000000e+00 -1.07821859e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45938286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.311400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:400.35, Y:-107.83, Z:0.03 [[ 9.65564909e-01 2.60162269e-01 0.00000000e+00 4.00354397e+02] [-2.60162269e-01 9.65564909e-01 0.00000000e+00 -1.07827421e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60612890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.38, Y:-107.83, Z:0.03 [[ 9.64324519e-01 2.64722916e-01 0.00000000e+00 4.00382714e+02] [-2.64722916e-01 9.64324519e-01 0.00000000e+00 -1.07831253e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70001446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.41, Y:-107.84, Z:0.03 [[ 9.63753636e-01 2.66793796e-01 0.00000000e+00 4.00409522e+02] [-2.66793796e-01 9.63753636e-01 0.00000000e+00 -1.07837191e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74907920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.401400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:400.44, Y:-107.84, Z:0.03 [[ 9.63294735e-01 2.68445996e-01 0.00000000e+00 4.00437147e+02] [-2.68445996e-01 9.63294735e-01 0.00000000e+00 -1.07843383e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74447555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.46, Y:-107.85, Z:0.03 [[ 9.62270203e-01 2.72095677e-01 0.00000000e+00 4.00464462e+02] [-2.72095677e-01 9.62270203e-01 0.00000000e+00 -1.07846631e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78835929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.49, Y:-107.85, Z:0.03 [[ 9.61754766e-01 2.73911976e-01 0.00000000e+00 4.00490633e+02] [-2.73911976e-01 9.61754766e-01 0.00000000e+00 -1.07853223e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75840310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.49140051300003 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:400.52, Y:-107.86, Z:0.03 [[ 9.61394661e-01 2.75173228e-01 0.00000000e+00 4.00518058e+02] [-2.75173228e-01 9.61394661e-01 0.00000000e+00 -1.07860334e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72853391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.55, Y:-107.87, Z:0.03 [[ 9.60994329e-01 2.76568073e-01 0.00000000e+00 4.00545160e+02] [-2.76568073e-01 9.60994329e-01 0.00000000e+00 -1.07867418e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66426247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.57, Y:-107.87, Z:0.03 [[ 9.60152106e-01 2.79477965e-01 0.00000000e+00 4.00571657e+02] [-2.79477965e-01 9.60152106e-01 0.00000000e+00 -1.07873263e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57363993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.60, Y:-107.88, Z:0.03 [[ 9.59621425e-01 2.81294723e-01 0.00000000e+00 4.00598809e+02] [-2.81294723e-01 9.59621425e-01 0.00000000e+00 -1.07880440e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62065492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.63, Y:-107.89, Z:0.03 [[ 9.58801988e-01 2.84075249e-01 0.00000000e+00 4.00625325e+02] [-2.84075249e-01 9.58801988e-01 0.00000000e+00 -1.07887285e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70505291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.641400513 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:400.65, Y:-107.89, Z:0.03 [[ 9.57796007e-01 2.87448795e-01 0.00000000e+00 4.00652891e+02] [-2.87448795e-01 9.57796007e-01 0.00000000e+00 -1.07894319e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75574312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.671400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:400.68, Y:-107.90, Z:0.03 [[ 9.55132839e-01 2.96177751e-01 0.00000000e+00 4.00679059e+02] [-2.96177751e-01 9.55132839e-01 0.00000000e+00 -1.07899954e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64976103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.701400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:400.71, Y:-107.91, Z:0.03 [[ 9.53792830e-01 3.00465036e-01 0.00000000e+00 4.00706147e+02] [-3.00465036e-01 9.53792830e-01 0.00000000e+00 -1.07906815e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56363572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.73, Y:-107.91, Z:0.03 [[ 9.52580802e-01 3.04285748e-01 0.00000000e+00 4.00732785e+02] [-3.04285748e-01 9.52580802e-01 0.00000000e+00 -1.07912748e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52530244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.761400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:400.76, Y:-107.92, Z:0.03 [[ 9.50773418e-01 3.09886927e-01 0.00000000e+00 4.00759561e+02] [-3.09886927e-01 9.50773418e-01 0.00000000e+00 -1.07916904e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50781756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.79, Y:-107.92, Z:0.03 [[ 9.50109158e-01 3.11917597e-01 0.00000000e+00 4.00785911e+02] [-3.11917597e-01 9.50109158e-01 0.00000000e+00 -1.07924310e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65205377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.81, Y:-107.93, Z:0.03 [[ 9.49709520e-01 3.13132286e-01 0.00000000e+00 4.00812392e+02] [-3.13132286e-01 9.49709520e-01 0.00000000e+00 -1.07932329e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85408558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.84, Y:-107.94, Z:0.03 [[ 9.49378211e-01 3.14135340e-01 0.00000000e+00 4.00838113e+02] [-3.14135340e-01 9.49378211e-01 0.00000000e+00 -1.07940761e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90207288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.881400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:400.86, Y:-107.95, Z:0.03 [[ 9.49237730e-01 3.14559585e-01 0.00000000e+00 4.00864309e+02] [-3.14559585e-01 9.49237730e-01 0.00000000e+00 -1.07949749e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86414122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.911400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:400.89, Y:-107.96, Z:0.03 [[ 9.49559649e-01 3.13586469e-01 0.00000000e+00 4.00890188e+02] [-3.13586469e-01 9.49559649e-01 0.00000000e+00 -1.07959057e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69071082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.92, Y:-107.97, Z:0.03 [[ 9.49794144e-01 3.12875509e-01 0.00000000e+00 4.00916504e+02] [-3.12875509e-01 9.49794144e-01 0.00000000e+00 -1.07968920e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59052955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.971400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:400.94, Y:-107.98, Z:0.02 [[ 9.49824398e-01 3.12783652e-01 0.00000000e+00 4.00941044e+02] [-3.12783652e-01 9.49824398e-01 0.00000000e+00 -1.07979349e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45503256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.001400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:400.97, Y:-107.99, Z:0.02 [[ 9.49682095e-01 3.13215449e-01 0.00000000e+00 4.00965901e+02] [-3.13215449e-01 9.49682095e-01 0.00000000e+00 -1.07990436e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40851138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.99, Y:-108.00, Z:0.03 [[ 9.48948042e-01 3.15432424e-01 0.00000000e+00 4.00991538e+02] [-3.15432424e-01 9.48948042e-01 0.00000000e+00 -1.08002302e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54226132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.02, Y:-108.01, Z:0.03 [[ 9.48216102e-01 3.17625919e-01 0.00000000e+00 4.01017191e+02] [-3.17625919e-01 9.48216102e-01 0.00000000e+00 -1.08010801e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59877944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.091400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:401.04, Y:-108.02, Z:0.02 [[ 9.47369889e-01 3.20141051e-01 0.00000000e+00 4.01043461e+02] [-3.20141051e-01 9.47369889e-01 0.00000000e+00 -1.08019507e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49959777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.07, Y:-108.03, Z:0.02 [[ 9.46345557e-01 3.23156443e-01 0.00000000e+00 4.01069723e+02] [-3.23156443e-01 9.46345557e-01 0.00000000e+00 -1.08029612e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32759527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.10, Y:-108.04, Z:0.02 [[ 9.44731425e-01 3.27845290e-01 0.00000000e+00 4.01095841e+02] [-3.27845290e-01 9.44731425e-01 0.00000000e+00 -1.08041945e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96355064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.12, Y:-108.05, Z:0.02 [[ 9.44173009e-01 3.29450042e-01 0.00000000e+00 4.01121732e+02] [-3.29450042e-01 9.44173009e-01 0.00000000e+00 -1.08051508e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84372440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.15, Y:-108.06, Z:0.02 [[ 9.43774829e-01 3.30588977e-01 0.00000000e+00 4.01147404e+02] [-3.30588977e-01 9.43774829e-01 0.00000000e+00 -1.08061075e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74802381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.24140051300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:401.17, Y:-108.07, Z:0.02 [[ 9.43572935e-01 3.31164787e-01 0.00000000e+00 4.01173037e+02] [-3.31164787e-01 9.43572935e-01 0.00000000e+00 -1.08071250e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69754388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.20, Y:-108.09, Z:0.02 [[ 9.43387589e-01 3.31692412e-01 0.00000000e+00 4.01197788e+02] [-3.31692412e-01 9.43387589e-01 0.00000000e+00 -1.08085074e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86818185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.30140051300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:401.22, Y:-108.10, Z:0.02 [[ 9.43305389e-01 3.31926111e-01 0.00000000e+00 4.01223352e+02] [-3.31926111e-01 9.43305389e-01 0.00000000e+00 -1.08095032e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94192081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.25, Y:-108.10, Z:0.02 [[ 9.43048727e-01 3.32654625e-01 0.00000000e+00 4.01249388e+02] [-3.32654625e-01 9.43048727e-01 0.00000000e+00 -1.08103709e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06021733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.28, Y:-108.11, Z:0.02 [[ 9.42797104e-01 3.33367097e-01 0.00000000e+00 4.01276240e+02] [-3.33367097e-01 9.42797104e-01 0.00000000e+00 -1.08111970e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18570665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.30, Y:-108.12, Z:0.02 [[ 9.42314089e-01 3.34729978e-01 0.00000000e+00 4.01301507e+02] [-3.34729978e-01 9.42314089e-01 0.00000000e+00 -1.08119886e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29206668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.33, Y:-108.13, Z:0.02 [[ 9.42423774e-01 3.34421038e-01 0.00000000e+00 4.01327486e+02] [-3.34421038e-01 9.42423774e-01 0.00000000e+00 -1.08127782e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33397754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.35, Y:-108.14, Z:0.02 [[ 9.42997233e-01 3.32800569e-01 0.00000000e+00 4.01354772e+02] [-3.32800569e-01 9.42997233e-01 0.00000000e+00 -1.08135635e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45290023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.38, Y:-108.14, Z:0.03 [[ 9.45099977e-01 3.26781325e-01 0.00000000e+00 4.01382047e+02] [-3.26781325e-01 9.45099977e-01 0.00000000e+00 -1.08143595e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55418470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.41, Y:-108.15, Z:0.03 [[ 9.46704068e-01 3.22104654e-01 0.00000000e+00 4.01408008e+02] [-3.22104654e-01 9.46704068e-01 0.00000000e+00 -1.08152347e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51075925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.43, Y:-108.16, Z:0.03 [[ 9.48541988e-01 3.16651380e-01 0.00000000e+00 4.01434734e+02] [-3.16651380e-01 9.48541988e-01 0.00000000e+00 -1.08161683e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55926186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.571400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:401.46, Y:-108.17, Z:0.03 [[ 9.50449179e-01 3.10879974e-01 0.00000000e+00 4.01461184e+02] [-3.10879974e-01 9.50449179e-01 0.00000000e+00 -1.08171362e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58078906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.601400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:401.49, Y:-108.18, Z:0.03 [[ 9.53810291e-01 3.00409601e-01 0.00000000e+00 4.01486984e+02] [-3.00409601e-01 9.53810291e-01 0.00000000e+00 -1.08184139e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91940408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.51, Y:-108.20, Z:0.03 [[ 9.55048266e-01 2.96450350e-01 0.00000000e+00 4.01511191e+02] [-2.96450350e-01 9.55048266e-01 0.00000000e+00 -1.08195854e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95544379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.661400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:401.54, Y:-108.21, Z:0.03 [[ 9.56096410e-01 2.93052306e-01 0.00000000e+00 4.01536666e+02] [-2.93052306e-01 9.56096410e-01 0.00000000e+00 -1.08208293e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85830780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.691400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:401.56, Y:-108.22, Z:0.03 [[ 9.56851900e-01 2.90576050e-01 0.00000000e+00 4.01561477e+02] [-2.90576050e-01 9.56851900e-01 0.00000000e+00 -1.08221981e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59202019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.721400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:401.59, Y:-108.23, Z:0.03 [[ 9.56596094e-01 2.91417078e-01 0.00000000e+00 4.01587344e+02] [-2.91417078e-01 9.56596094e-01 0.00000000e+00 -1.08231367e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57364824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.751400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:401.61, Y:-108.24, Z:0.03 [[ 9.56165195e-01 2.92827799e-01 0.00000000e+00 4.01614467e+02] [-2.92827799e-01 9.56165195e-01 0.00000000e+00 -1.08241989e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77327525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.781400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:401.64, Y:-108.26, Z:0.03 [[ 9.54802456e-01 2.97241096e-01 0.00000000e+00 4.01639692e+02] [-2.97241096e-01 9.54802456e-01 0.00000000e+00 -1.08256347e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94109346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.811400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:401.67, Y:-108.27, Z:0.03 [[ 9.54046593e-01 2.99658304e-01 0.00000000e+00 4.01665875e+02] [-2.99658304e-01 9.54046593e-01 0.00000000e+00 -1.08267422e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82482642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.69, Y:-108.28, Z:0.03 [[ 9.53364054e-01 3.01822763e-01 0.00000000e+00 4.01691157e+02] [-3.01822763e-01 9.53364054e-01 0.00000000e+00 -1.08276609e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74616913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.871400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:401.72, Y:-108.29, Z:0.03 [[ 9.52677145e-01 3.03983974e-01 0.00000000e+00 4.01717052e+02] [-3.03983974e-01 9.52677145e-01 0.00000000e+00 -1.08285540e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65594620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.901400513 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:401.74, Y:-108.30, Z:0.03 [[ 9.51611865e-01 3.07302553e-01 0.00000000e+00 4.01742852e+02] [-3.07302553e-01 9.51611865e-01 0.00000000e+00 -1.08296646e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60192977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.931400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:401.77, Y:-108.31, Z:0.03 [[ 9.51370316e-01 3.08049543e-01 0.00000000e+00 4.01768178e+02] [-3.08049543e-01 9.51370316e-01 0.00000000e+00 -1.08306122e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60047400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.79, Y:-108.32, Z:0.03 [[ 9.51216280e-01 3.08524860e-01 0.00000000e+00 4.01793022e+02] [-3.08524860e-01 9.51216280e-01 0.00000000e+00 -1.08315527e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57135267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.99140051300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:401.82, Y:-108.33, Z:0.03 [[ 9.51187716e-01 3.08612911e-01 0.00000000e+00 4.01819269e+02] [-3.08612911e-01 9.51187716e-01 0.00000000e+00 -1.08325132e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56996609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.021400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:401.85, Y:-108.34, Z:0.03 [[ 9.51065478e-01 3.08989412e-01 0.00000000e+00 4.01845288e+02] [-3.08989412e-01 9.51065478e-01 0.00000000e+00 -1.08337221e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53866119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.05140051300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:401.87, Y:-108.35, Z:0.02 [[ 9.51039979e-01 3.09067885e-01 0.00000000e+00 4.01870650e+02] [-3.09067885e-01 9.51039979e-01 0.00000000e+00 -1.08347365e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48649025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.90, Y:-108.36, Z:0.03 [[ 9.51177305e-01 3.08644998e-01 0.00000000e+00 4.01897548e+02] [-3.08644998e-01 9.51177305e-01 0.00000000e+00 -1.08358212e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60335858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.92, Y:-108.37, Z:0.03 [[ 9.51236592e-01 3.08462229e-01 0.00000000e+00 4.01924822e+02] [-3.08462229e-01 9.51236592e-01 0.00000000e+00 -1.08366415e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60335858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.141400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:401.95, Y:-108.38, Z:0.03 [[ 9.51406096e-01 3.07939020e-01 0.00000000e+00 4.01949599e+02] [-3.07939020e-01 9.51406096e-01 0.00000000e+00 -1.08376720e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60662762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.171400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:401.97, Y:-108.39, Z:0.03 [[ 9.51526733e-01 3.07566051e-01 0.00000000e+00 4.01974840e+02] [-3.07566051e-01 9.51526733e-01 0.00000000e+00 -1.08391344e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69542952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.201400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:402.00, Y:-108.40, Z:0.03 [[ 9.51335860e-01 3.08155937e-01 0.00000000e+00 4.01999993e+02] [-3.08155937e-01 9.51335860e-01 0.00000000e+00 -1.08402710e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55315916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.03, Y:-108.42, Z:0.02 [[ 9.50655261e-01 3.10249212e-01 0.00000000e+00 4.02025218e+02] [-3.10249212e-01 9.50655261e-01 0.00000000e+00 -1.08418273e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26947649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.05, Y:-108.43, Z:0.02 [[ 9.50150835e-01 3.11790620e-01 0.00000000e+00 4.02051301e+02] [-3.11790620e-01 9.50150835e-01 0.00000000e+00 -1.08430081e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20652948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.291400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:402.08, Y:-108.44, Z:0.02 [[ 9.49451019e-01 3.13915214e-01 0.00000000e+00 4.02076954e+02] [-3.13915214e-01 9.49451019e-01 0.00000000e+00 -1.08441794e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13700715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.321400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:402.10, Y:-108.45, Z:0.02 [[ 9.48662227e-01 3.16290973e-01 0.00000000e+00 4.02102154e+02] [-3.16290973e-01 9.48662227e-01 0.00000000e+00 -1.08453638e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15459740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.13, Y:-108.47, Z:0.02 [[ 9.47733017e-01 3.19064458e-01 0.00000000e+00 4.02127950e+02] [-3.19064458e-01 9.47733017e-01 0.00000000e+00 -1.08465733e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26149420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.381400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:402.15, Y:-108.48, Z:0.02 [[ 9.45431887e-01 3.25819809e-01 0.00000000e+00 4.02152721e+02] [-3.25819809e-01 9.45431887e-01 0.00000000e+00 -1.08480289e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14868782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.18, Y:-108.49, Z:0.02 [[ 9.44269657e-01 3.29172925e-01 0.00000000e+00 4.02177174e+02] [-3.29172925e-01 9.44269657e-01 0.00000000e+00 -1.08490955e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96247448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.441400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:402.20, Y:-108.50, Z:0.02 [[ 9.43328406e-01 3.31860691e-01 0.00000000e+00 4.02203462e+02] [-3.31860691e-01 9.43328406e-01 0.00000000e+00 -1.08501750e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02268242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.23, Y:-108.51, Z:0.02 [[ 9.42523429e-01 3.34140070e-01 0.00000000e+00 4.02228145e+02] [-3.34140070e-01 9.42523429e-01 0.00000000e+00 -1.08512336e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07396802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.25, Y:-108.52, Z:0.02 [[ 9.41436996e-01 3.37188941e-01 0.00000000e+00 4.02253418e+02] [-3.37188941e-01 9.41436996e-01 0.00000000e+00 -1.08524902e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17530576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.28, Y:-108.54, Z:0.02 [[ 9.41202120e-01 3.37844002e-01 0.00000000e+00 4.02279943e+02] [-3.37844002e-01 9.41202120e-01 0.00000000e+00 -1.08535107e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23929160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.31, Y:-108.55, Z:0.02 [[ 9.41174708e-01 3.37920360e-01 0.00000000e+00 4.02306180e+02] [-3.37920360e-01 9.41174708e-01 0.00000000e+00 -1.08545146e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29821890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.591400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:402.33, Y:-108.56, Z:0.02 [[ 9.41265437e-01 3.37667554e-01 0.00000000e+00 4.02331296e+02] [-3.37667554e-01 9.41265437e-01 0.00000000e+00 -1.08556652e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44290592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.621400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:402.36, Y:-108.57, Z:0.02 [[ 9.41328967e-01 3.37490408e-01 0.00000000e+00 4.02357683e+02] [-3.37490408e-01 9.41328967e-01 0.00000000e+00 -1.08566411e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45323184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.38, Y:-108.58, Z:0.02 [[ 9.41429253e-01 3.37210559e-01 0.00000000e+00 4.02382852e+02] [-3.37210559e-01 9.41429253e-01 0.00000000e+00 -1.08576154e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34890476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.41, Y:-108.59, Z:0.02 [[ 9.41642561e-01 3.36614448e-01 0.00000000e+00 4.02408618e+02] [-3.36614448e-01 9.41642561e-01 0.00000000e+00 -1.08586128e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32571425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.43, Y:-108.60, Z:0.02 [[ 9.41769573e-01 3.36258935e-01 0.00000000e+00 4.02434086e+02] [-3.36258935e-01 9.41769573e-01 0.00000000e+00 -1.08596875e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35721017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.46, Y:-108.61, Z:0.02 [[ 9.42142014e-01 3.35214001e-01 0.00000000e+00 4.02458113e+02] [-3.35214001e-01 9.42142014e-01 0.00000000e+00 -1.08610253e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32432330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.48, Y:-108.62, Z:0.02 [[ 9.42405690e-01 3.34471995e-01 0.00000000e+00 4.02484060e+02] [-3.34471995e-01 9.42405690e-01 0.00000000e+00 -1.08620936e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28841099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.51, Y:-108.63, Z:0.02 [[ 9.42532170e-01 3.34115413e-01 0.00000000e+00 4.02509699e+02] [-3.34115413e-01 9.42532170e-01 0.00000000e+00 -1.08631902e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08829081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.53, Y:-108.65, Z:0.02 [[ 9.42219723e-01 3.34995514e-01 0.00000000e+00 4.02534083e+02] [-3.34995514e-01 9.42219723e-01 0.00000000e+00 -1.08646749e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07282814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.56, Y:-108.66, Z:0.02 [[ 9.41793098e-01 3.36193040e-01 0.00000000e+00 4.02559703e+02] [-3.36193040e-01 9.41793098e-01 0.00000000e+00 -1.08658767e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25842267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.58, Y:-108.67, Z:0.02 [[ 9.41143217e-01 3.38008056e-01 0.00000000e+00 4.02584973e+02] [-3.38008056e-01 9.41143217e-01 0.00000000e+00 -1.08670777e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38622667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.61, Y:-108.68, Z:0.02 [[ 9.40300218e-01 3.40346146e-01 0.00000000e+00 4.02609128e+02] [-3.40346146e-01 9.40300218e-01 0.00000000e+00 -1.08682058e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47251373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.64, Y:-108.70, Z:0.02 [[ 9.38960488e-01 3.44025003e-01 0.00000000e+00 4.02635376e+02] [-3.44025003e-01 9.38960488e-01 0.00000000e+00 -1.08696427e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42594716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.66, Y:-108.71, Z:0.02 [[ 9.38188520e-01 3.46124689e-01 0.00000000e+00 4.02660216e+02] [-3.46124689e-01 9.38188520e-01 0.00000000e+00 -1.08706397e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29111631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.69, Y:-108.72, Z:0.02 [[ 9.37534692e-01 3.47891796e-01 0.00000000e+00 4.02686146e+02] [-3.47891796e-01 9.37534692e-01 0.00000000e+00 -1.08716396e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08847511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.71, Y:-108.73, Z:0.02 [[ 9.36580661e-01 3.50452086e-01 0.00000000e+00 4.02712731e+02] [-3.50452086e-01 9.36580661e-01 0.00000000e+00 -1.08727923e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83320507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.74, Y:-108.74, Z:0.02 [[ 9.36395650e-01 3.50946131e-01 0.00000000e+00 4.02740167e+02] [-3.50946131e-01 9.36395650e-01 0.00000000e+00 -1.08737580e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93488484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.77, Y:-108.75, Z:0.02 [[ 9.36357840e-01 3.51046998e-01 0.00000000e+00 4.02766319e+02] [-3.51046998e-01 9.36357840e-01 0.00000000e+00 -1.08746768e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00681797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.79, Y:-108.76, Z:0.02 [[ 9.36531987e-01 3.50582140e-01 0.00000000e+00 4.02791142e+02] [-3.50582140e-01 9.36531987e-01 0.00000000e+00 -1.08756684e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96848137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.82, Y:-108.77, Z:0.02 [[ 9.36784590e-01 3.49906605e-01 0.00000000e+00 4.02818137e+02] [-3.49906605e-01 9.36784590e-01 0.00000000e+00 -1.08765418e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80124702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.84, Y:-108.77, Z:0.02 [[ 9.36968269e-01 3.49414458e-01 0.00000000e+00 4.02844632e+02] [-3.49414458e-01 9.36968269e-01 0.00000000e+00 -1.08774360e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68291882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.87, Y:-108.78, Z:0.02 [[ 9.37103923e-01 3.49050480e-01 0.00000000e+00 4.02871077e+02] [-3.49050480e-01 9.37103923e-01 0.00000000e+00 -1.08783641e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77645470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.90, Y:-108.79, Z:0.02 [[ 9.37075053e-01 3.49127979e-01 0.00000000e+00 4.02898012e+02] [-3.49127979e-01 9.37075053e-01 0.00000000e+00 -1.08793639e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05875337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.92, Y:-108.80, Z:0.02 [[ 9.36808217e-01 3.49843342e-01 0.00000000e+00 4.02924586e+02] [-3.49843342e-01 9.36808217e-01 0.00000000e+00 -1.08800878e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09744834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.95, Y:-108.81, Z:0.02 [[ 9.36393621e-01 3.50951545e-01 0.00000000e+00 4.02950666e+02] [-3.50951545e-01 9.36393621e-01 0.00000000e+00 -1.08807717e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01635633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.98, Y:-108.81, Z:0.02 [[ 9.35476447e-01 3.53389044e-01 0.00000000e+00 4.02977828e+02] [-3.53389044e-01 9.35476447e-01 0.00000000e+00 -1.08814523e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83966668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.00, Y:-108.82, Z:0.02 [[ 9.35257773e-01 3.53967368e-01 0.00000000e+00 4.03004592e+02] [-3.53967368e-01 9.35257773e-01 0.00000000e+00 -1.08822076e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92357752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.03, Y:-108.83, Z:0.02 [[ 9.35352257e-01 3.53717621e-01 0.00000000e+00 4.03031271e+02] [-3.53717621e-01 9.35352257e-01 0.00000000e+00 -1.08829277e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03908603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.06, Y:-108.84, Z:0.02 [[ 9.36178552e-01 3.51524848e-01 0.00000000e+00 4.03059152e+02] [-3.51524848e-01 9.36178552e-01 0.00000000e+00 -1.08837318e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41290691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.09, Y:-108.85, Z:0.03 [[ 9.36835039e-01 3.49771511e-01 0.00000000e+00 4.03086559e+02] [-3.49771511e-01 9.36835039e-01 0.00000000e+00 -1.08847548e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54060188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.11, Y:-108.86, Z:0.03 [[ 9.37493013e-01 3.48004096e-01 0.00000000e+00 4.03112069e+02] [-3.48004096e-01 9.37493013e-01 0.00000000e+00 -1.08858263e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62503952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.14, Y:-108.87, Z:0.03 [[ 9.38060677e-01 3.46471019e-01 0.00000000e+00 4.03136834e+02] [-3.46471019e-01 9.38060677e-01 0.00000000e+00 -1.08869054e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67156432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.16, Y:-108.88, Z:0.03 [[ 9.38733792e-01 3.44643101e-01 0.00000000e+00 4.03161070e+02] [-3.44643101e-01 9.38733792e-01 0.00000000e+00 -1.08882090e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84529315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.19, Y:-108.89, Z:0.03 [[ 9.38613687e-01 3.44970066e-01 0.00000000e+00 4.03185869e+02] [-3.44970066e-01 9.38613687e-01 0.00000000e+00 -1.08892284e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78056119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.21, Y:-108.90, Z:0.03 [[ 9.38019301e-01 3.46583020e-01 0.00000000e+00 4.03212298e+02] [-3.46583020e-01 9.38019301e-01 0.00000000e+00 -1.08903186e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66043685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.24, Y:-108.92, Z:0.02 [[ 9.35897726e-01 3.52271836e-01 0.00000000e+00 4.03238079e+02] [-3.52271836e-01 9.35897726e-01 0.00000000e+00 -1.08915040e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22051525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.27, Y:-108.92, Z:0.02 [[ 9.34614982e-01 3.55661125e-01 0.00000000e+00 4.03265621e+02] [-3.55661125e-01 9.34614982e-01 0.00000000e+00 -1.08924412e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03257386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.29, Y:-108.93, Z:0.02 [[ 9.33361803e-01 3.58936964e-01 0.00000000e+00 4.03292911e+02] [-3.58936964e-01 9.33361803e-01 0.00000000e+00 -1.08934083e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97219739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.32, Y:-108.94, Z:0.02 [[ 9.32207935e-01 3.61923149e-01 0.00000000e+00 4.03318997e+02] [-3.61923149e-01 9.32207935e-01 0.00000000e+00 -1.08943709e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08086489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.35, Y:-108.95, Z:0.02 [[ 9.30838393e-01 3.65431096e-01 0.00000000e+00 4.03345218e+02] [-3.65431096e-01 9.30838393e-01 0.00000000e+00 -1.08954110e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11877596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.37, Y:-108.96, Z:0.02 [[ 9.30833982e-01 3.65442331e-01 0.00000000e+00 4.03370951e+02] [-3.65442331e-01 9.30833982e-01 0.00000000e+00 -1.08961223e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11734340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.40, Y:-108.97, Z:0.02 [[ 9.31220141e-01 3.64457198e-01 0.00000000e+00 4.03398227e+02] [-3.64457198e-01 9.31220141e-01 0.00000000e+00 -1.08968035e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05097487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.43, Y:-108.97, Z:0.02 [[ 9.32393773e-01 3.61444120e-01 0.00000000e+00 4.03425527e+02] [-3.61444120e-01 9.32393773e-01 0.00000000e+00 -1.08974559e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63087014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.45, Y:-108.98, Z:0.02 [[ 9.33278105e-01 3.59154533e-01 0.00000000e+00 4.03453555e+02] [-3.59154533e-01 9.33278105e-01 0.00000000e+00 -1.08982623e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62847457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.48, Y:-108.99, Z:0.02 [[ 9.34393131e-01 3.56243563e-01 0.00000000e+00 4.03480731e+02] [-3.56243563e-01 9.34393131e-01 0.00000000e+00 -1.08990124e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73349037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.51, Y:-109.00, Z:0.02 [[ 9.35678336e-01 3.52854151e-01 0.00000000e+00 4.03506264e+02] [-3.52854151e-01 9.35678336e-01 0.00000000e+00 -1.08997365e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71546140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.53, Y:-109.01, Z:0.02 [[ 9.38462666e-01 3.45380694e-01 0.00000000e+00 4.03533033e+02] [-3.45380694e-01 9.38462666e-01 0.00000000e+00 -1.09007048e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69919848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.56, Y:-109.02, Z:0.02 [[ 9.39554341e-01 3.42399824e-01 0.00000000e+00 4.03558994e+02] [-3.42399824e-01 9.39554341e-01 0.00000000e+00 -1.09016887e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72350729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.59, Y:-109.02, Z:0.02 [[ 9.39577526e-01 3.42336198e-01 0.00000000e+00 4.03586331e+02] [-3.42336198e-01 9.39577526e-01 0.00000000e+00 -1.09024956e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72350729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.61, Y:-109.03, Z:0.02 [[ 9.40624690e-01 3.39448366e-01 0.00000000e+00 4.03612130e+02] [-3.39448366e-01 9.40624690e-01 0.00000000e+00 -1.09034802e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84181709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.64, Y:-109.05, Z:0.02 [[ 9.41604706e-01 3.36720326e-01 0.00000000e+00 4.03638569e+02] [-3.36720326e-01 9.41604706e-01 0.00000000e+00 -1.09045325e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11637409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.66, Y:-109.06, Z:0.02 [[ 9.43303111e-01 3.31932584e-01 0.00000000e+00 4.03663889e+02] [-3.31932584e-01 9.43303111e-01 0.00000000e+00 -1.09059849e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41408220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.69, Y:-109.07, Z:0.03 [[ 9.43987690e-01 3.29980667e-01 0.00000000e+00 4.03688826e+02] [-3.29980667e-01 9.43987690e-01 0.00000000e+00 -1.09072385e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58023178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.71, Y:-109.09, Z:0.03 [[ 9.44596702e-01 3.28233257e-01 0.00000000e+00 4.03714354e+02] [-3.28233257e-01 9.44596702e-01 0.00000000e+00 -1.09085226e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75549058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.74, Y:-109.10, Z:0.03 [[ 9.45285891e-01 3.26243138e-01 0.00000000e+00 4.03738091e+02] [-3.26243138e-01 9.45285891e-01 0.00000000e+00 -1.09102423e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76110686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.76, Y:-109.12, Z:0.03 [[ 9.45258211e-01 3.26323328e-01 0.00000000e+00 4.03764073e+02] [-3.26323328e-01 9.45258211e-01 0.00000000e+00 -1.09115531e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60915728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.79, Y:-109.13, Z:0.03 [[ 9.44966326e-01 3.27167608e-01 0.00000000e+00 4.03791832e+02] [-3.27167608e-01 9.44966326e-01 0.00000000e+00 -1.09129161e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62415685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.82, Y:-109.14, Z:0.03 [[ 9.44462944e-01 3.28617935e-01 0.00000000e+00 4.03820400e+02] [-3.28617935e-01 9.44462944e-01 0.00000000e+00 -1.09142317e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72581785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.85, Y:-109.16, Z:0.03 [[ 9.43048893e-01 3.32654152e-01 0.00000000e+00 4.03848582e+02] [-3.32654152e-01 9.43048893e-01 0.00000000e+00 -1.09158400e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76022732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.361400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:403.88, Y:-109.17, Z:0.03 [[ 9.42388874e-01 3.34519372e-01 0.00000000e+00 4.03877265e+02] [-3.34519372e-01 9.42388874e-01 0.00000000e+00 -1.09170722e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61572701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.91, Y:-109.18, Z:0.03 [[ 9.41772049e-01 3.36252001e-01 0.00000000e+00 4.03907758e+02] [-3.36252001e-01 9.41772049e-01 0.00000000e+00 -1.09184811e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55694663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.94, Y:-109.20, Z:0.02 [[ 9.41303331e-01 3.37561904e-01 0.00000000e+00 4.03936734e+02] [-3.37561904e-01 9.41303331e-01 0.00000000e+00 -1.09197899e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44793077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.97, Y:-109.21, Z:0.03 [[ 9.40494003e-01 3.39810286e-01 0.00000000e+00 4.03965726e+02] [-3.39810286e-01 9.40494003e-01 0.00000000e+00 -1.09214154e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63423984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.00, Y:-109.23, Z:0.03 [[ 9.40142718e-01 3.40780970e-01 0.00000000e+00 4.03996208e+02] [-3.40780970e-01 9.40142718e-01 0.00000000e+00 -1.09226180e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79360840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.03, Y:-109.24, Z:0.03 [[ 9.39920742e-01 3.41392735e-01 0.00000000e+00 4.04026471e+02] [-3.41392735e-01 9.39920742e-01 0.00000000e+00 -1.09237886e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81969412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.06, Y:-109.25, Z:0.03 [[ 9.39881066e-01 3.41501950e-01 0.00000000e+00 4.04057605e+02] [-3.41501950e-01 9.39881066e-01 0.00000000e+00 -1.09249899e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80566636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.09, Y:-109.26, Z:0.03 [[ 9.40697305e-01 3.39247078e-01 0.00000000e+00 4.04087201e+02] [-3.39247078e-01 9.40697305e-01 0.00000000e+00 -1.09263218e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69628538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.12, Y:-109.28, Z:0.03 [[ 9.41349848e-01 3.37432163e-01 0.00000000e+00 4.04117759e+02] [-3.37432163e-01 9.41349848e-01 0.00000000e+00 -1.09275108e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65921569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.15, Y:-109.29, Z:0.03 [[ 9.42104494e-01 3.35319434e-01 0.00000000e+00 4.04148764e+02] [-3.35319434e-01 9.42104494e-01 0.00000000e+00 -1.09287148e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70446071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.18, Y:-109.30, Z:0.03 [[ 9.43765741e-01 3.30614920e-01 0.00000000e+00 4.04178964e+02] [-3.30614920e-01 9.43765741e-01 0.00000000e+00 -1.09299914e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55700742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.21, Y:-109.31, Z:0.02 [[ 9.44389760e-01 3.28828195e-01 0.00000000e+00 4.04210110e+02] [-3.28828195e-01 9.44389760e-01 0.00000000e+00 -1.09310622e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37167364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.24, Y:-109.32, Z:0.02 [[ 9.44957400e-01 3.27193387e-01 0.00000000e+00 4.04239985e+02] [-3.27193387e-01 9.44957400e-01 0.00000000e+00 -1.09320821e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19962136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.27, Y:-109.33, Z:0.02 [[ 9.45358318e-01 3.26033205e-01 0.00000000e+00 4.04271047e+02] [-3.26033205e-01 9.45358318e-01 0.00000000e+00 -1.09331567e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23572351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.30, Y:-109.34, Z:0.02 [[ 9.45840244e-01 3.24632459e-01 0.00000000e+00 4.04302447e+02] [-3.24632459e-01 9.45840244e-01 0.00000000e+00 -1.09342880e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45191935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.33, Y:-109.35, Z:0.03 [[ 9.46096597e-01 3.23884592e-01 0.00000000e+00 4.04333952e+02] [-3.23884592e-01 9.46096597e-01 0.00000000e+00 -1.09353389e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54387087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.36, Y:-109.36, Z:0.02 [[ 9.46286746e-01 3.23328618e-01 0.00000000e+00 4.04364418e+02] [-3.23328618e-01 9.46286746e-01 0.00000000e+00 -1.09364033e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46020469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.39, Y:-109.38, Z:0.02 [[ 9.46832292e-01 3.21727540e-01 0.00000000e+00 4.04394702e+02] [-3.21727540e-01 9.46832292e-01 0.00000000e+00 -1.09376653e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26887649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.43, Y:-109.39, Z:0.02 [[ 9.46857496e-01 3.21653357e-01 0.00000000e+00 4.04426344e+02] [-3.21653357e-01 9.46857496e-01 0.00000000e+00 -1.09387177e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19510068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.46, Y:-109.40, Z:0.02 [[ 9.46553985e-01 3.22545429e-01 0.00000000e+00 4.04457236e+02] [-3.22545429e-01 9.46553985e-01 0.00000000e+00 -1.09396581e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06111801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.49, Y:-109.41, Z:0.02 [[ 9.45110033e-01 3.26752239e-01 0.00000000e+00 4.04488929e+02] [-3.26752239e-01 9.45110033e-01 0.00000000e+00 -1.09406319e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15673596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.52, Y:-109.42, Z:0.02 [[ 9.44118972e-01 3.29604865e-01 0.00000000e+00 4.04519055e+02] [-3.29604865e-01 9.44118972e-01 0.00000000e+00 -1.09416203e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03758374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.55, Y:-109.43, Z:0.02 [[ 9.43151353e-01 3.32363543e-01 0.00000000e+00 4.04549827e+02] [-3.32363543e-01 9.43151353e-01 0.00000000e+00 -1.09425227e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89872109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.58, Y:-109.43, Z:0.02 [[ 9.41264502e-01 3.37670160e-01 0.00000000e+00 4.04582509e+02] [-3.37670160e-01 9.41264502e-01 0.00000000e+00 -1.09432425e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97447011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.61, Y:-109.44, Z:0.02 [[ 9.40554657e-01 3.39642368e-01 0.00000000e+00 4.04612754e+02] [-3.39642368e-01 9.40554657e-01 0.00000000e+00 -1.09440266e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01549377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.64, Y:-109.45, Z:0.02 [[ 9.40122298e-01 3.40837301e-01 0.00000000e+00 4.04644859e+02] [-3.40837301e-01 9.40122298e-01 0.00000000e+00 -1.09449330e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17961220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.68, Y:-109.46, Z:0.02 [[ 9.40139494e-01 3.40789865e-01 0.00000000e+00 4.04675653e+02] [-3.40789865e-01 9.40139494e-01 0.00000000e+00 -1.09458216e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19248835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.71, Y:-109.47, Z:0.02 [[ 9.40940224e-01 3.38572733e-01 0.00000000e+00 4.04707417e+02] [-3.38572733e-01 9.40940224e-01 0.00000000e+00 -1.09466467e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19532092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.74, Y:-109.48, Z:0.02 [[ 9.41245322e-01 3.37723621e-01 0.00000000e+00 4.04738118e+02] [-3.37723621e-01 9.41245322e-01 0.00000000e+00 -1.09475379e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15769343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.77, Y:-109.48, Z:0.02 [[ 9.41556490e-01 3.36855127e-01 0.00000000e+00 4.04767665e+02] [-3.36855127e-01 9.41556490e-01 0.00000000e+00 -1.09484563e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95052479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.261400513 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:404.80, Y:-109.49, Z:0.02 [[ 9.41545586e-01 3.36885602e-01 0.00000000e+00 4.04799770e+02] [-3.36885602e-01 9.41545586e-01 0.00000000e+00 -1.09493980e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01912664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.83, Y:-109.50, Z:0.02 [[ 9.41432406e-01 3.37201758e-01 0.00000000e+00 4.04831841e+02] [-3.37201758e-01 9.41432406e-01 0.00000000e+00 -1.09503137e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06442557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.86, Y:-109.51, Z:0.02 [[ 9.41247285e-01 3.37718149e-01 0.00000000e+00 4.04863892e+02] [-3.37718149e-01 9.41247285e-01 0.00000000e+00 -1.09511874e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10862594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.89, Y:-109.52, Z:0.02 [[ 9.40913714e-01 3.38646397e-01 0.00000000e+00 4.04894193e+02] [-3.38646397e-01 9.40913714e-01 0.00000000e+00 -1.09520781e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17908927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.92, Y:-109.53, Z:0.02 [[ 9.39903391e-01 3.41440502e-01 0.00000000e+00 4.04924731e+02] [-3.41440502e-01 9.39903391e-01 0.00000000e+00 -1.09529475e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24088897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.96, Y:-109.54, Z:0.02 [[ 9.39235998e-01 3.43272107e-01 0.00000000e+00 4.04956864e+02] [-3.43272107e-01 9.39235998e-01 0.00000000e+00 -1.09538174e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14646278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.99, Y:-109.55, Z:0.02 [[ 9.38573026e-01 3.45080678e-01 0.00000000e+00 4.04986932e+02] [-3.45080678e-01 9.38573026e-01 0.00000000e+00 -1.09545876e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94821483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.02, Y:-109.55, Z:0.02 [[ 9.37762811e-01 3.47276419e-01 0.00000000e+00 4.05017730e+02] [-3.47276419e-01 9.37762811e-01 0.00000000e+00 -1.09552728e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80196542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.05, Y:-109.56, Z:0.02 [[ 9.37425293e-01 3.48186472e-01 0.00000000e+00 4.05049828e+02] [-3.48186472e-01 9.37425293e-01 0.00000000e+00 -1.09561190e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93976276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.08, Y:-109.57, Z:0.02 [[ 9.37315519e-01 3.48481875e-01 0.00000000e+00 4.05081634e+02] [-3.48481875e-01 9.37315519e-01 0.00000000e+00 -1.09569446e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10525070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.11, Y:-109.58, Z:0.02 [[ 9.37315017e-01 3.48483227e-01 0.00000000e+00 4.05112169e+02] [-3.48483227e-01 9.37315017e-01 0.00000000e+00 -1.09577318e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21575532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.14, Y:-109.59, Z:0.02 [[ 9.37591201e-01 3.47739470e-01 0.00000000e+00 4.05144275e+02] [-3.47739470e-01 9.37591201e-01 0.00000000e+00 -1.09586076e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31444213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.17, Y:-109.60, Z:0.02 [[ 9.37714443e-01 3.47407000e-01 0.00000000e+00 4.05174461e+02] [-3.47407000e-01 9.37714443e-01 0.00000000e+00 -1.09595356e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34595148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.21, Y:-109.60, Z:0.02 [[ 9.37676431e-01 3.47509584e-01 0.00000000e+00 4.05206649e+02] [-3.47509584e-01 9.37676431e-01 0.00000000e+00 -1.09604433e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45167224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.24, Y:-109.61, Z:0.02 [[ 9.37358515e-01 3.48366208e-01 0.00000000e+00 4.05237991e+02] [-3.48366208e-01 9.37358515e-01 0.00000000e+00 -1.09612611e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45659988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.27, Y:-109.62, Z:0.02 [[ 9.36291407e-01 3.51224148e-01 0.00000000e+00 4.05268652e+02] [-3.51224148e-01 9.36291407e-01 0.00000000e+00 -1.09618823e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46017880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.74140051300003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:405.30, Y:-109.63, Z:0.02 [[ 9.35753880e-01 3.52653763e-01 0.00000000e+00 4.05299556e+02] [-3.52653763e-01 9.35753880e-01 0.00000000e+00 -1.09626416e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45727327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.33, Y:-109.63, Z:0.02 [[ 9.35123344e-01 3.54322355e-01 0.00000000e+00 4.05328172e+02] [-3.54322355e-01 9.35123344e-01 0.00000000e+00 -1.09633446e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45503324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.36, Y:-109.64, Z:0.02 [[ 9.34671287e-01 3.55513129e-01 0.00000000e+00 4.05358434e+02] [-3.55513129e-01 9.34671287e-01 0.00000000e+00 -1.09639628e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46190368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.39, Y:-109.64, Z:0.03 [[ 9.34221239e-01 3.56694094e-01 0.00000000e+00 4.05387740e+02] [-3.56694094e-01 9.34221239e-01 0.00000000e+00 -1.09643264e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65228406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.42, Y:-109.65, Z:0.03 [[ 9.34171625e-01 3.56824012e-01 0.00000000e+00 4.05416550e+02] [-3.56824012e-01 9.34171625e-01 0.00000000e+00 -1.09650268e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79090041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.45, Y:-109.66, Z:0.03 [[ 9.34161001e-01 3.56851824e-01 0.00000000e+00 4.05445505e+02] [-3.56851824e-01 9.34161001e-01 0.00000000e+00 -1.09657365e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91343177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.47, Y:-109.67, Z:0.03 [[ 9.34169044e-01 3.56830769e-01 0.00000000e+00 4.05474353e+02] [-3.56830769e-01 9.34169044e-01 0.00000000e+00 -1.09666194e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91343177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.50, Y:-109.67, Z:0.03 [[ 9.34183399e-01 3.56793184e-01 0.00000000e+00 4.05504327e+02] [-3.56793184e-01 9.34183399e-01 0.00000000e+00 -1.09670196e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00793060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.53, Y:-109.68, Z:0.03 [[ 9.34083048e-01 3.57055821e-01 0.00000000e+00 4.05532524e+02] [-3.57055821e-01 9.34083048e-01 0.00000000e+00 -1.09675634e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02084950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.56, Y:-109.68, Z:0.03 [[ 9.33889166e-01 3.57562619e-01 0.00000000e+00 4.05562673e+02] [-3.57562619e-01 9.33889166e-01 0.00000000e+00 -1.09682260e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05447334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.59, Y:-109.69, Z:0.03 [[ 9.33656622e-01 3.58169391e-01 0.00000000e+00 4.05590385e+02] [-3.58169391e-01 9.33656622e-01 0.00000000e+00 -1.09688841e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03414260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.62, Y:-109.69, Z:0.03 [[ 9.33361102e-01 3.58938788e-01 0.00000000e+00 4.05619365e+02] [-3.58938788e-01 9.33361102e-01 0.00000000e+00 -1.09693566e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81135611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.65, Y:-109.70, Z:0.03 [[ 9.33334855e-01 3.59007031e-01 0.00000000e+00 4.05648285e+02] [-3.59007031e-01 9.33334855e-01 0.00000000e+00 -1.09698785e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62013587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.68, Y:-109.70, Z:0.03 [[ 9.33231297e-01 3.59276142e-01 0.00000000e+00 4.05677436e+02] [-3.59276142e-01 9.33231297e-01 0.00000000e+00 -1.09703829e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51031925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.71, Y:-109.71, Z:0.02 [[ 9.32485402e-01 3.61207662e-01 0.00000000e+00 4.05705695e+02] [-3.61207662e-01 9.32485402e-01 0.00000000e+00 -1.09707817e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40837780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.73, Y:-109.71, Z:0.03 [[ 9.31879810e-01 3.62767170e-01 0.00000000e+00 4.05733003e+02] [-3.62767170e-01 9.31879810e-01 0.00000000e+00 -1.09714061e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51078446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.76, Y:-109.72, Z:0.03 [[ 9.31256202e-01 3.64365045e-01 0.00000000e+00 4.05760744e+02] [-3.64365045e-01 9.31256202e-01 0.00000000e+00 -1.09719395e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58560987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.79, Y:-109.72, Z:0.03 [[ 9.29909239e-01 3.67789080e-01 0.00000000e+00 4.05789828e+02] [-3.67789080e-01 9.29909239e-01 0.00000000e+00 -1.09719477e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62775380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.82, Y:-109.72, Z:0.03 [[ 9.29218794e-01 3.69530017e-01 0.00000000e+00 4.05818252e+02] [-3.69530017e-01 9.29218794e-01 0.00000000e+00 -1.09723935e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65026625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.85, Y:-109.73, Z:0.03 [[ 9.28626072e-01 3.71017006e-01 0.00000000e+00 4.05845137e+02] [-3.71017006e-01 9.28626072e-01 0.00000000e+00 -1.09728175e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63999658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.87, Y:-109.73, Z:0.03 [[ 9.28089826e-01 3.72356382e-01 0.00000000e+00 4.05872529e+02] [-3.72356382e-01 9.28089826e-01 0.00000000e+00 -1.09732296e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62702258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.90, Y:-109.73, Z:0.03 [[ 9.27669429e-01 3.73402506e-01 0.00000000e+00 4.05900747e+02] [-3.73402506e-01 9.27669429e-01 0.00000000e+00 -1.09732698e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63289172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.93, Y:-109.74, Z:0.03 [[ 9.27735307e-01 3.73238797e-01 0.00000000e+00 4.05928225e+02] [-3.73238797e-01 9.27735307e-01 0.00000000e+00 -1.09737552e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64438727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.431400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:405.96, Y:-109.74, Z:0.03 [[ 9.27938954e-01 3.72732206e-01 0.00000000e+00 4.05956410e+02] [-3.72732206e-01 9.27938954e-01 0.00000000e+00 -1.09742473e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64134630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.98, Y:-109.75, Z:0.03 [[ 9.28103835e-01 3.72321461e-01 0.00000000e+00 4.05984355e+02] [-3.72321461e-01 9.28103835e-01 0.00000000e+00 -1.09747594e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65905892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.01, Y:-109.75, Z:0.03 [[ 9.28411530e-01 3.71553537e-01 0.00000000e+00 4.06013666e+02] [-3.71553537e-01 9.28411530e-01 0.00000000e+00 -1.09749985e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81176706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.04, Y:-109.76, Z:0.03 [[ 9.28530825e-01 3.71255313e-01 0.00000000e+00 4.06040285e+02] [-3.71255313e-01 9.28530825e-01 0.00000000e+00 -1.09755802e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79574418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.07, Y:-109.76, Z:0.03 [[ 9.28958970e-01 3.70182701e-01 0.00000000e+00 4.06068336e+02] [-3.70182701e-01 9.28958970e-01 0.00000000e+00 -1.09760196e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72982065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.09, Y:-109.77, Z:0.03 [[ 9.29223473e-01 3.69518251e-01 0.00000000e+00 4.06094602e+02] [-3.69518251e-01 9.29223473e-01 0.00000000e+00 -1.09766353e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60191563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.12, Y:-109.77, Z:0.03 [[ 9.29521791e-01 3.68767189e-01 0.00000000e+00 4.06122065e+02] [-3.68767189e-01 9.29521791e-01 0.00000000e+00 -1.09772706e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62895848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.15, Y:-109.78, Z:0.03 [[ 9.29700133e-01 3.68317339e-01 0.00000000e+00 4.06148750e+02] [-3.68317339e-01 9.29700133e-01 0.00000000e+00 -1.09779640e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57156244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.17, Y:-109.79, Z:0.03 [[ 9.29769731e-01 3.68141614e-01 0.00000000e+00 4.06174766e+02] [-3.68141614e-01 9.29769731e-01 0.00000000e+00 -1.09787364e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50173390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.20, Y:-109.79, Z:0.02 [[ 9.29706271e-01 3.68301846e-01 0.00000000e+00 4.06200496e+02] [-3.68301846e-01 9.29706271e-01 0.00000000e+00 -1.09794656e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48138829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.23, Y:-109.80, Z:0.03 [[ 9.29636619e-01 3.68477621e-01 0.00000000e+00 4.06227804e+02] [-3.68477621e-01 9.29636619e-01 0.00000000e+00 -1.09801468e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63283534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.25, Y:-109.81, Z:0.03 [[ 9.29465811e-01 3.68908261e-01 0.00000000e+00 4.06253901e+02] [-3.68908261e-01 9.29465811e-01 0.00000000e+00 -1.09807943e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59763195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.28, Y:-109.81, Z:0.03 [[ 9.29074605e-01 3.69892386e-01 0.00000000e+00 4.06281131e+02] [-3.69892386e-01 9.29074605e-01 0.00000000e+00 -1.09814709e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56849703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.31, Y:-109.82, Z:0.02 [[ 9.28819263e-01 3.70533097e-01 0.00000000e+00 4.06307047e+02] [-3.70533097e-01 9.28819263e-01 0.00000000e+00 -1.09820821e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47922353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.34, Y:-109.83, Z:0.02 [[ 9.28546133e-01 3.71217025e-01 0.00000000e+00 4.06335083e+02] [-3.71217025e-01 9.28546133e-01 0.00000000e+00 -1.09826489e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45217795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.36, Y:-109.83, Z:0.02 [[ 9.28370486e-01 3.71656079e-01 0.00000000e+00 4.06363741e+02] [-3.71656079e-01 9.28370486e-01 0.00000000e+00 -1.09831065e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23193733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.39, Y:-109.84, Z:0.02 [[ 9.28633232e-01 3.70999085e-01 0.00000000e+00 4.06390129e+02] [-3.70999085e-01 9.28633232e-01 0.00000000e+00 -1.09838507e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07754409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.42, Y:-109.85, Z:0.02 [[ 9.29176413e-01 3.69636568e-01 0.00000000e+00 4.06415898e+02] [-3.69636568e-01 9.29176413e-01 0.00000000e+00 -1.09845551e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03366396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.44, Y:-109.85, Z:0.02 [[ 9.29784181e-01 3.68105117e-01 0.00000000e+00 4.06443473e+02] [-3.68105117e-01 9.29784181e-01 0.00000000e+00 -1.09852771e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27385476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.47, Y:-109.86, Z:0.02 [[ 9.31021658e-01 3.64963933e-01 0.00000000e+00 4.06470956e+02] [-3.64963933e-01 9.31021658e-01 0.00000000e+00 -1.09858568e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47157521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.50, Y:-109.87, Z:0.03 [[ 9.31548244e-01 3.63617750e-01 0.00000000e+00 4.06497527e+02] [-3.63617750e-01 9.31548244e-01 0.00000000e+00 -1.09865884e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59850038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.52, Y:-109.87, Z:0.03 [[ 9.31959859e-01 3.62561473e-01 0.00000000e+00 4.06523973e+02] [-3.62561473e-01 9.31959859e-01 0.00000000e+00 -1.09873724e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71585059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.55, Y:-109.88, Z:0.03 [[ 9.32191406e-01 3.61965720e-01 0.00000000e+00 4.06551302e+02] [-3.61965720e-01 9.32191406e-01 0.00000000e+00 -1.09881051e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77569437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.58, Y:-109.89, Z:0.03 [[ 9.32021883e-01 3.62402000e-01 0.00000000e+00 4.06578300e+02] [-3.62402000e-01 9.32021883e-01 0.00000000e+00 -1.09888058e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72216774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.60, Y:-109.90, Z:0.03 [[ 9.31674082e-01 3.63295205e-01 0.00000000e+00 4.06604654e+02] [-3.63295205e-01 9.31674082e-01 0.00000000e+00 -1.09895359e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70684856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.63, Y:-109.90, Z:0.03 [[ 9.31264872e-01 3.64342885e-01 0.00000000e+00 4.06630136e+02] [-3.64342885e-01 9.31264872e-01 0.00000000e+00 -1.09903506e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71188517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.66, Y:-109.91, Z:0.03 [[ 9.30669854e-01 3.65860113e-01 0.00000000e+00 4.06657080e+02] [-3.65860113e-01 9.30669854e-01 0.00000000e+00 -1.09912536e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87733331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.68, Y:-109.92, Z:0.03 [[ 9.30375653e-01 3.66607616e-01 0.00000000e+00 4.06682639e+02] [-3.66607616e-01 9.30375653e-01 0.00000000e+00 -1.09919733e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88387034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.71, Y:-109.93, Z:0.03 [[ 9.30075402e-01 3.67368680e-01 0.00000000e+00 4.06709885e+02] [-3.67368680e-01 9.30075402e-01 0.00000000e+00 -1.09926747e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97255828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.74, Y:-109.93, Z:0.03 [[ 9.29642395e-01 3.68463049e-01 0.00000000e+00 4.06737225e+02] [-3.68463049e-01 9.29642395e-01 0.00000000e+00 -1.09934097e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03744008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.76, Y:-109.94, Z:0.03 [[ 9.28583204e-01 3.71124283e-01 0.00000000e+00 4.06764351e+02] [-3.71124283e-01 9.28583204e-01 0.00000000e+00 -1.09941063e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19214351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.79, Y:-109.95, Z:0.03 [[ 9.28148784e-01 3.72209397e-01 0.00000000e+00 4.06792021e+02] [-3.72209397e-01 9.28148784e-01 0.00000000e+00 -1.09947968e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19141485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.82, Y:-109.95, Z:0.03 [[ 9.27764801e-01 3.73165479e-01 0.00000000e+00 4.06819197e+02] [-3.73165479e-01 9.27764801e-01 0.00000000e+00 -1.09954165e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19939787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.85, Y:-109.96, Z:0.03 [[ 9.27164536e-01 3.74654405e-01 0.00000000e+00 4.06846107e+02] [-3.74654405e-01 9.27164536e-01 0.00000000e+00 -1.09958374e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27879337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.87, Y:-109.96, Z:0.03 [[ 9.27034838e-01 3.74975211e-01 0.00000000e+00 4.06872794e+02] [-3.74975211e-01 9.27034838e-01 0.00000000e+00 -1.09964737e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28764136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.90, Y:-109.97, Z:0.03 [[ 9.27055914e-01 3.74923103e-01 0.00000000e+00 4.06900110e+02] [-3.74923103e-01 9.27055914e-01 0.00000000e+00 -1.09971448e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31033673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.93, Y:-109.98, Z:0.03 [[ 9.27148317e-01 3.74694540e-01 0.00000000e+00 4.06926139e+02] [-3.74694540e-01 9.27148317e-01 0.00000000e+00 -1.09977156e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21243798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.95, Y:-109.98, Z:0.03 [[ 9.27107569e-01 3.74795350e-01 0.00000000e+00 4.06953891e+02] [-3.74795350e-01 9.27107569e-01 0.00000000e+00 -1.09979457e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02779742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.98, Y:-109.98, Z:0.03 [[ 9.27027607e-01 3.74993088e-01 0.00000000e+00 4.06981874e+02] [-3.74993088e-01 9.27027607e-01 0.00000000e+00 -1.09984610e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01640818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.01, Y:-109.99, Z:0.03 [[ 9.26958518e-01 3.75163838e-01 0.00000000e+00 4.07008547e+02] [-3.75163838e-01 9.26958518e-01 0.00000000e+00 -1.09990010e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03801350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.04, Y:-109.99, Z:0.03 [[ 9.26975989e-01 3.75120668e-01 0.00000000e+00 4.07036680e+02] [-3.75120668e-01 9.26975989e-01 0.00000000e+00 -1.09993027e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17080904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.06, Y:-110.00, Z:0.03 [[ 9.27163428e-01 3.74657147e-01 0.00000000e+00 4.07064680e+02] [-3.74657147e-01 9.27163428e-01 0.00000000e+00 -1.09997938e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12495997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.09, Y:-110.00, Z:0.03 [[ 9.27517732e-01 3.73779156e-01 0.00000000e+00 4.07092645e+02] [-3.73779156e-01 9.27517732e-01 0.00000000e+00 -1.10002748e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99093723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.12, Y:-110.01, Z:0.03 [[ 9.27945310e-01 3.72716383e-01 0.00000000e+00 4.07119885e+02] [-3.72716383e-01 9.27945310e-01 0.00000000e+00 -1.10007913e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82697361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.15, Y:-110.01, Z:0.03 [[ 9.29184166e-01 3.69617079e-01 0.00000000e+00 4.07147516e+02] [-3.69617079e-01 9.29184166e-01 0.00000000e+00 -1.10014382e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54410802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.17, Y:-110.02, Z:0.03 [[ 9.30044610e-01 3.67446626e-01 0.00000000e+00 4.07174750e+02] [-3.67446626e-01 9.30044610e-01 0.00000000e+00 -1.10021814e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63502514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.20, Y:-110.03, Z:0.03 [[ 9.30723844e-01 3.65722745e-01 0.00000000e+00 4.07202182e+02] [-3.65722745e-01 9.30723844e-01 0.00000000e+00 -1.10028634e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57087014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.23, Y:-110.04, Z:0.03 [[ 9.30790881e-01 3.65552099e-01 0.00000000e+00 4.07229513e+02] [-3.65552099e-01 9.30790881e-01 0.00000000e+00 -1.10036686e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57087014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.26, Y:-110.04, Z:0.02 [[ 9.31826345e-01 3.62904483e-01 0.00000000e+00 4.07256943e+02] [-3.62904483e-01 9.31826345e-01 0.00000000e+00 -1.10041613e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46034491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.28, Y:-110.05, Z:0.02 [[ 9.32212307e-01 3.61911887e-01 0.00000000e+00 4.07282601e+02] [-3.61911887e-01 9.32212307e-01 0.00000000e+00 -1.10048564e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38072154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.31, Y:-110.06, Z:0.02 [[ 9.32746785e-01 3.60532154e-01 0.00000000e+00 4.07309313e+02] [-3.60532154e-01 9.32746785e-01 0.00000000e+00 -1.10056022e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45666739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.34, Y:-110.06, Z:0.03 [[ 9.33371915e-01 3.58910670e-01 0.00000000e+00 4.07337312e+02] [-3.58910670e-01 9.33371915e-01 0.00000000e+00 -1.10064072e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60117518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.36, Y:-110.07, Z:0.03 [[ 9.34799122e-01 3.55176859e-01 0.00000000e+00 4.07363861e+02] [-3.55176859e-01 9.34799122e-01 0.00000000e+00 -1.10073040e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83786684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.39, Y:-110.08, Z:0.03 [[ 9.35423409e-01 3.53529413e-01 0.00000000e+00 4.07389784e+02] [-3.53529413e-01 9.35423409e-01 0.00000000e+00 -1.10082038e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87318930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.05140051300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:407.42, Y:-110.09, Z:0.03 [[ 9.36103966e-01 3.51723422e-01 0.00000000e+00 4.07416424e+02] [-3.51723422e-01 9.36103966e-01 0.00000000e+00 -1.10091157e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98185056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.081400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:407.44, Y:-110.10, Z:0.03 [[ 9.36574090e-01 3.50469648e-01 0.00000000e+00 4.07442115e+02] [-3.50469648e-01 9.36574090e-01 0.00000000e+00 -1.10101090e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92397093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.47, Y:-110.11, Z:0.03 [[ 9.36562847e-01 3.50499692e-01 0.00000000e+00 4.07468965e+02] [-3.50499692e-01 9.36562847e-01 0.00000000e+00 -1.10109753e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06959579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.50, Y:-110.12, Z:0.03 [[ 9.36481476e-01 3.50717045e-01 0.00000000e+00 4.07495559e+02] [-3.50717045e-01 9.36481476e-01 0.00000000e+00 -1.10117916e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27885247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.52, Y:-110.12, Z:0.03 [[ 9.35891613e-01 3.52288075e-01 0.00000000e+00 4.07521486e+02] [-3.52288075e-01 9.35891613e-01 0.00000000e+00 -1.10124865e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37697441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.55, Y:-110.13, Z:0.03 [[ 9.35473107e-01 3.53397887e-01 0.00000000e+00 4.07548050e+02] [-3.53397887e-01 9.35473107e-01 0.00000000e+00 -1.10131392e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17523423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.57, Y:-110.14, Z:0.03 [[ 9.34991668e-01 3.54669679e-01 0.00000000e+00 4.07574852e+02] [-3.54669679e-01 9.34991668e-01 0.00000000e+00 -1.10137811e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98890703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.60, Y:-110.14, Z:0.03 [[ 9.34574067e-01 3.55768623e-01 0.00000000e+00 4.07601926e+02] [-3.55768623e-01 9.34574067e-01 0.00000000e+00 -1.10143898e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92541810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.63, Y:-110.15, Z:0.03 [[ 9.33910911e-01 3.57505819e-01 0.00000000e+00 4.07629047e+02] [-3.57505819e-01 9.33910911e-01 0.00000000e+00 -1.10147251e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89375535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.66, Y:-110.15, Z:0.03 [[ 9.33982390e-01 3.57319040e-01 0.00000000e+00 4.07656624e+02] [-3.57319040e-01 9.33982390e-01 0.00000000e+00 -1.10151725e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01394294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.68, Y:-110.16, Z:0.03 [[ 9.34198770e-01 3.56752937e-01 0.00000000e+00 4.07683226e+02] [-3.56752937e-01 9.34198770e-01 0.00000000e+00 -1.10155489e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97657107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.71, Y:-110.16, Z:0.03 [[ 9.34617109e-01 3.55655536e-01 0.00000000e+00 4.07711559e+02] [-3.55655536e-01 9.34617109e-01 0.00000000e+00 -1.10160063e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03515725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.74, Y:-110.16, Z:0.03 [[ 9.35502638e-01 3.53319705e-01 0.00000000e+00 4.07739584e+02] [-3.53319705e-01 9.35502638e-01 0.00000000e+00 -1.10161766e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13740952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.77, Y:-110.17, Z:0.03 [[ 9.36036385e-01 3.51903233e-01 0.00000000e+00 4.07767290e+02] [-3.51903233e-01 9.36036385e-01 0.00000000e+00 -1.10166096e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14549050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.79, Y:-110.17, Z:0.03 [[ 9.36705293e-01 3.50118829e-01 0.00000000e+00 4.07794905e+02] [-3.50118829e-01 9.36705293e-01 0.00000000e+00 -1.10170049e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12301081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.82, Y:-110.17, Z:0.03 [[ 9.38525932e-01 3.45208740e-01 0.00000000e+00 4.07823032e+02] [-3.45208740e-01 9.38525932e-01 0.00000000e+00 -1.10171662e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94107413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.531400513 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:407.85, Y:-110.18, Z:0.03 [[ 9.39645064e-01 3.42150775e-01 0.00000000e+00 4.07850587e+02] [-3.42150775e-01 9.39645064e-01 0.00000000e+00 -1.10176113e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95270835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.88, Y:-110.18, Z:0.03 [[ 9.40662384e-01 3.39343896e-01 0.00000000e+00 4.07878195e+02] [-3.39343896e-01 9.40662384e-01 0.00000000e+00 -1.10181089e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01785912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.91, Y:-110.19, Z:0.03 [[ 9.41665764e-01 3.36549533e-01 0.00000000e+00 4.07905878e+02] [-3.36549533e-01 9.41665764e-01 0.00000000e+00 -1.10186293e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05475613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.93, Y:-110.19, Z:0.03 [[ 9.43846156e-01 3.30385280e-01 0.00000000e+00 4.07933204e+02] [-3.30385280e-01 9.43846156e-01 0.00000000e+00 -1.10191634e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17062605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.96, Y:-110.20, Z:0.03 [[ 9.45118200e-01 3.26728615e-01 0.00000000e+00 4.07959996e+02] [-3.26728615e-01 9.45118200e-01 0.00000000e+00 -1.10199454e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23559800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.99, Y:-110.21, Z:0.03 [[ 9.46355501e-01 3.23127321e-01 0.00000000e+00 4.07986413e+02] [-3.23127321e-01 9.46355501e-01 0.00000000e+00 -1.10208360e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26963566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.711400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:408.01, Y:-110.22, Z:0.03 [[ 9.47519550e-01 3.19697830e-01 0.00000000e+00 4.08012341e+02] [-3.19697830e-01 9.47519550e-01 0.00000000e+00 -1.10217817e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28721707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.04, Y:-110.23, Z:0.03 [[ 9.49107751e-01 3.14951548e-01 0.00000000e+00 4.08037300e+02] [-3.14951548e-01 9.49107751e-01 0.00000000e+00 -1.10230382e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36981114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.06, Y:-110.24, Z:0.04 [[ 9.49738841e-01 3.13043343e-01 0.00000000e+00 4.08063723e+02] [-3.13043343e-01 9.49738841e-01 0.00000000e+00 -1.10239974e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56911943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.09, Y:-110.25, Z:0.04 [[ 9.50098551e-01 3.11949905e-01 0.00000000e+00 4.08090455e+02] [-3.11949905e-01 9.50098551e-01 0.00000000e+00 -1.10249567e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65918755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.12, Y:-110.26, Z:0.04 [[ 9.49951174e-01 3.12398410e-01 0.00000000e+00 4.08115215e+02] [-3.12398410e-01 9.49951174e-01 0.00000000e+00 -1.10261617e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55064568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.14, Y:-110.27, Z:0.03 [[ 9.49784975e-01 3.12903341e-01 0.00000000e+00 4.08141121e+02] [-3.12903341e-01 9.49784975e-01 0.00000000e+00 -1.10271581e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48262570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.17, Y:-110.28, Z:0.03 [[ 9.49525537e-01 3.13689742e-01 0.00000000e+00 4.08167732e+02] [-3.13689742e-01 9.49525537e-01 0.00000000e+00 -1.10281712e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41061010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.19, Y:-110.29, Z:0.03 [[ 9.49320391e-01 3.14310030e-01 0.00000000e+00 4.08194064e+02] [-3.14310030e-01 9.49320391e-01 0.00000000e+00 -1.10291058e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35812872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.22, Y:-110.30, Z:0.03 [[ 9.49129777e-01 3.14885163e-01 0.00000000e+00 4.08219595e+02] [-3.14885163e-01 9.49129777e-01 0.00000000e+00 -1.10300792e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22133348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.25, Y:-110.31, Z:0.03 [[ 9.49240590e-01 3.14550955e-01 0.00000000e+00 4.08245454e+02] [-3.14550955e-01 9.49240590e-01 0.00000000e+00 -1.10308971e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13267047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.011400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:408.27, Y:-110.32, Z:0.03 [[ 9.49513111e-01 3.13727353e-01 0.00000000e+00 4.08272051e+02] [-3.13727353e-01 9.49513111e-01 0.00000000e+00 -1.10317378e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08456344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.30, Y:-110.33, Z:0.03 [[ 9.49798772e-01 3.12861461e-01 0.00000000e+00 4.08298406e+02] [-3.12861461e-01 9.49798772e-01 0.00000000e+00 -1.10325959e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06903682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.071400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:408.32, Y:-110.33, Z:0.03 [[ 9.50110808e-01 3.11912572e-01 0.00000000e+00 4.08323786e+02] [-3.11912572e-01 9.50110808e-01 0.00000000e+00 -1.10333616e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01465164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.35, Y:-110.34, Z:0.03 [[ 9.50629131e-01 3.10329270e-01 0.00000000e+00 4.08351382e+02] [-3.10329270e-01 9.50629131e-01 0.00000000e+00 -1.10341126e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73071682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.38, Y:-110.35, Z:0.02 [[ 9.50846465e-01 3.09662721e-01 0.00000000e+00 4.08378620e+02] [-3.09662721e-01 9.50846465e-01 0.00000000e+00 -1.10348597e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38367699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.161400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:408.41, Y:-110.36, Z:0.02 [[ 9.51169330e-01 3.08669574e-01 0.00000000e+00 4.08406254e+02] [-3.08669574e-01 9.51169330e-01 0.00000000e+00 -1.10356834e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33358345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.43, Y:-110.37, Z:0.02 [[ 9.51704875e-01 3.07014381e-01 0.00000000e+00 4.08432876e+02] [-3.07014381e-01 9.51704875e-01 0.00000000e+00 -1.10365511e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33780697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.46, Y:-110.38, Z:0.02 [[ 9.53209043e-01 3.02311958e-01 0.00000000e+00 4.08459087e+02] [-3.02311958e-01 9.53209043e-01 0.00000000e+00 -1.10375590e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47347164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.48, Y:-110.38, Z:0.02 [[ 9.53997678e-01 2.99813994e-01 0.00000000e+00 4.08484411e+02] [-2.99813994e-01 9.53997678e-01 0.00000000e+00 -1.10383950e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34421633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.51, Y:-110.39, Z:0.02 [[ 9.54747588e-01 2.97417288e-01 0.00000000e+00 4.08511379e+02] [-2.97417288e-01 9.54747588e-01 0.00000000e+00 -1.10393001e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43588118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.54, Y:-110.40, Z:0.02 [[ 9.55376595e-01 2.95390524e-01 0.00000000e+00 4.08537117e+02] [-2.95390524e-01 9.55376595e-01 0.00000000e+00 -1.10401522e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41345938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.56, Y:-110.41, Z:0.03 [[ 9.56347708e-01 2.92231180e-01 0.00000000e+00 4.08563286e+02] [-2.92231180e-01 9.56347708e-01 0.00000000e+00 -1.10409687e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64530553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.371400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:408.59, Y:-110.42, Z:0.03 [[ 9.56878274e-01 2.90489189e-01 0.00000000e+00 4.08590517e+02] [-2.90489189e-01 9.56878274e-01 0.00000000e+00 -1.10417369e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92042111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.401400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:408.62, Y:-110.43, Z:0.03 [[ 9.57268426e-01 2.89200899e-01 0.00000000e+00 4.08617747e+02] [-2.89200899e-01 9.57268426e-01 0.00000000e+00 -1.10425537e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03364612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.64, Y:-110.43, Z:0.03 [[ 9.57610644e-01 2.88065713e-01 0.00000000e+00 4.08644535e+02] [-2.88065713e-01 9.57610644e-01 0.00000000e+00 -1.10433864e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17684844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.67, Y:-110.44, Z:0.03 [[ 9.58321072e-01 2.85693406e-01 0.00000000e+00 4.08670633e+02] [-2.85693406e-01 9.58321072e-01 0.00000000e+00 -1.10442388e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43242158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.49140051300003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:408.70, Y:-110.45, Z:0.03 [[ 9.58888190e-01 2.83784142e-01 0.00000000e+00 4.08696562e+02] [-2.83784142e-01 9.58888190e-01 0.00000000e+00 -1.10449528e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49476286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.72, Y:-110.46, Z:0.04 [[ 9.59460130e-01 2.81844388e-01 0.00000000e+00 4.08723557e+02] [-2.81844388e-01 9.59460130e-01 0.00000000e+00 -1.10456667e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55819898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.55140051300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:408.75, Y:-110.46, Z:0.04 [[ 9.59998034e-01 2.80006742e-01 0.00000000e+00 4.08750086e+02] [-2.80006742e-01 9.59998034e-01 0.00000000e+00 -1.10463001e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54736295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.78, Y:-110.47, Z:0.03 [[ 9.60672346e-01 2.77684432e-01 0.00000000e+00 4.08776836e+02] [-2.77684432e-01 9.60672346e-01 0.00000000e+00 -1.10469328e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37796310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.611400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:408.80, Y:-110.48, Z:0.03 [[ 9.60944766e-01 2.76740234e-01 0.00000000e+00 4.08804060e+02] [-2.76740234e-01 9.60944766e-01 0.00000000e+00 -1.10476608e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37627721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.641400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:408.83, Y:-110.48, Z:0.04 [[ 9.61061246e-01 2.76335450e-01 0.00000000e+00 4.08831626e+02] [-2.76335450e-01 9.61061246e-01 0.00000000e+00 -1.10483844e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53203535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.671400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:408.86, Y:-110.49, Z:0.04 [[ 9.61074785e-01 2.76288359e-01 0.00000000e+00 4.08857866e+02] [-2.76288359e-01 9.61074785e-01 0.00000000e+00 -1.10489766e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66200952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.88, Y:-110.50, Z:0.04 [[ 9.60947250e-01 2.76731608e-01 0.00000000e+00 4.08884325e+02] [-2.76731608e-01 9.60947250e-01 0.00000000e+00 -1.10495355e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79668193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.91, Y:-110.50, Z:0.04 [[ 9.61000316e-01 2.76547271e-01 0.00000000e+00 4.08911731e+02] [-2.76547271e-01 9.61000316e-01 0.00000000e+00 -1.10503142e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79668193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.94, Y:-110.51, Z:0.04 [[ 9.60460690e-01 2.78415628e-01 0.00000000e+00 4.08938480e+02] [-2.78415628e-01 9.60460690e-01 0.00000000e+00 -1.10506302e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77170061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.791400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:408.97, Y:-110.51, Z:0.04 [[ 9.60087844e-01 2.79698645e-01 0.00000000e+00 4.08965590e+02] [-2.79698645e-01 9.60087844e-01 0.00000000e+00 -1.10511543e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62090978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.99, Y:-110.52, Z:0.03 [[ 9.59601641e-01 2.81362207e-01 0.00000000e+00 4.08992972e+02] [-2.81362207e-01 9.59601641e-01 0.00000000e+00 -1.10516689e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49121575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.02, Y:-110.52, Z:0.03 [[ 9.58739807e-01 2.84285037e-01 0.00000000e+00 4.09021517e+02] [-2.84285037e-01 9.58739807e-01 0.00000000e+00 -1.10518832e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04896917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.881400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:409.05, Y:-110.52, Z:0.03 [[ 9.58620510e-01 2.84687053e-01 0.00000000e+00 4.09049040e+02] [-2.84687053e-01 9.58620510e-01 0.00000000e+00 -1.10523890e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00230385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.911400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:409.08, Y:-110.53, Z:0.03 [[ 9.58651741e-01 2.84581867e-01 0.00000000e+00 4.09077070e+02] [-2.84581867e-01 9.58651741e-01 0.00000000e+00 -1.10529496e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04180402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.941400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:409.10, Y:-110.54, Z:0.03 [[ 9.58868878e-01 2.83849387e-01 0.00000000e+00 4.09103845e+02] [-2.83849387e-01 9.58868878e-01 0.00000000e+00 -1.10535407e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03615801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.13, Y:-110.54, Z:0.03 [[ 9.59421709e-01 2.81975149e-01 0.00000000e+00 4.09130941e+02] [-2.81975149e-01 9.59421709e-01 0.00000000e+00 -1.10540732e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03030936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.001400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:409.16, Y:-110.55, Z:0.03 [[ 9.59628645e-01 2.81270089e-01 0.00000000e+00 4.09157759e+02] [-2.81270089e-01 9.59628645e-01 0.00000000e+00 -1.10546876e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82162995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.19, Y:-110.55, Z:0.03 [[ 9.59689991e-01 2.81060706e-01 0.00000000e+00 4.09185195e+02] [-2.81060706e-01 9.59689991e-01 0.00000000e+00 -1.10553164e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72077510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.21, Y:-110.56, Z:0.03 [[ 9.59605128e-01 2.81350313e-01 0.00000000e+00 4.09212745e+02] [-2.81350313e-01 9.59605128e-01 0.00000000e+00 -1.10558771e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72706780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.091400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:409.24, Y:-110.56, Z:0.03 [[ 9.59481477e-01 2.81771708e-01 0.00000000e+00 4.09240508e+02] [-2.81771708e-01 9.59481477e-01 0.00000000e+00 -1.10563848e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88488706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.121400513 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:409.27, Y:-110.57, Z:0.03 [[ 9.58822296e-01 2.84006698e-01 0.00000000e+00 4.09268788e+02] [-2.84006698e-01 9.58822296e-01 0.00000000e+00 -1.10565976e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96187423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.30, Y:-110.57, Z:0.03 [[ 9.58587949e-01 2.84796670e-01 0.00000000e+00 4.09295681e+02] [-2.84796670e-01 9.58587949e-01 0.00000000e+00 -1.10571033e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86814213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.181400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:409.32, Y:-110.58, Z:0.03 [[ 9.58647839e-01 2.84595013e-01 0.00000000e+00 4.09322957e+02] [-2.84595013e-01 9.58647839e-01 0.00000000e+00 -1.10576191e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87120442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.211400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:409.35, Y:-110.58, Z:0.03 [[ 9.58916118e-01 2.83689757e-01 0.00000000e+00 4.09349453e+02] [-2.83689757e-01 9.58916118e-01 0.00000000e+00 -1.10581463e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79762943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.38, Y:-110.58, Z:0.03 [[ 9.60063542e-01 2.79782051e-01 0.00000000e+00 4.09377430e+02] [-2.79782051e-01 9.60063542e-01 0.00000000e+00 -1.10584694e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93985943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.40, Y:-110.59, Z:0.03 [[ 9.60898174e-01 2.76901966e-01 0.00000000e+00 4.09404805e+02] [-2.76901966e-01 9.60898174e-01 0.00000000e+00 -1.10590189e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99028349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.30140051300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:409.43, Y:-110.60, Z:0.03 [[ 9.61803534e-01 2.73740684e-01 0.00000000e+00 4.09432310e+02] [-2.73740684e-01 9.61803534e-01 0.00000000e+00 -1.10595716e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02171344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.331400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:409.46, Y:-110.60, Z:0.03 [[ 9.62712228e-01 2.70527568e-01 0.00000000e+00 4.09460214e+02] [-2.70527568e-01 9.62712228e-01 0.00000000e+00 -1.10601055e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08064818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.361400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:409.49, Y:-110.61, Z:0.03 [[ 9.63564398e-01 2.67476449e-01 0.00000000e+00 4.09488088e+02] [-2.67476449e-01 9.63564398e-01 0.00000000e+00 -1.10605689e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22028642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.52, Y:-110.61, Z:0.03 [[ 9.64293240e-01 2.64836833e-01 0.00000000e+00 4.09516157e+02] [-2.64836833e-01 9.64293240e-01 0.00000000e+00 -1.10610384e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31469509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.421400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:409.54, Y:-110.61, Z:0.03 [[ 9.65673765e-01 2.59757924e-01 0.00000000e+00 4.09544451e+02] [-2.59757924e-01 9.65673765e-01 0.00000000e+00 -1.10613900e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48134867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.57, Y:-110.62, Z:0.04 [[ 9.66282828e-01 2.57483003e-01 0.00000000e+00 4.09570952e+02] [-2.57483003e-01 9.66282828e-01 0.00000000e+00 -1.10621027e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55870776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.60, Y:-110.63, Z:0.04 [[ 9.66915903e-01 2.55095348e-01 0.00000000e+00 4.09596997e+02] [-2.55095348e-01 9.66915903e-01 0.00000000e+00 -1.10627121e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57535036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.511400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:409.63, Y:-110.63, Z:0.04 [[ 9.67992247e-01 2.50980097e-01 0.00000000e+00 4.09625100e+02] [-2.50980097e-01 9.67992247e-01 0.00000000e+00 -1.10630800e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50596041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.65, Y:-110.64, Z:0.03 [[ 9.68527841e-01 2.48905247e-01 0.00000000e+00 4.09652171e+02] [-2.48905247e-01 9.68527841e-01 0.00000000e+00 -1.10637064e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36299614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.571400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:409.68, Y:-110.64, Z:0.03 [[ 9.69022062e-01 2.46974177e-01 0.00000000e+00 4.09679154e+02] [-2.46974177e-01 9.69022062e-01 0.00000000e+00 -1.10643717e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23822881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.601400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:409.71, Y:-110.65, Z:0.03 [[ 9.69393951e-01 2.45510422e-01 0.00000000e+00 4.09705869e+02] [-2.45510422e-01 9.69393951e-01 0.00000000e+00 -1.10650448e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14970774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.73, Y:-110.66, Z:0.03 [[ 9.69592812e-01 2.44723885e-01 0.00000000e+00 4.09731732e+02] [-2.44723885e-01 9.69592812e-01 0.00000000e+00 -1.10656663e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14895830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.661400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:409.76, Y:-110.66, Z:0.03 [[ 9.69770579e-01 2.44018491e-01 0.00000000e+00 4.09759361e+02] [-2.44018491e-01 9.69770579e-01 0.00000000e+00 -1.10660905e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33843264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.79, Y:-110.67, Z:0.03 [[ 9.69824235e-01 2.43805156e-01 0.00000000e+00 4.09786898e+02] [-2.43805156e-01 9.69824235e-01 0.00000000e+00 -1.10667553e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34179079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.81, Y:-110.67, Z:0.03 [[ 9.69925822e-01 2.43400699e-01 0.00000000e+00 4.09812959e+02] [-2.43400699e-01 9.69925822e-01 0.00000000e+00 -1.10673915e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22563234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.84, Y:-110.68, Z:0.03 [[ 9.70132125e-01 2.42577123e-01 0.00000000e+00 4.09839814e+02] [-2.42577123e-01 9.70132125e-01 0.00000000e+00 -1.10680336e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11178487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.87, Y:-110.69, Z:0.03 [[ 9.70651582e-01 2.40490137e-01 0.00000000e+00 4.09867623e+02] [-2.40490137e-01 9.70651582e-01 0.00000000e+00 -1.10685695e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87187838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.89, Y:-110.69, Z:0.03 [[ 9.71011920e-01 2.39031067e-01 0.00000000e+00 4.09894033e+02] [-2.39031067e-01 9.71011920e-01 0.00000000e+00 -1.10692363e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79689672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.841400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:409.92, Y:-110.70, Z:0.03 [[ 9.71470477e-01 2.37160521e-01 0.00000000e+00 4.09921415e+02] [-2.37160521e-01 9.71470477e-01 0.00000000e+00 -1.10699610e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75664024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.95, Y:-110.71, Z:0.03 [[ 9.71904735e-01 2.35374564e-01 0.00000000e+00 4.09947859e+02] [-2.35374564e-01 9.71904735e-01 0.00000000e+00 -1.10707466e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73545091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.97, Y:-110.72, Z:0.03 [[ 9.72327236e-01 2.33623085e-01 0.00000000e+00 4.09974141e+02] [-2.33623085e-01 9.72327236e-01 0.00000000e+00 -1.10715083e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61816034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.00, Y:-110.72, Z:0.03 [[ 9.72723743e-01 2.31966636e-01 0.00000000e+00 4.10000511e+02] [-2.31966636e-01 9.72723743e-01 0.00000000e+00 -1.10722990e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63122987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.03, Y:-110.73, Z:0.03 [[ 9.73419741e-01 2.29028399e-01 0.00000000e+00 4.10027157e+02] [-2.29028399e-01 9.73419741e-01 0.00000000e+00 -1.10732099e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60282949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.99140051300003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:410.05, Y:-110.74, Z:0.03 [[ 9.73741701e-01 2.27655661e-01 0.00000000e+00 4.10053679e+02] [-2.27655661e-01 9.73741701e-01 0.00000000e+00 -1.10740375e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77031472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.021400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:410.08, Y:-110.75, Z:0.03 [[ 9.73927421e-01 2.26859820e-01 0.00000000e+00 4.10081175e+02] [-2.26859820e-01 9.73927421e-01 0.00000000e+00 -1.10749180e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93052454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.05140051300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.11, Y:-110.76, Z:0.03 [[ 9.74025965e-01 2.26436349e-01 0.00000000e+00 4.10107686e+02] [-2.26436349e-01 9.74025965e-01 0.00000000e+00 -1.10757983e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02613016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.081400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:410.13, Y:-110.77, Z:0.03 [[ 9.74314730e-01 2.25190603e-01 0.00000000e+00 4.10133836e+02] [-2.25190603e-01 9.74314730e-01 0.00000000e+00 -1.10768390e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02383969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.111400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:410.16, Y:-110.78, Z:0.03 [[ 9.74525483e-01 2.24276801e-01 0.00000000e+00 4.10160455e+02] [-2.24276801e-01 9.74525483e-01 0.00000000e+00 -1.10777592e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94544994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.141400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:410.19, Y:-110.79, Z:0.03 [[ 9.74766819e-01 2.23225557e-01 0.00000000e+00 4.10187148e+02] [-2.23225557e-01 9.74766819e-01 0.00000000e+00 -1.10786800e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95368346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.171400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:410.21, Y:-110.80, Z:0.03 [[ 9.75060522e-01 2.21939131e-01 0.00000000e+00 4.10213947e+02] [-2.21939131e-01 9.75060522e-01 0.00000000e+00 -1.10796001e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08619398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.201400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:410.24, Y:-110.81, Z:0.03 [[ 9.75407354e-01 2.20409831e-01 0.00000000e+00 4.10241660e+02] [-2.20409831e-01 9.75407354e-01 0.00000000e+00 -1.10805349e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28462294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.27, Y:-110.81, Z:0.03 [[ 9.75781416e-01 2.18747864e-01 0.00000000e+00 4.10268147e+02] [-2.18747864e-01 9.75781416e-01 0.00000000e+00 -1.10814714e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45596946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-110.83, Z:0.04 [[ 9.76552782e-01 2.15278107e-01 0.00000000e+00 4.10294280e+02] [-2.15278107e-01 9.76552782e-01 0.00000000e+00 -1.10826781e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61887095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.291400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:410.32, Y:-110.84, Z:0.03 [[ 9.76904148e-01 2.13677994e-01 0.00000000e+00 4.10319432e+02] [-2.13677994e-01 9.76904148e-01 0.00000000e+00 -1.10836055e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45024476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.34, Y:-110.85, Z:0.03 [[ 9.77088948e-01 2.12831361e-01 0.00000000e+00 4.10344986e+02] [-2.12831361e-01 9.77088948e-01 0.00000000e+00 -1.10845374e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17501918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.351400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:410.37, Y:-110.85, Z:0.03 [[ 9.77172282e-01 2.12448422e-01 0.00000000e+00 4.10372236e+02] [-2.12448422e-01 9.77172282e-01 0.00000000e+00 -1.10854170e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03703722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.40, Y:-110.86, Z:0.03 [[ 9.77056505e-01 2.12980247e-01 0.00000000e+00 4.10399023e+02] [-2.12980247e-01 9.77056505e-01 0.00000000e+00 -1.10863410e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98277960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.411400513 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:410.43, Y:-110.87, Z:0.03 [[ 9.76975659e-01 2.13350797e-01 0.00000000e+00 4.10426332e+02] [-2.13350797e-01 9.76975659e-01 0.00000000e+00 -1.10872828e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93025400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.45, Y:-110.88, Z:0.03 [[ 9.76653057e-01 2.14822731e-01 0.00000000e+00 4.10451475e+02] [-2.14822731e-01 9.76653057e-01 0.00000000e+00 -1.10884788e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96389246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.48, Y:-110.89, Z:0.03 [[ 9.76403408e-01 2.15954590e-01 0.00000000e+00 4.10477704e+02] [-2.15954590e-01 9.76403408e-01 0.00000000e+00 -1.10894944e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94946547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.50, Y:-110.90, Z:0.03 [[ 9.76162709e-01 2.17040007e-01 0.00000000e+00 4.10504329e+02] [-2.17040007e-01 9.76162709e-01 0.00000000e+00 -1.10904724e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83382816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.531400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:410.53, Y:-110.91, Z:0.03 [[ 9.75915196e-01 2.18150249e-01 0.00000000e+00 4.10532035e+02] [-2.18150249e-01 9.75915196e-01 0.00000000e+00 -1.10914420e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79994633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.561400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:410.56, Y:-110.92, Z:0.03 [[ 9.75549276e-01 2.19780822e-01 0.00000000e+00 4.10557679e+02] [-2.19780822e-01 9.75549276e-01 0.00000000e+00 -1.10924867e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69479489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.591400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:410.58, Y:-110.93, Z:0.03 [[ 9.75352821e-01 2.20651023e-01 0.00000000e+00 4.10584765e+02] [-2.20651023e-01 9.75352821e-01 0.00000000e+00 -1.10934002e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66781031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.621400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:410.61, Y:-110.94, Z:0.03 [[ 9.75117888e-01 2.21686950e-01 0.00000000e+00 4.10611372e+02] [-2.21686950e-01 9.75117888e-01 0.00000000e+00 -1.10943192e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58650317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.651400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:410.64, Y:-110.95, Z:0.03 [[ 9.75133454e-01 2.21618472e-01 0.00000000e+00 4.10638833e+02] [-2.21618472e-01 9.75133454e-01 0.00000000e+00 -1.10950791e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58650317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.67, Y:-110.96, Z:0.03 [[ 9.74829301e-01 2.22952538e-01 0.00000000e+00 4.10666453e+02] [-2.22952538e-01 9.74829301e-01 0.00000000e+00 -1.10960732e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70614438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.711400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:410.69, Y:-110.97, Z:0.03 [[ 9.74673969e-01 2.23630618e-01 0.00000000e+00 4.10693922e+02] [-2.23630618e-01 9.74673969e-01 0.00000000e+00 -1.10969528e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88105620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.74140051300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:410.72, Y:-110.98, Z:0.03 [[ 9.74695042e-01 2.23538756e-01 0.00000000e+00 4.10720173e+02] [-2.23538756e-01 9.74695042e-01 0.00000000e+00 -1.10977450e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08994856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.771400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:410.75, Y:-110.98, Z:0.03 [[ 9.74830494e-01 2.22947322e-01 0.00000000e+00 4.10747663e+02] [-2.22947322e-01 9.74830494e-01 0.00000000e+00 -1.10984856e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06414572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.77, Y:-110.99, Z:0.03 [[ 9.74919514e-01 2.22557725e-01 0.00000000e+00 4.10774805e+02] [-2.22557725e-01 9.74919514e-01 0.00000000e+00 -1.10992619e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91570811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.80, Y:-111.00, Z:0.03 [[ 9.74987014e-01 2.22261834e-01 0.00000000e+00 4.10802780e+02] [-2.22261834e-01 9.74987014e-01 0.00000000e+00 -1.11000533e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83476970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.83, Y:-111.01, Z:0.03 [[ 9.74995682e-01 2.22223805e-01 0.00000000e+00 4.10829019e+02] [-2.22223805e-01 9.74995682e-01 0.00000000e+00 -1.11007730e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63922222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.891400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:410.86, Y:-111.02, Z:0.03 [[ 9.75152483e-01 2.21534728e-01 0.00000000e+00 4.10856902e+02] [-2.21534728e-01 9.75152483e-01 0.00000000e+00 -1.11015130e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06669756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.88, Y:-111.02, Z:0.03 [[ 9.75283110e-01 2.20958945e-01 0.00000000e+00 4.10883464e+02] [-2.20958945e-01 9.75283110e-01 0.00000000e+00 -1.11022412e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17095520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.951400513 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:410.91, Y:-111.03, Z:0.03 [[ 9.75370476e-01 2.20572967e-01 0.00000000e+00 4.10910245e+02] [-2.20572967e-01 9.75370476e-01 0.00000000e+00 -1.11028834e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18522663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.981400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:410.94, Y:-111.04, Z:0.03 [[ 9.75272933e-01 2.21003859e-01 0.00000000e+00 4.10938269e+02] [-2.21003859e-01 9.75272933e-01 0.00000000e+00 -1.11035180e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04773453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.011400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:410.97, Y:-111.04, Z:0.03 [[ 9.75055096e-01 2.21962970e-01 0.00000000e+00 4.10967500e+02] [-2.21962970e-01 9.75055096e-01 0.00000000e+00 -1.11038962e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72345187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.041400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:410.99, Y:-111.04, Z:0.03 [[ 9.75053826e-01 2.21968546e-01 0.00000000e+00 4.10993994e+02] [-2.21968546e-01 9.75053826e-01 0.00000000e+00 -1.11043335e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65557358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.071400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:411.02, Y:-111.05, Z:0.03 [[ 9.75042028e-01 2.22020367e-01 0.00000000e+00 4.11021309e+02] [-2.22020367e-01 9.75042028e-01 0.00000000e+00 -1.11047168e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77848084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.101400513 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:411.05, Y:-111.05, Z:0.03 [[ 9.74934977e-01 2.22489979e-01 0.00000000e+00 4.11049643e+02] [-2.22489979e-01 9.74934977e-01 0.00000000e+00 -1.11051070e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95451773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.08, Y:-111.05, Z:0.03 [[ 9.74752838e-01 2.23286596e-01 0.00000000e+00 4.11077177e+02] [-2.23286596e-01 9.74752838e-01 0.00000000e+00 -1.11054862e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07185478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.161400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:411.10, Y:-111.06, Z:0.03 [[ 9.74770057e-01 2.23211416e-01 0.00000000e+00 4.11104890e+02] [-2.23211416e-01 9.74770057e-01 0.00000000e+00 -1.11057811e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98473909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.191400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:411.13, Y:-111.06, Z:0.03 [[ 9.75078762e-01 2.21858982e-01 0.00000000e+00 4.11134822e+02] [-2.21858982e-01 9.75078762e-01 0.00000000e+00 -1.11055691e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87074645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.16, Y:-111.06, Z:0.03 [[ 9.75378912e-01 2.20535663e-01 0.00000000e+00 4.11162923e+02] [-2.20535663e-01 9.75378912e-01 0.00000000e+00 -1.11058197e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78017119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.251400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:411.19, Y:-111.06, Z:0.03 [[ 9.75846835e-01 2.18455841e-01 0.00000000e+00 4.11189886e+02] [-2.18455841e-01 9.75846835e-01 0.00000000e+00 -1.11060742e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64232750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.281400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:411.22, Y:-111.06, Z:0.03 [[ 9.76428985e-01 2.15838914e-01 0.00000000e+00 4.11218267e+02] [-2.15838914e-01 9.76428985e-01 0.00000000e+00 -1.11064902e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76652076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.25, Y:-111.07, Z:0.03 [[ 9.77647433e-01 2.10251031e-01 0.00000000e+00 4.11247100e+02] [-2.10251031e-01 9.77647433e-01 0.00000000e+00 -1.11066472e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02908496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.341400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:411.27, Y:-111.07, Z:0.03 [[ 9.78306701e-01 2.07161771e-01 0.00000000e+00 4.11274649e+02] [-2.07161771e-01 9.78306701e-01 0.00000000e+00 -1.11070735e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03777352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.371400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:411.30, Y:-111.08, Z:0.03 [[ 9.78906908e-01 2.04306791e-01 0.00000000e+00 4.11302387e+02] [-2.04306791e-01 9.78906908e-01 0.00000000e+00 -1.11075920e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95951800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.33, Y:-111.08, Z:0.03 [[ 9.79468756e-01 2.01596021e-01 0.00000000e+00 4.11329481e+02] [-2.01596021e-01 9.79468756e-01 0.00000000e+00 -1.11082025e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88215351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.36, Y:-111.09, Z:0.03 [[ 9.80021563e-01 1.98891267e-01 0.00000000e+00 4.11356010e+02] [-1.98891267e-01 9.80021563e-01 0.00000000e+00 -1.11088063e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90755401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.38, Y:-111.09, Z:0.03 [[ 9.80459258e-01 1.96722252e-01 0.00000000e+00 4.11383000e+02] [-1.96722252e-01 9.80459258e-01 0.00000000e+00 -1.11094529e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00328403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.49140051300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:411.41, Y:-111.10, Z:0.03 [[ 9.80888918e-01 1.94568575e-01 0.00000000e+00 4.11410863e+02] [-1.94568575e-01 9.80888918e-01 0.00000000e+00 -1.11100944e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86067167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.521400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:411.44, Y:-111.11, Z:0.03 [[ 9.80862026e-01 1.94704100e-01 0.00000000e+00 4.11438308e+02] [-1.94704100e-01 9.80862026e-01 0.00000000e+00 -1.11108490e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70472150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.55140051300003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:411.47, Y:-111.12, Z:0.02 [[ 9.80680845e-01 1.95614624e-01 0.00000000e+00 4.11466294e+02] [-1.95614624e-01 9.80680845e-01 0.00000000e+00 -1.11116767e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49538485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.581400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:411.49, Y:-111.12, Z:0.03 [[ 9.80436444e-01 1.96835918e-01 0.00000000e+00 4.11493423e+02] [-1.96835918e-01 9.80436444e-01 0.00000000e+00 -1.11124869e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50423045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.52, Y:-111.13, Z:0.03 [[ 9.79709320e-01 2.00423672e-01 0.00000000e+00 4.11521623e+02] [-2.00423672e-01 9.79709320e-01 0.00000000e+00 -1.11132238e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70280711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.641400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:411.55, Y:-111.14, Z:0.03 [[ 9.79259499e-01 2.02610054e-01 0.00000000e+00 4.11549662e+02] [-2.02610054e-01 9.79259499e-01 0.00000000e+00 -1.11139642e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97106588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.58, Y:-111.15, Z:0.03 [[ 9.78708430e-01 2.05255472e-01 0.00000000e+00 4.11575928e+02] [-2.05255472e-01 9.78708430e-01 0.00000000e+00 -1.11147106e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06600224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.60, Y:-111.15, Z:0.03 [[ 9.78158973e-01 2.07858181e-01 0.00000000e+00 4.11602983e+02] [-2.07858181e-01 9.78158973e-01 0.00000000e+00 -1.11154740e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20147133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.63, Y:-111.16, Z:0.03 [[ 9.77597540e-01 2.10482897e-01 0.00000000e+00 4.11629592e+02] [-2.10482897e-01 9.77597540e-01 0.00000000e+00 -1.11161852e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28720898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.66, Y:-111.17, Z:0.03 [[ 9.76652945e-01 2.14823243e-01 0.00000000e+00 4.11656348e+02] [-2.14823243e-01 9.76652945e-01 0.00000000e+00 -1.11168237e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30740819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.68, Y:-111.17, Z:0.03 [[ 9.76349845e-01 2.16196623e-01 0.00000000e+00 4.11683075e+02] [-2.16196623e-01 9.76349845e-01 0.00000000e+00 -1.11174610e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22630572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.71, Y:-111.18, Z:0.03 [[ 9.76256107e-01 2.16619515e-01 0.00000000e+00 4.11710700e+02] [-2.16619515e-01 9.76256107e-01 0.00000000e+00 -1.11180531e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25994968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.74, Y:-111.19, Z:0.03 [[ 9.76312609e-01 2.16364712e-01 0.00000000e+00 4.11738155e+02] [-2.16364712e-01 9.76312609e-01 0.00000000e+00 -1.11185721e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23826738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.76, Y:-111.19, Z:0.03 [[ 9.76537696e-01 2.15346532e-01 0.00000000e+00 4.11764602e+02] [-2.15346532e-01 9.76537696e-01 0.00000000e+00 -1.11190534e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20965721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.79, Y:-111.20, Z:0.03 [[ 9.76949449e-01 2.13470779e-01 0.00000000e+00 4.11790881e+02] [-2.13470779e-01 9.76949449e-01 0.00000000e+00 -1.11195052e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19140564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.82, Y:-111.20, Z:0.03 [[ 9.77777426e-01 2.09645666e-01 0.00000000e+00 4.11819491e+02] [-2.09645666e-01 9.77777426e-01 0.00000000e+00 -1.11197626e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18493417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.85, Y:-111.20, Z:0.03 [[ 9.78152487e-01 2.07888703e-01 0.00000000e+00 4.11846981e+02] [-2.07888703e-01 9.78152487e-01 0.00000000e+00 -1.11201718e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15392044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.88, Y:-111.21, Z:0.03 [[ 9.78479741e-01 2.06342911e-01 0.00000000e+00 4.11875348e+02] [-2.06342911e-01 9.78479741e-01 0.00000000e+00 -1.11205750e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04614648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.90, Y:-111.21, Z:0.03 [[ 9.79259399e-01 2.02610535e-01 0.00000000e+00 4.11904252e+02] [-2.02610535e-01 9.79259399e-01 0.00000000e+00 -1.11205737e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95960351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.061400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:411.93, Y:-111.21, Z:0.03 [[ 9.79686000e-01 2.00537633e-01 0.00000000e+00 4.11930826e+02] [-2.00537633e-01 9.79686000e-01 0.00000000e+00 -1.11210245e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87623669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.96, Y:-111.22, Z:0.03 [[ 9.80169312e-01 1.98161851e-01 0.00000000e+00 4.11957777e+02] [-1.98161851e-01 9.80169312e-01 0.00000000e+00 -1.11215792e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64460992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.99, Y:-111.22, Z:0.03 [[ 9.80684314e-01 1.95597232e-01 0.00000000e+00 4.11985517e+02] [-1.95597232e-01 9.80684314e-01 0.00000000e+00 -1.11221796e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60525091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.01, Y:-111.23, Z:0.03 [[ 9.81192879e-01 1.93029879e-01 0.00000000e+00 4.12013707e+02] [-1.93029879e-01 9.81192879e-01 0.00000000e+00 -1.11227555e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54157347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.181400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:412.04, Y:-111.23, Z:0.02 [[ 9.81601972e-01 1.90938650e-01 0.00000000e+00 4.12041177e+02] [-1.90938650e-01 9.81601972e-01 0.00000000e+00 -1.11232704e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31880191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.07, Y:-111.24, Z:0.02 [[ 9.82119791e-01 1.88257048e-01 0.00000000e+00 4.12068529e+02] [-1.88257048e-01 9.82119791e-01 0.00000000e+00 -1.11237187e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35791397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.10, Y:-111.24, Z:0.02 [[ 9.82287800e-01 1.87378436e-01 0.00000000e+00 4.12095789e+02] [-1.87378436e-01 9.82287800e-01 0.00000000e+00 -1.11243320e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48821678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.12, Y:-111.25, Z:0.03 [[ 9.82353942e-01 1.87031367e-01 0.00000000e+00 4.12124192e+02] [-1.87031367e-01 9.82353942e-01 0.00000000e+00 -1.11249568e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68956334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.15, Y:-111.26, Z:0.03 [[ 9.82255955e-01 1.87545296e-01 0.00000000e+00 4.12151237e+02] [-1.87545296e-01 9.82255955e-01 0.00000000e+00 -1.11256033e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72884120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.18, Y:-111.26, Z:0.03 [[ 9.82141067e-01 1.88146018e-01 0.00000000e+00 4.12178292e+02] [-1.88146018e-01 9.82141067e-01 0.00000000e+00 -1.11262590e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72674902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.20, Y:-111.27, Z:0.03 [[ 9.81954410e-01 1.89117785e-01 0.00000000e+00 4.12204511e+02] [-1.89117785e-01 9.81954410e-01 0.00000000e+00 -1.11268502e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70799877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.23, Y:-111.27, Z:0.03 [[ 9.81995304e-01 1.88905330e-01 0.00000000e+00 4.12231492e+02] [-1.88905330e-01 9.81995304e-01 0.00000000e+00 -1.11274490e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84532352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.26, Y:-111.28, Z:0.03 [[ 9.82062287e-01 1.88556792e-01 0.00000000e+00 4.12258356e+02] [-1.88556792e-01 9.82062287e-01 0.00000000e+00 -1.11281436e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93183269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.451400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:412.29, Y:-111.29, Z:0.03 [[ 9.82325759e-01 1.87179334e-01 0.00000000e+00 4.12285373e+02] [-1.87179334e-01 9.82325759e-01 0.00000000e+00 -1.11289256e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09864442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.481400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:412.31, Y:-111.30, Z:0.03 [[ 9.82579653e-01 1.85841939e-01 0.00000000e+00 4.12310900e+02] [-1.85841939e-01 9.82579653e-01 0.00000000e+00 -1.11297509e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05773518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.34, Y:-111.31, Z:0.03 [[ 9.82755953e-01 1.84907372e-01 0.00000000e+00 4.12337981e+02] [-1.84907372e-01 9.82755953e-01 0.00000000e+00 -1.11305717e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11763859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.37, Y:-111.31, Z:0.03 [[ 9.82789514e-01 1.84728913e-01 0.00000000e+00 4.12365475e+02] [-1.84728913e-01 9.82789514e-01 0.00000000e+00 -1.11313080e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11763859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.571400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:412.39, Y:-111.32, Z:0.03 [[ 9.82697271e-01 1.85218987e-01 0.00000000e+00 4.12392543e+02] [-1.85218987e-01 9.82697271e-01 0.00000000e+00 -1.11319927e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08158348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.42, Y:-111.33, Z:0.03 [[ 9.82315825e-01 1.87231462e-01 0.00000000e+00 4.12418369e+02] [-1.87231462e-01 9.82315825e-01 0.00000000e+00 -1.11327307e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04422316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.631400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:412.45, Y:-111.33, Z:0.03 [[ 9.81942940e-01 1.89177333e-01 0.00000000e+00 4.12445335e+02] [-1.89177333e-01 9.81942940e-01 0.00000000e+00 -1.11334718e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98078352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.47, Y:-111.34, Z:0.03 [[ 9.80674830e-01 1.95644776e-01 0.00000000e+00 4.12473254e+02] [-1.95644776e-01 9.80674830e-01 0.00000000e+00 -1.11338972e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19471593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.50, Y:-111.34, Z:0.03 [[ 9.79946661e-01 1.99259987e-01 0.00000000e+00 4.12501261e+02] [-1.99259987e-01 9.79946661e-01 0.00000000e+00 -1.11342790e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27893831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.53, Y:-111.35, Z:0.03 [[ 9.79276617e-01 2.02527298e-01 0.00000000e+00 4.12529629e+02] [-2.02527298e-01 9.79276617e-01 0.00000000e+00 -1.11347120e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41545434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.751400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:412.56, Y:-111.35, Z:0.03 [[ 9.78780099e-01 2.04913440e-01 0.00000000e+00 4.12557665e+02] [-2.04913440e-01 9.78780099e-01 0.00000000e+00 -1.11351765e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43821971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.59, Y:-111.36, Z:0.03 [[ 9.78345800e-01 2.06977042e-01 0.00000000e+00 4.12585063e+02] [-2.06977042e-01 9.78345800e-01 0.00000000e+00 -1.11356669e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41433308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.61, Y:-111.36, Z:0.03 [[ 9.78285119e-01 2.07263664e-01 0.00000000e+00 4.12614978e+02] [-2.07263664e-01 9.78285119e-01 0.00000000e+00 -1.11357204e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22617262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.64, Y:-111.36, Z:0.03 [[ 9.78590778e-01 2.05815669e-01 0.00000000e+00 4.12642141e+02] [-2.05815669e-01 9.78590778e-01 0.00000000e+00 -1.11361020e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17441134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.67, Y:-111.37, Z:0.03 [[ 9.79071991e-01 2.03514215e-01 0.00000000e+00 4.12669471e+02] [-2.03514215e-01 9.79071991e-01 0.00000000e+00 -1.11366199e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26773926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.901400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:412.70, Y:-111.37, Z:0.03 [[ 9.79664106e-01 2.00644561e-01 0.00000000e+00 4.12696320e+02] [-2.00644561e-01 9.79664106e-01 0.00000000e+00 -1.11372078e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11826404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.931400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:412.72, Y:-111.38, Z:0.03 [[ 9.80882098e-01 1.94602955e-01 0.00000000e+00 4.12723954e+02] [-1.94602955e-01 9.80882098e-01 0.00000000e+00 -1.11376976e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75487307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.75, Y:-111.38, Z:0.03 [[ 9.81392412e-01 1.92012850e-01 0.00000000e+00 4.12751839e+02] [-1.92012850e-01 9.81392412e-01 0.00000000e+00 -1.11383303e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75830907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.99140051300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:412.78, Y:-111.39, Z:0.03 [[ 9.81866063e-01 1.89575933e-01 0.00000000e+00 4.12778539e+02] [-1.89575933e-01 9.81866063e-01 0.00000000e+00 -1.11389597e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61035225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.81, Y:-111.40, Z:0.03 [[ 9.82203728e-01 1.87818628e-01 0.00000000e+00 4.12806246e+02] [-1.87818628e-01 9.82203728e-01 0.00000000e+00 -1.11397891e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87890741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.83, Y:-111.41, Z:0.03 [[ 9.82453381e-01 1.86508322e-01 0.00000000e+00 4.12834199e+02] [-1.86508322e-01 9.82453381e-01 0.00000000e+00 -1.11406558e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03256335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.86, Y:-111.41, Z:0.03 [[ 9.82687829e-01 1.85269076e-01 0.00000000e+00 4.12860501e+02] [-1.85269076e-01 9.82687829e-01 0.00000000e+00 -1.11414436e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09557136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.111400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:412.89, Y:-111.42, Z:0.03 [[ 9.82790872e-01 1.84721689e-01 0.00000000e+00 4.12887587e+02] [-1.84721689e-01 9.82790872e-01 0.00000000e+00 -1.11421610e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10166825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.91, Y:-111.43, Z:0.03 [[ 9.82759338e-01 1.84889382e-01 0.00000000e+00 4.12914077e+02] [-1.84889382e-01 9.82759338e-01 0.00000000e+00 -1.11430255e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13582547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.94, Y:-111.44, Z:0.03 [[ 9.82705344e-01 1.85176149e-01 0.00000000e+00 4.12939446e+02] [-1.85176149e-01 9.82705344e-01 0.00000000e+00 -1.11439113e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98987654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.97, Y:-111.45, Z:0.03 [[ 9.82720814e-01 1.85094036e-01 0.00000000e+00 4.12965331e+02] [-1.85094036e-01 9.82720814e-01 0.00000000e+00 -1.11449407e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00080671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.99, Y:-111.46, Z:0.03 [[ 9.82676768e-01 1.85327736e-01 0.00000000e+00 4.12992451e+02] [-1.85327736e-01 9.82676768e-01 0.00000000e+00 -1.11457300e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11466555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.02, Y:-111.47, Z:0.03 [[ 9.82605681e-01 1.85704268e-01 0.00000000e+00 4.13018818e+02] [-1.85704268e-01 9.82605681e-01 0.00000000e+00 -1.11465101e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09462842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.291400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:413.05, Y:-111.47, Z:0.03 [[ 9.82648185e-01 1.85479228e-01 0.00000000e+00 4.13045565e+02] [-1.85479228e-01 9.82648185e-01 0.00000000e+00 -1.11473439e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93331748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.07, Y:-111.48, Z:0.03 [[ 9.82688539e-01 1.85265308e-01 0.00000000e+00 4.13072251e+02] [-1.85265308e-01 9.82688539e-01 0.00000000e+00 -1.11482554e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09300382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.10, Y:-111.49, Z:0.03 [[ 9.82841892e-01 1.84450034e-01 0.00000000e+00 4.13098715e+02] [-1.84450034e-01 9.82841892e-01 0.00000000e+00 -1.11491138e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06326690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.12, Y:-111.50, Z:0.03 [[ 9.83318049e-01 1.81894513e-01 0.00000000e+00 4.13124143e+02] [-1.81894513e-01 9.83318049e-01 0.00000000e+00 -1.11501155e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08531107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.15, Y:-111.51, Z:0.03 [[ 9.83631240e-01 1.80193185e-01 0.00000000e+00 4.13150611e+02] [-1.80193185e-01 9.83631240e-01 0.00000000e+00 -1.11510300e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07468953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.441400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:413.18, Y:-111.52, Z:0.03 [[ 9.83976463e-01 1.78298403e-01 0.00000000e+00 4.13177307e+02] [-1.78298403e-01 9.83976463e-01 0.00000000e+00 -1.11519494e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81033598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.20, Y:-111.53, Z:0.03 [[ 9.84252054e-01 1.76770741e-01 0.00000000e+00 4.13204028e+02] [-1.76770741e-01 9.84252054e-01 0.00000000e+00 -1.11528607e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85553131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.23, Y:-111.54, Z:0.03 [[ 9.84693334e-01 1.74295835e-01 0.00000000e+00 4.13230149e+02] [-1.74295835e-01 9.84693334e-01 0.00000000e+00 -1.11537595e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86908113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.26, Y:-111.55, Z:0.03 [[ 9.84734125e-01 1.74065229e-01 0.00000000e+00 4.13256551e+02] [-1.74065229e-01 9.84734125e-01 0.00000000e+00 -1.11545979e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79144859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.28, Y:-111.55, Z:0.03 [[ 9.84692319e-01 1.74301569e-01 0.00000000e+00 4.13283505e+02] [-1.74301569e-01 9.84692319e-01 0.00000000e+00 -1.11554603e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89386835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.31, Y:-111.56, Z:0.03 [[ 9.84517368e-01 1.75287056e-01 0.00000000e+00 4.13309692e+02] [-1.75287056e-01 9.84517368e-01 0.00000000e+00 -1.11563034e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90332382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.34, Y:-111.57, Z:0.03 [[ 9.84293006e-01 1.76542566e-01 0.00000000e+00 4.13336858e+02] [-1.76542566e-01 9.84293006e-01 0.00000000e+00 -1.11571065e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01214898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.36, Y:-111.58, Z:0.03 [[ 9.83551636e-01 1.80627185e-01 0.00000000e+00 4.13363794e+02] [-1.80627185e-01 9.83551636e-01 0.00000000e+00 -1.11578199e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92984026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.39, Y:-111.59, Z:0.03 [[ 9.83112363e-01 1.83002953e-01 0.00000000e+00 4.13391388e+02] [-1.83002953e-01 9.83112363e-01 0.00000000e+00 -1.11585096e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97019479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.42, Y:-111.59, Z:0.03 [[ 9.82616711e-01 1.85645897e-01 0.00000000e+00 4.13418672e+02] [-1.85645897e-01 9.82616711e-01 0.00000000e+00 -1.11592521e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05521205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.45, Y:-111.60, Z:0.04 [[ 9.81804963e-01 1.89892114e-01 0.00000000e+00 4.13446069e+02] [-1.89892114e-01 9.81804963e-01 0.00000000e+00 -1.11600151e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61175747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.47, Y:-111.61, Z:0.04 [[ 9.81674149e-01 1.90567218e-01 0.00000000e+00 4.13473177e+02] [-1.90567218e-01 9.81674149e-01 0.00000000e+00 -1.11607039e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84510749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.50, Y:-111.61, Z:0.04 [[ 9.81734070e-01 1.90258285e-01 0.00000000e+00 4.13500659e+02] [-1.90258285e-01 9.81734070e-01 0.00000000e+00 -1.11613879e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88493074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.53, Y:-111.62, Z:0.04 [[ 9.81900566e-01 1.89397142e-01 0.00000000e+00 4.13527284e+02] [-1.89397142e-01 9.81900566e-01 0.00000000e+00 -1.11620484e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89555725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.861400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:413.55, Y:-111.63, Z:0.04 [[ 9.82161065e-01 1.88041597e-01 0.00000000e+00 4.13554621e+02] [-1.88041597e-01 9.82161065e-01 0.00000000e+00 -1.11627616e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83230755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.58, Y:-111.64, Z:0.04 [[ 9.82401579e-01 1.86780988e-01 0.00000000e+00 4.13580796e+02] [-1.86780988e-01 9.82401579e-01 0.00000000e+00 -1.11635047e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71849995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.61, Y:-111.64, Z:0.03 [[ 9.82910995e-01 1.84081436e-01 0.00000000e+00 4.13608457e+02] [-1.84081436e-01 9.82910995e-01 0.00000000e+00 -1.11643392e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41250687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.951400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:413.64, Y:-111.65, Z:0.03 [[ 9.83230441e-01 1.82367488e-01 0.00000000e+00 4.13635111e+02] [-1.82367488e-01 9.83230441e-01 0.00000000e+00 -1.11650568e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19974026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.66, Y:-111.66, Z:0.03 [[ 9.83478608e-01 1.81024382e-01 0.00000000e+00 4.13660534e+02] [-1.81024382e-01 9.83478608e-01 0.00000000e+00 -1.11658252e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21426667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.011400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:413.69, Y:-111.67, Z:0.03 [[ 9.83944442e-01 1.78475029e-01 0.00000000e+00 4.13687834e+02] [-1.78475029e-01 9.83944442e-01 0.00000000e+00 -1.11666015e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18963340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.71, Y:-111.68, Z:0.03 [[ 9.84460018e-01 1.75608866e-01 0.00000000e+00 4.13714276e+02] [-1.75608866e-01 9.84460018e-01 0.00000000e+00 -1.11675708e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31496781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.74, Y:-111.68, Z:0.03 [[ 9.84544379e-01 1.75135281e-01 0.00000000e+00 4.13739500e+02] [-1.75135281e-01 9.84544379e-01 0.00000000e+00 -1.11683983e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25254664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.77, Y:-111.69, Z:0.03 [[ 9.84564796e-01 1.75020464e-01 0.00000000e+00 4.13765840e+02] [-1.75020464e-01 9.84564796e-01 0.00000000e+00 -1.11692795e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24360652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.79, Y:-111.70, Z:0.03 [[ 9.84520106e-01 1.75271679e-01 0.00000000e+00 4.13791617e+02] [-1.75271679e-01 9.84520106e-01 0.00000000e+00 -1.11701024e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24220562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.82, Y:-111.71, Z:0.03 [[ 9.84351725e-01 1.76214875e-01 0.00000000e+00 4.13817959e+02] [-1.76214875e-01 9.84351725e-01 0.00000000e+00 -1.11708671e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29085559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.85, Y:-111.72, Z:0.03 [[ 9.83680142e-01 1.79926034e-01 0.00000000e+00 4.13845088e+02] [-1.79926034e-01 9.83680142e-01 0.00000000e+00 -1.11716104e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36927574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.87, Y:-111.72, Z:0.03 [[ 9.83245714e-01 1.82285122e-01 0.00000000e+00 4.13872540e+02] [-1.82285122e-01 9.83245714e-01 0.00000000e+00 -1.11723177e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46786911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.90, Y:-111.73, Z:0.03 [[ 9.82813592e-01 1.84600770e-01 0.00000000e+00 4.13899048e+02] [-1.84600770e-01 9.82813592e-01 0.00000000e+00 -1.11729578e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38173144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.93, Y:-111.74, Z:0.03 [[ 9.82452856e-01 1.86511087e-01 0.00000000e+00 4.13926124e+02] [-1.86511087e-01 9.82452856e-01 0.00000000e+00 -1.11735860e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34026424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.95, Y:-111.74, Z:0.03 [[ 9.82005752e-01 1.88851010e-01 0.00000000e+00 4.13952381e+02] [-1.88851010e-01 9.82005752e-01 0.00000000e+00 -1.11741908e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21927861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.98, Y:-111.75, Z:0.03 [[ 9.81979131e-01 1.88989380e-01 0.00000000e+00 4.13979013e+02] [-1.88989380e-01 9.81979131e-01 0.00000000e+00 -1.11749454e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19202956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.01, Y:-111.76, Z:0.03 [[ 9.82057940e-01 1.88579435e-01 0.00000000e+00 4.14006022e+02] [-1.88579435e-01 9.82057940e-01 0.00000000e+00 -1.11757356e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26396359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.03, Y:-111.77, Z:0.03 [[ 9.82112548e-01 1.88294831e-01 0.00000000e+00 4.14032971e+02] [-1.88294831e-01 9.82112548e-01 0.00000000e+00 -1.11765133e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32301199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.06, Y:-111.77, Z:0.03 [[ 9.82022747e-01 1.88762616e-01 0.00000000e+00 4.14060726e+02] [-1.88762616e-01 9.82022747e-01 0.00000000e+00 -1.11771455e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37973230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.09, Y:-111.78, Z:0.03 [[ 9.82057544e-01 1.88581493e-01 0.00000000e+00 4.14088288e+02] [-1.88581493e-01 9.82057544e-01 0.00000000e+00 -1.11778570e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37973230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.11, Y:-111.78, Z:0.03 [[ 9.81941291e-01 1.89185889e-01 0.00000000e+00 4.14114583e+02] [-1.89185889e-01 9.81941291e-01 0.00000000e+00 -1.11784162e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40206154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.14, Y:-111.79, Z:0.03 [[ 9.81794157e-01 1.89947976e-01 0.00000000e+00 4.14141604e+02] [-1.89947976e-01 9.81794157e-01 0.00000000e+00 -1.11789940e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42810242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.17, Y:-111.80, Z:0.03 [[ 9.81631107e-01 1.90788810e-01 0.00000000e+00 4.14167953e+02] [-1.90788810e-01 9.81631107e-01 0.00000000e+00 -1.11795559e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42342545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.19, Y:-111.80, Z:0.03 [[ 9.81470367e-01 1.91613985e-01 0.00000000e+00 4.14194887e+02] [-1.91613985e-01 9.81470367e-01 0.00000000e+00 -1.11801412e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48341012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.22, Y:-111.81, Z:0.04 [[ 9.81387808e-01 1.92036378e-01 0.00000000e+00 4.14222177e+02] [-1.92036378e-01 9.81387808e-01 0.00000000e+00 -1.11806826e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55960780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.25, Y:-111.81, Z:0.04 [[ 9.81110232e-01 1.93449508e-01 0.00000000e+00 4.14250597e+02] [-1.93449508e-01 9.81110232e-01 0.00000000e+00 -1.11808798e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78200277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.671400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:414.28, Y:-111.81, Z:0.04 [[ 9.81060296e-01 1.93702597e-01 0.00000000e+00 4.14277064e+02] [-1.93702597e-01 9.81060296e-01 0.00000000e+00 -1.11812542e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63710772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.30, Y:-111.82, Z:0.04 [[ 9.80940741e-01 1.94307134e-01 0.00000000e+00 4.14304904e+02] [-1.94307134e-01 9.80940741e-01 0.00000000e+00 -1.11817496e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62966254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.33, Y:-111.82, Z:0.03 [[ 9.80974105e-01 1.94138626e-01 0.00000000e+00 4.14333283e+02] [-1.94138626e-01 9.80974105e-01 0.00000000e+00 -1.11817572e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34872488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.36, Y:-111.82, Z:0.03 [[ 9.81135777e-01 1.93319911e-01 0.00000000e+00 4.14361905e+02] [-1.93319911e-01 9.81135777e-01 0.00000000e+00 -1.11819927e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35576775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.39, Y:-111.82, Z:0.03 [[ 9.81275891e-01 1.92607441e-01 0.00000000e+00 4.14389386e+02] [-1.92607441e-01 9.81275891e-01 0.00000000e+00 -1.11822400e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31447960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.42, Y:-111.83, Z:0.03 [[ 9.81450835e-01 1.91714002e-01 0.00000000e+00 4.14417170e+02] [-1.91714002e-01 9.81450835e-01 0.00000000e+00 -1.11825991e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32941861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.44, Y:-111.83, Z:0.03 [[ 9.81626124e-01 1.90814444e-01 0.00000000e+00 4.14443715e+02] [-1.90814444e-01 9.81626124e-01 0.00000000e+00 -1.11829736e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34437427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.47, Y:-111.83, Z:0.04 [[ 9.81953761e-01 1.89121154e-01 0.00000000e+00 4.14472930e+02] [-1.89121154e-01 9.81953761e-01 0.00000000e+00 -1.11829017e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53731920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.50, Y:-111.83, Z:0.04 [[ 9.82100817e-01 1.88356007e-01 0.00000000e+00 4.14500845e+02] [-1.88356007e-01 9.82100817e-01 0.00000000e+00 -1.11830608e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58659957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.941400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:414.53, Y:-111.83, Z:0.04 [[ 9.82224440e-01 1.87710283e-01 0.00000000e+00 4.14528395e+02] [-1.87710283e-01 9.82224440e-01 0.00000000e+00 -1.11832227e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52895300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.56, Y:-111.83, Z:0.03 [[ 9.82307937e-01 1.87272841e-01 0.00000000e+00 4.14555203e+02] [-1.87272841e-01 9.82307937e-01 0.00000000e+00 -1.11834913e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42832191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.58, Y:-111.84, Z:0.03 [[ 9.82454855e-01 1.86500557e-01 0.00000000e+00 4.14583228e+02] [-1.86500557e-01 9.82454855e-01 0.00000000e+00 -1.11838118e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31605044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.031400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:414.61, Y:-111.84, Z:0.03 [[ 9.82867387e-01 1.84314131e-01 0.00000000e+00 4.14612419e+02] [-1.84314131e-01 9.82867387e-01 0.00000000e+00 -1.11836821e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02762712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.64, Y:-111.84, Z:0.03 [[ 9.83056819e-01 1.83301092e-01 0.00000000e+00 4.14640542e+02] [-1.83301092e-01 9.83056819e-01 0.00000000e+00 -1.11840596e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03395445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.67, Y:-111.85, Z:0.03 [[ 9.83320099e-01 1.81883430e-01 0.00000000e+00 4.14668178e+02] [-1.81883430e-01 9.83320099e-01 0.00000000e+00 -1.11845235e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12118057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.121400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:414.70, Y:-111.85, Z:0.03 [[ 9.83915155e-01 1.78636410e-01 0.00000000e+00 4.14696007e+02] [-1.78636410e-01 9.83915155e-01 0.00000000e+00 -1.11847413e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12130708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.151400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:414.72, Y:-111.85, Z:0.03 [[ 9.84091091e-01 1.77664639e-01 0.00000000e+00 4.14723572e+02] [-1.77664639e-01 9.84091091e-01 0.00000000e+00 -1.11851334e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17808651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.181400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:414.75, Y:-111.85, Z:0.03 [[ 9.84267496e-01 1.76684735e-01 0.00000000e+00 4.14751437e+02] [-1.76684735e-01 9.84267496e-01 0.00000000e+00 -1.11854963e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17343019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.78, Y:-111.86, Z:0.03 [[ 9.84271632e-01 1.76661694e-01 0.00000000e+00 4.14778563e+02] [-1.76661694e-01 9.84271632e-01 0.00000000e+00 -1.11859639e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13392679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.81, Y:-111.87, Z:0.03 [[ 9.84242609e-01 1.76823320e-01 0.00000000e+00 4.14805723e+02] [-1.76823320e-01 9.84242609e-01 0.00000000e+00 -1.11865287e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07672922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.83, Y:-111.87, Z:0.03 [[ 9.83990896e-01 1.78218734e-01 0.00000000e+00 4.14832669e+02] [-1.78218734e-01 9.83990896e-01 0.00000000e+00 -1.11870509e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07922847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.86, Y:-111.88, Z:0.03 [[ 9.83800591e-01 1.79266272e-01 0.00000000e+00 4.14860584e+02] [-1.79266272e-01 9.83800591e-01 0.00000000e+00 -1.11875322e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26260044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.89, Y:-111.88, Z:0.03 [[ 9.83512546e-01 1.80839904e-01 0.00000000e+00 4.14888432e+02] [-1.80839904e-01 9.83512546e-01 0.00000000e+00 -1.11879576e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47189304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.92, Y:-111.88, Z:0.04 [[ 9.83131268e-01 1.82901366e-01 0.00000000e+00 4.14915771e+02] [-1.82901366e-01 9.83131268e-01 0.00000000e+00 -1.11883399e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52463773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.94, Y:-111.88, Z:0.03 [[ 9.82352989e-01 1.87036374e-01 0.00000000e+00 4.14944795e+02] [-1.87036374e-01 9.82352989e-01 0.00000000e+00 -1.11884224e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37030790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.97, Y:-111.89, Z:0.03 [[ 9.82094892e-01 1.88386895e-01 0.00000000e+00 4.14971845e+02] [-1.88386895e-01 9.82094892e-01 0.00000000e+00 -1.11886931e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17266587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.451400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:415.00, Y:-111.89, Z:0.03 [[ 9.81935987e-01 1.89213416e-01 0.00000000e+00 4.14998494e+02] [-1.89213416e-01 9.81935987e-01 0.00000000e+00 -1.11890062e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00696276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.03, Y:-111.89, Z:0.03 [[ 9.81895072e-01 1.89425625e-01 0.00000000e+00 4.15025822e+02] [-1.89425625e-01 9.81895072e-01 0.00000000e+00 -1.11894749e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17687713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.05, Y:-111.90, Z:0.03 [[ 9.82026902e-01 1.88740998e-01 0.00000000e+00 4.15053385e+02] [-1.88740998e-01 9.82026902e-01 0.00000000e+00 -1.11900302e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21838498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.08, Y:-111.90, Z:0.03 [[ 9.82639263e-01 1.85526493e-01 0.00000000e+00 4.15081581e+02] [-1.85526493e-01 9.82639263e-01 0.00000000e+00 -1.11904147e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15571409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.11, Y:-111.91, Z:0.03 [[ 9.83094744e-01 1.83097581e-01 0.00000000e+00 4.15108925e+02] [-1.83097581e-01 9.83094744e-01 0.00000000e+00 -1.11908609e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97919748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.14, Y:-111.91, Z:0.03 [[ 9.83516908e-01 1.80816180e-01 0.00000000e+00 4.15136934e+02] [-1.80816180e-01 9.83516908e-01 0.00000000e+00 -1.11913602e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85331418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.16, Y:-111.92, Z:0.03 [[ 9.83856409e-01 1.78959676e-01 0.00000000e+00 4.15163655e+02] [-1.78959676e-01 9.83856409e-01 0.00000000e+00 -1.11918713e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80144295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.19, Y:-111.92, Z:0.03 [[ 9.84179481e-01 1.77174348e-01 0.00000000e+00 4.15191711e+02] [-1.77174348e-01 9.84179481e-01 0.00000000e+00 -1.11924012e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00928568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.22, Y:-111.93, Z:0.03 [[ 9.84501782e-01 1.75374575e-01 0.00000000e+00 4.15219910e+02] [-1.75374575e-01 9.84501782e-01 0.00000000e+00 -1.11928151e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48585732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.25, Y:-111.93, Z:0.03 [[ 9.84625347e-01 1.74679497e-01 0.00000000e+00 4.15246868e+02] [-1.74679497e-01 9.84625347e-01 0.00000000e+00 -1.11934513e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47688745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.27, Y:-111.94, Z:0.03 [[ 9.84779435e-01 1.73808699e-01 0.00000000e+00 4.15272732e+02] [-1.73808699e-01 9.84779435e-01 0.00000000e+00 -1.11940535e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40559484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.30, Y:-111.95, Z:0.04 [[ 9.85244672e-01 1.71151794e-01 0.00000000e+00 4.15299680e+02] [-1.71151794e-01 9.85244672e-01 0.00000000e+00 -1.11945972e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56037224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.33, Y:-111.95, Z:0.04 [[ 9.85437372e-01 1.70038777e-01 0.00000000e+00 4.15327223e+02] [-1.70038777e-01 9.85437372e-01 0.00000000e+00 -1.11952896e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57550687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.35, Y:-111.96, Z:0.04 [[ 9.85469076e-01 1.69854940e-01 0.00000000e+00 4.15354278e+02] [-1.69854940e-01 9.85469076e-01 0.00000000e+00 -1.11960367e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50634009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.38, Y:-111.97, Z:0.03 [[ 9.85278440e-01 1.70957294e-01 0.00000000e+00 4.15380066e+02] [-1.70957294e-01 9.85278440e-01 0.00000000e+00 -1.11968183e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36545643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.41, Y:-111.98, Z:0.03 [[ 9.84288429e-01 1.76568087e-01 0.00000000e+00 4.15407137e+02] [-1.76568087e-01 9.84288429e-01 0.00000000e+00 -1.11975314e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29307690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.43, Y:-111.98, Z:0.03 [[ 9.83554193e-01 1.80613257e-01 0.00000000e+00 4.15433186e+02] [-1.80613257e-01 9.83554193e-01 0.00000000e+00 -1.11980601e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35179878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.46, Y:-111.99, Z:0.04 [[ 9.82698169e-01 1.85214225e-01 0.00000000e+00 4.15460860e+02] [-1.85214225e-01 9.82698169e-01 0.00000000e+00 -1.11986020e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50272394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.49, Y:-111.99, Z:0.04 [[ 9.81736399e-01 1.90246268e-01 0.00000000e+00 4.15487921e+02] [-1.90246268e-01 9.81736399e-01 0.00000000e+00 -1.11991567e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57526037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.51, Y:-112.00, Z:0.04 [[ 9.80764336e-01 1.95195589e-01 0.00000000e+00 4.15514157e+02] [-1.95195589e-01 9.80764336e-01 0.00000000e+00 -1.11997043e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50727263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.05140051300003 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:415.54, Y:-112.00, Z:0.03 [[ 9.79482395e-01 2.01529744e-01 0.00000000e+00 4.15542220e+02] [-2.01529744e-01 9.79482395e-01 0.00000000e+00 -1.12001932e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24183719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.57, Y:-112.01, Z:0.03 [[ 9.79159550e-01 2.03092529e-01 0.00000000e+00 4.15569432e+02] [-2.03092529e-01 9.79159550e-01 0.00000000e+00 -1.12008127e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32452142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.111400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:415.60, Y:-112.01, Z:0.03 [[ 9.79011991e-01 2.03802652e-01 0.00000000e+00 4.15596309e+02] [-2.03802652e-01 9.79011991e-01 0.00000000e+00 -1.12014300e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19163843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.62, Y:-112.02, Z:0.03 [[ 9.78827701e-01 2.04685932e-01 0.00000000e+00 4.15622971e+02] [-2.04685932e-01 9.78827701e-01 0.00000000e+00 -1.12021515e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33706504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.65, Y:-112.03, Z:0.03 [[ 9.78269638e-01 2.07336721e-01 0.00000000e+00 4.15649428e+02] [-2.07336721e-01 9.78269638e-01 0.00000000e+00 -1.12028657e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44317546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.68, Y:-112.03, Z:0.03 [[ 9.77803703e-01 2.09523076e-01 0.00000000e+00 4.15676506e+02] [-2.09523076e-01 9.77803703e-01 0.00000000e+00 -1.12034450e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48588458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.70, Y:-112.04, Z:0.04 [[ 9.77115912e-01 2.12707532e-01 0.00000000e+00 4.15703363e+02] [-2.12707532e-01 9.77115912e-01 0.00000000e+00 -1.12039925e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57206328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.73, Y:-112.05, Z:0.04 [[ 9.76333457e-01 2.16270617e-01 0.00000000e+00 4.15730454e+02] [-2.16270617e-01 9.76333457e-01 0.00000000e+00 -1.12046267e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70983798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.76, Y:-112.05, Z:0.04 [[ 9.74832927e-01 2.22936680e-01 0.00000000e+00 4.15757213e+02] [-2.22936680e-01 9.74832927e-01 0.00000000e+00 -1.12053503e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04415839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.78, Y:-112.06, Z:0.04 [[ 9.74317908e-01 2.25176850e-01 0.00000000e+00 4.15784592e+02] [-2.25176850e-01 9.74317908e-01 0.00000000e+00 -1.12059735e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06134095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.81, Y:-112.07, Z:0.04 [[ 9.74359260e-01 2.24997849e-01 0.00000000e+00 4.15812193e+02] [-2.24997849e-01 9.74359260e-01 0.00000000e+00 -1.12066588e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06134095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.381400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:415.84, Y:-112.07, Z:0.04 [[ 9.73930680e-01 2.26845831e-01 0.00000000e+00 4.15839509e+02] [-2.26845831e-01 9.73930680e-01 0.00000000e+00 -1.12072710e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81393742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.411400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:415.87, Y:-112.08, Z:0.04 [[ 9.73501232e-01 2.28681767e-01 0.00000000e+00 4.15865407e+02] [-2.28681767e-01 9.73501232e-01 0.00000000e+00 -1.12078780e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63594073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.89, Y:-112.09, Z:0.03 [[ 9.72781161e-01 2.31725726e-01 0.00000000e+00 4.15892744e+02] [-2.31725726e-01 9.72781161e-01 0.00000000e+00 -1.12085915e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49471704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.92, Y:-112.09, Z:0.04 [[ 9.72413289e-01 2.33264645e-01 0.00000000e+00 4.15919237e+02] [-2.33264645e-01 9.72413289e-01 0.00000000e+00 -1.12092152e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51406603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.95, Y:-112.10, Z:0.04 [[ 9.72084306e-01 2.34631844e-01 0.00000000e+00 4.15946611e+02] [-2.34631844e-01 9.72084306e-01 0.00000000e+00 -1.12098671e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58378857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.97, Y:-112.11, Z:0.04 [[ 9.71688286e-01 2.36266533e-01 0.00000000e+00 4.15972488e+02] [-2.36266533e-01 9.71688286e-01 0.00000000e+00 -1.12105639e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64941255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.00, Y:-112.11, Z:0.04 [[ 9.71240709e-01 2.38099738e-01 0.00000000e+00 4.15999732e+02] [-2.38099738e-01 9.71240709e-01 0.00000000e+00 -1.12113483e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59063028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.591400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:416.03, Y:-112.12, Z:0.03 [[ 9.69988948e-01 2.43149009e-01 0.00000000e+00 4.16026010e+02] [-2.43149009e-01 9.69988948e-01 0.00000000e+00 -1.12121101e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23586703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.05, Y:-112.13, Z:0.03 [[ 9.69364009e-01 2.45628617e-01 0.00000000e+00 4.16052628e+02] [-2.45628617e-01 9.69364009e-01 0.00000000e+00 -1.12127812e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28528063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.651400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:416.08, Y:-112.13, Z:0.03 [[ 9.68734867e-01 2.48098280e-01 0.00000000e+00 4.16079607e+02] [-2.48098280e-01 9.68734867e-01 0.00000000e+00 -1.12134614e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25707042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.681400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:416.11, Y:-112.14, Z:0.03 [[ 9.68259489e-01 2.49947116e-01 0.00000000e+00 4.16106484e+02] [-2.49947116e-01 9.68259489e-01 0.00000000e+00 -1.12141735e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23496378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.13, Y:-112.15, Z:0.03 [[ 9.67670791e-01 2.52216654e-01 0.00000000e+00 4.16133343e+02] [-2.52216654e-01 9.67670791e-01 0.00000000e+00 -1.12151336e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22435772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.16, Y:-112.16, Z:0.03 [[ 9.67671771e-01 2.52212894e-01 0.00000000e+00 4.16158536e+02] [-2.52212894e-01 9.67671771e-01 0.00000000e+00 -1.12160478e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07575850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.18, Y:-112.17, Z:0.03 [[ 9.67933009e-01 2.51208459e-01 0.00000000e+00 4.16184776e+02] [-2.51208459e-01 9.67933009e-01 0.00000000e+00 -1.12170409e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96552801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.80140051300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:416.21, Y:-112.18, Z:0.03 [[ 9.68823195e-01 2.47753138e-01 0.00000000e+00 4.16208843e+02] [-2.47753138e-01 9.68823195e-01 0.00000000e+00 -1.12183983e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70122268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.24, Y:-112.19, Z:0.03 [[ 9.69372539e-01 2.45594951e-01 0.00000000e+00 4.16235387e+02] [-2.45594951e-01 9.69372539e-01 0.00000000e+00 -1.12194475e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85996095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.26, Y:-112.21, Z:0.03 [[ 9.69786226e-01 2.43956301e-01 0.00000000e+00 4.16261053e+02] [-2.43956301e-01 9.69786226e-01 0.00000000e+00 -1.12205093e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92026907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.29, Y:-112.22, Z:0.03 [[ 9.70009416e-01 2.43067341e-01 0.00000000e+00 4.16286186e+02] [-2.43067341e-01 9.70009416e-01 0.00000000e+00 -1.12215823e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96980393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.921400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:416.31, Y:-112.23, Z:0.03 [[ 9.70014227e-01 2.43048141e-01 0.00000000e+00 4.16312564e+02] [-2.43048141e-01 9.70014227e-01 0.00000000e+00 -1.12226557e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97834720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.951400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:416.34, Y:-112.24, Z:0.03 [[ 9.69657968e-01 2.44465591e-01 0.00000000e+00 4.16338002e+02] [-2.44465591e-01 9.69657968e-01 0.00000000e+00 -1.12237511e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99814971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.36, Y:-112.25, Z:0.03 [[ 9.68313168e-01 2.49739080e-01 0.00000000e+00 4.16362596e+02] [-2.49739080e-01 9.68313168e-01 0.00000000e+00 -1.12253288e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29981314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.011400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:416.39, Y:-112.26, Z:0.03 [[ 9.67547231e-01 2.52690237e-01 0.00000000e+00 4.16388194e+02] [-2.52690237e-01 9.67547231e-01 0.00000000e+00 -1.12264539e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34484775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.41, Y:-112.27, Z:0.04 [[ 9.66822665e-01 2.55448497e-01 0.00000000e+00 4.16412950e+02] [-2.55448497e-01 9.66822665e-01 0.00000000e+00 -1.12274769e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51449571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.071400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:416.44, Y:-112.29, Z:0.03 [[ 9.66262821e-01 2.57558072e-01 0.00000000e+00 4.16439554e+02] [-2.57558072e-01 9.66262821e-01 0.00000000e+00 -1.12285070e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40136053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.47, Y:-112.30, Z:0.03 [[ 9.65364230e-01 2.60905927e-01 0.00000000e+00 4.16465037e+02] [-2.60905927e-01 9.65364230e-01 0.00000000e+00 -1.12299547e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36223337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.131400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:416.49, Y:-112.31, Z:0.03 [[ 9.65145066e-01 2.61715496e-01 0.00000000e+00 4.16490290e+02] [-2.61715496e-01 9.65145066e-01 0.00000000e+00 -1.12310379e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29655730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.52, Y:-112.32, Z:0.04 [[ 9.65208669e-01 2.61480831e-01 0.00000000e+00 4.16515150e+02] [-2.61480831e-01 9.65208669e-01 0.00000000e+00 -1.12320440e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51444168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.54, Y:-112.33, Z:0.04 [[ 9.65438456e-01 2.60631134e-01 0.00000000e+00 4.16541485e+02] [-2.60631134e-01 9.65438456e-01 0.00000000e+00 -1.12330413e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65607792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.57, Y:-112.34, Z:0.04 [[ 9.65953544e-01 2.58715580e-01 0.00000000e+00 4.16565859e+02] [-2.58715580e-01 9.65953544e-01 0.00000000e+00 -1.12344113e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67319945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.251400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:416.59, Y:-112.36, Z:0.03 [[ 9.66286890e-01 2.57467757e-01 0.00000000e+00 4.16592007e+02] [-2.57467757e-01 9.66286890e-01 0.00000000e+00 -1.12355730e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40534823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.281400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:416.62, Y:-112.37, Z:0.03 [[ 9.66733499e-01 2.55785734e-01 0.00000000e+00 4.16617512e+02] [-2.55785734e-01 9.66733499e-01 0.00000000e+00 -1.12367609e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18407035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.311400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:416.64, Y:-112.38, Z:0.03 [[ 9.67034417e-01 2.54645707e-01 0.00000000e+00 4.16642442e+02] [-2.54645707e-01 9.67034417e-01 0.00000000e+00 -1.12379648e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04492831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.67, Y:-112.39, Z:0.03 [[ 9.67369320e-01 2.53370479e-01 0.00000000e+00 4.16668750e+02] [-2.53370479e-01 9.67369320e-01 0.00000000e+00 -1.12391615e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09656046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.69, Y:-112.41, Z:0.03 [[ 9.67348046e-01 2.53451688e-01 0.00000000e+00 4.16692098e+02] [-2.53451688e-01 9.67348046e-01 0.00000000e+00 -1.12408718e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22082863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.401400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:416.72, Y:-112.42, Z:0.03 [[ 9.66995065e-01 2.54795102e-01 0.00000000e+00 4.16718269e+02] [-2.54795102e-01 9.66995065e-01 0.00000000e+00 -1.12420155e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17814019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.74, Y:-112.43, Z:0.03 [[ 9.66362941e-01 2.57182164e-01 0.00000000e+00 4.16744122e+02] [-2.57182164e-01 9.66362941e-01 0.00000000e+00 -1.12430612e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12532636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.77, Y:-112.44, Z:0.03 [[ 9.65518233e-01 2.60335442e-01 0.00000000e+00 4.16769225e+02] [-2.60335442e-01 9.65518233e-01 0.00000000e+00 -1.12440678e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03266628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.79, Y:-112.45, Z:0.03 [[ 9.63681842e-01 2.67053004e-01 0.00000000e+00 4.16794250e+02] [-2.67053004e-01 9.63681842e-01 0.00000000e+00 -1.12454980e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92784293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.521400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:416.82, Y:-112.47, Z:0.03 [[ 9.62829712e-01 2.70109137e-01 0.00000000e+00 4.16819716e+02] [-2.70109137e-01 9.62829712e-01 0.00000000e+00 -1.12465427e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80397980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.85, Y:-112.48, Z:0.03 [[ 9.62077543e-01 2.72776101e-01 0.00000000e+00 4.16845068e+02] [-2.72776101e-01 9.62077543e-01 0.00000000e+00 -1.12475684e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79695058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.581400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:416.87, Y:-112.49, Z:0.03 [[ 9.61209096e-01 2.75820727e-01 0.00000000e+00 4.16870274e+02] [-2.75820727e-01 9.61209096e-01 0.00000000e+00 -1.12489297e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86754824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.611400513 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:416.90, Y:-112.50, Z:0.03 [[ 9.60940967e-01 2.76753426e-01 0.00000000e+00 4.16896362e+02] [-2.76753426e-01 9.60940967e-01 0.00000000e+00 -1.12498944e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92188417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.92, Y:-112.51, Z:0.03 [[ 9.60814036e-01 2.77193774e-01 0.00000000e+00 4.16921476e+02] [-2.77193774e-01 9.60814036e-01 0.00000000e+00 -1.12508164e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07235272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.671400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:416.95, Y:-112.52, Z:0.03 [[ 9.60936212e-01 2.76769934e-01 0.00000000e+00 4.16946883e+02] [-2.76769934e-01 9.60936212e-01 0.00000000e+00 -1.12517779e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02351144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.97, Y:-112.53, Z:0.03 [[ 9.61556390e-01 2.74607556e-01 0.00000000e+00 4.16971930e+02] [-2.74607556e-01 9.61556390e-01 0.00000000e+00 -1.12532955e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00511726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.00, Y:-112.54, Z:0.03 [[ 9.61980501e-01 2.73118134e-01 0.00000000e+00 4.16997950e+02] [-2.73118134e-01 9.61980501e-01 0.00000000e+00 -1.12543983e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96628668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.761400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:417.02, Y:-112.55, Z:0.03 [[ 9.62341211e-01 2.71844430e-01 0.00000000e+00 4.17023374e+02] [-2.71844430e-01 9.62341211e-01 0.00000000e+00 -1.12554317e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84718921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.791400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:417.05, Y:-112.56, Z:0.03 [[ 9.62687307e-01 2.70616241e-01 0.00000000e+00 4.17049356e+02] [-2.70616241e-01 9.62687307e-01 0.00000000e+00 -1.12564391e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78482924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.821400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:417.07, Y:-112.57, Z:0.03 [[ 9.62861671e-01 2.69995188e-01 0.00000000e+00 4.17074234e+02] [-2.69995188e-01 9.62861671e-01 0.00000000e+00 -1.12574342e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65604604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.10, Y:-112.59, Z:0.03 [[ 9.63130383e-01 2.69035064e-01 0.00000000e+00 4.17098257e+02] [-2.69035064e-01 9.63130383e-01 0.00000000e+00 -1.12587666e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74225420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.881400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:417.13, Y:-112.60, Z:0.03 [[ 9.63225368e-01 2.68694791e-01 0.00000000e+00 4.17125063e+02] [-2.68694791e-01 9.63225368e-01 0.00000000e+00 -1.12597056e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78455236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.15, Y:-112.61, Z:0.03 [[ 9.63109357e-01 2.69110323e-01 0.00000000e+00 4.17151216e+02] [-2.69110323e-01 9.63109357e-01 0.00000000e+00 -1.12606147e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92446805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.18, Y:-112.62, Z:0.03 [[ 9.62947566e-01 2.69688683e-01 0.00000000e+00 4.17178077e+02] [-2.69688683e-01 9.62947566e-01 0.00000000e+00 -1.12615769e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89974436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.20, Y:-112.63, Z:0.03 [[ 9.62772153e-01 2.70314227e-01 0.00000000e+00 4.17204058e+02] [-2.70314227e-01 9.62772153e-01 0.00000000e+00 -1.12628618e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92888750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.001400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:417.23, Y:-112.64, Z:0.03 [[ 9.62949365e-01 2.69682257e-01 0.00000000e+00 4.17230828e+02] [-2.69682257e-01 9.62949365e-01 0.00000000e+00 -1.12638114e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87388727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.26, Y:-112.65, Z:0.03 [[ 9.63234532e-01 2.68661939e-01 0.00000000e+00 4.17255988e+02] [-2.68661939e-01 9.63234532e-01 0.00000000e+00 -1.12647053e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81963633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.061400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:417.28, Y:-112.66, Z:0.03 [[ 9.64222100e-01 2.65095722e-01 0.00000000e+00 4.17280532e+02] [-2.65095722e-01 9.64222100e-01 0.00000000e+00 -1.12659538e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53094774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.091400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:417.31, Y:-112.67, Z:0.03 [[ 9.64912023e-01 2.62573393e-01 0.00000000e+00 4.17306650e+02] [-2.62573393e-01 9.64912023e-01 0.00000000e+00 -1.12669198e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51645158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.33, Y:-112.68, Z:0.03 [[ 9.65565161e-01 2.60161336e-01 0.00000000e+00 4.17332705e+02] [-2.60161336e-01 9.65565161e-01 0.00000000e+00 -1.12678821e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65108221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.151400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:417.36, Y:-112.69, Z:0.03 [[ 9.66093284e-01 2.58193274e-01 0.00000000e+00 4.17357827e+02] [-2.58193274e-01 9.66093284e-01 0.00000000e+00 -1.12688298e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66352016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.181400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:417.38, Y:-112.70, Z:0.03 [[ 9.66890101e-01 2.55193127e-01 0.00000000e+00 4.17383705e+02] [-2.55193127e-01 9.66890101e-01 0.00000000e+00 -1.12701200e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95989073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.211400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:417.41, Y:-112.71, Z:0.03 [[ 9.67226519e-01 2.53915067e-01 0.00000000e+00 4.17409056e+02] [-2.53915067e-01 9.67226519e-01 0.00000000e+00 -1.12711003e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99121135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.24140051300003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:417.43, Y:-112.72, Z:0.03 [[ 9.67511891e-01 2.52825516e-01 0.00000000e+00 4.17434861e+02] [-2.52825516e-01 9.67511891e-01 0.00000000e+00 -1.12720392e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95464920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.271400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:417.46, Y:-112.73, Z:0.03 [[ 9.67529933e-01 2.52756461e-01 0.00000000e+00 4.17462577e+02] [-2.52756461e-01 9.67529933e-01 0.00000000e+00 -1.12727010e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95464920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.49, Y:-112.74, Z:0.03 [[ 9.67687350e-01 2.52153114e-01 0.00000000e+00 4.17488041e+02] [-2.52153114e-01 9.67687350e-01 0.00000000e+00 -1.12735796e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92057174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.331400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:417.51, Y:-112.75, Z:0.03 [[ 9.67884903e-01 2.51393743e-01 0.00000000e+00 4.17514271e+02] [-2.51393743e-01 9.67884903e-01 0.00000000e+00 -1.12747681e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93565773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.361400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:417.54, Y:-112.76, Z:0.03 [[ 9.67933749e-01 2.51205608e-01 0.00000000e+00 4.17540983e+02] [-2.51205608e-01 9.67933749e-01 0.00000000e+00 -1.12755866e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06423268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.391400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:417.57, Y:-112.76, Z:0.03 [[ 9.68030957e-01 2.50830751e-01 0.00000000e+00 4.17567256e+02] [-2.50830751e-01 9.68030957e-01 0.00000000e+00 -1.12762821e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20598159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.421400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:417.59, Y:-112.77, Z:0.03 [[ 9.68213966e-01 2.50123402e-01 0.00000000e+00 4.17593710e+02] [-2.50123402e-01 9.68213966e-01 0.00000000e+00 -1.12769027e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19893848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.451400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:417.62, Y:-112.78, Z:0.03 [[ 9.68449062e-01 2.49211587e-01 0.00000000e+00 4.17620472e+02] [-2.49211587e-01 9.68449062e-01 0.00000000e+00 -1.12775796e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15280037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.481400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:417.65, Y:-112.78, Z:0.03 [[ 9.69324481e-01 2.45784563e-01 0.00000000e+00 4.17646593e+02] [-2.45784563e-01 9.69324481e-01 0.00000000e+00 -1.12784645e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27253628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.511400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:417.67, Y:-112.79, Z:0.03 [[ 9.70035494e-01 2.42963249e-01 0.00000000e+00 4.17672719e+02] [-2.42963249e-01 9.70035494e-01 0.00000000e+00 -1.12791552e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44653125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.541400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:417.70, Y:-112.80, Z:0.03 [[ 9.70835368e-01 2.39747134e-01 0.00000000e+00 4.17700068e+02] [-2.39747134e-01 9.70835368e-01 0.00000000e+00 -1.12797376e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39731143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.571400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:417.73, Y:-112.80, Z:0.03 [[ 9.71785375e-01 2.35866878e-01 0.00000000e+00 4.17727081e+02] [-2.35866878e-01 9.71785375e-01 0.00000000e+00 -1.12802897e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18495252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.75, Y:-112.81, Z:0.03 [[ 9.73639403e-01 2.28092771e-01 0.00000000e+00 4.17753324e+02] [-2.28092771e-01 9.73639403e-01 0.00000000e+00 -1.12811449e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88012833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.631400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:417.78, Y:-112.82, Z:0.03 [[ 9.74616378e-01 2.23881475e-01 0.00000000e+00 4.17779292e+02] [-2.23881475e-01 9.74616378e-01 0.00000000e+00 -1.12819136e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77461781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.81, Y:-112.83, Z:0.03 [[ 9.75477699e-01 2.20098295e-01 0.00000000e+00 4.17806203e+02] [-2.20098295e-01 9.75477699e-01 0.00000000e+00 -1.12825730e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72799580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.691400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:417.83, Y:-112.83, Z:0.03 [[ 9.76379493e-01 2.16062688e-01 0.00000000e+00 4.17833655e+02] [-2.16062688e-01 9.76379493e-01 0.00000000e+00 -1.12831408e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52837342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.721400513 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:417.86, Y:-112.84, Z:0.03 [[ 9.77911650e-01 2.09018670e-01 0.00000000e+00 4.17860450e+02] [-2.09018670e-01 9.77911650e-01 0.00000000e+00 -1.12837737e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58029646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.89, Y:-112.84, Z:0.03 [[ 9.78432219e-01 2.06568130e-01 0.00000000e+00 4.17887449e+02] [-2.06568130e-01 9.78432219e-01 0.00000000e+00 -1.12844671e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82256051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.781400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:417.91, Y:-112.85, Z:0.03 [[ 9.78937820e-01 2.04158626e-01 0.00000000e+00 4.17914508e+02] [-2.04158626e-01 9.78937820e-01 0.00000000e+00 -1.12850347e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90669534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.94, Y:-112.86, Z:0.03 [[ 9.79215705e-01 2.02821605e-01 0.00000000e+00 4.17942425e+02] [-2.02821605e-01 9.79215705e-01 0.00000000e+00 -1.12855432e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83914820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.97, Y:-112.86, Z:0.03 [[ 9.79424706e-01 2.01809923e-01 0.00000000e+00 4.17970162e+02] [-2.01809923e-01 9.79424706e-01 0.00000000e+00 -1.12860277e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54974755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.871400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:418.00, Y:-112.87, Z:0.02 [[ 9.79813091e-01 1.99915748e-01 0.00000000e+00 4.17998078e+02] [-1.99915748e-01 9.79813091e-01 0.00000000e+00 -1.12865700e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07373361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.02, Y:-112.87, Z:0.02 [[ 9.79899820e-01 1.99490209e-01 0.00000000e+00 4.18024952e+02] [-1.99490209e-01 9.79899820e-01 0.00000000e+00 -1.12872312e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07321997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.05, Y:-112.88, Z:0.02 [[ 9.80030239e-01 1.98848511e-01 0.00000000e+00 4.18051253e+02] [-1.98848511e-01 9.80030239e-01 0.00000000e+00 -1.12877797e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06262561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.08, Y:-112.88, Z:0.02 [[ 9.80065165e-01 1.98676302e-01 0.00000000e+00 4.18078381e+02] [-1.98676302e-01 9.80065165e-01 0.00000000e+00 -1.12882857e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03927990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.11, Y:-112.89, Z:0.02 [[ 9.79917079e-01 1.99405411e-01 0.00000000e+00 4.18105477e+02] [-1.99405411e-01 9.79917079e-01 0.00000000e+00 -1.12887387e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13320463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.13, Y:-112.89, Z:0.02 [[ 9.79894659e-01 1.99515554e-01 0.00000000e+00 4.18133831e+02] [-1.99515554e-01 9.79894659e-01 0.00000000e+00 -1.12893587e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49171634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.05140051300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:418.16, Y:-112.90, Z:0.03 [[ 9.79966786e-01 1.99160985e-01 0.00000000e+00 4.18161758e+02] [-1.99160985e-01 9.79966786e-01 0.00000000e+00 -1.12899097e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84004334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.19, Y:-112.90, Z:0.03 [[ 9.80066204e-01 1.98671175e-01 0.00000000e+00 4.18190152e+02] [-1.98671175e-01 9.80066204e-01 0.00000000e+00 -1.12903087e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20924706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.111400513 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:418.22, Y:-112.91, Z:0.03 [[ 9.80167515e-01 1.98170741e-01 0.00000000e+00 4.18217427e+02] [-1.98170741e-01 9.80167515e-01 0.00000000e+00 -1.12909436e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03449079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.25, Y:-112.92, Z:0.03 [[ 9.80444645e-01 1.96795067e-01 0.00000000e+00 4.18245049e+02] [-1.96795067e-01 9.80444645e-01 0.00000000e+00 -1.12915691e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97265860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.171400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:418.27, Y:-112.92, Z:0.03 [[ 9.80736996e-01 1.95332906e-01 0.00000000e+00 4.18271919e+02] [-1.95332906e-01 9.80736996e-01 0.00000000e+00 -1.12922096e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92257478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.201400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:418.30, Y:-112.93, Z:0.03 [[ 9.81038990e-01 1.93810475e-01 0.00000000e+00 4.18298623e+02] [-1.93810475e-01 9.81038990e-01 0.00000000e+00 -1.12927611e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00435495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.231400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:418.33, Y:-112.93, Z:0.03 [[ 9.81608071e-01 1.90907296e-01 0.00000000e+00 4.18326107e+02] [-1.90907296e-01 9.81608071e-01 0.00000000e+00 -1.12932347e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01911276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.261400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:418.35, Y:-112.94, Z:0.03 [[ 9.81969148e-01 1.89041246e-01 0.00000000e+00 4.18352133e+02] [-1.89041246e-01 9.81969148e-01 0.00000000e+00 -1.12938512e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97655659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.291400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:418.38, Y:-112.95, Z:0.03 [[ 9.82382494e-01 1.86881343e-01 0.00000000e+00 4.18379165e+02] [-1.86881343e-01 9.82382494e-01 0.00000000e+00 -1.12945416e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97975555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.321400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:418.41, Y:-112.95, Z:0.03 [[ 9.82859869e-01 1.84354220e-01 0.00000000e+00 4.18406563e+02] [-1.84354220e-01 9.82859869e-01 0.00000000e+00 -1.12952373e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01876073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.43, Y:-112.96, Z:0.03 [[ 9.83237150e-01 1.82331308e-01 0.00000000e+00 4.18432531e+02] [-1.82331308e-01 9.83237150e-01 0.00000000e+00 -1.12958478e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10364144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.381400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:418.46, Y:-112.96, Z:0.03 [[ 9.83856107e-01 1.78961338e-01 0.00000000e+00 4.18458972e+02] [-1.78961338e-01 9.83856107e-01 0.00000000e+00 -1.12964535e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92062303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.49, Y:-112.97, Z:0.03 [[ 9.83915906e-01 1.78632278e-01 0.00000000e+00 4.18486252e+02] [-1.78632278e-01 9.83915906e-01 0.00000000e+00 -1.12971087e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92315686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.51, Y:-112.98, Z:0.03 [[ 9.83936098e-01 1.78521021e-01 0.00000000e+00 4.18513060e+02] [-1.78521021e-01 9.83936098e-01 0.00000000e+00 -1.12976799e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81531920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.471400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:418.54, Y:-112.98, Z:0.03 [[ 9.83985150e-01 1.78250457e-01 0.00000000e+00 4.18541292e+02] [-1.78250457e-01 9.83985150e-01 0.00000000e+00 -1.12982960e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67037906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.57, Y:-112.99, Z:0.03 [[ 9.84163530e-01 1.77262927e-01 0.00000000e+00 4.18568797e+02] [-1.77262927e-01 9.84163530e-01 0.00000000e+00 -1.12990860e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58550802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.59, Y:-113.00, Z:0.03 [[ 9.84449212e-01 1.75669429e-01 0.00000000e+00 4.18594738e+02] [-1.75669429e-01 9.84449212e-01 0.00000000e+00 -1.12998407e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54138636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.62, Y:-113.01, Z:0.03 [[ 9.84918148e-01 1.73020930e-01 0.00000000e+00 4.18622460e+02] [-1.73020930e-01 9.84918148e-01 0.00000000e+00 -1.13006247e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53225207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.65, Y:-113.01, Z:0.02 [[ 9.84966485e-01 1.72745548e-01 0.00000000e+00 4.18649806e+02] [-1.72745548e-01 9.84966485e-01 0.00000000e+00 -1.13012922e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41257710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.621400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:418.68, Y:-113.02, Z:0.02 [[ 9.84910501e-01 1.73064452e-01 0.00000000e+00 4.18675869e+02] [-1.73064452e-01 9.84910501e-01 0.00000000e+00 -1.13018922e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29217018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.651400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:418.70, Y:-113.02, Z:0.03 [[ 9.84656450e-01 1.74504086e-01 0.00000000e+00 4.18704373e+02] [-1.74504086e-01 9.84656450e-01 0.00000000e+00 -1.13024867e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50826730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.73, Y:-113.03, Z:0.03 [[ 9.84184019e-01 1.77149138e-01 0.00000000e+00 4.18731533e+02] [-1.77149138e-01 9.84184019e-01 0.00000000e+00 -1.13029931e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52225483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.76, Y:-113.03, Z:0.03 [[ 9.83173452e-01 1.82674474e-01 0.00000000e+00 4.18759649e+02] [-1.82674474e-01 9.83173452e-01 0.00000000e+00 -1.13032990e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60446936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.74140051300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:418.79, Y:-113.04, Z:0.03 [[ 9.82745411e-01 1.84963392e-01 0.00000000e+00 4.18787565e+02] [-1.84963392e-01 9.82745411e-01 0.00000000e+00 -1.13038004e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54447221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.81, Y:-113.04, Z:0.03 [[ 9.82326304e-01 1.87176476e-01 0.00000000e+00 4.18814478e+02] [-1.87176476e-01 9.82326304e-01 0.00000000e+00 -1.13043215e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67874063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.84, Y:-113.05, Z:0.03 [[ 9.82100326e-01 1.88358564e-01 0.00000000e+00 4.18842767e+02] [-1.88358564e-01 9.82100326e-01 0.00000000e+00 -1.13048233e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82088077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.87, Y:-113.05, Z:0.03 [[ 9.82007239e-01 1.88843277e-01 0.00000000e+00 4.18870198e+02] [-1.88843277e-01 9.82007239e-01 0.00000000e+00 -1.13051163e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69072351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.90, Y:-113.06, Z:0.03 [[ 9.82220210e-01 1.87732415e-01 0.00000000e+00 4.18898732e+02] [-1.87732415e-01 9.82220210e-01 0.00000000e+00 -1.13056367e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54192330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.93, Y:-113.06, Z:0.03 [[ 9.82556434e-01 1.85964660e-01 0.00000000e+00 4.18926188e+02] [-1.85964660e-01 9.82556434e-01 0.00000000e+00 -1.13062207e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55395320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.95, Y:-113.07, Z:0.03 [[ 9.82972243e-01 1.83754099e-01 0.00000000e+00 4.18952350e+02] [-1.83754099e-01 9.82972243e-01 0.00000000e+00 -1.13068084e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55138028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.951400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:418.98, Y:-113.07, Z:0.03 [[ 9.83357660e-01 1.81680248e-01 0.00000000e+00 4.18979779e+02] [-1.81680248e-01 9.83357660e-01 0.00000000e+00 -1.13074028e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58559289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.981400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:419.01, Y:-113.08, Z:0.03 [[ 9.83755702e-01 1.79512449e-01 0.00000000e+00 4.19007335e+02] [-1.79512449e-01 9.83755702e-01 0.00000000e+00 -1.13077397e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61242979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.011400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:419.03, Y:-113.08, Z:0.03 [[ 9.83882422e-01 1.78816606e-01 0.00000000e+00 4.19034757e+02] [-1.78816606e-01 9.83882422e-01 0.00000000e+00 -1.13081929e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61670494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.041400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:419.06, Y:-113.09, Z:0.03 [[ 9.83988203e-01 1.78233600e-01 0.00000000e+00 4.19062587e+02] [-1.78233600e-01 9.83988203e-01 0.00000000e+00 -1.13086169e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63511658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.071400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:419.09, Y:-113.09, Z:0.03 [[ 9.84170092e-01 1.77226491e-01 0.00000000e+00 4.19090452e+02] [-1.77226491e-01 9.84170092e-01 0.00000000e+00 -1.13088443e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62968068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.101400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:419.12, Y:-113.09, Z:0.03 [[ 9.84358892e-01 1.76174831e-01 0.00000000e+00 4.19118057e+02] [-1.76174831e-01 9.84358892e-01 0.00000000e+00 -1.13093190e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65542574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.131400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:419.14, Y:-113.10, Z:0.03 [[ 9.84598140e-01 1.74832788e-01 0.00000000e+00 4.19144269e+02] [-1.74832788e-01 9.84598140e-01 0.00000000e+00 -1.13097760e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58298141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.161400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:419.17, Y:-113.10, Z:0.03 [[ 9.84610167e-01 1.74765038e-01 0.00000000e+00 4.19172012e+02] [-1.74765038e-01 9.84610167e-01 0.00000000e+00 -1.13104254e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58298141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.191400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:419.20, Y:-113.11, Z:0.03 [[ 9.84898572e-01 1.73132325e-01 0.00000000e+00 4.19198712e+02] [-1.73132325e-01 9.84898572e-01 0.00000000e+00 -1.13108538e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51643575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.221400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:419.23, Y:-113.11, Z:0.03 [[ 9.85344359e-01 1.70576946e-01 0.00000000e+00 4.19226673e+02] [-1.70576946e-01 9.85344359e-01 0.00000000e+00 -1.13110838e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52732474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.25, Y:-113.12, Z:0.03 [[ 9.85478408e-01 1.69800785e-01 0.00000000e+00 4.19254387e+02] [-1.69800785e-01 9.85478408e-01 0.00000000e+00 -1.13115146e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57798760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.281400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:419.28, Y:-113.12, Z:0.02 [[ 9.85710964e-01 1.68445528e-01 0.00000000e+00 4.19281344e+02] [-1.68445528e-01 9.85710964e-01 0.00000000e+00 -1.13119280e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42155181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.311400513 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:419.31, Y:-113.12, Z:0.02 [[ 9.85897755e-01 1.67348785e-01 0.00000000e+00 4.19309660e+02] [-1.67348785e-01 9.85897755e-01 0.00000000e+00 -1.13124402e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33862914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.341400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:419.34, Y:-113.13, Z:0.02 [[ 9.86028379e-01 1.66577417e-01 0.00000000e+00 4.19337678e+02] [-1.66577417e-01 9.86028379e-01 0.00000000e+00 -1.13130153e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31183275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.371400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:419.36, Y:-113.14, Z:0.02 [[ 9.86243787e-01 1.65297285e-01 0.00000000e+00 4.19364580e+02] [-1.65297285e-01 9.86243787e-01 0.00000000e+00 -1.13135752e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20457914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.401400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:419.39, Y:-113.14, Z:0.02 [[ 9.86384697e-01 1.64454341e-01 0.00000000e+00 4.19392380e+02] [-1.64454341e-01 9.86384697e-01 0.00000000e+00 -1.13141244e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20093891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.431400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:419.42, Y:-113.15, Z:0.02 [[ 9.86501272e-01 1.63753596e-01 0.00000000e+00 4.19421010e+02] [-1.63753596e-01 9.86501272e-01 0.00000000e+00 -1.13146553e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07792863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.45, Y:-113.15, Z:0.02 [[ 9.86492470e-01 1.63806614e-01 0.00000000e+00 4.19449531e+02] [-1.63806614e-01 9.86492470e-01 0.00000000e+00 -1.13152835e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94852062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.48, Y:-113.16, Z:0.02 [[ 9.86340457e-01 1.64719467e-01 0.00000000e+00 4.19477603e+02] [-1.64719467e-01 9.86340457e-01 0.00000000e+00 -1.13159810e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70842533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.521400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:419.51, Y:-113.17, Z:0.02 [[ 9.86261749e-01 1.65190082e-01 0.00000000e+00 4.19505347e+02] [-1.65190082e-01 9.86261749e-01 0.00000000e+00 -1.13165170e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75438257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.55140051300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:419.53, Y:-113.17, Z:0.02 [[ 9.86076158e-01 1.66294346e-01 0.00000000e+00 4.19533830e+02] [-1.66294346e-01 9.86076158e-01 0.00000000e+00 -1.13169964e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00719407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.581400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:419.56, Y:-113.17, Z:0.02 [[ 9.85844309e-01 1.67663347e-01 0.00000000e+00 4.19561347e+02] [-1.67663347e-01 9.85844309e-01 0.00000000e+00 -1.13174539e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12571094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.611400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:419.59, Y:-113.18, Z:0.02 [[ 9.85327637e-01 1.70673514e-01 0.00000000e+00 4.19589779e+02] [-1.70673514e-01 9.85327637e-01 0.00000000e+00 -1.13178845e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22426592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.641400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:419.62, Y:-113.18, Z:0.02 [[ 9.85200605e-01 1.71405272e-01 0.00000000e+00 4.19616642e+02] [-1.71405272e-01 9.85200605e-01 0.00000000e+00 -1.13183139e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20708126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.671400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:419.64, Y:-113.19, Z:0.02 [[ 9.85212146e-01 1.71338926e-01 0.00000000e+00 4.19644075e+02] [-1.71338926e-01 9.85212146e-01 0.00000000e+00 -1.13186711e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27302113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.701400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:419.67, Y:-113.19, Z:0.02 [[ 9.85656597e-01 1.68763366e-01 0.00000000e+00 4.19671444e+02] [-1.68763366e-01 9.85656597e-01 0.00000000e+00 -1.13188827e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31284303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.731400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:419.70, Y:-113.20, Z:0.02 [[ 9.86054231e-01 1.66424316e-01 0.00000000e+00 4.19698361e+02] [-1.66424316e-01 9.86054231e-01 0.00000000e+00 -1.13195118e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33755331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.761400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:419.73, Y:-113.20, Z:0.02 [[ 9.86502925e-01 1.63743639e-01 0.00000000e+00 4.19725934e+02] [-1.63743639e-01 9.86502925e-01 0.00000000e+00 -1.13201890e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30419184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.75, Y:-113.21, Z:0.02 [[ 9.87017921e-01 1.60610161e-01 0.00000000e+00 4.19752762e+02] [-1.60610161e-01 9.87017921e-01 0.00000000e+00 -1.13208311e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30442846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.78, Y:-113.21, Z:0.02 [[ 9.88001258e-01 1.54445827e-01 0.00000000e+00 4.19779138e+02] [-1.54445827e-01 9.88001258e-01 0.00000000e+00 -1.13214472e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15318582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.851400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:419.81, Y:-113.22, Z:0.02 [[ 9.88362815e-01 1.52114911e-01 0.00000000e+00 4.19807473e+02] [-1.52114911e-01 9.88362815e-01 0.00000000e+00 -1.13221771e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05995370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.83, Y:-113.23, Z:0.02 [[ 9.88548064e-01 1.50906348e-01 0.00000000e+00 4.19833712e+02] [-1.50906348e-01 9.88548064e-01 0.00000000e+00 -1.13228882e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96709690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.911400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:419.86, Y:-113.24, Z:0.02 [[ 9.88710714e-01 1.49836991e-01 0.00000000e+00 4.19860379e+02] [-1.49836991e-01 9.88710714e-01 0.00000000e+00 -1.13236367e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02112381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.941400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:419.89, Y:-113.24, Z:0.02 [[ 9.88508385e-01 1.51166047e-01 0.00000000e+00 4.19887163e+02] [-1.51166047e-01 9.88508385e-01 0.00000000e+00 -1.13243214e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06526047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.971400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:419.91, Y:-113.25, Z:0.02 [[ 9.88200764e-01 1.53164126e-01 0.00000000e+00 4.19914778e+02] [-1.53164126e-01 9.88200764e-01 0.00000000e+00 -1.13248983e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11175742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.001400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:419.94, Y:-113.25, Z:0.02 [[ 9.87847917e-01 1.55423589e-01 0.00000000e+00 4.19942871e+02] [-1.55423589e-01 9.87847917e-01 0.00000000e+00 -1.13254887e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18334884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.97, Y:-113.26, Z:0.02 [[ 9.87395237e-01 1.58273961e-01 0.00000000e+00 4.19970061e+02] [-1.58273961e-01 9.87395237e-01 0.00000000e+00 -1.13260812e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22879739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.061400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:420.00, Y:-113.27, Z:0.02 [[ 9.86615313e-01 1.63065094e-01 0.00000000e+00 4.19996760e+02] [-1.63065094e-01 9.86615313e-01 0.00000000e+00 -1.13266780e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07999037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.091400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:420.02, Y:-113.27, Z:0.02 [[ 9.86355648e-01 1.64628477e-01 0.00000000e+00 4.20024532e+02] [-1.64628477e-01 9.86355648e-01 0.00000000e+00 -1.13272699e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97103258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.121400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:420.05, Y:-113.28, Z:0.02 [[ 9.86212002e-01 1.65486817e-01 0.00000000e+00 4.20051059e+02] [-1.65486817e-01 9.86212002e-01 0.00000000e+00 -1.13277791e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86858173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.08, Y:-113.28, Z:0.02 [[ 9.86084211e-01 1.66246591e-01 0.00000000e+00 4.20078586e+02] [-1.66246591e-01 9.86084211e-01 0.00000000e+00 -1.13282937e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01716003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.181400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:420.11, Y:-113.29, Z:0.02 [[ 9.85922274e-01 1.67204276e-01 0.00000000e+00 4.20105379e+02] [-1.67204276e-01 9.85922274e-01 0.00000000e+00 -1.13288595e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08698344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.211400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:420.13, Y:-113.29, Z:0.02 [[ 9.85907236e-01 1.67292922e-01 0.00000000e+00 4.20132851e+02] [-1.67292922e-01 9.85907236e-01 0.00000000e+00 -1.13294812e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16917969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.24140051300003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:420.16, Y:-113.30, Z:0.02 [[ 9.85914760e-01 1.67248573e-01 0.00000000e+00 4.20159017e+02] [-1.67248573e-01 9.85914760e-01 0.00000000e+00 -1.13300482e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10968561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.271400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:420.19, Y:-113.31, Z:0.02 [[ 9.85919357e-01 1.67221475e-01 0.00000000e+00 4.20186956e+02] [-1.67221475e-01 9.85919357e-01 0.00000000e+00 -1.13305811e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12970754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.30140051300003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:420.21, Y:-113.31, Z:0.02 [[ 9.85751854e-01 1.68206074e-01 0.00000000e+00 4.20214353e+02] [-1.68206074e-01 9.85751854e-01 0.00000000e+00 -1.13308795e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01147464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.331400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:420.24, Y:-113.31, Z:0.02 [[ 9.85648218e-01 1.68812291e-01 0.00000000e+00 4.20243018e+02] [-1.68812291e-01 9.85648218e-01 0.00000000e+00 -1.13313762e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04744770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.361400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:420.27, Y:-113.32, Z:0.02 [[ 9.85544082e-01 1.69419191e-01 0.00000000e+00 4.20270751e+02] [-1.69419191e-01 9.85544082e-01 0.00000000e+00 -1.13318580e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07280802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.391400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:420.30, Y:-113.32, Z:0.02 [[ 9.85240298e-01 1.71176971e-01 0.00000000e+00 4.20299812e+02] [-1.71176971e-01 9.85240298e-01 0.00000000e+00 -1.13321676e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28581083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.33, Y:-113.33, Z:0.02 [[ 9.84971846e-01 1.72714975e-01 0.00000000e+00 4.20326880e+02] [-1.72714975e-01 9.84971846e-01 0.00000000e+00 -1.13325541e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34801530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.451400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:420.36, Y:-113.33, Z:0.02 [[ 9.84733158e-01 1.74070695e-01 0.00000000e+00 4.20355233e+02] [-1.74070695e-01 9.84733158e-01 0.00000000e+00 -1.13329975e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18577198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.481400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:420.38, Y:-113.33, Z:0.02 [[ 9.84507904e-01 1.75340206e-01 0.00000000e+00 4.20383902e+02] [-1.75340206e-01 9.84507904e-01 0.00000000e+00 -1.13334338e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18095938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.511400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:420.41, Y:-113.34, Z:0.02 [[ 9.84079101e-01 1.77731040e-01 0.00000000e+00 4.20412518e+02] [-1.77731040e-01 9.84079101e-01 0.00000000e+00 -1.13336298e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20717055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.541400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:420.44, Y:-113.34, Z:0.02 [[ 9.83872914e-01 1.78868915e-01 0.00000000e+00 4.20439876e+02] [-1.78868915e-01 9.83872914e-01 0.00000000e+00 -1.13340319e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40326818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.571400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:420.47, Y:-113.34, Z:0.03 [[ 9.83615979e-01 1.80276473e-01 0.00000000e+00 4.20468070e+02] [-1.80276473e-01 9.83615979e-01 0.00000000e+00 -1.13344274e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70463510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.50, Y:-113.35, Z:0.03 [[ 9.83199050e-01 1.82536648e-01 0.00000000e+00 4.20496025e+02] [-1.82536648e-01 9.83199050e-01 0.00000000e+00 -1.13347837e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97969783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.52, Y:-113.35, Z:0.03 [[ 9.82258447e-01 1.87532245e-01 0.00000000e+00 4.20523851e+02] [-1.87532245e-01 9.82258447e-01 0.00000000e+00 -1.13345782e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90985685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.55, Y:-113.35, Z:0.03 [[ 9.81750460e-01 1.90173695e-01 0.00000000e+00 4.20552208e+02] [-1.90173695e-01 9.81750460e-01 0.00000000e+00 -1.13347511e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80195273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.58, Y:-113.35, Z:0.03 [[ 9.81272811e-01 1.92623129e-01 0.00000000e+00 4.20580473e+02] [-1.92623129e-01 9.81272811e-01 0.00000000e+00 -1.13349694e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78917704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.61, Y:-113.35, Z:0.03 [[ 9.80470603e-01 1.96665700e-01 0.00000000e+00 4.20608580e+02] [-1.96665700e-01 9.80470603e-01 0.00000000e+00 -1.13350076e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78944637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.64, Y:-113.35, Z:0.03 [[ 9.80320006e-01 1.97415011e-01 0.00000000e+00 4.20636506e+02] [-1.97415011e-01 9.80320006e-01 0.00000000e+00 -1.13353992e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69173709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.66, Y:-113.36, Z:0.03 [[ 9.80366539e-01 1.97183794e-01 0.00000000e+00 4.20664512e+02] [-1.97183794e-01 9.80366539e-01 0.00000000e+00 -1.13357827e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76274696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.69, Y:-113.36, Z:0.03 [[ 9.80510706e-01 1.96465659e-01 0.00000000e+00 4.20692445e+02] [-1.96465659e-01 9.80510706e-01 0.00000000e+00 -1.13362489e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86993975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.72, Y:-113.37, Z:0.03 [[ 9.80858810e-01 1.94720301e-01 0.00000000e+00 4.20720013e+02] [-1.94720301e-01 9.80858810e-01 0.00000000e+00 -1.13366667e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00817052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.75, Y:-113.37, Z:0.03 [[ 9.80859415e-01 1.94717252e-01 0.00000000e+00 4.20748030e+02] [-1.94717252e-01 9.80859415e-01 0.00000000e+00 -1.13371721e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96339391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.77, Y:-113.38, Z:0.03 [[ 9.80716625e-01 1.95435158e-01 0.00000000e+00 4.20774843e+02] [-1.95435158e-01 9.80716625e-01 0.00000000e+00 -1.13376065e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87583778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.80, Y:-113.38, Z:0.03 [[ 9.80461256e-01 1.96712291e-01 0.00000000e+00 4.20802337e+02] [-1.96712291e-01 9.80461256e-01 0.00000000e+00 -1.13380643e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85953014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.83, Y:-113.38, Z:0.03 [[ 9.79457507e-01 2.01650668e-01 0.00000000e+00 4.20829555e+02] [-2.01650668e-01 9.79457507e-01 0.00000000e+00 -1.13384046e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72562851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.86, Y:-113.39, Z:0.03 [[ 9.78793337e-01 2.04850197e-01 0.00000000e+00 4.20856580e+02] [-2.04850197e-01 9.78793337e-01 0.00000000e+00 -1.13389102e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61434095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.88, Y:-113.39, Z:0.02 [[ 9.78139148e-01 2.07951453e-01 0.00000000e+00 4.20883557e+02] [-2.07951453e-01 9.78139148e-01 0.00000000e+00 -1.13394236e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47939768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.91, Y:-113.40, Z:0.02 [[ 9.77550934e-01 2.10699245e-01 0.00000000e+00 4.20910263e+02] [-2.10699245e-01 9.77550934e-01 0.00000000e+00 -1.13398861e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43516317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.94, Y:-113.41, Z:0.02 [[ 9.77590587e-01 2.10515189e-01 0.00000000e+00 4.20938018e+02] [-2.10515189e-01 9.77590587e-01 0.00000000e+00 -1.13405156e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43516317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.111400513 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:420.97, Y:-113.41, Z:0.02 [[ 9.77269932e-01 2.11998774e-01 0.00000000e+00 4.20965563e+02] [-2.11998774e-01 9.77269932e-01 0.00000000e+00 -1.13409635e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46767260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.99, Y:-113.41, Z:0.03 [[ 9.76907248e-01 2.13663822e-01 0.00000000e+00 4.20992906e+02] [-2.13663822e-01 9.76907248e-01 0.00000000e+00 -1.13414757e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63875770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.02, Y:-113.42, Z:0.03 [[ 9.76945022e-01 2.13491040e-01 0.00000000e+00 4.21020267e+02] [-2.13491040e-01 9.76945022e-01 0.00000000e+00 -1.13421448e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62784497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.201400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:421.05, Y:-113.43, Z:0.02 [[ 9.76964898e-01 2.13400068e-01 0.00000000e+00 4.21046402e+02] [-2.13400068e-01 9.76964898e-01 0.00000000e+00 -1.13428415e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44992949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.07, Y:-113.44, Z:0.02 [[ 9.76902496e-01 2.13685546e-01 0.00000000e+00 4.21073675e+02] [-2.13685546e-01 9.76902496e-01 0.00000000e+00 -1.13435740e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44587778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.10, Y:-113.44, Z:0.03 [[ 9.76401128e-01 2.15964898e-01 0.00000000e+00 4.21100480e+02] [-2.15964898e-01 9.76401128e-01 0.00000000e+00 -1.13444157e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57962103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.13, Y:-113.45, Z:0.03 [[ 9.75886997e-01 2.18276362e-01 0.00000000e+00 4.21127496e+02] [-2.18276362e-01 9.75886997e-01 0.00000000e+00 -1.13451741e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79860761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.15, Y:-113.46, Z:0.03 [[ 9.75199537e-01 2.21327502e-01 0.00000000e+00 4.21154506e+02] [-2.21327502e-01 9.75199537e-01 0.00000000e+00 -1.13459119e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01107476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.18, Y:-113.47, Z:0.03 [[ 9.73476174e-01 2.28788413e-01 0.00000000e+00 4.21181003e+02] [-2.28788413e-01 9.73476174e-01 0.00000000e+00 -1.13467157e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09107029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.381400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:421.21, Y:-113.47, Z:0.03 [[ 9.72679930e-01 2.32150285e-01 0.00000000e+00 4.21207338e+02] [-2.32150285e-01 9.72679930e-01 0.00000000e+00 -1.13474530e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96329561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.23, Y:-113.48, Z:0.03 [[ 9.71878481e-01 2.35482947e-01 0.00000000e+00 4.21234516e+02] [-2.35482947e-01 9.71878481e-01 0.00000000e+00 -1.13483137e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03762899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.26, Y:-113.49, Z:0.03 [[ 9.71176977e-01 2.38359559e-01 0.00000000e+00 4.21261196e+02] [-2.38359559e-01 9.71176977e-01 0.00000000e+00 -1.13492196e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12038009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.29, Y:-113.50, Z:0.03 [[ 9.69874142e-01 2.43606545e-01 0.00000000e+00 4.21287055e+02] [-2.43606545e-01 9.69874142e-01 0.00000000e+00 -1.13504321e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17271374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.31, Y:-113.51, Z:0.03 [[ 9.69333276e-01 2.45749871e-01 0.00000000e+00 4.21312872e+02] [-2.45749871e-01 9.69333276e-01 0.00000000e+00 -1.13512942e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11056979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.531400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:421.34, Y:-113.52, Z:0.03 [[ 9.68831841e-01 2.47719323e-01 0.00000000e+00 4.21339706e+02] [-2.47719323e-01 9.68831841e-01 0.00000000e+00 -1.13521985e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24546149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.561400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:421.37, Y:-113.53, Z:0.03 [[ 9.68516663e-01 2.48948738e-01 0.00000000e+00 4.21366222e+02] [-2.48948738e-01 9.68516663e-01 0.00000000e+00 -1.13530655e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15329323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.591400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:421.39, Y:-113.54, Z:0.03 [[ 9.67836514e-01 2.51579971e-01 0.00000000e+00 4.21392518e+02] [-2.51579971e-01 9.67836514e-01 0.00000000e+00 -1.13541653e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20631668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.621400513 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:421.42, Y:-113.55, Z:0.03 [[ 9.67551748e-01 2.52672941e-01 0.00000000e+00 4.21419445e+02] [-2.52672941e-01 9.67551748e-01 0.00000000e+00 -1.13550287e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09034646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.45, Y:-113.56, Z:0.03 [[ 9.67177825e-01 2.54100484e-01 0.00000000e+00 4.21445243e+02] [-2.54100484e-01 9.67177825e-01 0.00000000e+00 -1.13559035e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95585771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.681400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:421.47, Y:-113.57, Z:0.03 [[ 9.66638428e-01 2.56144782e-01 0.00000000e+00 4.21471743e+02] [-2.56144782e-01 9.66638428e-01 0.00000000e+00 -1.13570105e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52237121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.711400513 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:421.50, Y:-113.58, Z:0.02 [[ 9.66537414e-01 2.56525687e-01 0.00000000e+00 4.21497532e+02] [-2.56525687e-01 9.66537414e-01 0.00000000e+00 -1.13578315e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39089339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.52, Y:-113.59, Z:0.02 [[ 9.66582251e-01 2.56356688e-01 0.00000000e+00 4.21524630e+02] [-2.56356688e-01 9.66582251e-01 0.00000000e+00 -1.13586989e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39451230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.55, Y:-113.60, Z:0.02 [[ 9.66840521e-01 2.55380906e-01 0.00000000e+00 4.21551554e+02] [-2.55380906e-01 9.66840521e-01 0.00000000e+00 -1.13595641e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40888497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.80140051300003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:421.58, Y:-113.61, Z:0.02 [[ 9.67269445e-01 2.53751496e-01 0.00000000e+00 4.21577849e+02] [-2.53751496e-01 9.67269445e-01 0.00000000e+00 -1.13607016e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45187497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.60, Y:-113.62, Z:0.03 [[ 9.67141129e-01 2.54240114e-01 0.00000000e+00 4.21603664e+02] [-2.54240114e-01 9.67141129e-01 0.00000000e+00 -1.13615754e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51556295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.63, Y:-113.62, Z:0.03 [[ 9.66853238e-01 2.55332754e-01 0.00000000e+00 4.21630504e+02] [-2.55332754e-01 9.66853238e-01 0.00000000e+00 -1.13624418e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54331818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.66, Y:-113.63, Z:0.02 [[ 9.66292369e-01 2.57447195e-01 0.00000000e+00 4.21657632e+02] [-2.57447195e-01 9.66292369e-01 0.00000000e+00 -1.13632772e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41060259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.68, Y:-113.64, Z:0.02 [[ 9.65063927e-01 2.62014536e-01 0.00000000e+00 4.21684388e+02] [-2.62014536e-01 9.65063927e-01 0.00000000e+00 -1.13640389e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84110405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.71, Y:-113.65, Z:0.02 [[ 9.64523061e-01 2.63998607e-01 0.00000000e+00 4.21711394e+02] [-2.63998607e-01 9.64523061e-01 0.00000000e+00 -1.13646856e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82799152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.74, Y:-113.65, Z:0.02 [[ 9.64065908e-01 2.65663181e-01 0.00000000e+00 4.21738129e+02] [-2.65663181e-01 9.64065908e-01 0.00000000e+00 -1.13653334e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01802121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.77, Y:-113.66, Z:0.02 [[ 9.63631060e-01 2.67236188e-01 0.00000000e+00 4.21765093e+02] [-2.67236188e-01 9.63631060e-01 0.00000000e+00 -1.13660752e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15816628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.79, Y:-113.67, Z:0.02 [[ 9.63375871e-01 2.68154678e-01 0.00000000e+00 4.21791579e+02] [-2.68154678e-01 9.63375871e-01 0.00000000e+00 -1.13672257e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24399463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.82, Y:-113.68, Z:0.02 [[ 9.63557624e-01 2.67500850e-01 0.00000000e+00 4.21817963e+02] [-2.67500850e-01 9.63557624e-01 0.00000000e+00 -1.13680267e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15405429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.84, Y:-113.69, Z:0.02 [[ 9.63738185e-01 2.66849602e-01 0.00000000e+00 4.21843827e+02] [-2.66849602e-01 9.63738185e-01 0.00000000e+00 -1.13687147e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06122227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.87, Y:-113.69, Z:0.02 [[ 9.63835597e-01 2.66497546e-01 0.00000000e+00 4.21871473e+02] [-2.66497546e-01 9.63835597e-01 0.00000000e+00 -1.13693038e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09458322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.90, Y:-113.70, Z:0.02 [[ 9.63741169e-01 2.66838827e-01 0.00000000e+00 4.21899910e+02] [-2.66838827e-01 9.63741169e-01 0.00000000e+00 -1.13699401e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49486484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.93, Y:-113.71, Z:0.03 [[ 9.63741378e-01 2.66838071e-01 0.00000000e+00 4.21926347e+02] [-2.66838071e-01 9.63741378e-01 0.00000000e+00 -1.13706626e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59848240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.95, Y:-113.71, Z:0.03 [[ 9.63736796e-01 2.66854620e-01 0.00000000e+00 4.21952949e+02] [-2.66854620e-01 9.63736796e-01 0.00000000e+00 -1.13714709e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58890926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.98, Y:-113.72, Z:0.02 [[ 9.63856218e-01 2.66422955e-01 0.00000000e+00 4.21980161e+02] [-2.66422955e-01 9.63856218e-01 0.00000000e+00 -1.13722605e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47589738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.01, Y:-113.73, Z:0.03 [[ 9.63633612e-01 2.67226987e-01 0.00000000e+00 4.22006637e+02] [-2.67226987e-01 9.63633612e-01 0.00000000e+00 -1.13731314e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60984892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.03, Y:-113.74, Z:0.03 [[ 9.63235045e-01 2.68660097e-01 0.00000000e+00 4.22033656e+02] [-2.68660097e-01 9.63235045e-01 0.00000000e+00 -1.13737793e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88543054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.06, Y:-113.74, Z:0.03 [[ 9.62546087e-01 2.71118113e-01 0.00000000e+00 4.22060330e+02] [-2.71118113e-01 9.62546087e-01 0.00000000e+00 -1.13744583e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13089854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.09, Y:-113.75, Z:0.03 [[ 9.60777018e-01 2.77322056e-01 0.00000000e+00 4.22086111e+02] [-2.77322056e-01 9.60777018e-01 0.00000000e+00 -1.13751044e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96564531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.11, Y:-113.76, Z:0.03 [[ 9.59939638e-01 2.80206871e-01 0.00000000e+00 4.22113556e+02] [-2.80206871e-01 9.59939638e-01 0.00000000e+00 -1.13757173e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61993836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.14, Y:-113.76, Z:0.02 [[ 9.59258503e-01 2.82529866e-01 0.00000000e+00 4.22140437e+02] [-2.82529866e-01 9.59258503e-01 0.00000000e+00 -1.13763275e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40850399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.17, Y:-113.77, Z:0.02 [[ 9.58621837e-01 2.84682583e-01 0.00000000e+00 4.22166935e+02] [-2.84682583e-01 9.58621837e-01 0.00000000e+00 -1.13769556e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18094395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.19, Y:-113.78, Z:0.02 [[ 9.57532315e-01 2.88325972e-01 0.00000000e+00 4.22193769e+02] [-2.88325972e-01 9.57532315e-01 0.00000000e+00 -1.13776991e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21817531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.22, Y:-113.78, Z:0.02 [[ 9.57081161e-01 2.89820033e-01 0.00000000e+00 4.22221121e+02] [-2.89820033e-01 9.57081161e-01 0.00000000e+00 -1.13784092e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28038794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.25, Y:-113.79, Z:0.02 [[ 9.56693595e-01 2.91096831e-01 0.00000000e+00 4.22247957e+02] [-2.91096831e-01 9.56693595e-01 0.00000000e+00 -1.13790416e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34926770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.27, Y:-113.80, Z:0.02 [[ 9.56305054e-01 2.92370731e-01 0.00000000e+00 4.22274132e+02] [-2.92370731e-01 9.56305054e-01 0.00000000e+00 -1.13796076e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31191552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.30, Y:-113.80, Z:0.02 [[ 9.55785858e-01 2.94063587e-01 0.00000000e+00 4.22301149e+02] [-2.94063587e-01 9.55785858e-01 0.00000000e+00 -1.13802440e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30703992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.33, Y:-113.81, Z:0.02 [[ 9.55708624e-01 2.94314502e-01 0.00000000e+00 4.22328537e+02] [-2.94314502e-01 9.55708624e-01 0.00000000e+00 -1.13809840e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20465727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.35, Y:-113.82, Z:0.02 [[ 9.55759209e-01 2.94150190e-01 0.00000000e+00 4.22354193e+02] [-2.94150190e-01 9.55759209e-01 0.00000000e+00 -1.13817442e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07331089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.38, Y:-113.83, Z:0.02 [[ 9.55998807e-01 2.93370552e-01 0.00000000e+00 4.22381251e+02] [-2.93370552e-01 9.55998807e-01 0.00000000e+00 -1.13825362e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12184011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.41, Y:-113.84, Z:0.02 [[ 9.56984362e-01 2.90139502e-01 0.00000000e+00 4.22406841e+02] [-2.90139502e-01 9.56984362e-01 0.00000000e+00 -1.13835652e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05893922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.43, Y:-113.85, Z:0.02 [[ 9.57575193e-01 2.88183534e-01 0.00000000e+00 4.22433405e+02] [-2.88183534e-01 9.57575193e-01 0.00000000e+00 -1.13845001e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06662803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.46, Y:-113.86, Z:0.02 [[ 9.58381491e-01 2.85490663e-01 0.00000000e+00 4.22458542e+02] [-2.85490663e-01 9.58381491e-01 0.00000000e+00 -1.13858079e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05604643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.49, Y:-113.87, Z:0.02 [[ 9.58534053e-01 2.84978014e-01 0.00000000e+00 4.22485577e+02] [-2.84978014e-01 9.58534053e-01 0.00000000e+00 -1.13866784e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99802824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.51, Y:-113.88, Z:0.02 [[ 9.58370401e-01 2.85527887e-01 0.00000000e+00 4.22512319e+02] [-2.85527887e-01 9.58370401e-01 0.00000000e+00 -1.13875308e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92235085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.54, Y:-113.88, Z:0.02 [[ 9.57957406e-01 2.86910454e-01 0.00000000e+00 4.22538449e+02] [-2.86910454e-01 9.57957406e-01 0.00000000e+00 -1.13884041e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82851645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.56, Y:-113.90, Z:0.02 [[ 9.56898444e-01 2.90422741e-01 0.00000000e+00 4.22564982e+02] [-2.90422741e-01 9.56898444e-01 0.00000000e+00 -1.13896753e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99419915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.59, Y:-113.91, Z:0.02 [[ 9.56277373e-01 2.92461254e-01 0.00000000e+00 4.22590972e+02] [-2.92461254e-01 9.56277373e-01 0.00000000e+00 -1.13905683e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09490411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.62, Y:-113.91, Z:0.02 [[ 9.56330070e-01 2.92288892e-01 0.00000000e+00 4.22618807e+02] [-2.92288892e-01 9.56330070e-01 0.00000000e+00 -1.13911733e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09490411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.65, Y:-113.92, Z:0.02 [[ 9.55700856e-01 2.94339725e-01 0.00000000e+00 4.22646009e+02] [-2.94339725e-01 9.55700856e-01 0.00000000e+00 -1.13919799e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09153468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.67, Y:-113.93, Z:0.02 [[ 9.55142184e-01 2.96147612e-01 0.00000000e+00 4.22673271e+02] [-2.96147612e-01 9.55142184e-01 0.00000000e+00 -1.13927252e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04463600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.70, Y:-113.94, Z:0.02 [[ 9.54512551e-01 2.98170740e-01 0.00000000e+00 4.22698940e+02] [-2.98170740e-01 9.54512551e-01 0.00000000e+00 -1.13937373e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82020531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.73, Y:-113.95, Z:0.02 [[ 9.54490315e-01 2.98241913e-01 0.00000000e+00 4.22725771e+02] [-2.98241913e-01 9.54490315e-01 0.00000000e+00 -1.13946140e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84045281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.75, Y:-113.95, Z:0.02 [[ 9.54555121e-01 2.98034428e-01 0.00000000e+00 4.22751633e+02] [-2.98034428e-01 9.54555121e-01 0.00000000e+00 -1.13954141e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79582719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.78, Y:-113.96, Z:0.02 [[ 9.54878178e-01 2.96997752e-01 0.00000000e+00 4.22778787e+02] [-2.96997752e-01 9.54878178e-01 0.00000000e+00 -1.13963106e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70923779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.81, Y:-113.97, Z:0.02 [[ 9.55082644e-01 2.96339575e-01 0.00000000e+00 4.22805029e+02] [-2.96339575e-01 9.55082644e-01 0.00000000e+00 -1.13970667e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73995628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.83, Y:-113.98, Z:0.02 [[ 9.55301099e-01 2.95634590e-01 0.00000000e+00 4.22831322e+02] [-2.95634590e-01 9.55301099e-01 0.00000000e+00 -1.13978855e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85182328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.86, Y:-113.99, Z:0.02 [[ 9.55477770e-01 2.95063098e-01 0.00000000e+00 4.22858309e+02] [-2.95063098e-01 9.55477770e-01 0.00000000e+00 -1.13986800e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02626135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.88, Y:-113.99, Z:0.02 [[ 9.55473596e-01 2.95076612e-01 0.00000000e+00 4.22884247e+02] [-2.95076612e-01 9.55473596e-01 0.00000000e+00 -1.13992997e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04666864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.91, Y:-114.00, Z:0.02 [[ 9.55288900e-01 2.95674005e-01 0.00000000e+00 4.22911883e+02] [-2.95674005e-01 9.55288900e-01 0.00000000e+00 -1.13998341e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92842851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.94, Y:-114.00, Z:0.02 [[ 9.55016470e-01 2.96552765e-01 0.00000000e+00 4.22939397e+02] [-2.96552765e-01 9.55016470e-01 0.00000000e+00 -1.14004115e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89472987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.97, Y:-114.01, Z:0.02 [[ 9.54740136e-01 2.97441209e-01 0.00000000e+00 4.22966555e+02] [-2.97441209e-01 9.54740136e-01 0.00000000e+00 -1.14009778e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91710692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.99, Y:-114.01, Z:0.02 [[ 9.54162617e-01 2.99288658e-01 0.00000000e+00 4.22994327e+02] [-2.99288658e-01 9.54162617e-01 0.00000000e+00 -1.14014001e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97787947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.02, Y:-114.02, Z:0.02 [[ 9.54121433e-01 2.99419925e-01 0.00000000e+00 4.23022676e+02] [-2.99419925e-01 9.54121433e-01 0.00000000e+00 -1.14017623e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13311227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.05, Y:-114.02, Z:0.02 [[ 9.54161611e-01 2.99291865e-01 0.00000000e+00 4.23050100e+02] [-2.99291865e-01 9.54161611e-01 0.00000000e+00 -1.14020605e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11651229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.08, Y:-114.02, Z:0.02 [[ 9.54904287e-01 2.96913795e-01 0.00000000e+00 4.23077911e+02] [-2.96913795e-01 9.54904287e-01 0.00000000e+00 -1.14022962e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12304903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.11, Y:-114.03, Z:0.02 [[ 9.55602966e-01 2.94657378e-01 0.00000000e+00 4.23105328e+02] [-2.94657378e-01 9.55602966e-01 0.00000000e+00 -1.14028794e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11949295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.13, Y:-114.03, Z:0.02 [[ 9.56414368e-01 2.92012941e-01 0.00000000e+00 4.23132716e+02] [-2.92012941e-01 9.56414368e-01 0.00000000e+00 -1.14034878e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21513733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.16, Y:-114.04, Z:0.02 [[ 9.57269758e-01 2.89196490e-01 0.00000000e+00 4.23159761e+02] [-2.89196490e-01 9.57269758e-01 0.00000000e+00 -1.14040795e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31143070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.19, Y:-114.05, Z:0.02 [[ 9.58814581e-01 2.84032744e-01 0.00000000e+00 4.23186819e+02] [-2.84032744e-01 9.58814581e-01 0.00000000e+00 -1.14046143e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42405601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.21, Y:-114.05, Z:0.03 [[ 9.59352876e-01 2.82209247e-01 0.00000000e+00 4.23212914e+02] [-2.82209247e-01 9.59352876e-01 0.00000000e+00 -1.14052219e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52968574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.24, Y:-114.06, Z:0.03 [[ 9.59679159e-01 2.81097690e-01 0.00000000e+00 4.23238752e+02] [-2.81097690e-01 9.59679159e-01 0.00000000e+00 -1.14059134e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62751404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.691400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:423.27, Y:-114.07, Z:0.03 [[ 9.59890502e-01 2.80375148e-01 0.00000000e+00 4.23265271e+02] [-2.80375148e-01 9.59890502e-01 0.00000000e+00 -1.14067814e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71458899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.29, Y:-114.07, Z:0.03 [[ 9.59898863e-01 2.80346523e-01 0.00000000e+00 4.23292400e+02] [-2.80346523e-01 9.59898863e-01 0.00000000e+00 -1.14074957e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68544981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.32, Y:-114.08, Z:0.03 [[ 9.59796478e-01 2.80696849e-01 0.00000000e+00 4.23318276e+02] [-2.80696849e-01 9.59796478e-01 0.00000000e+00 -1.14082079e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59394689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.781400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:423.34, Y:-114.09, Z:0.02 [[ 9.59705315e-01 2.81008379e-01 0.00000000e+00 4.23344638e+02] [-2.81008379e-01 9.59705315e-01 0.00000000e+00 -1.14089416e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42487079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.37, Y:-114.10, Z:0.02 [[ 9.59485106e-01 2.81759350e-01 0.00000000e+00 4.23370059e+02] [-2.81759350e-01 9.59485106e-01 0.00000000e+00 -1.14100677e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33794228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.40, Y:-114.11, Z:0.02 [[ 9.59483568e-01 2.81764588e-01 0.00000000e+00 4.23397391e+02] [-2.81764588e-01 9.59483568e-01 0.00000000e+00 -1.14108921e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36847171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.42, Y:-114.12, Z:0.02 [[ 9.59446569e-01 2.81890547e-01 0.00000000e+00 4.23424242e+02] [-2.81890547e-01 9.59446569e-01 0.00000000e+00 -1.14116196e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42962964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.45, Y:-114.12, Z:0.02 [[ 9.59101262e-01 2.83063191e-01 0.00000000e+00 4.23451453e+02] [-2.83063191e-01 9.59101262e-01 0.00000000e+00 -1.14123581e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49175877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.48, Y:-114.13, Z:0.02 [[ 9.59073811e-01 2.83156184e-01 0.00000000e+00 4.23477924e+02] [-2.83156184e-01 9.59073811e-01 0.00000000e+00 -1.14130037e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36574649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.51, Y:-114.14, Z:0.02 [[ 9.59170823e-01 2.82827391e-01 0.00000000e+00 4.23505883e+02] [-2.82827391e-01 9.59170823e-01 0.00000000e+00 -1.14136826e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28496324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.53, Y:-114.14, Z:0.02 [[ 9.59401741e-01 2.82043082e-01 0.00000000e+00 4.23532362e+02] [-2.82043082e-01 9.59401741e-01 0.00000000e+00 -1.14143490e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14554627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.56, Y:-114.15, Z:0.02 [[ 9.60175993e-01 2.79395889e-01 0.00000000e+00 4.23559305e+02] [-2.79395889e-01 9.60175993e-01 0.00000000e+00 -1.14152298e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20082898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.59, Y:-114.16, Z:0.02 [[ 9.60515864e-01 2.78225223e-01 0.00000000e+00 4.23586455e+02] [-2.78225223e-01 9.60515864e-01 0.00000000e+00 -1.14159465e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28044210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.61, Y:-114.17, Z:0.02 [[ 9.60731912e-01 2.77478276e-01 0.00000000e+00 4.23613578e+02] [-2.77478276e-01 9.60731912e-01 0.00000000e+00 -1.14166360e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26079884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.111400513 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:423.64, Y:-114.17, Z:0.03 [[ 9.60753279e-01 2.77404283e-01 0.00000000e+00 4.23641232e+02] [-2.77404283e-01 9.60753279e-01 0.00000000e+00 -1.14173668e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59706814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.67, Y:-114.18, Z:0.03 [[ 9.60570650e-01 2.78036016e-01 0.00000000e+00 4.23668648e+02] [-2.78036016e-01 9.60570650e-01 0.00000000e+00 -1.14180307e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68207934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.70, Y:-114.19, Z:0.03 [[ 9.60413022e-01 2.78580018e-01 0.00000000e+00 4.23696059e+02] [-2.78580018e-01 9.60413022e-01 0.00000000e+00 -1.14186212e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71598710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.72, Y:-114.19, Z:0.03 [[ 9.60159610e-01 2.79452184e-01 0.00000000e+00 4.23722616e+02] [-2.79452184e-01 9.60159610e-01 0.00000000e+00 -1.14192368e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66596207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.75, Y:-114.20, Z:0.03 [[ 9.59818622e-01 2.80621120e-01 0.00000000e+00 4.23750456e+02] [-2.80621120e-01 9.59818622e-01 0.00000000e+00 -1.14200418e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50835903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.78, Y:-114.21, Z:0.02 [[ 9.59718084e-01 2.80964766e-01 0.00000000e+00 4.23778742e+02] [-2.80964766e-01 9.59718084e-01 0.00000000e+00 -1.14207650e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45781947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.81, Y:-114.21, Z:0.02 [[ 9.59669159e-01 2.81131830e-01 0.00000000e+00 4.23805319e+02] [-2.81131830e-01 9.59669159e-01 0.00000000e+00 -1.14214587e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45189331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.83, Y:-114.22, Z:0.03 [[ 9.59658131e-01 2.81169471e-01 0.00000000e+00 4.23832884e+02] [-2.81169471e-01 9.59658131e-01 0.00000000e+00 -1.14221521e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54365997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.86, Y:-114.23, Z:0.03 [[ 9.59542947e-01 2.81562309e-01 0.00000000e+00 4.23859773e+02] [-2.81562309e-01 9.59542947e-01 0.00000000e+00 -1.14231922e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75470915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.89, Y:-114.24, Z:0.03 [[ 9.59444739e-01 2.81896777e-01 0.00000000e+00 4.23885389e+02] [-2.81896777e-01 9.59444739e-01 0.00000000e+00 -1.14240735e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74981038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.91, Y:-114.25, Z:0.03 [[ 9.59372435e-01 2.82142750e-01 0.00000000e+00 4.23912179e+02] [-2.82142750e-01 9.59372435e-01 0.00000000e+00 -1.14249217e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84102458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.94, Y:-114.26, Z:0.03 [[ 9.59011072e-01 2.83368602e-01 0.00000000e+00 4.23937923e+02] [-2.83368602e-01 9.59011072e-01 0.00000000e+00 -1.14258831e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61767756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.96, Y:-114.27, Z:0.02 [[ 9.58656610e-01 2.84565465e-01 0.00000000e+00 4.23964331e+02] [-2.84565465e-01 9.58656610e-01 0.00000000e+00 -1.14266227e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49507964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.99, Y:-114.27, Z:0.03 [[ 9.58252718e-01 2.85922593e-01 0.00000000e+00 4.23991592e+02] [-2.85922593e-01 9.58252718e-01 0.00000000e+00 -1.14274402e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54186280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.02, Y:-114.28, Z:0.03 [[ 9.57955995e-01 2.86915165e-01 0.00000000e+00 4.24017814e+02] [-2.86915165e-01 9.57955995e-01 0.00000000e+00 -1.14282358e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50351381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.05, Y:-114.29, Z:0.02 [[ 9.58030218e-01 2.86667231e-01 0.00000000e+00 4.24045262e+02] [-2.86667231e-01 9.58030218e-01 0.00000000e+00 -1.14292639e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28638681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.07, Y:-114.30, Z:0.02 [[ 9.58435629e-01 2.85308858e-01 0.00000000e+00 4.24073254e+02] [-2.85308858e-01 9.58435629e-01 0.00000000e+00 -1.14301553e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06851908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.10, Y:-114.31, Z:0.02 [[ 9.59055291e-01 2.83218907e-01 0.00000000e+00 4.24099166e+02] [-2.83218907e-01 9.59055291e-01 0.00000000e+00 -1.14311079e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91737931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.13, Y:-114.32, Z:0.02 [[ 9.59779878e-01 2.80753604e-01 0.00000000e+00 4.24126459e+02] [-2.80753604e-01 9.59779878e-01 0.00000000e+00 -1.14321198e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02328583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.15, Y:-114.33, Z:0.02 [[ 9.61268042e-01 2.75615223e-01 0.00000000e+00 4.24152628e+02] [-2.75615223e-01 9.61268042e-01 0.00000000e+00 -1.14334645e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33011890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.18, Y:-114.34, Z:0.02 [[ 9.61993873e-01 2.73071033e-01 0.00000000e+00 4.24180339e+02] [-2.73071033e-01 9.61993873e-01 0.00000000e+00 -1.14344582e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31426650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.21, Y:-114.35, Z:0.02 [[ 9.62586081e-01 2.70976082e-01 0.00000000e+00 4.24206194e+02] [-2.70976082e-01 9.62586081e-01 0.00000000e+00 -1.14354759e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15650333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.23, Y:-114.37, Z:0.02 [[ 9.63129209e-01 2.69039265e-01 0.00000000e+00 4.24231312e+02] [-2.69039265e-01 9.63129209e-01 0.00000000e+00 -1.14370802e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10737642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.26, Y:-114.38, Z:0.02 [[ 9.63104614e-01 2.69127298e-01 0.00000000e+00 4.24257187e+02] [-2.69127298e-01 9.63104614e-01 0.00000000e+00 -1.14380872e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07412915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.28, Y:-114.39, Z:0.02 [[ 9.62923008e-01 2.69776355e-01 0.00000000e+00 4.24284575e+02] [-2.69776355e-01 9.62923008e-01 0.00000000e+00 -1.14389734e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21633147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.31, Y:-114.40, Z:0.02 [[ 9.62201621e-01 2.72338100e-01 0.00000000e+00 4.24311316e+02] [-2.72338100e-01 9.62201621e-01 0.00000000e+00 -1.14401248e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07331549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.34, Y:-114.41, Z:0.02 [[ 9.62213758e-01 2.72295216e-01 0.00000000e+00 4.24340003e+02] [-2.72295216e-01 9.62213758e-01 0.00000000e+00 -1.14407379e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07331549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.921400513 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:424.37, Y:-114.42, Z:0.02 [[ 9.61674587e-01 2.74193340e-01 0.00000000e+00 4.24368815e+02] [-2.74193340e-01 9.61674587e-01 0.00000000e+00 -1.14416657e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16992970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.40, Y:-114.43, Z:0.02 [[ 9.60955176e-01 2.76704084e-01 0.00000000e+00 4.24397106e+02] [-2.76704084e-01 9.60955176e-01 0.00000000e+00 -1.14425512e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32594337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.42, Y:-114.43, Z:0.02 [[ 9.60122579e-01 2.79579388e-01 0.00000000e+00 4.24424681e+02] [-2.79579388e-01 9.60122579e-01 0.00000000e+00 -1.14432815e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38568338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.45, Y:-114.44, Z:0.02 [[ 9.58503967e-01 2.85079190e-01 0.00000000e+00 4.24453105e+02] [-2.85079190e-01 9.58503967e-01 0.00000000e+00 -1.14439640e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23004502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.48, Y:-114.45, Z:0.02 [[ 9.57745121e-01 2.87618294e-01 0.00000000e+00 4.24480925e+02] [-2.87618294e-01 9.57745121e-01 0.00000000e+00 -1.14447006e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01824044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.51, Y:-114.45, Z:0.02 [[ 9.57156134e-01 2.89572331e-01 0.00000000e+00 4.24509179e+02] [-2.89572331e-01 9.57156134e-01 0.00000000e+00 -1.14454078e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07567706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.54, Y:-114.46, Z:0.02 [[ 9.56640946e-01 2.91269807e-01 0.00000000e+00 4.24535909e+02] [-2.91269807e-01 9.56640946e-01 0.00000000e+00 -1.14460607e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09830260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.56, Y:-114.47, Z:0.02 [[ 9.56053092e-01 2.93193596e-01 0.00000000e+00 4.24563990e+02] [-2.93193596e-01 9.56053092e-01 0.00000000e+00 -1.14466210e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27769376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.59, Y:-114.47, Z:0.02 [[ 9.55978411e-01 2.93437009e-01 0.00000000e+00 4.24590860e+02] [-2.93437009e-01 9.55978411e-01 0.00000000e+00 -1.14471941e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22455756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.62, Y:-114.48, Z:0.02 [[ 9.55931071e-01 2.93591192e-01 0.00000000e+00 4.24618488e+02] [-2.93591192e-01 9.55931071e-01 0.00000000e+00 -1.14478575e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13372238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.65, Y:-114.48, Z:0.02 [[ 9.56273459e-01 2.92474054e-01 0.00000000e+00 4.24646155e+02] [-2.92474054e-01 9.56273459e-01 0.00000000e+00 -1.14484693e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89858751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.67, Y:-114.49, Z:0.02 [[ 9.56611468e-01 2.91366605e-01 0.00000000e+00 4.24674092e+02] [-2.91366605e-01 9.56611468e-01 0.00000000e+00 -1.14490327e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93031103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.70, Y:-114.50, Z:0.02 [[ 9.57122207e-01 2.89684450e-01 0.00000000e+00 4.24702056e+02] [-2.89684450e-01 9.57122207e-01 0.00000000e+00 -1.14496471e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04820136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.73, Y:-114.50, Z:0.02 [[ 9.57801220e-01 2.87431423e-01 0.00000000e+00 4.24729557e+02] [-2.87431423e-01 9.57801220e-01 0.00000000e+00 -1.14503736e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16135446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.76, Y:-114.51, Z:0.02 [[ 9.58681364e-01 2.84482060e-01 0.00000000e+00 4.24758263e+02] [-2.84482060e-01 9.58681364e-01 0.00000000e+00 -1.14511803e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29239588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.79, Y:-114.52, Z:0.02 [[ 9.60374514e-01 2.78712742e-01 0.00000000e+00 4.24787679e+02] [-2.78712742e-01 9.60374514e-01 0.00000000e+00 -1.14521862e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25805307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.82, Y:-114.53, Z:0.02 [[ 9.61100206e-01 2.76199915e-01 0.00000000e+00 4.24818116e+02] [-2.76199915e-01 9.61100206e-01 0.00000000e+00 -1.14529918e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14618228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.85, Y:-114.54, Z:0.02 [[ 9.61616178e-01 2.74398115e-01 0.00000000e+00 4.24848109e+02] [-2.74398115e-01 9.61616178e-01 0.00000000e+00 -1.14538052e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04973847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.88, Y:-114.55, Z:0.02 [[ 9.61924856e-01 2.73314054e-01 0.00000000e+00 4.24877534e+02] [-2.73314054e-01 9.61924856e-01 0.00000000e+00 -1.14546783e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00489613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.91, Y:-114.56, Z:0.02 [[ 9.62028623e-01 2.72948581e-01 0.00000000e+00 4.24906082e+02] [-2.72948581e-01 9.62028623e-01 0.00000000e+00 -1.14556988e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41350653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.94, Y:-114.56, Z:0.03 [[ 9.61783719e-01 2.73810297e-01 0.00000000e+00 4.24936980e+02] [-2.73810297e-01 9.61783719e-01 0.00000000e+00 -1.14564882e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73994936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.97, Y:-114.57, Z:0.03 [[ 9.61317774e-01 2.75441715e-01 0.00000000e+00 4.24969087e+02] [-2.75441715e-01 9.61317774e-01 0.00000000e+00 -1.14572163e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88505829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.00, Y:-114.58, Z:0.03 [[ 9.60762324e-01 2.77372958e-01 0.00000000e+00 4.25000636e+02] [-2.77372958e-01 9.60762324e-01 0.00000000e+00 -1.14579239e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69375549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.03, Y:-114.59, Z:0.02 [[ 9.60121954e-01 2.79581532e-01 0.00000000e+00 4.25031299e+02] [-2.79581532e-01 9.60121954e-01 0.00000000e+00 -1.14588026e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23396648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.06, Y:-114.60, Z:0.02 [[ 9.59971273e-01 2.80098474e-01 0.00000000e+00 4.25062329e+02] [-2.80098474e-01 9.59971273e-01 0.00000000e+00 -1.14596251e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05931961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.09, Y:-114.60, Z:0.02 [[ 9.59992175e-01 2.80026827e-01 0.00000000e+00 4.25092378e+02] [-2.80026827e-01 9.59992175e-01 0.00000000e+00 -1.14603355e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10327055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.12, Y:-114.61, Z:0.02 [[ 9.60165646e-01 2.79431445e-01 0.00000000e+00 4.25124382e+02] [-2.79431445e-01 9.60165646e-01 0.00000000e+00 -1.14610837e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40387216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.16, Y:-114.62, Z:0.02 [[ 9.60233539e-01 2.79198050e-01 0.00000000e+00 4.25156499e+02] [-2.79198050e-01 9.60233539e-01 0.00000000e+00 -1.14618959e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44853945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.19, Y:-114.63, Z:0.02 [[ 9.60196361e-01 2.79325881e-01 0.00000000e+00 4.25187271e+02] [-2.79325881e-01 9.60196361e-01 0.00000000e+00 -1.14627874e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30618697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.22, Y:-114.64, Z:0.02 [[ 9.60212679e-01 2.79269781e-01 0.00000000e+00 4.25217527e+02] [-2.79269781e-01 9.60212679e-01 0.00000000e+00 -1.14636705e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17374006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.25, Y:-114.65, Z:0.02 [[ 9.60243748e-01 2.79162935e-01 0.00000000e+00 4.25248957e+02] [-2.79162935e-01 9.60243748e-01 0.00000000e+00 -1.14647023e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27280341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.28, Y:-114.66, Z:0.02 [[ 9.60254067e-01 2.79127440e-01 0.00000000e+00 4.25278865e+02] [-2.79127440e-01 9.60254067e-01 0.00000000e+00 -1.14655932e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43140907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.31, Y:-114.67, Z:0.03 [[ 9.60186621e-01 2.79359361e-01 0.00000000e+00 4.25310406e+02] [-2.79359361e-01 9.60186621e-01 0.00000000e+00 -1.14666072e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69378673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.34, Y:-114.68, Z:0.03 [[ 9.59949993e-01 2.80171396e-01 0.00000000e+00 4.25341125e+02] [-2.80171396e-01 9.59949993e-01 0.00000000e+00 -1.14676852e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84428544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.37, Y:-114.69, Z:0.03 [[ 9.59479895e-01 2.81777096e-01 0.00000000e+00 4.25370705e+02] [-2.81777096e-01 9.59479895e-01 0.00000000e+00 -1.14689780e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69027020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.40, Y:-114.70, Z:0.03 [[ 9.59280101e-01 2.82456523e-01 0.00000000e+00 4.25402677e+02] [-2.82456523e-01 9.59280101e-01 0.00000000e+00 -1.14698827e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59574186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.43, Y:-114.71, Z:0.02 [[ 9.59069250e-01 2.83171633e-01 0.00000000e+00 4.25434609e+02] [-2.83171633e-01 9.59069250e-01 0.00000000e+00 -1.14707911e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48533254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.47, Y:-114.72, Z:0.02 [[ 9.58737152e-01 2.84293990e-01 0.00000000e+00 4.25465803e+02] [-2.84293990e-01 9.58737152e-01 0.00000000e+00 -1.14717692e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46348941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.50, Y:-114.73, Z:0.02 [[ 9.57797799e-01 2.87442823e-01 0.00000000e+00 4.25496125e+02] [-2.87442823e-01 9.57797799e-01 0.00000000e+00 -1.14729974e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44181657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.53, Y:-114.74, Z:0.02 [[ 9.57250032e-01 2.89261779e-01 0.00000000e+00 4.25527267e+02] [-2.89261779e-01 9.57250032e-01 0.00000000e+00 -1.14738292e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42189217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.56, Y:-114.75, Z:0.02 [[ 9.56707990e-01 2.91049518e-01 0.00000000e+00 4.25558807e+02] [-2.91049518e-01 9.56707990e-01 0.00000000e+00 -1.14746265e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32419446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.151400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:425.59, Y:-114.76, Z:0.02 [[ 9.56080881e-01 2.93102965e-01 0.00000000e+00 4.25590555e+02] [-2.93102965e-01 9.56080881e-01 0.00000000e+00 -1.14755604e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13419551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.62, Y:-114.76, Z:0.02 [[ 9.55980286e-01 2.93430899e-01 0.00000000e+00 4.25621835e+02] [-2.93430899e-01 9.55980286e-01 0.00000000e+00 -1.14764967e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29755725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.65, Y:-114.77, Z:0.02 [[ 9.56075773e-01 2.93119627e-01 0.00000000e+00 4.25652551e+02] [-2.93119627e-01 9.56075773e-01 0.00000000e+00 -1.14773861e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32974028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.68, Y:-114.78, Z:0.02 [[ 9.56237276e-01 2.92592331e-01 0.00000000e+00 4.25684873e+02] [-2.92592331e-01 9.56237276e-01 0.00000000e+00 -1.14782696e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32491210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.72, Y:-114.79, Z:0.02 [[ 9.56513146e-01 2.91689219e-01 0.00000000e+00 4.25716093e+02] [-2.91689219e-01 9.56513146e-01 0.00000000e+00 -1.14790777e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15092110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.75, Y:-114.80, Z:0.02 [[ 9.57325735e-01 2.89011136e-01 0.00000000e+00 4.25747412e+02] [-2.89011136e-01 9.57325735e-01 0.00000000e+00 -1.14800773e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08923452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.78, Y:-114.81, Z:0.02 [[ 9.57693305e-01 2.87790781e-01 0.00000000e+00 4.25777011e+02] [-2.87790781e-01 9.57693305e-01 0.00000000e+00 -1.14809787e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16802782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.81, Y:-114.82, Z:0.02 [[ 9.57995868e-01 2.86782001e-01 0.00000000e+00 4.25808206e+02] [-2.86782001e-01 9.57995868e-01 0.00000000e+00 -1.14818779e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33314224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.391400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:425.84, Y:-114.83, Z:0.03 [[ 9.58447577e-01 2.85268721e-01 0.00000000e+00 4.25839751e+02] [-2.85268721e-01 9.58447577e-01 0.00000000e+00 -1.14829196e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74389535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.87, Y:-114.84, Z:0.03 [[ 9.58550763e-01 2.84921804e-01 0.00000000e+00 4.25870494e+02] [-2.84921804e-01 9.58550763e-01 0.00000000e+00 -1.14838304e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77942151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.90, Y:-114.85, Z:0.03 [[ 9.58569529e-01 2.84858663e-01 0.00000000e+00 4.25900969e+02] [-2.84858663e-01 9.58569529e-01 0.00000000e+00 -1.14847095e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68221838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.93, Y:-114.86, Z:0.03 [[ 9.58404763e-01 2.85412527e-01 0.00000000e+00 4.25933084e+02] [-2.85412527e-01 9.58404763e-01 0.00000000e+00 -1.14855388e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60830187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.96, Y:-114.86, Z:0.02 [[ 9.57555985e-01 2.88247350e-01 0.00000000e+00 4.25964252e+02] [-2.88247350e-01 9.57555985e-01 0.00000000e+00 -1.14863215e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45147796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.541400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:426.00, Y:-114.87, Z:0.02 [[ 9.56945522e-01 2.90267581e-01 0.00000000e+00 4.25995977e+02] [-2.90267581e-01 9.56945522e-01 0.00000000e+00 -1.14870920e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46611160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.03, Y:-114.88, Z:0.02 [[ 9.56565466e-01 2.91517598e-01 0.00000000e+00 4.26028179e+02] [-2.91517598e-01 9.56565466e-01 0.00000000e+00 -1.14878787e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44961185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.06, Y:-114.89, Z:0.02 [[ 9.56404123e-01 2.92046493e-01 0.00000000e+00 4.26059787e+02] [-2.92046493e-01 9.56404123e-01 0.00000000e+00 -1.14886501e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46620262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.09, Y:-114.90, Z:0.02 [[ 9.56612858e-01 2.91362042e-01 0.00000000e+00 4.26090121e+02] [-2.91362042e-01 9.56612858e-01 0.00000000e+00 -1.14896292e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42721094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.12, Y:-114.91, Z:0.02 [[ 9.56892497e-01 2.90442333e-01 0.00000000e+00 4.26121609e+02] [-2.90442333e-01 9.56892497e-01 0.00000000e+00 -1.14905223e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42403323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.15, Y:-114.91, Z:0.02 [[ 9.57205945e-01 2.89407633e-01 0.00000000e+00 4.26153189e+02] [-2.89407633e-01 9.57205945e-01 0.00000000e+00 -1.14914141e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39898629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.19, Y:-114.92, Z:0.02 [[ 9.57772026e-01 2.87528687e-01 0.00000000e+00 4.26185373e+02] [-2.87528687e-01 9.57772026e-01 0.00000000e+00 -1.14923323e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32131163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.22, Y:-114.93, Z:0.02 [[ 9.57852710e-01 2.87259790e-01 0.00000000e+00 4.26217126e+02] [-2.87259790e-01 9.57852710e-01 0.00000000e+00 -1.14931013e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28154997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.25, Y:-114.94, Z:0.02 [[ 9.57800889e-01 2.87432526e-01 0.00000000e+00 4.26249768e+02] [-2.87432526e-01 9.57800889e-01 0.00000000e+00 -1.14938435e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28154997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.28, Y:-114.95, Z:0.02 [[ 9.57716639e-01 2.87713120e-01 0.00000000e+00 4.26280767e+02] [-2.87713120e-01 9.57716639e-01 0.00000000e+00 -1.14945941e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17412549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.31, Y:-114.95, Z:0.02 [[ 9.57550137e-01 2.88266779e-01 0.00000000e+00 4.26311342e+02] [-2.88266779e-01 9.57550137e-01 0.00000000e+00 -1.14953922e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04860134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.34, Y:-114.96, Z:0.02 [[ 9.57275099e-01 2.89178811e-01 0.00000000e+00 4.26341858e+02] [-2.89178811e-01 9.57275099e-01 0.00000000e+00 -1.14963509e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33338477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.37, Y:-114.97, Z:0.03 [[ 9.57214752e-01 2.89378503e-01 0.00000000e+00 4.26373188e+02] [-2.89378503e-01 9.57214752e-01 0.00000000e+00 -1.14971731e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58689249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.41, Y:-114.98, Z:0.03 [[ 9.57221248e-01 2.89357015e-01 0.00000000e+00 4.26405400e+02] [-2.89357015e-01 9.57221248e-01 0.00000000e+00 -1.14979466e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72235180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.44, Y:-114.99, Z:0.03 [[ 9.57308106e-01 2.89069526e-01 0.00000000e+00 4.26437824e+02] [-2.89069526e-01 9.57308106e-01 0.00000000e+00 -1.14987357e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65226874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.47, Y:-114.99, Z:0.02 [[ 9.57637588e-01 2.87976126e-01 0.00000000e+00 4.26468656e+02] [-2.87976126e-01 9.57637588e-01 0.00000000e+00 -1.14994969e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41589919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.50, Y:-115.00, Z:0.02 [[ 9.57728540e-01 2.87673503e-01 0.00000000e+00 4.26499853e+02] [-2.87673503e-01 9.57728540e-01 0.00000000e+00 -1.15001802e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42185688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.53, Y:-115.01, Z:0.03 [[ 9.57778148e-01 2.87508294e-01 0.00000000e+00 4.26532429e+02] [-2.87508294e-01 9.57778148e-01 0.00000000e+00 -1.15008559e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55807596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.56, Y:-115.01, Z:0.03 [[ 9.57803999e-01 2.87422162e-01 0.00000000e+00 4.26563748e+02] [-2.87422162e-01 9.57803999e-01 0.00000000e+00 -1.15014870e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58335845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.60, Y:-115.02, Z:0.03 [[ 9.57933846e-01 2.86989106e-01 0.00000000e+00 4.26596199e+02] [-2.86989106e-01 9.57933846e-01 0.00000000e+00 -1.15021698e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72197189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.63, Y:-115.03, Z:0.03 [[ 9.58012769e-01 2.86725540e-01 0.00000000e+00 4.26628981e+02] [-2.86725540e-01 9.58012769e-01 0.00000000e+00 -1.15028439e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69636718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.66, Y:-115.03, Z:0.03 [[ 9.58029955e-01 2.86668110e-01 0.00000000e+00 4.26661133e+02] [-2.86668110e-01 9.58029955e-01 0.00000000e+00 -1.15034783e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63661949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.69, Y:-115.04, Z:0.03 [[ 9.57988206e-01 2.86807596e-01 0.00000000e+00 4.26692562e+02] [-2.86807596e-01 9.57988206e-01 0.00000000e+00 -1.15040738e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54987253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.73, Y:-115.05, Z:0.03 [[ 9.57961100e-01 2.86898119e-01 0.00000000e+00 4.26725065e+02] [-2.86898119e-01 9.57961100e-01 0.00000000e+00 -1.15047357e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56464131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.76, Y:-115.05, Z:0.03 [[ 9.58138726e-01 2.86304353e-01 0.00000000e+00 4.26757304e+02] [-2.86304353e-01 9.58138726e-01 0.00000000e+00 -1.15052269e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50973108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.79, Y:-115.06, Z:0.03 [[ 9.58296759e-01 2.85774948e-01 0.00000000e+00 4.26789506e+02] [-2.85774948e-01 9.58296759e-01 0.00000000e+00 -1.15057167e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54157109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.82, Y:-115.06, Z:0.03 [[ 9.58565404e-01 2.84872543e-01 0.00000000e+00 4.26821561e+02] [-2.84872543e-01 9.58565404e-01 0.00000000e+00 -1.15061883e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63117843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.85, Y:-115.07, Z:0.03 [[ 9.59306205e-01 2.82367856e-01 0.00000000e+00 4.26853974e+02] [-2.82367856e-01 9.59306205e-01 0.00000000e+00 -1.15067801e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70930101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.89, Y:-115.08, Z:0.03 [[ 9.59550521e-01 2.81536493e-01 0.00000000e+00 4.26885294e+02] [-2.81536493e-01 9.59550521e-01 0.00000000e+00 -1.15075317e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65240757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.92, Y:-115.08, Z:0.03 [[ 9.59640035e-01 2.81231227e-01 0.00000000e+00 4.26916524e+02] [-2.81231227e-01 9.59640035e-01 0.00000000e+00 -1.15081641e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63361676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.441400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:426.95, Y:-115.09, Z:0.03 [[ 9.59528071e-01 2.81613000e-01 0.00000000e+00 4.26949286e+02] [-2.81613000e-01 9.59528071e-01 0.00000000e+00 -1.15087657e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68281025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.98, Y:-115.09, Z:0.03 [[ 9.59253460e-01 2.82546987e-01 0.00000000e+00 4.26980907e+02] [-2.82546987e-01 9.59253460e-01 0.00000000e+00 -1.15092481e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63929346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.01, Y:-115.10, Z:0.03 [[ 9.59021760e-01 2.83332427e-01 0.00000000e+00 4.27013325e+02] [-2.83332427e-01 9.59021760e-01 0.00000000e+00 -1.15099757e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61803819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.04, Y:-115.11, Z:0.03 [[ 9.58826133e-01 2.83993745e-01 0.00000000e+00 4.27044278e+02] [-2.83993745e-01 9.58826133e-01 0.00000000e+00 -1.15106643e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54812379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.08, Y:-115.11, Z:0.03 [[ 9.58831086e-01 2.83977021e-01 0.00000000e+00 4.27075654e+02] [-2.83977021e-01 9.58831086e-01 0.00000000e+00 -1.15113049e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55684450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.11, Y:-115.12, Z:0.03 [[ 9.59179377e-01 2.82798377e-01 0.00000000e+00 4.27107983e+02] [-2.82798377e-01 9.59179377e-01 0.00000000e+00 -1.15119857e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72775762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.14, Y:-115.13, Z:0.03 [[ 9.59519089e-01 2.81643601e-01 0.00000000e+00 4.27140160e+02] [-2.81643601e-01 9.59519089e-01 0.00000000e+00 -1.15128590e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78858993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.17, Y:-115.14, Z:0.03 [[ 9.59860109e-01 2.80479181e-01 0.00000000e+00 4.27170962e+02] [-2.80479181e-01 9.59860109e-01 0.00000000e+00 -1.15137666e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79094785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.681400513 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:427.20, Y:-115.15, Z:0.03 [[ 9.59964389e-01 2.80122066e-01 0.00000000e+00 4.27201878e+02] [-2.80122066e-01 9.59964389e-01 0.00000000e+00 -1.15147448e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69728679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.23, Y:-115.16, Z:0.03 [[ 9.59869234e-01 2.80447952e-01 0.00000000e+00 4.27233249e+02] [-2.80447952e-01 9.59869234e-01 0.00000000e+00 -1.15157747e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58975180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.26, Y:-115.17, Z:0.03 [[ 9.59408425e-01 2.82020342e-01 0.00000000e+00 4.27264938e+02] [-2.82020342e-01 9.59408425e-01 0.00000000e+00 -1.15166759e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59917851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.30, Y:-115.18, Z:0.03 [[ 9.58815884e-01 2.84028343e-01 0.00000000e+00 4.27295731e+02] [-2.84028343e-01 9.58815884e-01 0.00000000e+00 -1.15175214e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65393582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.33, Y:-115.18, Z:0.03 [[ 9.58073628e-01 2.86522118e-01 0.00000000e+00 4.27327479e+02] [-2.86522118e-01 9.58073628e-01 0.00000000e+00 -1.15183611e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74697011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.36, Y:-115.19, Z:0.03 [[ 9.57254652e-01 2.89246488e-01 0.00000000e+00 4.27358656e+02] [-2.89246488e-01 9.57254652e-01 0.00000000e+00 -1.15191843e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75090697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.39, Y:-115.20, Z:0.03 [[ 9.55741538e-01 2.94207602e-01 0.00000000e+00 4.27390185e+02] [-2.94207602e-01 9.55741538e-01 0.00000000e+00 -1.15201804e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96608176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.42, Y:-115.21, Z:0.03 [[ 9.55101004e-01 2.96280396e-01 0.00000000e+00 4.27421048e+02] [-2.96280396e-01 9.55101004e-01 0.00000000e+00 -1.15210659e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00268500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.45, Y:-115.22, Z:0.03 [[ 9.54506153e-01 2.98191221e-01 0.00000000e+00 4.27453169e+02] [-2.98191221e-01 9.54506153e-01 0.00000000e+00 -1.15219752e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00644078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.49, Y:-115.23, Z:0.03 [[ 9.54041886e-01 2.99673289e-01 0.00000000e+00 4.27485495e+02] [-2.99673289e-01 9.54041886e-01 0.00000000e+00 -1.15228466e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94355360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.52, Y:-115.24, Z:0.03 [[ 9.53339456e-01 3.01900449e-01 0.00000000e+00 4.27517160e+02] [-3.01900449e-01 9.53339456e-01 0.00000000e+00 -1.15238603e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83796801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.55, Y:-115.25, Z:0.03 [[ 9.53165793e-01 3.02448296e-01 0.00000000e+00 4.27547875e+02] [-3.02448296e-01 9.53165793e-01 0.00000000e+00 -1.15246756e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80670223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.58, Y:-115.25, Z:0.03 [[ 9.52979887e-01 3.03033554e-01 0.00000000e+00 4.27579343e+02] [-3.03033554e-01 9.52979887e-01 0.00000000e+00 -1.15254988e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90900039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.61, Y:-115.26, Z:0.03 [[ 9.52786731e-01 3.03640321e-01 0.00000000e+00 4.27610123e+02] [-3.03640321e-01 9.52786731e-01 0.00000000e+00 -1.15263211e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03223950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.64, Y:-115.27, Z:0.03 [[ 9.52697564e-01 3.03919974e-01 0.00000000e+00 4.27642403e+02] [-3.03919974e-01 9.52697564e-01 0.00000000e+00 -1.15271792e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11337093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.67, Y:-115.28, Z:0.03 [[ 9.52544466e-01 3.04399474e-01 0.00000000e+00 4.27673353e+02] [-3.04399474e-01 9.52544466e-01 0.00000000e+00 -1.15279499e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02418143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.70, Y:-115.28, Z:0.03 [[ 9.52056285e-01 3.05922915e-01 0.00000000e+00 4.27704048e+02] [-3.05922915e-01 9.52056285e-01 0.00000000e+00 -1.15283910e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54665268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.74, Y:-115.29, Z:0.02 [[ 9.51723208e-01 3.06957546e-01 0.00000000e+00 4.27736336e+02] [-3.06957546e-01 9.51723208e-01 0.00000000e+00 -1.15289030e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37158149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.77, Y:-115.29, Z:0.02 [[ 9.51544937e-01 3.07509728e-01 0.00000000e+00 4.27768662e+02] [-3.07509728e-01 9.51544937e-01 0.00000000e+00 -1.15293063e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22779382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.80, Y:-115.30, Z:0.02 [[ 9.51741857e-01 3.06899719e-01 0.00000000e+00 4.27800920e+02] [-3.06899719e-01 9.51741857e-01 0.00000000e+00 -1.15299319e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33221927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.83, Y:-115.31, Z:0.02 [[ 9.52288467e-01 3.05199402e-01 0.00000000e+00 4.27831943e+02] [-3.05199402e-01 9.52288467e-01 0.00000000e+00 -1.15305364e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37036492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.86, Y:-115.31, Z:0.03 [[ 9.52934118e-01 3.03177452e-01 0.00000000e+00 4.27863684e+02] [-3.03177452e-01 9.52934118e-01 0.00000000e+00 -1.15312428e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60517802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.89, Y:-115.32, Z:0.03 [[ 9.53646304e-01 3.00929772e-01 0.00000000e+00 4.27894407e+02] [-3.00929772e-01 9.53646304e-01 0.00000000e+00 -1.15319642e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65448009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.371400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:427.93, Y:-115.33, Z:0.03 [[ 9.54251296e-01 2.99005791e-01 0.00000000e+00 4.27926520e+02] [-2.99005791e-01 9.54251296e-01 0.00000000e+00 -1.15327666e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74747189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.96, Y:-115.34, Z:0.03 [[ 9.54828784e-01 2.97156512e-01 0.00000000e+00 4.27959039e+02] [-2.97156512e-01 9.54828784e-01 0.00000000e+00 -1.15335250e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75692567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.99, Y:-115.34, Z:0.02 [[ 9.55371260e-01 2.95407779e-01 0.00000000e+00 4.27989513e+02] [-2.95407779e-01 9.55371260e-01 0.00000000e+00 -1.15340038e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42745623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.02, Y:-115.35, Z:0.02 [[ 9.55351297e-01 2.95472332e-01 0.00000000e+00 4.28021239e+02] [-2.95472332e-01 9.55351297e-01 0.00000000e+00 -1.15346541e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25782374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.05, Y:-115.35, Z:0.02 [[ 9.55274568e-01 2.95720305e-01 0.00000000e+00 4.28052053e+02] [-2.95720305e-01 9.55274568e-01 0.00000000e+00 -1.15354092e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22128144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.08, Y:-115.36, Z:0.02 [[ 9.55270388e-01 2.95733808e-01 0.00000000e+00 4.28084336e+02] [-2.95733808e-01 9.55270388e-01 0.00000000e+00 -1.15362457e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33780163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.12, Y:-115.37, Z:0.03 [[ 9.55386727e-01 2.95357753e-01 0.00000000e+00 4.28116389e+02] [-2.95357753e-01 9.55386727e-01 0.00000000e+00 -1.15370874e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53877381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.15, Y:-115.38, Z:0.03 [[ 9.55632263e-01 2.94562348e-01 0.00000000e+00 4.28147632e+02] [-2.94562348e-01 9.55632263e-01 0.00000000e+00 -1.15379034e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61946092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.18, Y:-115.39, Z:0.03 [[ 9.56369210e-01 2.92160802e-01 0.00000000e+00 4.28178684e+02] [-2.92160802e-01 9.56369210e-01 0.00000000e+00 -1.15388601e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94180225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.21, Y:-115.40, Z:0.03 [[ 9.56783005e-01 2.90802821e-01 0.00000000e+00 4.28210750e+02] [-2.90802821e-01 9.56783005e-01 0.00000000e+00 -1.15397525e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06738671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.24, Y:-115.41, Z:0.03 [[ 9.57155032e-01 2.89575973e-01 0.00000000e+00 4.28241005e+02] [-2.89575973e-01 9.57155032e-01 0.00000000e+00 -1.15406525e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09190290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.27, Y:-115.41, Z:0.03 [[ 9.57101387e-01 2.89753232e-01 0.00000000e+00 4.28273566e+02] [-2.89753232e-01 9.57101387e-01 0.00000000e+00 -1.15414287e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09190290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.30, Y:-115.42, Z:0.03 [[ 9.57824075e-01 2.87355252e-01 0.00000000e+00 4.28303867e+02] [-2.87355252e-01 9.57824075e-01 0.00000000e+00 -1.15424912e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98462083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.761400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:428.34, Y:-115.43, Z:0.03 [[ 9.57804425e-01 2.87420742e-01 0.00000000e+00 4.28335087e+02] [-2.87420742e-01 9.57804425e-01 0.00000000e+00 -1.15433784e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80721807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.37, Y:-115.44, Z:0.03 [[ 9.57706499e-01 2.87746870e-01 0.00000000e+00 4.28365564e+02] [-2.87746870e-01 9.57706499e-01 0.00000000e+00 -1.15442047e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72456460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.40, Y:-115.45, Z:0.03 [[ 9.57458636e-01 2.88570546e-01 0.00000000e+00 4.28397104e+02] [-2.88570546e-01 9.57458636e-01 0.00000000e+00 -1.15450612e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71545289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.851400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:428.43, Y:-115.46, Z:0.03 [[ 9.57068358e-01 2.89862308e-01 0.00000000e+00 4.28429296e+02] [-2.89862308e-01 9.57068358e-01 0.00000000e+00 -1.15459311e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75294021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.881400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:428.46, Y:-115.47, Z:0.03 [[ 9.56016313e-01 2.93313500e-01 0.00000000e+00 4.28459743e+02] [-2.93313500e-01 9.56016313e-01 0.00000000e+00 -1.15468336e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80520312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.49, Y:-115.48, Z:0.03 [[ 9.55465040e-01 2.95104315e-01 0.00000000e+00 4.28490689e+02] [-2.95104315e-01 9.55465040e-01 0.00000000e+00 -1.15475486e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67036738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.52, Y:-115.48, Z:0.03 [[ 9.55002526e-01 2.96597666e-01 0.00000000e+00 4.28522252e+02] [-2.96597666e-01 9.55002526e-01 0.00000000e+00 -1.15482640e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51540862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.55, Y:-115.49, Z:0.02 [[ 9.54632766e-01 2.97785630e-01 0.00000000e+00 4.28554334e+02] [-2.97785630e-01 9.54632766e-01 0.00000000e+00 -1.15490149e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37256148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.59, Y:-115.50, Z:0.02 [[ 9.54340072e-01 2.98722324e-01 0.00000000e+00 4.28586964e+02] [-2.98722324e-01 9.54340072e-01 0.00000000e+00 -1.15497321e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45902652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.62, Y:-115.51, Z:0.03 [[ 9.54341325e-01 2.98718320e-01 0.00000000e+00 4.28619282e+02] [-2.98718320e-01 9.54341325e-01 0.00000000e+00 -1.15505121e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65071715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.65, Y:-115.51, Z:0.03 [[ 9.54356819e-01 2.98668817e-01 0.00000000e+00 4.28650334e+02] [-2.98668817e-01 9.54356819e-01 0.00000000e+00 -1.15513736e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54280336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.68, Y:-115.52, Z:0.03 [[ 9.54500107e-01 2.98210572e-01 0.00000000e+00 4.28682252e+02] [-2.98210572e-01 9.54500107e-01 0.00000000e+00 -1.15523403e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54833780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.71, Y:-115.53, Z:0.03 [[ 9.54779963e-01 2.97313341e-01 0.00000000e+00 4.28713611e+02] [-2.97313341e-01 9.54779963e-01 0.00000000e+00 -1.15532603e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51253146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.151400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:428.75, Y:-115.54, Z:0.03 [[ 9.55108014e-01 2.96257795e-01 0.00000000e+00 4.28745195e+02] [-2.96257795e-01 9.55108014e-01 0.00000000e+00 -1.15540904e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58006576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.78, Y:-115.55, Z:0.03 [[ 9.55621990e-01 2.94595676e-01 0.00000000e+00 4.28775856e+02] [-2.94595676e-01 9.55621990e-01 0.00000000e+00 -1.15548871e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97875556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.81, Y:-115.56, Z:0.03 [[ 9.55875772e-01 2.93771183e-01 0.00000000e+00 4.28806567e+02] [-2.93771183e-01 9.55875772e-01 0.00000000e+00 -1.15558091e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07948158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.84, Y:-115.57, Z:0.03 [[ 9.56100157e-01 2.93040081e-01 0.00000000e+00 4.28838243e+02] [-2.93040081e-01 9.56100157e-01 0.00000000e+00 -1.15568722e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08742192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.87, Y:-115.58, Z:0.03 [[ 9.56309157e-01 2.92357309e-01 0.00000000e+00 4.28868312e+02] [-2.92357309e-01 9.56309157e-01 0.00000000e+00 -1.15579142e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94468946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.90, Y:-115.59, Z:0.03 [[ 9.56521055e-01 2.91663285e-01 0.00000000e+00 4.28897873e+02] [-2.91663285e-01 9.56521055e-01 0.00000000e+00 -1.15591458e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75706994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.331400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:428.93, Y:-115.60, Z:0.03 [[ 9.56527151e-01 2.91643292e-01 0.00000000e+00 4.28929494e+02] [-2.91643292e-01 9.56527151e-01 0.00000000e+00 -1.15601917e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79868160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.96, Y:-115.61, Z:0.03 [[ 9.56462503e-01 2.91855238e-01 0.00000000e+00 4.28960062e+02] [-2.91855238e-01 9.56462503e-01 0.00000000e+00 -1.15612558e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85645998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.99, Y:-115.62, Z:0.03 [[ 9.56344072e-01 2.92243076e-01 0.00000000e+00 4.28990958e+02] [-2.92243076e-01 9.56344072e-01 0.00000000e+00 -1.15623218e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96055353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.02, Y:-115.63, Z:0.03 [[ 9.56280776e-01 2.92450127e-01 0.00000000e+00 4.29022638e+02] [-2.92450127e-01 9.56280776e-01 0.00000000e+00 -1.15632913e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00030005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.05, Y:-115.64, Z:0.03 [[ 9.56177454e-01 2.92787767e-01 0.00000000e+00 4.29052899e+02] [-2.92787767e-01 9.56177454e-01 0.00000000e+00 -1.15641893e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95756044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.08, Y:-115.65, Z:0.03 [[ 9.55970193e-01 2.93463779e-01 0.00000000e+00 4.29083388e+02] [-2.93463779e-01 9.55970193e-01 0.00000000e+00 -1.15653134e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87559573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.11, Y:-115.66, Z:0.03 [[ 9.55940386e-01 2.93560859e-01 0.00000000e+00 4.29114290e+02] [-2.93560859e-01 9.55940386e-01 0.00000000e+00 -1.15664134e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78653831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.15, Y:-115.68, Z:0.03 [[ 9.55968754e-01 2.93468467e-01 0.00000000e+00 4.29145291e+02] [-2.93468467e-01 9.55968754e-01 0.00000000e+00 -1.15675629e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71505267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.571400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:429.18, Y:-115.69, Z:0.03 [[ 9.56071588e-01 2.93133277e-01 0.00000000e+00 4.29175239e+02] [-2.93133277e-01 9.56071588e-01 0.00000000e+00 -1.15687028e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61703896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.21, Y:-115.70, Z:0.03 [[ 9.56175989e-01 2.92792552e-01 0.00000000e+00 4.29205995e+02] [-2.92792552e-01 9.56175989e-01 0.00000000e+00 -1.15698637e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66857325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.631400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:429.24, Y:-115.71, Z:0.03 [[ 9.56294699e-01 2.92404598e-01 0.00000000e+00 4.29236439e+02] [-2.92404598e-01 9.56294699e-01 0.00000000e+00 -1.15714224e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67121401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.27, Y:-115.73, Z:0.03 [[ 9.56111376e-01 2.93003477e-01 0.00000000e+00 4.29267614e+02] [-2.93003477e-01 9.56111376e-01 0.00000000e+00 -1.15725713e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67151173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.30, Y:-115.74, Z:0.03 [[ 9.55713146e-01 2.94299817e-01 0.00000000e+00 4.29296834e+02] [-2.94299817e-01 9.55713146e-01 0.00000000e+00 -1.15736083e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50399262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.33, Y:-115.75, Z:0.02 [[ 9.55080630e-01 2.96346064e-01 0.00000000e+00 4.29326140e+02] [-2.96346064e-01 9.55080630e-01 0.00000000e+00 -1.15746004e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37152573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.36, Y:-115.76, Z:0.02 [[ 9.53326583e-01 3.01941097e-01 0.00000000e+00 4.29355865e+02] [-3.01941097e-01 9.53326583e-01 0.00000000e+00 -1.15759203e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20950122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.781400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:429.39, Y:-115.77, Z:0.02 [[ 9.52408746e-01 3.04823851e-01 0.00000000e+00 4.29386848e+02] [-3.04823851e-01 9.52408746e-01 0.00000000e+00 -1.15770363e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16496686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.42, Y:-115.78, Z:0.02 [[ 9.51624704e-01 3.07262792e-01 0.00000000e+00 4.29417054e+02] [-3.07262792e-01 9.51624704e-01 0.00000000e+00 -1.15781348e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24678454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.45, Y:-115.79, Z:0.02 [[ 9.51004526e-01 3.09176960e-01 0.00000000e+00 4.29447393e+02] [-3.09176960e-01 9.51004526e-01 0.00000000e+00 -1.15791793e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27471842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.48, Y:-115.80, Z:0.03 [[ 9.50551144e-01 3.10568066e-01 0.00000000e+00 4.29479034e+02] [-3.10568066e-01 9.50551144e-01 0.00000000e+00 -1.15801642e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55373293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.51, Y:-115.81, Z:0.03 [[ 9.50179243e-01 3.11704037e-01 0.00000000e+00 4.29510517e+02] [-3.11704037e-01 9.50179243e-01 0.00000000e+00 -1.15810982e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62913695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.54, Y:-115.82, Z:0.03 [[ 9.49899265e-01 3.12556212e-01 0.00000000e+00 4.29542122e+02] [-3.12556212e-01 9.49899265e-01 0.00000000e+00 -1.15819685e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52924837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.57, Y:-115.83, Z:0.03 [[ 9.49791069e-01 3.12884843e-01 0.00000000e+00 4.29573204e+02] [-3.12884843e-01 9.49791069e-01 0.00000000e+00 -1.15826597e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50175199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.61, Y:-115.83, Z:0.03 [[ 9.49664786e-01 3.13267927e-01 0.00000000e+00 4.29605069e+02] [-3.13267927e-01 9.49664786e-01 0.00000000e+00 -1.15832988e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59848943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.64, Y:-115.84, Z:0.03 [[ 9.49738600e-01 3.13044074e-01 0.00000000e+00 4.29636471e+02] [-3.13044074e-01 9.49738600e-01 0.00000000e+00 -1.15837120e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62030261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.67, Y:-115.84, Z:0.03 [[ 9.49961820e-01 3.12366035e-01 0.00000000e+00 4.29668555e+02] [-3.12366035e-01 9.49961820e-01 0.00000000e+00 -1.15843365e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56603722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.70, Y:-115.85, Z:0.03 [[ 9.50208877e-01 3.11613687e-01 0.00000000e+00 4.29699895e+02] [-3.11613687e-01 9.50208877e-01 0.00000000e+00 -1.15849580e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55063031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.73, Y:-115.86, Z:0.02 [[ 9.50600111e-01 3.10418152e-01 0.00000000e+00 4.29731469e+02] [-3.10418152e-01 9.50600111e-01 0.00000000e+00 -1.15855944e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47410294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.76, Y:-115.86, Z:0.03 [[ 9.51132376e-01 3.08783425e-01 0.00000000e+00 4.29763694e+02] [-3.08783425e-01 9.51132376e-01 0.00000000e+00 -1.15862688e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58722465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.80, Y:-115.87, Z:0.03 [[ 9.51738478e-01 3.06910199e-01 0.00000000e+00 4.29795386e+02] [-3.06910199e-01 9.51738478e-01 0.00000000e+00 -1.15869440e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60742293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.83, Y:-115.87, Z:0.03 [[ 9.53249136e-01 3.02185515e-01 0.00000000e+00 4.29827605e+02] [-3.02185515e-01 9.53249136e-01 0.00000000e+00 -1.15874611e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98799578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.86, Y:-115.88, Z:0.03 [[ 9.53857037e-01 3.00261141e-01 0.00000000e+00 4.29858546e+02] [-3.00261141e-01 9.53857037e-01 0.00000000e+00 -1.15880851e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96244030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.261400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:429.89, Y:-115.89, Z:0.03 [[ 9.54400979e-01 2.98527672e-01 0.00000000e+00 4.29890733e+02] [-2.98527672e-01 9.54400979e-01 0.00000000e+00 -1.15887953e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96663451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.92, Y:-115.90, Z:0.03 [[ 9.54895580e-01 2.96941796e-01 0.00000000e+00 4.29922193e+02] [-2.96941796e-01 9.54895580e-01 0.00000000e+00 -1.15896263e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95036234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.95, Y:-115.90, Z:0.03 [[ 9.55639447e-01 2.94539041e-01 0.00000000e+00 4.29953709e+02] [-2.94539041e-01 9.55639447e-01 0.00000000e+00 -1.15904818e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78939193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.99, Y:-115.91, Z:0.03 [[ 9.55665587e-01 2.94454217e-01 0.00000000e+00 4.29985436e+02] [-2.94454217e-01 9.55665587e-01 0.00000000e+00 -1.15912228e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78034561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.02, Y:-115.92, Z:0.03 [[ 9.55530942e-01 2.94890861e-01 0.00000000e+00 4.30016519e+02] [-2.94890861e-01 9.55530942e-01 0.00000000e+00 -1.15919822e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82243942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.411400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:430.05, Y:-115.93, Z:0.03 [[ 9.55100320e-01 2.96282598e-01 0.00000000e+00 4.30048015e+02] [-2.96282598e-01 9.55100320e-01 0.00000000e+00 -1.15928998e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87786534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.08, Y:-115.94, Z:0.03 [[ 9.54754094e-01 2.97396401e-01 0.00000000e+00 4.30079287e+02] [-2.97396401e-01 9.54754094e-01 0.00000000e+00 -1.15937465e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87241687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.11, Y:-115.94, Z:0.03 [[ 9.54492442e-01 2.98235106e-01 0.00000000e+00 4.30110838e+02] [-2.98235106e-01 9.54492442e-01 0.00000000e+00 -1.15944845e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84063435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.501400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:430.14, Y:-115.95, Z:0.03 [[ 9.54352807e-01 2.98681636e-01 0.00000000e+00 4.30143148e+02] [-2.98681636e-01 9.54352807e-01 0.00000000e+00 -1.15952221e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81825484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.17, Y:-115.96, Z:0.03 [[ 9.54352561e-01 2.98682422e-01 0.00000000e+00 4.30173751e+02] [-2.98682422e-01 9.54352561e-01 0.00000000e+00 -1.15960395e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81345907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.21, Y:-115.97, Z:0.03 [[ 9.54543771e-01 2.98070778e-01 0.00000000e+00 4.30205410e+02] [-2.98070778e-01 9.54543771e-01 0.00000000e+00 -1.15970510e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86453891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.24, Y:-115.98, Z:0.03 [[ 9.54489598e-01 2.98244207e-01 0.00000000e+00 4.30237876e+02] [-2.98244207e-01 9.54489598e-01 0.00000000e+00 -1.15978601e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86453891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.621400513 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:430.27, Y:-115.99, Z:0.03 [[ 9.55051662e-01 2.96439408e-01 0.00000000e+00 4.30268302e+02] [-2.96439408e-01 9.55051662e-01 0.00000000e+00 -1.15991668e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98237965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.30, Y:-116.00, Z:0.03 [[ 9.55071311e-01 2.96376096e-01 0.00000000e+00 4.30298967e+02] [-2.96376096e-01 9.55071311e-01 0.00000000e+00 -1.16000721e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02079960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.681400513 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:430.33, Y:-116.01, Z:0.03 [[ 9.54893035e-01 2.96949981e-01 0.00000000e+00 4.30330737e+02] [-2.96949981e-01 9.54893035e-01 0.00000000e+00 -1.16008731e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88111168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.36, Y:-116.02, Z:0.03 [[ 9.54626776e-01 2.97804833e-01 0.00000000e+00 4.30361530e+02] [-2.97804833e-01 9.54626776e-01 0.00000000e+00 -1.16016739e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79534895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.39, Y:-116.03, Z:0.03 [[ 9.54234158e-01 2.99060481e-01 0.00000000e+00 4.30392646e+02] [-2.99060481e-01 9.54234158e-01 0.00000000e+00 -1.16027493e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85567980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.42, Y:-116.04, Z:0.03 [[ 9.54127012e-01 2.99402147e-01 0.00000000e+00 4.30422601e+02] [-2.99402147e-01 9.54127012e-01 0.00000000e+00 -1.16037578e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93139488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.45, Y:-116.05, Z:0.03 [[ 9.54147607e-01 2.99336507e-01 0.00000000e+00 4.30454105e+02] [-2.99336507e-01 9.54147607e-01 0.00000000e+00 -1.16048008e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98486763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.49, Y:-116.06, Z:0.03 [[ 9.54273970e-01 2.98933420e-01 0.00000000e+00 4.30485186e+02] [-2.98933420e-01 9.54273970e-01 0.00000000e+00 -1.16057879e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06575415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.52, Y:-116.07, Z:0.03 [[ 9.54587437e-01 2.97930906e-01 0.00000000e+00 4.30515813e+02] [-2.97930906e-01 9.54587437e-01 0.00000000e+00 -1.16067080e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11045551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.55, Y:-116.08, Z:0.03 [[ 9.55311999e-01 2.95599365e-01 0.00000000e+00 4.30547067e+02] [-2.95599365e-01 9.55311999e-01 0.00000000e+00 -1.16079208e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28295801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.921400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:430.58, Y:-116.09, Z:0.03 [[ 9.55551567e-01 2.94824021e-01 0.00000000e+00 4.30578434e+02] [-2.94824021e-01 9.55551567e-01 0.00000000e+00 -1.16089332e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25027349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.951400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:430.61, Y:-116.10, Z:0.03 [[ 9.55614800e-01 2.94619000e-01 0.00000000e+00 4.30609517e+02] [-2.94619000e-01 9.55614800e-01 0.00000000e+00 -1.16098728e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09979607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.64, Y:-116.11, Z:0.03 [[ 9.55483294e-01 2.95045208e-01 0.00000000e+00 4.30639875e+02] [-2.95045208e-01 9.55483294e-01 0.00000000e+00 -1.16107557e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91739002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.67, Y:-116.12, Z:0.03 [[ 9.54756281e-01 2.97389381e-01 0.00000000e+00 4.30670663e+02] [-2.97389381e-01 9.54756281e-01 0.00000000e+00 -1.16118402e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90496241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.70, Y:-116.13, Z:0.03 [[ 9.54220519e-01 2.99103998e-01 0.00000000e+00 4.30702100e+02] [-2.99103998e-01 9.54220519e-01 0.00000000e+00 -1.16127772e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09355468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.071400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:430.73, Y:-116.14, Z:0.03 [[ 9.53722120e-01 3.00689406e-01 0.00000000e+00 4.30733015e+02] [-3.00689406e-01 9.53722120e-01 0.00000000e+00 -1.16136126e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15641012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.101400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:430.76, Y:-116.14, Z:0.03 [[ 9.53268293e-01 3.02125075e-01 0.00000000e+00 4.30764701e+02] [-3.02125075e-01 9.53268293e-01 0.00000000e+00 -1.16144045e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23339870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.80, Y:-116.15, Z:0.03 [[ 9.52711755e-01 3.03875487e-01 0.00000000e+00 4.30796330e+02] [-3.03875487e-01 9.52711755e-01 0.00000000e+00 -1.16152006e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26786428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.83, Y:-116.16, Z:0.03 [[ 9.52103908e-01 3.05774668e-01 0.00000000e+00 4.30827198e+02] [-3.05774668e-01 9.52103908e-01 0.00000000e+00 -1.16160063e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18282838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.86, Y:-116.17, Z:0.03 [[ 9.50713740e-01 3.10069968e-01 0.00000000e+00 4.30859208e+02] [-3.10069968e-01 9.50713740e-01 0.00000000e+00 -1.16168904e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11918987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.221400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:430.89, Y:-116.18, Z:0.03 [[ 9.49952598e-01 3.12394079e-01 0.00000000e+00 4.30890815e+02] [-3.12394079e-01 9.49952598e-01 0.00000000e+00 -1.16176116e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03314745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.92, Y:-116.18, Z:0.03 [[ 9.49219929e-01 3.14613297e-01 0.00000000e+00 4.30921830e+02] [-3.14613297e-01 9.49219929e-01 0.00000000e+00 -1.16182949e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04352526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.95, Y:-116.19, Z:0.03 [[ 9.48313882e-01 3.17333864e-01 0.00000000e+00 4.30953231e+02] [-3.17333864e-01 9.48313882e-01 0.00000000e+00 -1.16188620e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04926562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.98, Y:-116.20, Z:0.03 [[ 9.48185233e-01 3.17718058e-01 0.00000000e+00 4.30984104e+02] [-3.17718058e-01 9.48185233e-01 0.00000000e+00 -1.16195790e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05944749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.02, Y:-116.20, Z:0.03 [[ 9.48368922e-01 3.17169335e-01 0.00000000e+00 4.31016319e+02] [-3.17169335e-01 9.48368922e-01 0.00000000e+00 -1.16203608e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08887004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.05, Y:-116.21, Z:0.03 [[ 9.48863964e-01 3.15685253e-01 0.00000000e+00 4.31048485e+02] [-3.15685253e-01 9.48863964e-01 0.00000000e+00 -1.16211596e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14705913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.08, Y:-116.22, Z:0.03 [[ 9.49471321e-01 3.13853804e-01 0.00000000e+00 4.31080061e+02] [-3.13853804e-01 9.49471321e-01 0.00000000e+00 -1.16219753e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12183510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.11, Y:-116.23, Z:0.03 [[ 9.50597084e-01 3.10427422e-01 0.00000000e+00 4.31110741e+02] [-3.10427422e-01 9.50597084e-01 0.00000000e+00 -1.16229331e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05407400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.14, Y:-116.24, Z:0.03 [[ 9.50781169e-01 3.09863145e-01 0.00000000e+00 4.31142531e+02] [-3.09863145e-01 9.50781169e-01 0.00000000e+00 -1.16237535e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15004458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.49140051300003 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:431.17, Y:-116.24, Z:0.03 [[ 9.50617516e-01 3.10364848e-01 0.00000000e+00 4.31174420e+02] [-3.10364848e-01 9.50617516e-01 0.00000000e+00 -1.16244843e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28537655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.21, Y:-116.25, Z:0.03 [[ 9.50244506e-01 3.11505022e-01 0.00000000e+00 4.31205812e+02] [-3.11505022e-01 9.50244506e-01 0.00000000e+00 -1.16251916e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39394539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.24, Y:-116.26, Z:0.03 [[ 9.48728505e-01 3.16092113e-01 0.00000000e+00 4.31238191e+02] [-3.16092113e-01 9.48728505e-01 0.00000000e+00 -1.16257064e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28330197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.27, Y:-116.26, Z:0.03 [[ 9.47732601e-01 3.19065694e-01 0.00000000e+00 4.31270174e+02] [-3.19065694e-01 9.47732601e-01 0.00000000e+00 -1.16262345e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03467135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.30, Y:-116.27, Z:0.03 [[ 9.46777996e-01 3.21887289e-01 0.00000000e+00 4.31302385e+02] [-3.21887289e-01 9.46777996e-01 0.00000000e+00 -1.16266689e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80833985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.34, Y:-116.27, Z:0.03 [[ 9.45907623e-01 3.24436077e-01 0.00000000e+00 4.31335545e+02] [-3.24436077e-01 9.45907623e-01 0.00000000e+00 -1.16271184e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82547935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.37, Y:-116.28, Z:0.03 [[ 9.45239202e-01 3.26378386e-01 0.00000000e+00 4.31368522e+02] [-3.26378386e-01 9.45239202e-01 0.00000000e+00 -1.16275877e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87644859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.40, Y:-116.28, Z:0.03 [[ 9.44903091e-01 3.27350192e-01 0.00000000e+00 4.31401450e+02] [-3.27350192e-01 9.44903091e-01 0.00000000e+00 -1.16280922e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00501060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.43, Y:-116.28, Z:0.03 [[ 9.45386031e-01 3.25952839e-01 0.00000000e+00 4.31433918e+02] [-3.25952839e-01 9.45386031e-01 0.00000000e+00 -1.16282712e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16073339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.761400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:431.47, Y:-116.29, Z:0.03 [[ 9.45949666e-01 3.24313473e-01 0.00000000e+00 4.31466307e+02] [-3.24313473e-01 9.45949666e-01 0.00000000e+00 -1.16288529e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08117017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.50, Y:-116.29, Z:0.03 [[ 9.46539027e-01 3.22589321e-01 0.00000000e+00 4.31498432e+02] [-3.22589321e-01 9.46539027e-01 0.00000000e+00 -1.16294857e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98382254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.53, Y:-116.30, Z:0.03 [[ 9.47057266e-01 3.21064690e-01 0.00000000e+00 4.31529482e+02] [-3.21064690e-01 9.47057266e-01 0.00000000e+00 -1.16300821e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81728549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.56, Y:-116.30, Z:0.03 [[ 9.47955903e-01 3.18401644e-01 0.00000000e+00 4.31563811e+02] [-3.18401644e-01 9.47955903e-01 0.00000000e+00 -1.16301327e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98057129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.60, Y:-116.30, Z:0.03 [[ 9.48060276e-01 3.18090730e-01 0.00000000e+00 4.31596490e+02] [-3.18090730e-01 9.48060276e-01 0.00000000e+00 -1.16304423e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01177947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.63, Y:-116.31, Z:0.03 [[ 9.48079922e-01 3.18032170e-01 0.00000000e+00 4.31629495e+02] [-3.18032170e-01 9.48079922e-01 0.00000000e+00 -1.16308744e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99585618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.66, Y:-116.31, Z:0.03 [[ 9.48076240e-01 3.18043147e-01 0.00000000e+00 4.31661014e+02] [-3.18043147e-01 9.48076240e-01 0.00000000e+00 -1.16314124e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89091345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.69, Y:-116.32, Z:0.03 [[ 9.48041349e-01 3.18147138e-01 0.00000000e+00 4.31693870e+02] [-3.18147138e-01 9.48041349e-01 0.00000000e+00 -1.16320303e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81221516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.73, Y:-116.33, Z:0.03 [[ 9.47972569e-01 3.18352021e-01 0.00000000e+00 4.31726614e+02] [-3.18352021e-01 9.47972569e-01 0.00000000e+00 -1.16325609e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79539964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.76, Y:-116.33, Z:0.03 [[ 9.47998123e-01 3.18275916e-01 0.00000000e+00 4.31759723e+02] [-3.18275916e-01 9.47998123e-01 0.00000000e+00 -1.16326615e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02131512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.79, Y:-116.33, Z:0.03 [[ 9.48124943e-01 3.17897928e-01 0.00000000e+00 4.31792021e+02] [-3.17897928e-01 9.48124943e-01 0.00000000e+00 -1.16332369e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16414147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.82, Y:-116.34, Z:0.03 [[ 9.48401692e-01 3.17071332e-01 0.00000000e+00 4.31823521e+02] [-3.17071332e-01 9.48401692e-01 0.00000000e+00 -1.16338383e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11181137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.86, Y:-116.34, Z:0.03 [[ 9.48819850e-01 3.15817814e-01 0.00000000e+00 4.31856447e+02] [-3.15817814e-01 9.48819850e-01 0.00000000e+00 -1.16343835e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03196074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.89, Y:-116.35, Z:0.03 [[ 9.49597541e-01 3.13471706e-01 0.00000000e+00 4.31890436e+02] [-3.13471706e-01 9.49597541e-01 0.00000000e+00 -1.16345698e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93092409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.181400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:431.92, Y:-116.35, Z:0.03 [[ 9.49784771e-01 3.12903960e-01 0.00000000e+00 4.31922562e+02] [-3.12903960e-01 9.49784771e-01 0.00000000e+00 -1.16351737e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94243996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.95, Y:-116.36, Z:0.03 [[ 9.49939640e-01 3.12433483e-01 0.00000000e+00 4.31954919e+02] [-3.12433483e-01 9.49939640e-01 0.00000000e+00 -1.16358361e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98796811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.99, Y:-116.36, Z:0.03 [[ 9.50000553e-01 3.12248219e-01 0.00000000e+00 4.31985876e+02] [-3.12248219e-01 9.50000553e-01 0.00000000e+00 -1.16364565e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99431297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.02, Y:-116.37, Z:0.03 [[ 9.50002319e-01 3.12242845e-01 0.00000000e+00 4.32018611e+02] [-3.12242845e-01 9.50002319e-01 0.00000000e+00 -1.16370972e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07961853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.05, Y:-116.38, Z:0.03 [[ 9.49935358e-01 3.12446499e-01 0.00000000e+00 4.32050685e+02] [-3.12446499e-01 9.49935358e-01 0.00000000e+00 -1.16375690e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34516461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.08, Y:-116.38, Z:0.03 [[ 9.49732818e-01 3.13061613e-01 0.00000000e+00 4.32083128e+02] [-3.13061613e-01 9.49732818e-01 0.00000000e+00 -1.16382895e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46339986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.12, Y:-116.39, Z:0.03 [[ 9.49429471e-01 3.13980381e-01 0.00000000e+00 4.32115330e+02] [-3.13980381e-01 9.49429471e-01 0.00000000e+00 -1.16389559e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46219332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.15, Y:-116.40, Z:0.03 [[ 9.49040658e-01 3.15153660e-01 0.00000000e+00 4.32147296e+02] [-3.15153660e-01 9.49040658e-01 0.00000000e+00 -1.16395241e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28794199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.18, Y:-116.40, Z:0.03 [[ 9.48653110e-01 3.16318315e-01 0.00000000e+00 4.32179033e+02] [-3.16318315e-01 9.48653110e-01 0.00000000e+00 -1.16400153e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01581451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.21, Y:-116.41, Z:0.03 [[ 9.48240241e-01 3.17553847e-01 0.00000000e+00 4.32211394e+02] [-3.17553847e-01 9.48240241e-01 0.00000000e+00 -1.16406232e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92718351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.24, Y:-116.41, Z:0.03 [[ 9.47338859e-01 3.20232862e-01 0.00000000e+00 4.32242927e+02] [-3.20232862e-01 9.47338859e-01 0.00000000e+00 -1.16412437e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20534433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.27, Y:-116.42, Z:0.03 [[ 9.46734230e-01 3.22015991e-01 0.00000000e+00 4.32273906e+02] [-3.22015991e-01 9.46734230e-01 0.00000000e+00 -1.16419719e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33327100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.31, Y:-116.43, Z:0.03 [[ 9.46676588e-01 3.22185409e-01 0.00000000e+00 4.32306293e+02] [-3.22185409e-01 9.46676588e-01 0.00000000e+00 -1.16428178e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33327100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.34, Y:-116.43, Z:0.03 [[ 9.45939882e-01 3.24342011e-01 0.00000000e+00 4.32338333e+02] [-3.24342011e-01 9.45939882e-01 0.00000000e+00 -1.16434899e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30934035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.37, Y:-116.44, Z:0.03 [[ 9.45190649e-01 3.26518968e-01 0.00000000e+00 4.32370339e+02] [-3.26518968e-01 9.45190649e-01 0.00000000e+00 -1.16440659e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18241650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.40, Y:-116.44, Z:0.03 [[ 9.43820623e-01 3.30458215e-01 0.00000000e+00 4.32403014e+02] [-3.30458215e-01 9.43820623e-01 0.00000000e+00 -1.16442483e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90384309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.661400513 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:432.44, Y:-116.45, Z:0.03 [[ 9.43144964e-01 3.32381674e-01 0.00000000e+00 4.32435696e+02] [-3.32381674e-01 9.43144964e-01 0.00000000e+00 -1.16448044e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95579694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.47, Y:-116.45, Z:0.03 [[ 9.42437653e-01 3.34381924e-01 0.00000000e+00 4.32467682e+02] [-3.34381924e-01 9.42437653e-01 0.00000000e+00 -1.16453304e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11001094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.50, Y:-116.46, Z:0.03 [[ 9.41731614e-01 3.36365230e-01 0.00000000e+00 4.32499325e+02] [-3.36365230e-01 9.41731614e-01 0.00000000e+00 -1.16458032e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09134019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.53, Y:-116.46, Z:0.03 [[ 9.41086292e-01 3.38166514e-01 0.00000000e+00 4.32531519e+02] [-3.38166514e-01 9.41086292e-01 0.00000000e+00 -1.16462065e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79408287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.56, Y:-116.46, Z:0.02 [[ 9.40336804e-01 3.40245052e-01 0.00000000e+00 4.32564827e+02] [-3.40245052e-01 9.40336804e-01 0.00000000e+00 -1.16461086e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42266963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.60, Y:-116.46, Z:0.02 [[ 9.40260034e-01 3.40457147e-01 0.00000000e+00 4.32596927e+02] [-3.40457147e-01 9.40260034e-01 0.00000000e+00 -1.16464939e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34039476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.841400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:432.63, Y:-116.47, Z:0.02 [[ 9.40454284e-01 3.39920195e-01 0.00000000e+00 4.32627766e+02] [-3.39920195e-01 9.40454284e-01 0.00000000e+00 -1.16468561e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42188090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.66, Y:-116.47, Z:0.03 [[ 9.40943145e-01 3.38564613e-01 0.00000000e+00 4.32659664e+02] [-3.38564613e-01 9.40943145e-01 0.00000000e+00 -1.16472575e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83405869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.69, Y:-116.48, Z:0.03 [[ 9.42662326e-01 3.33748017e-01 0.00000000e+00 4.32691519e+02] [-3.33748017e-01 9.42662326e-01 0.00000000e+00 -1.16475140e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99326367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.72, Y:-116.48, Z:0.03 [[ 9.43845872e-01 3.30386092e-01 0.00000000e+00 4.32723761e+02] [-3.30386092e-01 9.43845872e-01 0.00000000e+00 -1.16481889e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87396472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.76, Y:-116.49, Z:0.03 [[ 9.45107497e-01 3.26759573e-01 0.00000000e+00 4.32755137e+02] [-3.26759573e-01 9.45107497e-01 0.00000000e+00 -1.16488941e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62926631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.79, Y:-116.50, Z:0.02 [[ 9.46437808e-01 3.22886165e-01 0.00000000e+00 4.32785763e+02] [-3.22886165e-01 9.46437808e-01 0.00000000e+00 -1.16495366e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46416756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.82, Y:-116.50, Z:0.02 [[ 9.47591592e-01 3.19484231e-01 0.00000000e+00 4.32816269e+02] [-3.19484231e-01 9.47591592e-01 0.00000000e+00 -1.16501777e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49313513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.85, Y:-116.51, Z:0.03 [[ 9.49014800e-01 3.15231517e-01 0.00000000e+00 4.32848296e+02] [-3.15231517e-01 9.49014800e-01 0.00000000e+00 -1.16508079e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70561436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.88, Y:-116.52, Z:0.03 [[ 9.49248670e-01 3.14526569e-01 0.00000000e+00 4.32877054e+02] [-3.14526569e-01 9.49248670e-01 0.00000000e+00 -1.16515136e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81296679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.91, Y:-116.52, Z:0.03 [[ 9.49146693e-01 3.14834171e-01 0.00000000e+00 4.32907206e+02] [-3.14834171e-01 9.49146693e-01 0.00000000e+00 -1.16521963e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92324110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.94, Y:-116.53, Z:0.03 [[ 9.48715875e-01 3.16130020e-01 0.00000000e+00 4.32938952e+02] [-3.16130020e-01 9.48715875e-01 0.00000000e+00 -1.16528783e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01810064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.97, Y:-116.53, Z:0.03 [[ 9.48051006e-01 3.18118358e-01 0.00000000e+00 4.32970616e+02] [-3.18118358e-01 9.48051006e-01 0.00000000e+00 -1.16534925e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14118326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.00, Y:-116.54, Z:0.04 [[ 9.46373442e-01 3.23074771e-01 0.00000000e+00 4.33000793e+02] [-3.23074771e-01 9.46373442e-01 0.00000000e+00 -1.16538687e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53339855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.03, Y:-116.54, Z:0.04 [[ 9.45627186e-01 3.25252557e-01 0.00000000e+00 4.33029142e+02] [-3.25252557e-01 9.45627186e-01 0.00000000e+00 -1.16543816e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54078471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.06, Y:-116.55, Z:0.03 [[ 9.45108554e-01 3.26756516e-01 0.00000000e+00 4.33056453e+02] [-3.26756516e-01 9.45108554e-01 0.00000000e+00 -1.16548150e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42194458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.08, Y:-116.55, Z:0.03 [[ 9.44729730e-01 3.27850176e-01 0.00000000e+00 4.33083875e+02] [-3.27850176e-01 9.44729730e-01 0.00000000e+00 -1.16552131e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22448239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.12, Y:-116.56, Z:0.03 [[ 9.44465230e-01 3.28611364e-01 0.00000000e+00 4.33115146e+02] [-3.28611364e-01 9.44465230e-01 0.00000000e+00 -1.16557461e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12583042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.15, Y:-116.56, Z:0.03 [[ 9.44337458e-01 3.28978366e-01 0.00000000e+00 4.33145294e+02] [-3.28978366e-01 9.44337458e-01 0.00000000e+00 -1.16562666e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94926760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.17, Y:-116.57, Z:0.03 [[ 9.44930724e-01 3.27270419e-01 0.00000000e+00 4.33174066e+02] [-3.27270419e-01 9.44930724e-01 0.00000000e+00 -1.16567164e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88868367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.20, Y:-116.57, Z:0.03 [[ 9.45725369e-01 3.24966963e-01 0.00000000e+00 4.33201515e+02] [-3.24966963e-01 9.45725369e-01 0.00000000e+00 -1.16573663e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82557440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.23, Y:-116.58, Z:0.03 [[ 9.47773295e-01 3.18944793e-01 0.00000000e+00 4.33228311e+02] [-3.18944793e-01 9.47773295e-01 0.00000000e+00 -1.16579826e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82393833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.26, Y:-116.59, Z:0.03 [[ 9.48719564e-01 3.16118948e-01 0.00000000e+00 4.33256715e+02] [-3.16118948e-01 9.48719564e-01 0.00000000e+00 -1.16587234e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01305911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.28, Y:-116.60, Z:0.03 [[ 9.49429368e-01 3.13980693e-01 0.00000000e+00 4.33284679e+02] [-3.13980693e-01 9.49429368e-01 0.00000000e+00 -1.16595279e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10200920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.31, Y:-116.60, Z:0.03 [[ 9.49955633e-01 3.12384851e-01 0.00000000e+00 4.33312498e+02] [-3.12384851e-01 9.49955633e-01 0.00000000e+00 -1.16604233e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25102067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.34, Y:-116.61, Z:0.03 [[ 9.50248182e-01 3.11493809e-01 0.00000000e+00 4.33340754e+02] [-3.11493809e-01 9.50248182e-01 0.00000000e+00 -1.16613295e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32915089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.37, Y:-116.62, Z:0.03 [[ 9.50116424e-01 3.11895464e-01 0.00000000e+00 4.33368304e+02] [-3.11895464e-01 9.50116424e-01 0.00000000e+00 -1.16622918e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36656378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.40, Y:-116.63, Z:0.03 [[ 9.49844973e-01 3.12721167e-01 0.00000000e+00 4.33395666e+02] [-3.12721167e-01 9.49844973e-01 0.00000000e+00 -1.16631185e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26678040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.42, Y:-116.64, Z:0.03 [[ 9.49374961e-01 3.14145162e-01 0.00000000e+00 4.33424230e+02] [-3.14145162e-01 9.49374961e-01 0.00000000e+00 -1.16639519e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12431029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.45, Y:-116.65, Z:0.03 [[ 9.48661934e-01 3.16291852e-01 0.00000000e+00 4.33453884e+02] [-3.16291852e-01 9.48661934e-01 0.00000000e+00 -1.16647168e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02955782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.48, Y:-116.65, Z:0.03 [[ 9.47770067e-01 3.18954386e-01 0.00000000e+00 4.33481736e+02] [-3.18954386e-01 9.47770067e-01 0.00000000e+00 -1.16653633e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89475029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.74140051300003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:433.51, Y:-116.66, Z:0.03 [[ 9.46134569e-01 3.23773650e-01 0.00000000e+00 4.33510123e+02] [-3.23773650e-01 9.46134569e-01 0.00000000e+00 -1.16658678e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92955612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.54, Y:-116.67, Z:0.03 [[ 9.45662849e-01 3.25148852e-01 0.00000000e+00 4.33537370e+02] [-3.25148852e-01 9.45662849e-01 0.00000000e+00 -1.16665178e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95667719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.57, Y:-116.67, Z:0.03 [[ 9.45682119e-01 3.25092801e-01 0.00000000e+00 4.33565271e+02] [-3.25092801e-01 9.45682119e-01 0.00000000e+00 -1.16671607e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01405566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.59, Y:-116.68, Z:0.03 [[ 9.46023336e-01 3.24098516e-01 0.00000000e+00 4.33592194e+02] [-3.24098516e-01 9.46023336e-01 0.00000000e+00 -1.16677810e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14942121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.62, Y:-116.68, Z:0.03 [[ 9.46793208e-01 3.21842542e-01 0.00000000e+00 4.33619450e+02] [-3.21842542e-01 9.46793208e-01 0.00000000e+00 -1.16683174e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29647235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.65, Y:-116.69, Z:0.03 [[ 9.47120414e-01 3.20878359e-01 0.00000000e+00 4.33647797e+02] [-3.20878359e-01 9.47120414e-01 0.00000000e+00 -1.16689795e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22423232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.921400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:433.68, Y:-116.70, Z:0.03 [[ 9.47613270e-01 3.19419929e-01 0.00000000e+00 4.33676368e+02] [-3.19419929e-01 9.47613270e-01 0.00000000e+00 -1.16695637e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08078025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.70, Y:-116.70, Z:0.03 [[ 9.48171010e-01 3.17760501e-01 0.00000000e+00 4.33703358e+02] [-3.17760501e-01 9.48171010e-01 0.00000000e+00 -1.16701267e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01900565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.73, Y:-116.71, Z:0.03 [[ 9.48729415e-01 3.16089380e-01 0.00000000e+00 4.33732864e+02] [-3.16089380e-01 9.48729415e-01 0.00000000e+00 -1.16707439e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93904073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.76, Y:-116.71, Z:0.03 [[ 9.49973719e-01 3.12329847e-01 0.00000000e+00 4.33762146e+02] [-3.12329847e-01 9.49973719e-01 0.00000000e+00 -1.16713433e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91467802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.79, Y:-116.72, Z:0.03 [[ 9.50564353e-01 3.10527634e-01 0.00000000e+00 4.33789478e+02] [-3.10527634e-01 9.50564353e-01 0.00000000e+00 -1.16720645e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97510561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.82, Y:-116.73, Z:0.03 [[ 9.51067447e-01 3.08983351e-01 0.00000000e+00 4.33816823e+02] [-3.08983351e-01 9.51067447e-01 0.00000000e+00 -1.16728181e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14091838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.84, Y:-116.74, Z:0.03 [[ 9.51379384e-01 3.08021539e-01 0.00000000e+00 4.33844930e+02] [-3.08021539e-01 9.51379384e-01 0.00000000e+00 -1.16736204e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23981396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.87, Y:-116.74, Z:0.03 [[ 9.51408396e-01 3.07931914e-01 0.00000000e+00 4.33872587e+02] [-3.07931914e-01 9.51408396e-01 0.00000000e+00 -1.16744554e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13677633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.90, Y:-116.75, Z:0.03 [[ 9.51137991e-01 3.08766127e-01 0.00000000e+00 4.33900470e+02] [-3.08766127e-01 9.51137991e-01 0.00000000e+00 -1.16751887e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11045647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.93, Y:-116.76, Z:0.03 [[ 9.50709577e-01 3.10082732e-01 0.00000000e+00 4.33927476e+02] [-3.10082732e-01 9.50709577e-01 0.00000000e+00 -1.16759035e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11146356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.96, Y:-116.77, Z:0.03 [[ 9.50095774e-01 3.11958362e-01 0.00000000e+00 4.33955652e+02] [-3.11958362e-01 9.50095774e-01 0.00000000e+00 -1.16767226e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11319898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.98, Y:-116.78, Z:0.03 [[ 9.49443575e-01 3.13937731e-01 0.00000000e+00 4.33984453e+02] [-3.13937731e-01 9.49443575e-01 0.00000000e+00 -1.16776311e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06540547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.01, Y:-116.79, Z:0.03 [[ 9.48345764e-01 3.17238572e-01 0.00000000e+00 4.34012308e+02] [-3.17238572e-01 9.48345764e-01 0.00000000e+00 -1.16786584e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83349093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.04, Y:-116.79, Z:0.03 [[ 9.47884787e-01 3.18613294e-01 0.00000000e+00 4.34040148e+02] [-3.18613294e-01 9.47884787e-01 0.00000000e+00 -1.16794177e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65379464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.07, Y:-116.80, Z:0.03 [[ 9.47575424e-01 3.19532183e-01 0.00000000e+00 4.34068907e+02] [-3.19532183e-01 9.47575424e-01 0.00000000e+00 -1.16802141e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61369817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.10, Y:-116.81, Z:0.03 [[ 9.47507991e-01 3.19732087e-01 0.00000000e+00 4.34098354e+02] [-3.19732087e-01 9.47507991e-01 0.00000000e+00 -1.16811406e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61050822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.13, Y:-116.82, Z:0.03 [[ 9.47507991e-01 3.19732087e-01 0.00000000e+00 4.34128366e+02] [-3.19732087e-01 9.47507991e-01 0.00000000e+00 -1.16819170e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61050822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.16, Y:-116.83, Z:0.03 [[ 9.47774564e-01 3.18941023e-01 0.00000000e+00 4.34157369e+02] [-3.18941023e-01 9.47774564e-01 0.00000000e+00 -1.16829120e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67387473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.18, Y:-116.84, Z:0.03 [[ 9.49352440e-01 3.14213214e-01 0.00000000e+00 4.34183667e+02] [-3.14213214e-01 9.49352440e-01 0.00000000e+00 -1.16840990e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87805459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.21, Y:-116.85, Z:0.03 [[ 9.50296083e-01 3.11347643e-01 0.00000000e+00 4.34212843e+02] [-3.11347643e-01 9.50296083e-01 0.00000000e+00 -1.16851557e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96818603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.24, Y:-116.87, Z:0.03 [[ 9.51717393e-01 3.06975575e-01 0.00000000e+00 4.34242349e+02] [-3.06975575e-01 9.51717393e-01 0.00000000e+00 -1.16866992e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07090699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.27, Y:-116.88, Z:0.03 [[ 9.51977340e-01 3.06168488e-01 0.00000000e+00 4.34272961e+02] [-3.06168488e-01 9.51977340e-01 0.00000000e+00 -1.16878526e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10871618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.30, Y:-116.89, Z:0.03 [[ 9.52011985e-01 3.06060745e-01 0.00000000e+00 4.34303242e+02] [-3.06060745e-01 9.52011985e-01 0.00000000e+00 -1.16889713e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04674872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.33, Y:-116.90, Z:0.03 [[ 9.51913975e-01 3.06365443e-01 0.00000000e+00 4.34334107e+02] [-3.06365443e-01 9.51913975e-01 0.00000000e+00 -1.16901006e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05872710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.36, Y:-116.91, Z:0.03 [[ 9.51718323e-01 3.06972693e-01 0.00000000e+00 4.34364422e+02] [-3.06972693e-01 9.51718323e-01 0.00000000e+00 -1.16912337e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06999516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.40, Y:-116.92, Z:0.03 [[ 9.51403001e-01 3.07948583e-01 0.00000000e+00 4.34395063e+02] [-3.07948583e-01 9.51403001e-01 0.00000000e+00 -1.16923867e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04088467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.42, Y:-116.94, Z:0.03 [[ 9.50390329e-01 3.11059837e-01 0.00000000e+00 4.34424021e+02] [-3.11059837e-01 9.50390329e-01 0.00000000e+00 -1.16938097e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95372664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.46, Y:-116.95, Z:0.03 [[ 9.49465317e-01 3.13871967e-01 0.00000000e+00 4.34455081e+02] [-3.13871967e-01 9.49465317e-01 0.00000000e+00 -1.16949153e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17465049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.49, Y:-116.96, Z:0.03 [[ 9.48323756e-01 3.17304355e-01 0.00000000e+00 4.34485118e+02] [-3.17304355e-01 9.48323756e-01 0.00000000e+00 -1.16959230e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40196978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.52, Y:-116.97, Z:0.04 [[ 9.46999757e-01 3.21234277e-01 0.00000000e+00 4.34516599e+02] [-3.21234277e-01 9.46999757e-01 0.00000000e+00 -1.16968533e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59641869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.55, Y:-116.98, Z:0.04 [[ 9.44528453e-01 3.28429598e-01 0.00000000e+00 4.34548993e+02] [-3.28429598e-01 9.44528453e-01 0.00000000e+00 -1.16975698e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52423209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.58, Y:-116.98, Z:0.03 [[ 9.43487116e-01 3.31409205e-01 0.00000000e+00 4.34581680e+02] [-3.31409205e-01 9.43487116e-01 0.00000000e+00 -1.16982557e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33145918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.61, Y:-116.99, Z:0.03 [[ 9.42798063e-01 3.33364383e-01 0.00000000e+00 4.34612723e+02] [-3.33364383e-01 9.42798063e-01 0.00000000e+00 -1.16989462e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13384971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.64, Y:-117.00, Z:0.03 [[ 9.42448702e-01 3.34350780e-01 0.00000000e+00 4.34643468e+02] [-3.34350780e-01 9.42448702e-01 0.00000000e+00 -1.16996792e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02141434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.68, Y:-117.00, Z:0.03 [[ 9.42559741e-01 3.34037624e-01 0.00000000e+00 4.34675139e+02] [-3.34037624e-01 9.42559741e-01 0.00000000e+00 -1.17004578e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03741806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.71, Y:-117.01, Z:0.03 [[ 9.43946506e-01 3.30098461e-01 0.00000000e+00 4.34708005e+02] [-3.30098461e-01 9.43946506e-01 0.00000000e+00 -1.17010684e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07324107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.74, Y:-117.02, Z:0.03 [[ 9.44909936e-01 3.27330432e-01 0.00000000e+00 4.34740576e+02] [-3.27330432e-01 9.44909936e-01 0.00000000e+00 -1.17017884e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07937930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.77, Y:-117.03, Z:0.03 [[ 9.45963214e-01 3.24273954e-01 0.00000000e+00 4.34771428e+02] [-3.24273954e-01 9.45963214e-01 0.00000000e+00 -1.17025456e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06013350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.80, Y:-117.03, Z:0.03 [[ 9.47004342e-01 3.21220759e-01 0.00000000e+00 4.34803294e+02] [-3.21220759e-01 9.47004342e-01 0.00000000e+00 -1.17033916e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06762419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.83, Y:-117.04, Z:0.03 [[ 9.48085969e-01 3.18014142e-01 0.00000000e+00 4.34834061e+02] [-3.18014142e-01 9.48085969e-01 0.00000000e+00 -1.17042280e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04567069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.86, Y:-117.05, Z:0.03 [[ 9.50299293e-01 3.11337845e-01 0.00000000e+00 4.34864490e+02] [-3.11337845e-01 9.50299293e-01 0.00000000e+00 -1.17051566e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07917093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.89, Y:-117.06, Z:0.03 [[ 9.51274532e-01 3.08345203e-01 0.00000000e+00 4.34894788e+02] [-3.08345203e-01 9.51274532e-01 0.00000000e+00 -1.17060797e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00537570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.93, Y:-117.07, Z:0.03 [[ 9.52078497e-01 3.05853781e-01 0.00000000e+00 4.34926603e+02] [-3.05853781e-01 9.52078497e-01 0.00000000e+00 -1.17071157e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01160670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.96, Y:-117.08, Z:0.03 [[ 9.52651395e-01 3.04064665e-01 0.00000000e+00 4.34956876e+02] [-3.04064665e-01 9.52651395e-01 0.00000000e+00 -1.17081421e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85909735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.99, Y:-117.09, Z:0.03 [[ 9.53033894e-01 3.02863660e-01 0.00000000e+00 4.34987501e+02] [-3.02863660e-01 9.53033894e-01 0.00000000e+00 -1.17094998e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07517380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.02, Y:-117.11, Z:0.03 [[ 9.52909909e-01 3.03253532e-01 0.00000000e+00 4.35017317e+02] [-3.03253532e-01 9.52909909e-01 0.00000000e+00 -1.17106487e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27677724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.05, Y:-117.12, Z:0.03 [[ 9.52634873e-01 3.04116422e-01 0.00000000e+00 4.35048069e+02] [-3.04116422e-01 9.52634873e-01 0.00000000e+00 -1.17117746e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45075246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.08, Y:-117.13, Z:0.04 [[ 9.52136186e-01 3.05674144e-01 0.00000000e+00 4.35078155e+02] [-3.05674144e-01 9.52136186e-01 0.00000000e+00 -1.17128195e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58462322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.11, Y:-117.14, Z:0.04 [[ 9.50630690e-01 3.10324494e-01 0.00000000e+00 4.35109618e+02] [-3.10324494e-01 9.50630690e-01 0.00000000e+00 -1.17139233e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61266450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.14, Y:-117.15, Z:0.04 [[ 9.49662660e-01 3.13274373e-01 0.00000000e+00 4.35140021e+02] [-3.13274373e-01 9.49662660e-01 0.00000000e+00 -1.17148797e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52137603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.17, Y:-117.16, Z:0.03 [[ 9.48745839e-01 3.16040081e-01 0.00000000e+00 4.35170804e+02] [-3.16040081e-01 9.48745839e-01 0.00000000e+00 -1.17158410e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41886654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.20, Y:-117.17, Z:0.03 [[ 9.47868749e-01 3.18661002e-01 0.00000000e+00 4.35202154e+02] [-3.18661002e-01 9.47868749e-01 0.00000000e+00 -1.17167892e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31882372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.23, Y:-117.18, Z:0.03 [[ 9.46587722e-01 3.22446404e-01 0.00000000e+00 4.35233036e+02] [-3.22446404e-01 9.46587722e-01 0.00000000e+00 -1.17175142e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12297661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.26, Y:-117.18, Z:0.03 [[ 9.46081575e-01 3.23928469e-01 0.00000000e+00 4.35264738e+02] [-3.23928469e-01 9.46081575e-01 0.00000000e+00 -1.17183071e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12669437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.30, Y:-117.19, Z:0.03 [[ 9.45742001e-01 3.24918555e-01 0.00000000e+00 4.35296598e+02] [-3.24918555e-01 9.45742001e-01 0.00000000e+00 -1.17191747e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15589434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.33, Y:-117.20, Z:0.03 [[ 9.45637511e-01 3.25222537e-01 0.00000000e+00 4.35327408e+02] [-3.25222537e-01 9.45637511e-01 0.00000000e+00 -1.17200492e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12136687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.36, Y:-117.21, Z:0.03 [[ 9.45805009e-01 3.24735100e-01 0.00000000e+00 4.35359008e+02] [-3.24735100e-01 9.45805009e-01 0.00000000e+00 -1.17208945e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02933171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.631400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:435.39, Y:-117.22, Z:0.03 [[ 9.46617192e-01 3.22359881e-01 0.00000000e+00 4.35389145e+02] [-3.22359881e-01 9.46617192e-01 0.00000000e+00 -1.17216202e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77692418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.42, Y:-117.23, Z:0.03 [[ 9.47042400e-01 3.21108537e-01 0.00000000e+00 4.35420315e+02] [-3.21108537e-01 9.47042400e-01 0.00000000e+00 -1.17226500e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82736796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.45, Y:-117.24, Z:0.03 [[ 9.47625780e-01 3.19382814e-01 0.00000000e+00 4.35449975e+02] [-3.19382814e-01 9.47625780e-01 0.00000000e+00 -1.17237530e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78627298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.48, Y:-117.25, Z:0.03 [[ 9.48379529e-01 3.17137619e-01 0.00000000e+00 4.35479393e+02] [-3.17137619e-01 9.48379529e-01 0.00000000e+00 -1.17249418e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74683981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.51, Y:-117.26, Z:0.03 [[ 9.49691266e-01 3.13187643e-01 0.00000000e+00 4.35509008e+02] [-3.13187643e-01 9.49691266e-01 0.00000000e+00 -1.17263300e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66716172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.54, Y:-117.27, Z:0.03 [[ 9.50041415e-01 3.12123868e-01 0.00000000e+00 4.35540705e+02] [-3.12123868e-01 9.50041415e-01 0.00000000e+00 -1.17274376e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69684760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.57, Y:-117.29, Z:0.03 [[ 9.50178354e-01 3.11706747e-01 0.00000000e+00 4.35570570e+02] [-3.11706747e-01 9.50178354e-01 0.00000000e+00 -1.17285531e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70244255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.60, Y:-117.30, Z:0.03 [[ 9.50064821e-01 3.12052617e-01 0.00000000e+00 4.35601498e+02] [-3.12052617e-01 9.50064821e-01 0.00000000e+00 -1.17297897e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78857108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.63, Y:-117.31, Z:0.03 [[ 9.49509587e-01 3.13738019e-01 0.00000000e+00 4.35630371e+02] [-3.13738019e-01 9.49509587e-01 0.00000000e+00 -1.17312202e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73251014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.66, Y:-117.32, Z:0.03 [[ 9.49023796e-01 3.15204432e-01 0.00000000e+00 4.35661414e+02] [-3.15204432e-01 9.49023796e-01 0.00000000e+00 -1.17322612e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66039195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.69, Y:-117.33, Z:0.03 [[ 9.48717136e-01 3.16126235e-01 0.00000000e+00 4.35691883e+02] [-3.16126235e-01 9.48717136e-01 0.00000000e+00 -1.17332553e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57183429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.72, Y:-117.34, Z:0.03 [[ 9.48597291e-01 3.16485672e-01 0.00000000e+00 4.35723146e+02] [-3.16485672e-01 9.48597291e-01 0.00000000e+00 -1.17343828e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61622192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.75, Y:-117.36, Z:0.03 [[ 9.49046215e-01 3.15136925e-01 0.00000000e+00 4.35752480e+02] [-3.15136925e-01 9.49046215e-01 0.00000000e+00 -1.17359616e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63873393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.78, Y:-117.37, Z:0.03 [[ 9.49422279e-01 3.14002127e-01 0.00000000e+00 4.35782031e+02] [-3.14002127e-01 9.49422279e-01 0.00000000e+00 -1.17371465e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52756429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.81, Y:-117.38, Z:0.03 [[ 9.49819553e-01 3.12798364e-01 0.00000000e+00 4.35813073e+02] [-3.12798364e-01 9.49819553e-01 0.00000000e+00 -1.17383339e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60805906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.84, Y:-117.40, Z:0.03 [[ 9.50064606e-01 3.12053272e-01 0.00000000e+00 4.35844002e+02] [-3.12053272e-01 9.50064606e-01 0.00000000e+00 -1.17395384e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80319094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.87, Y:-117.41, Z:0.03 [[ 9.50096752e-01 3.11955384e-01 0.00000000e+00 4.35872759e+02] [-3.11955384e-01 9.50096752e-01 0.00000000e+00 -1.17411404e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39924836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.90, Y:-117.42, Z:0.04 [[ 9.49788510e-01 3.12892612e-01 0.00000000e+00 4.35903858e+02] [-3.12892612e-01 9.49788510e-01 0.00000000e+00 -1.17424174e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50688725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.93, Y:-117.44, Z:0.03 [[ 9.49384351e-01 3.14116784e-01 0.00000000e+00 4.35934067e+02] [-3.14116784e-01 9.49384351e-01 0.00000000e+00 -1.17436105e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49356878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.96, Y:-117.45, Z:0.03 [[ 9.48832575e-01 3.15779582e-01 0.00000000e+00 4.35964692e+02] [-3.15779582e-01 9.48832575e-01 0.00000000e+00 -1.17447868e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35680960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.00, Y:-117.46, Z:0.03 [[ 9.48184212e-01 3.17721104e-01 0.00000000e+00 4.35995593e+02] [-3.17721104e-01 9.48184212e-01 0.00000000e+00 -1.17459514e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22809836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.03, Y:-117.47, Z:0.03 [[ 9.46875812e-01 3.21599434e-01 0.00000000e+00 4.36025508e+02] [-3.21599434e-01 9.46875812e-01 0.00000000e+00 -1.17474042e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21185315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.06, Y:-117.49, Z:0.03 [[ 9.46344492e-01 3.23159561e-01 0.00000000e+00 4.36055940e+02] [-3.23159561e-01 9.46344492e-01 0.00000000e+00 -1.17485538e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26118276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.09, Y:-117.50, Z:0.03 [[ 9.45880427e-01 3.24515357e-01 0.00000000e+00 4.36086697e+02] [-3.24515357e-01 9.45880427e-01 0.00000000e+00 -1.17496508e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28623855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.12, Y:-117.51, Z:0.03 [[ 9.45824790e-01 3.24677481e-01 0.00000000e+00 4.36118968e+02] [-3.24677481e-01 9.45824790e-01 0.00000000e+00 -1.17505365e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28623855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.15, Y:-117.52, Z:0.03 [[ 9.45315736e-01 3.26156648e-01 0.00000000e+00 4.36149933e+02] [-3.26156648e-01 9.45315736e-01 0.00000000e+00 -1.17515898e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20458382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.18, Y:-117.53, Z:0.03 [[ 9.44740925e-01 3.27817914e-01 0.00000000e+00 4.36180457e+02] [-3.27817914e-01 9.44740925e-01 0.00000000e+00 -1.17525633e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07684169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.21, Y:-117.53, Z:0.03 [[ 9.44091813e-01 3.29682649e-01 0.00000000e+00 4.36211032e+02] [-3.29682649e-01 9.44091813e-01 0.00000000e+00 -1.17534783e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94899869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.24, Y:-117.54, Z:0.03 [[ 9.42909041e-01 3.33050357e-01 0.00000000e+00 4.36242738e+02] [-3.33050357e-01 9.42909041e-01 0.00000000e+00 -1.17542219e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82676278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.27, Y:-117.55, Z:0.03 [[ 9.42401939e-01 3.34482564e-01 0.00000000e+00 4.36273673e+02] [-3.34482564e-01 9.42401939e-01 0.00000000e+00 -1.17549313e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72765427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.31, Y:-117.56, Z:0.03 [[ 9.42012391e-01 3.35578090e-01 0.00000000e+00 4.36305453e+02] [-3.35578090e-01 9.42012391e-01 0.00000000e+00 -1.17557215e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59899605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.34, Y:-117.57, Z:0.02 [[ 9.41802807e-01 3.36165840e-01 0.00000000e+00 4.36336128e+02] [-3.36165840e-01 9.41802807e-01 0.00000000e+00 -1.17565414e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36452972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.37, Y:-117.57, Z:0.02 [[ 9.42151967e-01 3.35186024e-01 0.00000000e+00 4.36366614e+02] [-3.35186024e-01 9.42151967e-01 0.00000000e+00 -1.17572446e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02018389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.40, Y:-117.58, Z:0.02 [[ 9.42590858e-01 3.33949810e-01 0.00000000e+00 4.36398775e+02] [-3.33949810e-01 9.42590858e-01 0.00000000e+00 -1.17580209e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11918900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.43, Y:-117.59, Z:0.02 [[ 9.43132348e-01 3.32417468e-01 0.00000000e+00 4.36430171e+02] [-3.32417468e-01 9.43132348e-01 0.00000000e+00 -1.17587922e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46829029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.46, Y:-117.60, Z:0.03 [[ 9.43631411e-01 3.30998127e-01 0.00000000e+00 4.36460944e+02] [-3.30998127e-01 9.43631411e-01 0.00000000e+00 -1.17596346e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74023783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.49, Y:-117.61, Z:0.03 [[ 9.44087763e-01 3.29694246e-01 0.00000000e+00 4.36491824e+02] [-3.29694246e-01 9.44087763e-01 0.00000000e+00 -1.17605447e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93244399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.52, Y:-117.61, Z:0.03 [[ 9.44625883e-01 3.28149265e-01 0.00000000e+00 4.36524057e+02] [-3.28149265e-01 9.44625883e-01 0.00000000e+00 -1.17614334e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97489395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.771400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:436.55, Y:-117.62, Z:0.03 [[ 9.46126557e-01 3.23797062e-01 0.00000000e+00 4.36554750e+02] [-3.23797062e-01 9.46126557e-01 0.00000000e+00 -1.17621439e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82258052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.59, Y:-117.63, Z:0.03 [[ 9.46690976e-01 3.22143129e-01 0.00000000e+00 4.36586165e+02] [-3.22143129e-01 9.46690976e-01 0.00000000e+00 -1.17630859e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02168752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.62, Y:-117.64, Z:0.03 [[ 9.47215869e-01 3.20596470e-01 0.00000000e+00 4.36616086e+02] [-3.20596470e-01 9.47215869e-01 0.00000000e+00 -1.17641219e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11581318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.65, Y:-117.65, Z:0.03 [[ 9.48119142e-01 3.17915228e-01 0.00000000e+00 4.36646031e+02] [-3.17915228e-01 9.48119142e-01 0.00000000e+00 -1.17653364e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79893029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.68, Y:-117.66, Z:0.03 [[ 9.48424636e-01 3.17002698e-01 0.00000000e+00 4.36676431e+02] [-3.17002698e-01 9.48424636e-01 0.00000000e+00 -1.17662464e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54006755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.71, Y:-117.67, Z:0.02 [[ 9.48581248e-01 3.16533752e-01 0.00000000e+00 4.36707922e+02] [-3.16533752e-01 9.48581248e-01 0.00000000e+00 -1.17671764e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48785822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.74, Y:-117.68, Z:0.03 [[ 9.48560645e-01 3.16595486e-01 0.00000000e+00 4.36738602e+02] [-3.16595486e-01 9.48560645e-01 0.00000000e+00 -1.17681405e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73228441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.77, Y:-117.69, Z:0.03 [[ 9.48361946e-01 3.17190193e-01 0.00000000e+00 4.36768654e+02] [-3.17190193e-01 9.48361946e-01 0.00000000e+00 -1.17691424e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04152083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.011400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:436.80, Y:-117.70, Z:0.03 [[ 9.47538904e-01 3.19640462e-01 0.00000000e+00 4.36799515e+02] [-3.19640462e-01 9.47538904e-01 0.00000000e+00 -1.17701956e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32610883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.83, Y:-117.71, Z:0.03 [[ 9.46907195e-01 3.21507020e-01 0.00000000e+00 4.36830578e+02] [-3.21507020e-01 9.46907195e-01 0.00000000e+00 -1.17710345e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39425277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.86, Y:-117.72, Z:0.03 [[ 9.46328544e-01 3.23206261e-01 0.00000000e+00 4.36863089e+02] [-3.23206261e-01 9.46328544e-01 0.00000000e+00 -1.17718272e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41673019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.90, Y:-117.73, Z:0.04 [[ 9.45845667e-01 3.24616659e-01 0.00000000e+00 4.36895378e+02] [-3.24616659e-01 9.45845667e-01 0.00000000e+00 -1.17726632e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54409778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.93, Y:-117.74, Z:0.04 [[ 9.44873815e-01 3.27434686e-01 0.00000000e+00 4.36925523e+02] [-3.27434686e-01 9.44873815e-01 0.00000000e+00 -1.17736987e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87936709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.96, Y:-117.75, Z:0.04 [[ 9.44356788e-01 3.28922875e-01 0.00000000e+00 4.36957170e+02] [-3.28922875e-01 9.44356788e-01 0.00000000e+00 -1.17746802e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84104382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.99, Y:-117.76, Z:0.04 [[ 9.43886965e-01 3.30268673e-01 0.00000000e+00 4.36988533e+02] [-3.30268673e-01 9.43886965e-01 0.00000000e+00 -1.17755173e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63650053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.02, Y:-117.76, Z:0.03 [[ 9.43420524e-01 3.31598725e-01 0.00000000e+00 4.37020152e+02] [-3.31598725e-01 9.43420524e-01 0.00000000e+00 -1.17762427e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36242385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.05, Y:-117.77, Z:0.03 [[ 9.42907317e-01 3.33055237e-01 0.00000000e+00 4.37052386e+02] [-3.33055237e-01 9.42907317e-01 0.00000000e+00 -1.17769957e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10964346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.08, Y:-117.78, Z:0.03 [[ 9.42404569e-01 3.34475154e-01 0.00000000e+00 4.37083554e+02] [-3.34475154e-01 9.42404569e-01 0.00000000e+00 -1.17777708e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99005629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.11, Y:-117.79, Z:0.03 [[ 9.41330652e-01 3.37485709e-01 0.00000000e+00 4.37114490e+02] [-3.37485709e-01 9.41330652e-01 0.00000000e+00 -1.17785371e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15655027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.15, Y:-117.79, Z:0.03 [[ 9.40692347e-01 3.39260826e-01 0.00000000e+00 4.37146640e+02] [-3.39260826e-01 9.40692347e-01 0.00000000e+00 -1.17793524e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18177080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.18, Y:-117.80, Z:0.03 [[ 9.40259857e-01 3.40457635e-01 0.00000000e+00 4.37178936e+02] [-3.40457635e-01 9.40259857e-01 0.00000000e+00 -1.17801439e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11750950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.21, Y:-117.81, Z:0.03 [[ 9.40029602e-01 3.41092872e-01 0.00000000e+00 4.37210321e+02] [-3.41092872e-01 9.40029602e-01 0.00000000e+00 -1.17809195e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97471343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.24, Y:-117.82, Z:0.03 [[ 9.39896562e-01 3.41459298e-01 0.00000000e+00 4.37242054e+02] [-3.41459298e-01 9.39896562e-01 0.00000000e+00 -1.17817029e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79653860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.27, Y:-117.82, Z:0.03 [[ 9.40210355e-01 3.40594316e-01 0.00000000e+00 4.37274511e+02] [-3.40594316e-01 9.40210355e-01 0.00000000e+00 -1.17822947e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55453563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.31, Y:-117.83, Z:0.03 [[ 9.40449064e-01 3.39934638e-01 0.00000000e+00 4.37305876e+02] [-3.39934638e-01 9.40449064e-01 0.00000000e+00 -1.17829847e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54298803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.34, Y:-117.84, Z:0.03 [[ 9.40812273e-01 3.38928116e-01 0.00000000e+00 4.37338113e+02] [-3.38928116e-01 9.40812273e-01 0.00000000e+00 -1.17837598e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57031729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.37, Y:-117.85, Z:0.03 [[ 9.41253074e-01 3.37702015e-01 0.00000000e+00 4.37370623e+02] [-3.37702015e-01 9.41253074e-01 0.00000000e+00 -1.17845522e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54638695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.40, Y:-117.85, Z:0.02 [[ 9.41655908e-01 3.36577109e-01 0.00000000e+00 4.37402238e+02] [-3.36577109e-01 9.41655908e-01 0.00000000e+00 -1.17853154e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49423068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.43, Y:-117.86, Z:0.02 [[ 9.42349330e-01 3.34630752e-01 0.00000000e+00 4.37434050e+02] [-3.34630752e-01 9.42349330e-01 0.00000000e+00 -1.17858699e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47121065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.47, Y:-117.87, Z:0.03 [[ 9.42621032e-01 3.33864629e-01 0.00000000e+00 4.37465916e+02] [-3.33864629e-01 9.42621032e-01 0.00000000e+00 -1.17866521e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73931517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.50, Y:-117.87, Z:0.03 [[ 9.42792338e-01 3.33380575e-01 0.00000000e+00 4.37496534e+02] [-3.33380575e-01 9.42792338e-01 0.00000000e+00 -1.17874360e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91242447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.53, Y:-117.88, Z:0.03 [[ 9.43027252e-01 3.32715496e-01 0.00000000e+00 4.37528428e+02] [-3.32715496e-01 9.43027252e-01 0.00000000e+00 -1.17882034e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10514249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.56, Y:-117.89, Z:0.03 [[ 9.43347108e-01 3.31807526e-01 0.00000000e+00 4.37559086e+02] [-3.31807526e-01 9.43347108e-01 0.00000000e+00 -1.17889329e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17857811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.59, Y:-117.90, Z:0.03 [[ 9.44335135e-01 3.28985034e-01 0.00000000e+00 4.37589966e+02] [-3.28985034e-01 9.44335135e-01 0.00000000e+00 -1.17896655e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19085537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.62, Y:-117.91, Z:0.03 [[ 9.44885269e-01 3.27401630e-01 0.00000000e+00 4.37621594e+02] [-3.27401630e-01 9.44885269e-01 0.00000000e+00 -1.17906374e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18468342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.65, Y:-117.92, Z:0.03 [[ 9.45463831e-01 3.25727100e-01 0.00000000e+00 4.37652047e+02] [-3.25727100e-01 9.45463831e-01 0.00000000e+00 -1.17915441e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18727954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.68, Y:-117.92, Z:0.03 [[ 9.45990721e-01 3.24193700e-01 0.00000000e+00 4.37682775e+02] [-3.24193700e-01 9.45990721e-01 0.00000000e+00 -1.17923754e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23000104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.71, Y:-117.93, Z:0.03 [[ 9.47139816e-01 3.20821086e-01 0.00000000e+00 4.37714574e+02] [-3.20821086e-01 9.47139816e-01 0.00000000e+00 -1.17930818e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32538967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.75, Y:-117.94, Z:0.03 [[ 9.47750303e-01 3.19013109e-01 0.00000000e+00 4.37746115e+02] [-3.19013109e-01 9.47750303e-01 0.00000000e+00 -1.17939233e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35159807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.78, Y:-117.95, Z:0.03 [[ 9.48433740e-01 3.16975457e-01 0.00000000e+00 4.37777459e+02] [-3.16975457e-01 9.48433740e-01 0.00000000e+00 -1.17948117e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36564685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.81, Y:-117.96, Z:0.03 [[ 9.49166414e-01 3.14774711e-01 0.00000000e+00 4.37808589e+02] [-3.14774711e-01 9.49166414e-01 0.00000000e+00 -1.17956726e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27489352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.84, Y:-117.97, Z:0.03 [[ 9.49979238e-01 3.12313061e-01 0.00000000e+00 4.37840778e+02] [-3.12313061e-01 9.49979238e-01 0.00000000e+00 -1.17965604e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10993576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.87, Y:-117.97, Z:0.03 [[ 9.50790631e-01 3.09834111e-01 0.00000000e+00 4.37871318e+02] [-3.09834111e-01 9.50790631e-01 0.00000000e+00 -1.17974069e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96144422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.90, Y:-117.98, Z:0.03 [[ 9.52251656e-01 3.05314238e-01 0.00000000e+00 4.37903093e+02] [-3.05314238e-01 9.52251656e-01 0.00000000e+00 -1.17982575e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06122984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.94, Y:-117.99, Z:0.03 [[ 9.52850173e-01 3.03441176e-01 0.00000000e+00 4.37935308e+02] [-3.03441176e-01 9.52850173e-01 0.00000000e+00 -1.17991262e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09849893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.97, Y:-118.00, Z:0.03 [[ 9.53743031e-01 3.00623072e-01 0.00000000e+00 4.37966280e+02] [-3.00623072e-01 9.53743031e-01 0.00000000e+00 -1.17999124e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98167590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.00, Y:-118.01, Z:0.03 [[ 9.54037541e-01 2.99687121e-01 0.00000000e+00 4.37996680e+02] [-2.99687121e-01 9.54037541e-01 0.00000000e+00 -1.18007893e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92774292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.03, Y:-118.02, Z:0.03 [[ 9.54336331e-01 2.98734276e-01 0.00000000e+00 4.38027187e+02] [-2.98734276e-01 9.54336331e-01 0.00000000e+00 -1.18016689e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89410132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.06, Y:-118.03, Z:0.03 [[ 9.54284581e-01 2.98899547e-01 0.00000000e+00 4.38059363e+02] [-2.98899547e-01 9.54284581e-01 0.00000000e+00 -1.18025896e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89410132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.09, Y:-118.03, Z:0.03 [[ 9.54568855e-01 2.97990439e-01 0.00000000e+00 4.38091415e+02] [-2.97990439e-01 9.54568855e-01 0.00000000e+00 -1.18034425e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90757929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.12, Y:-118.04, Z:0.03 [[ 9.54855575e-01 2.97070415e-01 0.00000000e+00 4.38123843e+02] [-2.97070415e-01 9.54855575e-01 0.00000000e+00 -1.18041835e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91633286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.15, Y:-118.05, Z:0.03 [[ 9.55147364e-01 2.96130907e-01 0.00000000e+00 4.38154683e+02] [-2.96130907e-01 9.55147364e-01 0.00000000e+00 -1.18048550e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89971628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.19, Y:-118.06, Z:0.03 [[ 9.55646578e-01 2.94515903e-01 0.00000000e+00 4.38185817e+02] [-2.94515903e-01 9.55646578e-01 0.00000000e+00 -1.18055619e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83676374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.22, Y:-118.06, Z:0.03 [[ 9.57205981e-01 2.89407515e-01 0.00000000e+00 4.38218512e+02] [-2.89407515e-01 9.57205981e-01 0.00000000e+00 -1.18062086e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88057411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.25, Y:-118.07, Z:0.03 [[ 9.57893585e-01 2.87123456e-01 0.00000000e+00 4.38249254e+02] [-2.87123456e-01 9.57893585e-01 0.00000000e+00 -1.18069037e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00936837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.28, Y:-118.08, Z:0.03 [[ 9.58504557e-01 2.85077209e-01 0.00000000e+00 4.38280594e+02] [-2.85077209e-01 9.58504557e-01 0.00000000e+00 -1.18076338e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15813974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.31, Y:-118.08, Z:0.03 [[ 9.59157788e-01 2.82871593e-01 0.00000000e+00 4.38312361e+02] [-2.82871593e-01 9.59157788e-01 0.00000000e+00 -1.18084143e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25393503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.34, Y:-118.09, Z:0.03 [[ 9.60745439e-01 2.77431436e-01 0.00000000e+00 4.38343820e+02] [-2.77431436e-01 9.60745439e-01 0.00000000e+00 -1.18091229e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06721320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.511400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:438.38, Y:-118.10, Z:0.03 [[ 9.61581092e-01 2.74521043e-01 0.00000000e+00 4.38376079e+02] [-2.74521043e-01 9.61581092e-01 0.00000000e+00 -1.18098624e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92794612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.41, Y:-118.11, Z:0.03 [[ 9.62192364e-01 2.72370803e-01 0.00000000e+00 4.38406931e+02] [-2.72370803e-01 9.62192364e-01 0.00000000e+00 -1.18105895e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93857826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.44, Y:-118.11, Z:0.03 [[ 9.62677167e-01 2.70652308e-01 0.00000000e+00 4.38439087e+02] [-2.70652308e-01 9.62677167e-01 0.00000000e+00 -1.18113807e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15884885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.47, Y:-118.12, Z:0.04 [[ 9.63173718e-01 2.68879880e-01 0.00000000e+00 4.38470718e+02] [-2.68879880e-01 9.63173718e-01 0.00000000e+00 -1.18121587e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68830123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.50, Y:-118.13, Z:0.04 [[ 9.63283345e-01 2.68486867e-01 0.00000000e+00 4.38501716e+02] [-2.68486867e-01 9.63283345e-01 0.00000000e+00 -1.18130098e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82446157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.53, Y:-118.14, Z:0.04 [[ 9.63345926e-01 2.68262235e-01 0.00000000e+00 4.38533904e+02] [-2.68262235e-01 9.63345926e-01 0.00000000e+00 -1.18138615e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84124281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.57, Y:-118.15, Z:0.04 [[ 9.63353971e-01 2.68233342e-01 0.00000000e+00 4.38565653e+02] [-2.68233342e-01 9.63353971e-01 0.00000000e+00 -1.18146214e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.85023133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.60, Y:-118.15, Z:0.04 [[ 9.63442595e-01 2.67914849e-01 0.00000000e+00 4.38597526e+02] [-2.67914849e-01 9.63442595e-01 0.00000000e+00 -1.18153392e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.85653081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.63, Y:-118.16, Z:0.04 [[ 9.63678006e-01 2.67066848e-01 0.00000000e+00 4.38630419e+02] [-2.67066848e-01 9.63678006e-01 0.00000000e+00 -1.18159637e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76466621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.66, Y:-118.17, Z:0.04 [[ 9.63865095e-01 2.66390837e-01 0.00000000e+00 4.38661747e+02] [-2.66390837e-01 9.63865095e-01 0.00000000e+00 -1.18167308e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71368153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.69, Y:-118.17, Z:0.04 [[ 9.64246857e-01 2.65005657e-01 0.00000000e+00 4.38693090e+02] [-2.65005657e-01 9.64246857e-01 0.00000000e+00 -1.18174777e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65589640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.72, Y:-118.18, Z:0.04 [[ 9.64785586e-01 2.63037590e-01 0.00000000e+00 4.38724778e+02] [-2.63037590e-01 9.64785586e-01 0.00000000e+00 -1.18182110e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56164477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.76, Y:-118.19, Z:0.03 [[ 9.65800037e-01 2.59288041e-01 0.00000000e+00 4.38757291e+02] [-2.59288041e-01 9.65800037e-01 0.00000000e+00 -1.18188411e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36500642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.79, Y:-118.20, Z:0.03 [[ 9.66067689e-01 2.58289026e-01 0.00000000e+00 4.38789414e+02] [-2.58289026e-01 9.66067689e-01 0.00000000e+00 -1.18196328e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26778236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.82, Y:-118.20, Z:0.03 [[ 9.66182078e-01 2.57860800e-01 0.00000000e+00 4.38821495e+02] [-2.57860800e-01 9.66182078e-01 0.00000000e+00 -1.18203905e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20867466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.85, Y:-118.21, Z:0.03 [[ 9.66235182e-01 2.57661742e-01 0.00000000e+00 4.38852350e+02] [-2.57661742e-01 9.66235182e-01 0.00000000e+00 -1.18210723e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12142814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.88, Y:-118.22, Z:0.03 [[ 9.66237630e-01 2.57652563e-01 0.00000000e+00 4.38884408e+02] [-2.57652563e-01 9.66237630e-01 0.00000000e+00 -1.18218050e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15634863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.92, Y:-118.22, Z:0.03 [[ 9.66326551e-01 2.57318863e-01 0.00000000e+00 4.38917232e+02] [-2.57318863e-01 9.66326551e-01 0.00000000e+00 -1.18224556e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27228942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.95, Y:-118.23, Z:0.03 [[ 9.66365418e-01 2.57172857e-01 0.00000000e+00 4.38948372e+02] [-2.57172857e-01 9.66365418e-01 0.00000000e+00 -1.18232478e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20774025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.98, Y:-118.24, Z:0.03 [[ 9.66475885e-01 2.56757401e-01 0.00000000e+00 4.38980837e+02] [-2.56757401e-01 9.66475885e-01 0.00000000e+00 -1.18239986e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09455994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.01, Y:-118.25, Z:0.03 [[ 9.66511554e-01 2.56623103e-01 0.00000000e+00 4.39011977e+02] [-2.56623103e-01 9.66511554e-01 0.00000000e+00 -1.18246700e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93814965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.04, Y:-118.25, Z:0.03 [[ 9.66513658e-01 2.56615175e-01 0.00000000e+00 4.39044501e+02] [-2.56615175e-01 9.66513658e-01 0.00000000e+00 -1.18251996e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95886855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.08, Y:-118.26, Z:0.03 [[ 9.66396824e-01 2.57054817e-01 0.00000000e+00 4.39076699e+02] [-2.57054817e-01 9.66396824e-01 0.00000000e+00 -1.18259671e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00738989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.11, Y:-118.27, Z:0.03 [[ 9.66216971e-01 2.57730022e-01 0.00000000e+00 4.39108003e+02] [-2.57730022e-01 9.66216971e-01 0.00000000e+00 -1.18266565e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95237162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.14, Y:-118.27, Z:0.03 [[ 9.65976115e-01 2.58631290e-01 0.00000000e+00 4.39139453e+02] [-2.58631290e-01 9.65976115e-01 0.00000000e+00 -1.18272640e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82735975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.17, Y:-118.28, Z:0.03 [[ 9.65794507e-01 2.59308639e-01 0.00000000e+00 4.39171166e+02] [-2.59308639e-01 9.65794507e-01 0.00000000e+00 -1.18278170e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67184536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.20, Y:-118.28, Z:0.03 [[ 9.65727165e-01 2.59559325e-01 0.00000000e+00 4.39204047e+02] [-2.59559325e-01 9.65727165e-01 0.00000000e+00 -1.18284399e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67254583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.24, Y:-118.29, Z:0.03 [[ 9.65878334e-01 2.58996223e-01 0.00000000e+00 4.39236595e+02] [-2.58996223e-01 9.65878334e-01 0.00000000e+00 -1.18289293e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01250704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.27, Y:-118.30, Z:0.03 [[ 9.66001235e-01 2.58537453e-01 0.00000000e+00 4.39267847e+02] [-2.58537453e-01 9.66001235e-01 0.00000000e+00 -1.18295066e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17959576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.30, Y:-118.30, Z:0.03 [[ 9.66120621e-01 2.58090964e-01 0.00000000e+00 4.39300420e+02] [-2.58090964e-01 9.66120621e-01 0.00000000e+00 -1.18299807e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38536447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.33, Y:-118.30, Z:0.03 [[ 9.66230482e-01 2.57679367e-01 0.00000000e+00 4.39332384e+02] [-2.57679367e-01 9.66230482e-01 0.00000000e+00 -1.18303640e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39964478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.37, Y:-118.31, Z:0.03 [[ 9.66424260e-01 2.56951649e-01 0.00000000e+00 4.39365735e+02] [-2.56951649e-01 9.66424260e-01 0.00000000e+00 -1.18308217e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35005932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.40, Y:-118.31, Z:0.03 [[ 9.66967704e-01 2.54898920e-01 0.00000000e+00 4.39399041e+02] [-2.54898920e-01 9.66967704e-01 0.00000000e+00 -1.18309338e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12791281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.43, Y:-118.32, Z:0.03 [[ 9.67330233e-01 2.53519663e-01 0.00000000e+00 4.39431233e+02] [-2.53519663e-01 9.67330233e-01 0.00000000e+00 -1.18315244e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14091758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.46, Y:-118.32, Z:0.03 [[ 9.67787684e-01 2.51767748e-01 0.00000000e+00 4.39462787e+02] [-2.51767748e-01 9.67787684e-01 0.00000000e+00 -1.18321480e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19983861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.49, Y:-118.33, Z:0.03 [[ 9.68235198e-01 2.50041198e-01 0.00000000e+00 4.39494500e+02] [-2.50041198e-01 9.68235198e-01 0.00000000e+00 -1.18327808e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25900284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.53, Y:-118.33, Z:0.03 [[ 9.68677389e-01 2.48322605e-01 0.00000000e+00 4.39526915e+02] [-2.48322605e-01 9.68677389e-01 0.00000000e+00 -1.18334601e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42269040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.56, Y:-118.34, Z:0.04 [[ 9.69452532e-01 2.45279001e-01 0.00000000e+00 4.39559792e+02] [-2.45279001e-01 9.69452532e-01 0.00000000e+00 -1.18339231e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55439461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.59, Y:-118.35, Z:0.03 [[ 9.69681516e-01 2.44372171e-01 0.00000000e+00 4.39590527e+02] [-2.44372171e-01 9.69681516e-01 0.00000000e+00 -1.18346329e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46095536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.62, Y:-118.35, Z:0.03 [[ 9.69807671e-01 2.43871034e-01 0.00000000e+00 4.39622774e+02] [-2.43871034e-01 9.69807671e-01 0.00000000e+00 -1.18354152e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33747911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.65, Y:-118.36, Z:0.03 [[ 9.69819816e-01 2.43822731e-01 0.00000000e+00 4.39653557e+02] [-2.43822731e-01 9.69819816e-01 0.00000000e+00 -1.18361797e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20894389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.69, Y:-118.37, Z:0.03 [[ 9.69805542e-01 2.43879502e-01 0.00000000e+00 4.39685094e+02] [-2.43879502e-01 9.69805542e-01 0.00000000e+00 -1.18369913e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12914596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.72, Y:-118.38, Z:0.03 [[ 9.69594023e-01 2.44719086e-01 0.00000000e+00 4.39716473e+02] [-2.44719086e-01 9.69594023e-01 0.00000000e+00 -1.18377551e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09638586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.80140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.75, Y:-118.39, Z:0.03 [[ 9.69408413e-01 2.45453314e-01 0.00000000e+00 4.39747095e+02] [-2.45453314e-01 9.69408413e-01 0.00000000e+00 -1.18386267e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98739448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.78, Y:-118.40, Z:0.03 [[ 9.69109237e-01 2.46631886e-01 0.00000000e+00 4.39779074e+02] [-2.46631886e-01 9.69109237e-01 0.00000000e+00 -1.18395869e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88328851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.81, Y:-118.40, Z:0.03 [[ 9.68332665e-01 2.49663472e-01 0.00000000e+00 4.39809736e+02] [-2.49663472e-01 9.68332665e-01 0.00000000e+00 -1.18404513e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69182209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.84, Y:-118.41, Z:0.03 [[ 9.67836120e-01 2.51581486e-01 0.00000000e+00 4.39840629e+02] [-2.51581486e-01 9.67836120e-01 0.00000000e+00 -1.18411808e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64599402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.87, Y:-118.42, Z:0.03 [[ 9.67337816e-01 2.53490730e-01 0.00000000e+00 4.39870980e+02] [-2.53490730e-01 9.67337816e-01 0.00000000e+00 -1.18418058e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68668830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.90, Y:-118.42, Z:0.03 [[ 9.66896344e-01 2.55169473e-01 0.00000000e+00 4.39901169e+02] [-2.55169473e-01 9.66896344e-01 0.00000000e+00 -1.18423871e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67651547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.981400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:439.93, Y:-118.43, Z:0.03 [[ 9.66531864e-01 2.56546598e-01 0.00000000e+00 4.39932398e+02] [-2.56546598e-01 9.66531864e-01 0.00000000e+00 -1.18430152e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73000649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.96, Y:-118.44, Z:0.03 [[ 9.66170408e-01 2.57904521e-01 0.00000000e+00 4.39962363e+02] [-2.57904521e-01 9.66170408e-01 0.00000000e+00 -1.18437021e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66451489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.99, Y:-118.44, Z:0.03 [[ 9.65766329e-01 2.59413566e-01 0.00000000e+00 4.39992279e+02] [-2.59413566e-01 9.65766329e-01 0.00000000e+00 -1.18442954e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56659627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.02, Y:-118.45, Z:0.03 [[ 9.65630936e-01 2.59917093e-01 0.00000000e+00 4.40020612e+02] [-2.59917093e-01 9.65630936e-01 0.00000000e+00 -1.18449952e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62104684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.05, Y:-118.46, Z:0.03 [[ 9.65540286e-01 2.60253637e-01 0.00000000e+00 4.40048344e+02] [-2.60253637e-01 9.65540286e-01 0.00000000e+00 -1.18456979e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71936428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.08, Y:-118.46, Z:0.03 [[ 9.65502731e-01 2.60392928e-01 0.00000000e+00 4.40077366e+02] [-2.60392928e-01 9.65502731e-01 0.00000000e+00 -1.18464205e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85296804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.11, Y:-118.47, Z:0.03 [[ 9.65508898e-01 2.60370058e-01 0.00000000e+00 4.40106335e+02] [-2.60370058e-01 9.65508898e-01 0.00000000e+00 -1.18472623e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85296804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.14, Y:-118.48, Z:0.03 [[ 9.65372265e-01 2.60876197e-01 0.00000000e+00 4.40135869e+02] [-2.60876197e-01 9.65372265e-01 0.00000000e+00 -1.18477776e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99742082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.16, Y:-118.48, Z:0.03 [[ 9.65081355e-01 2.61950336e-01 0.00000000e+00 4.40164916e+02] [-2.61950336e-01 9.65081355e-01 0.00000000e+00 -1.18483800e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05000487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.19, Y:-118.49, Z:0.03 [[ 9.64551901e-01 2.63893218e-01 0.00000000e+00 4.40192548e+02] [-2.63893218e-01 9.64551901e-01 0.00000000e+00 -1.18490006e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12857232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.22, Y:-118.50, Z:0.03 [[ 9.63770818e-01 2.66731721e-01 0.00000000e+00 4.40220690e+02] [-2.66731721e-01 9.63770818e-01 0.00000000e+00 -1.18496953e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27457162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.25, Y:-118.50, Z:0.03 [[ 9.62733800e-01 2.70450789e-01 0.00000000e+00 4.40248920e+02] [-2.70450789e-01 9.62733800e-01 0.00000000e+00 -1.18504515e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47234043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.28, Y:-118.51, Z:0.04 [[ 9.61590752e-01 2.74487204e-01 0.00000000e+00 4.40275281e+02] [-2.74487204e-01 9.61590752e-01 0.00000000e+00 -1.18511987e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57169776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.30, Y:-118.52, Z:0.04 [[ 9.60360835e-01 2.78759874e-01 0.00000000e+00 4.40303591e+02] [-2.78759874e-01 9.60360835e-01 0.00000000e+00 -1.18519326e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64064910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.33, Y:-118.52, Z:0.04 [[ 9.57764602e-01 2.87553417e-01 0.00000000e+00 4.40331884e+02] [-2.87553417e-01 9.57764602e-01 0.00000000e+00 -1.18523693e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63450081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.36, Y:-118.53, Z:0.04 [[ 9.56619564e-01 2.91340024e-01 0.00000000e+00 4.40359457e+02] [-2.91340024e-01 9.56619564e-01 0.00000000e+00 -1.18529850e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51495377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.39, Y:-118.54, Z:0.03 [[ 9.54594099e-01 2.97909560e-01 0.00000000e+00 4.40386506e+02] [-2.97909560e-01 9.54594099e-01 0.00000000e+00 -1.18537322e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23758697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.41, Y:-118.54, Z:0.03 [[ 9.53788196e-01 3.00479746e-01 0.00000000e+00 4.40413349e+02] [-3.00479746e-01 9.53788196e-01 0.00000000e+00 -1.18544562e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18557155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.44, Y:-118.55, Z:0.03 [[ 9.53136259e-01 3.02541356e-01 0.00000000e+00 4.40440751e+02] [-3.02541356e-01 9.53136259e-01 0.00000000e+00 -1.18551620e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11372950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.55140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.47, Y:-118.56, Z:0.03 [[ 9.52624850e-01 3.04147817e-01 0.00000000e+00 4.40467323e+02] [-3.04147817e-01 9.52624850e-01 0.00000000e+00 -1.18558966e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04717906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.49, Y:-118.57, Z:0.03 [[ 9.52283822e-01 3.05213897e-01 0.00000000e+00 4.40494248e+02] [-3.05213897e-01 9.52283822e-01 0.00000000e+00 -1.18567765e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97443685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.52, Y:-118.58, Z:0.03 [[ 9.52116545e-01 3.05735319e-01 0.00000000e+00 4.40520677e+02] [-3.05735319e-01 9.52116545e-01 0.00000000e+00 -1.18577045e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97883692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.55, Y:-118.59, Z:0.03 [[ 9.51992212e-01 3.06122244e-01 0.00000000e+00 4.40548278e+02] [-3.06122244e-01 9.51992212e-01 0.00000000e+00 -1.18587177e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81704069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.57, Y:-118.60, Z:0.03 [[ 9.52009690e-01 3.06067884e-01 0.00000000e+00 4.40574959e+02] [-3.06067884e-01 9.52009690e-01 0.00000000e+00 -1.18595389e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73445838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.60, Y:-118.60, Z:0.03 [[ 9.52015325e-01 3.06050356e-01 0.00000000e+00 4.40601469e+02] [-3.06050356e-01 9.52015325e-01 0.00000000e+00 -1.18604332e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73995446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.63, Y:-118.61, Z:0.03 [[ 9.51956284e-01 3.06233951e-01 0.00000000e+00 4.40628940e+02] [-3.06233951e-01 9.51956284e-01 0.00000000e+00 -1.18614726e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87663697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.65, Y:-118.63, Z:0.03 [[ 9.51888810e-01 3.06443623e-01 0.00000000e+00 4.40654337e+02] [-3.06443623e-01 9.51888810e-01 0.00000000e+00 -1.18626382e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01497486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.68, Y:-118.64, Z:0.03 [[ 9.51837555e-01 3.06602786e-01 0.00000000e+00 4.40681013e+02] [-3.06602786e-01 9.51837555e-01 0.00000000e+00 -1.18635008e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92959972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.71, Y:-118.64, Z:0.03 [[ 9.51680550e-01 3.07089776e-01 0.00000000e+00 4.40708996e+02] [-3.07089776e-01 9.51680550e-01 0.00000000e+00 -1.18643698e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85257283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.74, Y:-118.65, Z:0.03 [[ 9.51314223e-01 3.08222728e-01 0.00000000e+00 4.40735517e+02] [-3.08222728e-01 9.51314223e-01 0.00000000e+00 -1.18652257e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77176247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.76, Y:-118.66, Z:0.03 [[ 9.50441784e-01 3.10902582e-01 0.00000000e+00 4.40762816e+02] [-3.10902582e-01 9.50441784e-01 0.00000000e+00 -1.18663255e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03078975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.79, Y:-118.67, Z:0.03 [[ 9.49921379e-01 3.12488997e-01 0.00000000e+00 4.40789804e+02] [-3.12488997e-01 9.49921379e-01 0.00000000e+00 -1.18671617e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23128101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.82, Y:-118.68, Z:0.03 [[ 9.49250801e-01 3.14520138e-01 0.00000000e+00 4.40816853e+02] [-3.14520138e-01 9.49250801e-01 0.00000000e+00 -1.18679040e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31283563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.84, Y:-118.69, Z:0.03 [[ 9.48462481e-01 3.16889448e-01 0.00000000e+00 4.40843916e+02] [-3.16889448e-01 9.48462481e-01 0.00000000e+00 -1.18685717e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22325395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.87, Y:-118.69, Z:0.03 [[ 9.47594986e-01 3.19474165e-01 0.00000000e+00 4.40872430e+02] [-3.19474165e-01 9.47594986e-01 0.00000000e+00 -1.18692469e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98749130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.90, Y:-118.70, Z:0.03 [[ 9.46321421e-01 3.23227116e-01 0.00000000e+00 4.40899761e+02] [-3.23227116e-01 9.46321421e-01 0.00000000e+00 -1.18698329e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65072352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.93, Y:-118.71, Z:0.03 [[ 9.46019944e-01 3.24108417e-01 0.00000000e+00 4.40927648e+02] [-3.24108417e-01 9.46019944e-01 0.00000000e+00 -1.18705135e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66193739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.96, Y:-118.71, Z:0.03 [[ 9.45931270e-01 3.24367127e-01 0.00000000e+00 4.40955402e+02] [-3.24367127e-01 9.45931270e-01 0.00000000e+00 -1.18711545e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61455950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.98, Y:-118.72, Z:0.03 [[ 9.45956596e-01 3.24293260e-01 0.00000000e+00 4.40983597e+02] [-3.24293260e-01 9.45956596e-01 0.00000000e+00 -1.18718602e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59032737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.01, Y:-118.73, Z:0.03 [[ 9.46360568e-01 3.23112482e-01 0.00000000e+00 4.41011085e+02] [-3.23112482e-01 9.46360568e-01 0.00000000e+00 -1.18725170e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53029966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.04, Y:-118.73, Z:0.03 [[ 9.46610773e-01 3.22378727e-01 0.00000000e+00 4.41038379e+02] [-3.22378727e-01 9.46610773e-01 0.00000000e+00 -1.18733000e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65330796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.07, Y:-118.74, Z:0.03 [[ 9.46815408e-01 3.21777227e-01 0.00000000e+00 4.41065041e+02] [-3.21777227e-01 9.46815408e-01 0.00000000e+00 -1.18740701e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78956018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.09, Y:-118.75, Z:0.03 [[ 9.47033712e-01 3.21134159e-01 0.00000000e+00 4.41092600e+02] [-3.21134159e-01 9.47033712e-01 0.00000000e+00 -1.18748327e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01831106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.12, Y:-118.76, Z:0.03 [[ 9.47219608e-01 3.20585423e-01 0.00000000e+00 4.41119240e+02] [-3.20585423e-01 9.47219608e-01 0.00000000e+00 -1.18755118e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13002425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.30140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.14, Y:-118.76, Z:0.03 [[ 9.47397929e-01 3.20058063e-01 0.00000000e+00 4.41144864e+02] [-3.20058063e-01 9.47397929e-01 0.00000000e+00 -1.18761913e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23347235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.17, Y:-118.77, Z:0.03 [[ 9.48133262e-01 3.17873114e-01 0.00000000e+00 4.41172134e+02] [-3.17873114e-01 9.48133262e-01 0.00000000e+00 -1.18770767e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18570416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.20, Y:-118.78, Z:0.03 [[ 9.48869400e-01 3.15668910e-01 0.00000000e+00 4.41198479e+02] [-3.15668910e-01 9.48869400e-01 0.00000000e+00 -1.18780270e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12273177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.23, Y:-118.79, Z:0.03 [[ 9.49843206e-01 3.12726533e-01 0.00000000e+00 4.41225248e+02] [-3.12726533e-01 9.49843206e-01 0.00000000e+00 -1.18789756e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19454555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.25, Y:-118.80, Z:0.03 [[ 9.51002911e-01 3.09181927e-01 0.00000000e+00 4.41251756e+02] [-3.09181927e-01 9.51002911e-01 0.00000000e+00 -1.18798819e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35043060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.28, Y:-118.81, Z:0.04 [[ 9.52268990e-01 3.05260168e-01 0.00000000e+00 4.41278870e+02] [-3.05260168e-01 9.52268990e-01 0.00000000e+00 -1.18808155e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51915004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.31, Y:-118.82, Z:0.04 [[ 9.54811182e-01 2.97213065e-01 0.00000000e+00 4.41306595e+02] [-2.97213065e-01 9.54811182e-01 0.00000000e+00 -1.18820643e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60993408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.33, Y:-118.83, Z:0.04 [[ 9.55947720e-01 2.93536978e-01 0.00000000e+00 4.41333734e+02] [-2.93536978e-01 9.55947720e-01 0.00000000e+00 -1.18831199e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52125235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.36, Y:-118.84, Z:0.03 [[ 9.56912646e-01 2.90375943e-01 0.00000000e+00 4.41361363e+02] [-2.90375943e-01 9.56912646e-01 0.00000000e+00 -1.18842134e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45061832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.39, Y:-118.86, Z:0.04 [[ 9.58137515e-01 2.86308403e-01 0.00000000e+00 4.41389153e+02] [-2.86308403e-01 9.58137515e-01 0.00000000e+00 -1.18855963e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52901960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.42, Y:-118.87, Z:0.04 [[ 9.58495375e-01 2.85108077e-01 0.00000000e+00 4.41418341e+02] [-2.85108077e-01 9.58495375e-01 0.00000000e+00 -1.18866843e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55941081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.45, Y:-118.88, Z:0.04 [[ 9.58681976e-01 2.84479998e-01 0.00000000e+00 4.41447954e+02] [-2.84479998e-01 9.58681976e-01 0.00000000e+00 -1.18877166e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55214119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.48, Y:-118.89, Z:0.03 [[ 9.58757668e-01 2.84224796e-01 0.00000000e+00 4.41477818e+02] [-2.84224796e-01 9.58757668e-01 0.00000000e+00 -1.18887523e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41053390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.51, Y:-118.90, Z:0.03 [[ 9.58681941e-01 2.84480117e-01 0.00000000e+00 4.41506573e+02] [-2.84480117e-01 9.58681941e-01 0.00000000e+00 -1.18897750e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21972365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.54, Y:-118.91, Z:0.03 [[ 9.58426773e-01 2.85338607e-01 0.00000000e+00 4.41536817e+02] [-2.85338607e-01 9.58426773e-01 0.00000000e+00 -1.18910794e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12220392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.57, Y:-118.92, Z:0.03 [[ 9.58348794e-01 2.85600401e-01 0.00000000e+00 4.41566636e+02] [-2.85600401e-01 9.58348794e-01 0.00000000e+00 -1.18921198e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17296167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.60, Y:-118.93, Z:0.03 [[ 9.58348627e-01 2.85600961e-01 0.00000000e+00 4.41598273e+02] [-2.85600961e-01 9.58348627e-01 0.00000000e+00 -1.18932016e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27663462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.63, Y:-118.94, Z:0.03 [[ 9.58411096e-01 2.85391258e-01 0.00000000e+00 4.41628583e+02] [-2.85391258e-01 9.58411096e-01 0.00000000e+00 -1.18942329e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26968380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.66, Y:-118.95, Z:0.03 [[ 9.58544203e-01 2.84943875e-01 0.00000000e+00 4.41659176e+02] [-2.84943875e-01 9.58544203e-01 0.00000000e+00 -1.18951858e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18619837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.69, Y:-118.96, Z:0.03 [[ 9.58737967e-01 2.84291241e-01 0.00000000e+00 4.41689382e+02] [-2.84291241e-01 9.58737967e-01 0.00000000e+00 -1.18960537e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01324480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.72, Y:-118.97, Z:0.03 [[ 9.59327333e-01 2.82296066e-01 0.00000000e+00 4.41720636e+02] [-2.82296066e-01 9.59327333e-01 0.00000000e+00 -1.18968365e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85222442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.75, Y:-118.98, Z:0.03 [[ 9.59758754e-01 2.80825807e-01 0.00000000e+00 4.41750978e+02] [-2.80825807e-01 9.59758754e-01 0.00000000e+00 -1.18976925e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92374318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.78, Y:-118.99, Z:0.03 [[ 9.60417500e-01 2.78564580e-01 0.00000000e+00 4.41781836e+02] [-2.78564580e-01 9.60417500e-01 0.00000000e+00 -1.18985832e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18467180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.81, Y:-119.00, Z:0.03 [[ 9.62207906e-01 2.72315893e-01 0.00000000e+00 4.41812825e+02] [-2.72315893e-01 9.62207906e-01 0.00000000e+00 -1.18996124e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38045400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.84, Y:-119.01, Z:0.03 [[ 9.62163580e-01 2.72472465e-01 0.00000000e+00 4.41844135e+02] [-2.72472465e-01 9.62163580e-01 0.00000000e+00 -1.19005391e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38045400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.05140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.87, Y:-119.02, Z:0.03 [[ 9.63148004e-01 2.68971974e-01 0.00000000e+00 4.41874792e+02] [-2.68971974e-01 9.63148004e-01 0.00000000e+00 -1.19015237e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19244089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.91, Y:-119.03, Z:0.03 [[ 9.64165316e-01 2.65302172e-01 0.00000000e+00 4.41906482e+02] [-2.65302172e-01 9.64165316e-01 0.00000000e+00 -1.19025552e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96513212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.94, Y:-119.04, Z:0.03 [[ 9.65171481e-01 2.61618067e-01 0.00000000e+00 4.41936689e+02] [-2.61618067e-01 9.65171481e-01 0.00000000e+00 -1.19036124e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75588807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.97, Y:-119.05, Z:0.03 [[ 9.66078565e-01 2.58248342e-01 0.00000000e+00 4.41967609e+02] [-2.58248342e-01 9.66078565e-01 0.00000000e+00 -1.19047413e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71579988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.00, Y:-119.06, Z:0.03 [[ 9.67281027e-01 2.53707342e-01 0.00000000e+00 4.41997559e+02] [-2.53707342e-01 9.67281027e-01 0.00000000e+00 -1.19060176e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81813283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.03, Y:-119.07, Z:0.03 [[ 9.67426781e-01 2.53150988e-01 0.00000000e+00 4.42028344e+02] [-2.53150988e-01 9.67426781e-01 0.00000000e+00 -1.19070686e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87878148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.06, Y:-119.08, Z:0.03 [[ 9.67371865e-01 2.53360759e-01 0.00000000e+00 4.42059581e+02] [-2.53360759e-01 9.67371865e-01 0.00000000e+00 -1.19081242e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90218431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.09, Y:-119.09, Z:0.03 [[ 9.67147411e-01 2.54216220e-01 0.00000000e+00 4.42090723e+02] [-2.54216220e-01 9.67147411e-01 0.00000000e+00 -1.19091703e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85804177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.12, Y:-119.10, Z:0.03 [[ 9.66601996e-01 2.56282232e-01 0.00000000e+00 4.42121721e+02] [-2.56282232e-01 9.66601996e-01 0.00000000e+00 -1.19100530e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96717166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.15, Y:-119.11, Z:0.03 [[ 9.66295625e-01 2.57434973e-01 0.00000000e+00 4.42152424e+02] [-2.57434973e-01 9.66295625e-01 0.00000000e+00 -1.19108092e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22232067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.18, Y:-119.12, Z:0.03 [[ 9.66044494e-01 2.58375763e-01 0.00000000e+00 4.42184493e+02] [-2.58375763e-01 9.66044494e-01 0.00000000e+00 -1.19115840e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43591625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.22, Y:-119.12, Z:0.03 [[ 9.65922306e-01 2.58832184e-01 0.00000000e+00 4.42215698e+02] [-2.58832184e-01 9.65922306e-01 0.00000000e+00 -1.19123501e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48259346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.25, Y:-119.13, Z:0.03 [[ 9.65885589e-01 2.58969168e-01 0.00000000e+00 4.42247861e+02] [-2.58969168e-01 9.65885589e-01 0.00000000e+00 -1.19131646e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41327018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.28, Y:-119.14, Z:0.03 [[ 9.66172872e-01 2.57895293e-01 0.00000000e+00 4.42279909e+02] [-2.57895293e-01 9.66172872e-01 0.00000000e+00 -1.19138035e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18187135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.471400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:442.31, Y:-119.15, Z:0.03 [[ 9.66455400e-01 2.56834500e-01 0.00000000e+00 4.42312212e+02] [-2.56834500e-01 9.66455400e-01 0.00000000e+00 -1.19145242e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10219189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.34, Y:-119.15, Z:0.03 [[ 9.66756708e-01 2.55697999e-01 0.00000000e+00 4.42343771e+02] [-2.55697999e-01 9.66756708e-01 0.00000000e+00 -1.19152051e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11693407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.38, Y:-119.16, Z:0.03 [[ 9.67194753e-01 2.54036038e-01 0.00000000e+00 4.42375681e+02] [-2.54036038e-01 9.67194753e-01 0.00000000e+00 -1.19158829e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12553706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.41, Y:-119.16, Z:0.03 [[ 9.68126669e-01 2.50461080e-01 0.00000000e+00 4.42408003e+02] [-2.50461080e-01 9.68126669e-01 0.00000000e+00 -1.19164127e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18160495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.44, Y:-119.17, Z:0.03 [[ 9.68433946e-01 2.49270320e-01 0.00000000e+00 4.42439013e+02] [-2.49270320e-01 9.68433946e-01 0.00000000e+00 -1.19170557e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18925765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.47, Y:-119.18, Z:0.03 [[ 9.68548371e-01 2.48825345e-01 0.00000000e+00 4.42471533e+02] [-2.48825345e-01 9.68548371e-01 0.00000000e+00 -1.19177000e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28159235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.50, Y:-119.18, Z:0.03 [[ 9.68437483e-01 2.49256580e-01 0.00000000e+00 4.42502200e+02] [-2.49256580e-01 9.68437483e-01 0.00000000e+00 -1.19183039e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32855957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.681400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:442.53, Y:-119.18, Z:0.03 [[ 9.67989276e-01 2.50991557e-01 0.00000000e+00 4.42533738e+02] [-2.50991557e-01 9.67989276e-01 0.00000000e+00 -1.19184639e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17896423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.56, Y:-119.19, Z:0.03 [[ 9.67645257e-01 2.52314598e-01 0.00000000e+00 4.42563654e+02] [-2.52314598e-01 9.67645257e-01 0.00000000e+00 -1.19188778e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04312183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.59, Y:-119.19, Z:0.03 [[ 9.67209422e-01 2.53980184e-01 0.00000000e+00 4.42593299e+02] [-2.53980184e-01 9.67209422e-01 0.00000000e+00 -1.19192715e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00385383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.771400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:442.62, Y:-119.20, Z:0.03 [[ 9.66800106e-01 2.55533862e-01 0.00000000e+00 4.42622562e+02] [-2.55533862e-01 9.66800106e-01 0.00000000e+00 -1.19196624e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05247008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.65, Y:-119.20, Z:0.03 [[ 9.66435814e-01 2.56908190e-01 0.00000000e+00 4.42652437e+02] [-2.56908190e-01 9.66435814e-01 0.00000000e+00 -1.19201593e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09914984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.831400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:442.68, Y:-119.21, Z:0.03 [[ 9.66268590e-01 2.57536427e-01 0.00000000e+00 4.42681861e+02] [-2.57536427e-01 9.66268590e-01 0.00000000e+00 -1.19206864e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09383622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.71, Y:-119.21, Z:0.03 [[ 9.66395665e-01 2.57059174e-01 0.00000000e+00 4.42710497e+02] [-2.57059174e-01 9.66395665e-01 0.00000000e+00 -1.19209605e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97180755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.74, Y:-119.22, Z:0.03 [[ 9.66653390e-01 2.56088310e-01 0.00000000e+00 4.42738765e+02] [-2.56088310e-01 9.66653390e-01 0.00000000e+00 -1.19215209e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83388300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.77, Y:-119.22, Z:0.03 [[ 9.66837360e-01 2.55392874e-01 0.00000000e+00 4.42766806e+02] [-2.55392874e-01 9.66837360e-01 0.00000000e+00 -1.19220804e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71176425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.79, Y:-119.22, Z:0.03 [[ 9.66897161e-01 2.55166376e-01 0.00000000e+00 4.42794476e+02] [-2.55166376e-01 9.66897161e-01 0.00000000e+00 -1.19223717e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61354369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.82, Y:-119.23, Z:0.03 [[ 9.66717104e-01 2.55847690e-01 0.00000000e+00 4.42821974e+02] [-2.55847690e-01 9.66717104e-01 0.00000000e+00 -1.19230147e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79776525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.85, Y:-119.24, Z:0.03 [[ 9.66362542e-01 2.57183667e-01 0.00000000e+00 4.42849612e+02] [-2.57183667e-01 9.66362542e-01 0.00000000e+00 -1.19237254e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04955914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.88, Y:-119.24, Z:0.03 [[ 9.65779872e-01 2.59363140e-01 0.00000000e+00 4.42876973e+02] [-2.59363140e-01 9.65779872e-01 0.00000000e+00 -1.19244932e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22002884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.90, Y:-119.25, Z:0.03 [[ 9.64992498e-01 2.62277483e-01 0.00000000e+00 4.42904461e+02] [-2.62277483e-01 9.64992498e-01 0.00000000e+00 -1.19252891e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23651700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.93, Y:-119.26, Z:0.03 [[ 9.62906266e-01 2.69836105e-01 0.00000000e+00 4.42931693e+02] [-2.69836105e-01 9.62906266e-01 0.00000000e+00 -1.19259528e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14160747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.96, Y:-119.27, Z:0.03 [[ 9.61637680e-01 2.74322753e-01 0.00000000e+00 4.42960004e+02] [-2.74322753e-01 9.61637680e-01 0.00000000e+00 -1.19266639e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29232093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.99, Y:-119.27, Z:0.04 [[ 9.60267720e-01 2.79080465e-01 0.00000000e+00 4.42987111e+02] [-2.79080465e-01 9.60267720e-01 0.00000000e+00 -1.19273051e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53797913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.01, Y:-119.28, Z:0.04 [[ 9.58742902e-01 2.84274598e-01 0.00000000e+00 4.43014059e+02] [-2.84274598e-01 9.58742902e-01 0.00000000e+00 -1.19279861e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87267438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.04, Y:-119.29, Z:0.04 [[ 9.57212490e-01 2.89385988e-01 0.00000000e+00 4.43041004e+02] [-2.89385988e-01 9.57212490e-01 0.00000000e+00 -1.19286586e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06249014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.07, Y:-119.29, Z:0.04 [[ 9.54204389e-01 2.99155451e-01 0.00000000e+00 4.43067620e+02] [-2.99155451e-01 9.54204389e-01 0.00000000e+00 -1.19292237e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06046038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.09, Y:-119.30, Z:0.04 [[ 9.52968470e-01 3.03069458e-01 0.00000000e+00 4.43094893e+02] [-3.03069458e-01 9.52968470e-01 0.00000000e+00 -1.19298256e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.85102084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.12, Y:-119.30, Z:0.04 [[ 9.52089383e-01 3.05819893e-01 0.00000000e+00 4.43122208e+02] [-3.05819893e-01 9.52089383e-01 0.00000000e+00 -1.19304434e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70988945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.15, Y:-119.31, Z:0.04 [[ 9.51577110e-01 3.07410156e-01 0.00000000e+00 4.43148181e+02] [-3.07410156e-01 9.51577110e-01 0.00000000e+00 -1.19310425e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60453706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.18, Y:-119.32, Z:0.03 [[ 9.51066669e-01 3.08985747e-01 0.00000000e+00 4.43175502e+02] [-3.08985747e-01 9.51066669e-01 0.00000000e+00 -1.19317910e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33721770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.20, Y:-119.33, Z:0.03 [[ 9.51187785e-01 3.08612697e-01 0.00000000e+00 4.43202163e+02] [-3.08612697e-01 9.51187785e-01 0.00000000e+00 -1.19326081e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13638796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.23, Y:-119.33, Z:0.03 [[ 9.51354260e-01 3.08099126e-01 0.00000000e+00 4.43229036e+02] [-3.08099126e-01 9.51354260e-01 0.00000000e+00 -1.19334739e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07355149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.25, Y:-119.34, Z:0.03 [[ 9.51532509e-01 3.07548181e-01 0.00000000e+00 4.43254307e+02] [-3.07548181e-01 9.51532509e-01 0.00000000e+00 -1.19343091e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07022227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.28, Y:-119.35, Z:0.03 [[ 9.51569338e-01 3.07434213e-01 0.00000000e+00 4.43281146e+02] [-3.07434213e-01 9.51569338e-01 0.00000000e+00 -1.19351631e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11197654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.31, Y:-119.36, Z:0.03 [[ 9.50996646e-01 3.09201196e-01 0.00000000e+00 4.43308508e+02] [-3.09201196e-01 9.50996646e-01 0.00000000e+00 -1.19359003e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03945326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.34, Y:-119.37, Z:0.03 [[ 9.50310388e-01 3.11303979e-01 0.00000000e+00 4.43335212e+02] [-3.11303979e-01 9.50310388e-01 0.00000000e+00 -1.19365827e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80685296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.36, Y:-119.37, Z:0.03 [[ 9.49421020e-01 3.14005933e-01 0.00000000e+00 4.43362871e+02] [-3.14005933e-01 9.49421020e-01 0.00000000e+00 -1.19372841e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71744795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.39, Y:-119.38, Z:0.03 [[ 9.47670772e-01 3.19249287e-01 0.00000000e+00 4.43391189e+02] [-3.19249287e-01 9.47670772e-01 0.00000000e+00 -1.19379309e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63705810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.42, Y:-119.39, Z:0.03 [[ 9.46956253e-01 3.21362497e-01 0.00000000e+00 4.43418187e+02] [-3.21362497e-01 9.46956253e-01 0.00000000e+00 -1.19387032e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60251527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.45, Y:-119.40, Z:0.03 [[ 9.46497485e-01 3.22711189e-01 0.00000000e+00 4.43445356e+02] [-3.22711189e-01 9.46497485e-01 0.00000000e+00 -1.19395308e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90586490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.47, Y:-119.40, Z:0.03 [[ 9.46311018e-01 3.23257570e-01 0.00000000e+00 4.43472390e+02] [-3.23257570e-01 9.46311018e-01 0.00000000e+00 -1.19403782e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05010389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.731400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:443.50, Y:-119.41, Z:0.03 [[ 9.46285019e-01 3.23333672e-01 0.00000000e+00 4.43499356e+02] [-3.23333672e-01 9.46285019e-01 0.00000000e+00 -1.19412402e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19887581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.53, Y:-119.42, Z:0.04 [[ 9.46092965e-01 3.23895203e-01 0.00000000e+00 4.43526045e+02] [-3.23895203e-01 9.46092965e-01 0.00000000e+00 -1.19422195e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50608613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.55, Y:-119.43, Z:0.04 [[ 9.45711671e-01 3.25006822e-01 0.00000000e+00 4.43552064e+02] [-3.25006822e-01 9.45711671e-01 0.00000000e+00 -1.19430566e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54449481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.58, Y:-119.44, Z:0.04 [[ 9.45064456e-01 3.26884037e-01 0.00000000e+00 4.43579113e+02] [-3.26884037e-01 9.45064456e-01 0.00000000e+00 -1.19439171e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54478127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.61, Y:-119.45, Z:0.04 [[ 9.44224695e-01 3.29301877e-01 0.00000000e+00 4.43605322e+02] [-3.29301877e-01 9.44224695e-01 0.00000000e+00 -1.19447720e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51440193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.63, Y:-119.46, Z:0.03 [[ 9.43276637e-01 3.32007811e-01 0.00000000e+00 4.43630898e+02] [-3.32007811e-01 9.43276637e-01 0.00000000e+00 -1.19456053e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42221917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.66, Y:-119.46, Z:0.03 [[ 9.41310704e-01 3.37541342e-01 0.00000000e+00 4.43658425e+02] [-3.37541342e-01 9.41310704e-01 0.00000000e+00 -1.19464908e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12843314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.68, Y:-119.47, Z:0.03 [[ 9.40370536e-01 3.40151811e-01 0.00000000e+00 4.43683901e+02] [-3.40151811e-01 9.40370536e-01 0.00000000e+00 -1.19472264e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02757369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.71, Y:-119.48, Z:0.03 [[ 9.40393757e-01 3.40087610e-01 0.00000000e+00 4.43711286e+02] [-3.40087610e-01 9.40393757e-01 0.00000000e+00 -1.19480164e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02757369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.001400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:443.74, Y:-119.49, Z:0.03 [[ 9.39491881e-01 3.42571168e-01 0.00000000e+00 4.43738686e+02] [-3.42571168e-01 9.39491881e-01 0.00000000e+00 -1.19487954e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04882879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.77, Y:-119.50, Z:0.03 [[ 9.37733889e-01 3.47354506e-01 0.00000000e+00 4.43765173e+02] [-3.47354506e-01 9.37733889e-01 0.00000000e+00 -1.19495767e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33669314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.79, Y:-119.50, Z:0.03 [[ 9.37025715e-01 3.49260374e-01 0.00000000e+00 4.43792426e+02] [-3.49260374e-01 9.37025715e-01 0.00000000e+00 -1.19503761e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48601581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.82, Y:-119.51, Z:0.04 [[ 9.36450330e-01 3.50800198e-01 0.00000000e+00 4.43818153e+02] [-3.50800198e-01 9.36450330e-01 0.00000000e+00 -1.19510898e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53927164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.85, Y:-119.52, Z:0.03 [[ 9.36102601e-01 3.51727053e-01 0.00000000e+00 4.43845663e+02] [-3.51727053e-01 9.36102601e-01 0.00000000e+00 -1.19517793e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45741312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.87, Y:-119.52, Z:0.03 [[ 9.36039401e-01 3.51895212e-01 0.00000000e+00 4.43873354e+02] [-3.51895212e-01 9.36039401e-01 0.00000000e+00 -1.19524159e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16732126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.90, Y:-119.53, Z:0.03 [[ 9.36275649e-01 3.51266151e-01 0.00000000e+00 4.43901073e+02] [-3.51266151e-01 9.36275649e-01 0.00000000e+00 -1.19532026e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02150213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.93, Y:-119.54, Z:0.03 [[ 9.36742244e-01 3.50019954e-01 0.00000000e+00 4.43927234e+02] [-3.50019954e-01 9.36742244e-01 0.00000000e+00 -1.19539623e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89933182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.95, Y:-119.55, Z:0.03 [[ 9.37265529e-01 3.48616305e-01 0.00000000e+00 4.43953757e+02] [-3.48616305e-01 9.37265529e-01 0.00000000e+00 -1.19547552e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82614685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.98, Y:-119.56, Z:0.03 [[ 9.37844096e-01 3.47056841e-01 0.00000000e+00 4.43979912e+02] [-3.47056841e-01 9.37844096e-01 0.00000000e+00 -1.19555928e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83258771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.01, Y:-119.57, Z:0.03 [[ 9.39008953e-01 3.43892696e-01 0.00000000e+00 4.44005632e+02] [-3.43892696e-01 9.39008953e-01 0.00000000e+00 -1.19565520e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13558935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.03, Y:-119.57, Z:0.03 [[ 9.39491017e-01 3.42573538e-01 0.00000000e+00 4.44031939e+02] [-3.42573538e-01 9.39491017e-01 0.00000000e+00 -1.19574685e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31721346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.06, Y:-119.58, Z:0.03 [[ 9.39826020e-01 3.41653409e-01 0.00000000e+00 4.44057660e+02] [-3.41653409e-01 9.39826020e-01 0.00000000e+00 -1.19583460e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39335435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.08, Y:-119.59, Z:0.03 [[ 9.39845760e-01 3.41599104e-01 0.00000000e+00 4.44084662e+02] [-3.41599104e-01 9.39845760e-01 0.00000000e+00 -1.19592416e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45027388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.11, Y:-119.60, Z:0.03 [[ 9.39002136e-01 3.43911309e-01 0.00000000e+00 4.44111337e+02] [-3.43911309e-01 9.39002136e-01 0.00000000e+00 -1.19601557e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48297727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.14, Y:-119.61, Z:0.04 [[ 9.38300524e-01 3.45820947e-01 0.00000000e+00 4.44136495e+02] [-3.45820947e-01 9.38300524e-01 0.00000000e+00 -1.19610082e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55749522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.16, Y:-119.62, Z:0.04 [[ 9.37415030e-01 3.48214104e-01 0.00000000e+00 4.44161906e+02] [-3.48214104e-01 9.37415030e-01 0.00000000e+00 -1.19618584e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63432277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.19, Y:-119.63, Z:0.04 [[ 9.36393281e-01 3.50952451e-01 0.00000000e+00 4.44189145e+02] [-3.50952451e-01 9.36393281e-01 0.00000000e+00 -1.19626933e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64419170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.22, Y:-119.63, Z:0.03 [[ 9.34284323e-01 3.56528826e-01 0.00000000e+00 4.44216620e+02] [-3.56528826e-01 9.34284323e-01 0.00000000e+00 -1.19631739e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46332320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.24, Y:-119.64, Z:0.03 [[ 9.33347406e-01 3.58974399e-01 0.00000000e+00 4.44243769e+02] [-3.58974399e-01 9.33347406e-01 0.00000000e+00 -1.19637536e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40982701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.27, Y:-119.64, Z:0.03 [[ 9.32532548e-01 3.61085927e-01 0.00000000e+00 4.44270002e+02] [-3.61085927e-01 9.32532548e-01 0.00000000e+00 -1.19643248e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38367156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.30, Y:-119.65, Z:0.03 [[ 9.31984160e-01 3.62499002e-01 0.00000000e+00 4.44296572e+02] [-3.62499002e-01 9.31984160e-01 0.00000000e+00 -1.19649839e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45594317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.32, Y:-119.66, Z:0.03 [[ 9.31747678e-01 3.63106411e-01 0.00000000e+00 4.44323656e+02] [-3.63106411e-01 9.31747678e-01 0.00000000e+00 -1.19657322e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47924279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.35, Y:-119.66, Z:0.03 [[ 9.31880229e-01 3.62766095e-01 0.00000000e+00 4.44350565e+02] [-3.62766095e-01 9.31880229e-01 0.00000000e+00 -1.19664978e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40425295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.38, Y:-119.67, Z:0.03 [[ 9.32125953e-01 3.62134239e-01 0.00000000e+00 4.44376901e+02] [-3.62134239e-01 9.32125953e-01 0.00000000e+00 -1.19672278e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26617492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.40, Y:-119.68, Z:0.03 [[ 9.32453924e-01 3.61288915e-01 0.00000000e+00 4.44404055e+02] [-3.61288915e-01 9.32453924e-01 0.00000000e+00 -1.19679602e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15304845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.43, Y:-119.69, Z:0.03 [[ 9.32764109e-01 3.60487333e-01 0.00000000e+00 4.44430474e+02] [-3.60487333e-01 9.32764109e-01 0.00000000e+00 -1.19686363e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08330302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.46, Y:-119.69, Z:0.03 [[ 9.33161674e-01 3.59456938e-01 0.00000000e+00 4.44457726e+02] [-3.59456938e-01 9.33161674e-01 0.00000000e+00 -1.19693408e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26446522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.48, Y:-119.70, Z:0.03 [[ 9.33335651e-01 3.59004963e-01 0.00000000e+00 4.44483368e+02] [-3.59004963e-01 9.33335651e-01 0.00000000e+00 -1.19701174e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34140620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.871400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:444.51, Y:-119.71, Z:0.03 [[ 9.33637622e-01 3.58218916e-01 0.00000000e+00 4.44510539e+02] [-3.58218916e-01 9.33637622e-01 0.00000000e+00 -1.19709698e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44879737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.54, Y:-119.72, Z:0.04 [[ 9.34141364e-01 3.56903226e-01 0.00000000e+00 4.44536242e+02] [-3.56903226e-01 9.34141364e-01 0.00000000e+00 -1.19717930e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54591113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.56, Y:-119.73, Z:0.04 [[ 9.35426710e-01 3.53520678e-01 0.00000000e+00 4.44561891e+02] [-3.53520678e-01 9.35426710e-01 0.00000000e+00 -1.19728980e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60675125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.59, Y:-119.74, Z:0.03 [[ 9.35910058e-01 3.52239072e-01 0.00000000e+00 4.44588099e+02] [-3.52239072e-01 9.35910058e-01 0.00000000e+00 -1.19738478e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37562449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.61, Y:-119.75, Z:0.03 [[ 9.36345525e-01 3.51079845e-01 0.00000000e+00 4.44613432e+02] [-3.51079845e-01 9.36345525e-01 0.00000000e+00 -1.19747538e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01633672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.64, Y:-119.76, Z:0.03 [[ 9.36776247e-01 3.49928940e-01 0.00000000e+00 4.44639498e+02] [-3.49928940e-01 9.36776247e-01 0.00000000e+00 -1.19756645e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66709344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.67, Y:-119.77, Z:0.03 [[ 9.37371441e-01 3.48331424e-01 0.00000000e+00 4.44665746e+02] [-3.48331424e-01 9.37371441e-01 0.00000000e+00 -1.19768439e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58864483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.69, Y:-119.78, Z:0.03 [[ 9.37721703e-01 3.47387402e-01 0.00000000e+00 4.44692051e+02] [-3.47387402e-01 9.37721703e-01 0.00000000e+00 -1.19779400e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68983154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.72, Y:-119.79, Z:0.03 [[ 9.38155215e-01 3.46214953e-01 0.00000000e+00 4.44718066e+02] [-3.46214953e-01 9.38155215e-01 0.00000000e+00 -1.19791338e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70077040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.74, Y:-119.80, Z:0.03 [[ 9.38531333e-01 3.45194058e-01 0.00000000e+00 4.44742840e+02] [-3.45194058e-01 9.38531333e-01 0.00000000e+00 -1.19803249e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55021248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.77, Y:-119.81, Z:0.02 [[ 9.38735426e-01 3.44638651e-01 0.00000000e+00 4.44767595e+02] [-3.44638651e-01 9.38735426e-01 0.00000000e+00 -1.19814075e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43356227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.79, Y:-119.83, Z:0.03 [[ 9.38348034e-01 3.45692011e-01 0.00000000e+00 4.44794034e+02] [-3.45692011e-01 9.38348034e-01 0.00000000e+00 -1.19826017e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59331065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.82, Y:-119.84, Z:0.03 [[ 9.37742671e-01 3.47330796e-01 0.00000000e+00 4.44820714e+02] [-3.47330796e-01 9.37742671e-01 0.00000000e+00 -1.19835406e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71205424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.85, Y:-119.85, Z:0.03 [[ 9.36802126e-01 3.49859653e-01 0.00000000e+00 4.44847760e+02] [-3.49859653e-01 9.36802126e-01 0.00000000e+00 -1.19845048e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89154444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.88, Y:-119.85, Z:0.03 [[ 9.34860699e-01 3.55014751e-01 0.00000000e+00 4.44875411e+02] [-3.55014751e-01 9.34860699e-01 0.00000000e+00 -1.19854840e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91959285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.90, Y:-119.86, Z:0.03 [[ 9.34179567e-01 3.56803218e-01 0.00000000e+00 4.44900775e+02] [-3.56803218e-01 9.34179567e-01 0.00000000e+00 -1.19862732e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91812747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.93, Y:-119.87, Z:0.03 [[ 9.33708290e-01 3.58034675e-01 0.00000000e+00 4.44928526e+02] [-3.58034675e-01 9.33708290e-01 0.00000000e+00 -1.19871989e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08438629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.96, Y:-119.88, Z:0.03 [[ 9.33473721e-01 3.58645804e-01 0.00000000e+00 4.44955377e+02] [-3.58645804e-01 9.33473721e-01 0.00000000e+00 -1.19881568e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33160192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.98, Y:-119.89, Z:0.04 [[ 9.33745292e-01 3.57938165e-01 0.00000000e+00 4.44980692e+02] [-3.57938165e-01 9.33745292e-01 0.00000000e+00 -1.19892411e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64072112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.01, Y:-119.90, Z:0.04 [[ 9.34043691e-01 3.57158764e-01 0.00000000e+00 4.45007122e+02] [-3.57158764e-01 9.34043691e-01 0.00000000e+00 -1.19901240e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68688611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.03, Y:-119.91, Z:0.04 [[ 9.34342886e-01 3.56375323e-01 0.00000000e+00 4.45033487e+02] [-3.56375323e-01 9.34342886e-01 0.00000000e+00 -1.19910113e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66476165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.06, Y:-119.92, Z:0.04 [[ 9.34654224e-01 3.55557987e-01 0.00000000e+00 4.45059722e+02] [-3.55557987e-01 9.34654224e-01 0.00000000e+00 -1.19919121e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60094177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.08, Y:-119.93, Z:0.03 [[ 9.35303171e-01 3.53847395e-01 0.00000000e+00 4.45084365e+02] [-3.53847395e-01 9.35303171e-01 0.00000000e+00 -1.19929652e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26032852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.11, Y:-119.94, Z:0.03 [[ 9.35548330e-01 3.53198700e-01 0.00000000e+00 4.45111217e+02] [-3.53198700e-01 9.35548330e-01 0.00000000e+00 -1.19938674e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10909590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.14, Y:-119.95, Z:0.03 [[ 9.35824265e-01 3.52466942e-01 0.00000000e+00 4.45137841e+02] [-3.52466942e-01 9.35824265e-01 0.00000000e+00 -1.19947540e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03796571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.16, Y:-119.96, Z:0.03 [[ 9.36125618e-01 3.51665788e-01 0.00000000e+00 4.45163305e+02] [-3.51665788e-01 9.36125618e-01 0.00000000e+00 -1.19955482e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96177639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.19, Y:-119.96, Z:0.03 [[ 9.36766632e-01 3.49954680e-01 0.00000000e+00 4.45189545e+02] [-3.49954680e-01 9.36766632e-01 0.00000000e+00 -1.19964412e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90815721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.22, Y:-119.97, Z:0.03 [[ 9.37276282e-01 3.48587394e-01 0.00000000e+00 4.45216370e+02] [-3.48587394e-01 9.37276282e-01 0.00000000e+00 -1.19972733e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93126462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.24, Y:-119.98, Z:0.03 [[ 9.37910275e-01 3.46877957e-01 0.00000000e+00 4.45242489e+02] [-3.46877957e-01 9.37910275e-01 0.00000000e+00 -1.19981130e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92782618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.27, Y:-119.99, Z:0.03 [[ 9.38734149e-01 3.44642129e-01 0.00000000e+00 4.45269721e+02] [-3.44642129e-01 9.38734149e-01 0.00000000e+00 -1.19990417e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05104105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.30, Y:-120.00, Z:0.03 [[ 9.39766430e-01 3.41817285e-01 0.00000000e+00 4.45296057e+02] [-3.41817285e-01 9.39766430e-01 0.00000000e+00 -1.20000169e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07066970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.32, Y:-120.01, Z:0.03 [[ 9.41838530e-01 3.36065743e-01 0.00000000e+00 4.45323390e+02] [-3.36065743e-01 9.41838530e-01 0.00000000e+00 -1.20012846e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05056095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.35, Y:-120.02, Z:0.03 [[ 9.41853824e-01 3.36022877e-01 0.00000000e+00 4.45351605e+02] [-3.36022877e-01 9.41853824e-01 0.00000000e+00 -1.20020882e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05056095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.38, Y:-120.03, Z:0.03 [[ 9.42826443e-01 3.33284111e-01 0.00000000e+00 4.45378412e+02] [-3.33284111e-01 9.42826443e-01 0.00000000e+00 -1.20030552e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98715654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.41, Y:-120.04, Z:0.03 [[ 9.43775595e-01 3.30586791e-01 0.00000000e+00 4.45405090e+02] [-3.30586791e-01 9.43775595e-01 0.00000000e+00 -1.20039529e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92547815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.43, Y:-120.05, Z:0.03 [[ 9.45331165e-01 3.26111925e-01 0.00000000e+00 4.45433098e+02] [-3.26111925e-01 9.45331165e-01 0.00000000e+00 -1.20051038e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90448418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.46, Y:-120.06, Z:0.03 [[ 9.46088484e-01 3.23908290e-01 0.00000000e+00 4.45459935e+02] [-3.23908290e-01 9.46088484e-01 0.00000000e+00 -1.20061010e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93697034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.49, Y:-120.07, Z:0.03 [[ 9.46826107e-01 3.21745744e-01 0.00000000e+00 4.45487582e+02] [-3.21745744e-01 9.46826107e-01 0.00000000e+00 -1.20071425e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03251837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.52, Y:-120.08, Z:0.03 [[ 9.47466347e-01 3.19855468e-01 0.00000000e+00 4.45516885e+02] [-3.19855468e-01 9.47466347e-01 0.00000000e+00 -1.20082399e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15658903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.55, Y:-120.10, Z:0.03 [[ 9.48452365e-01 3.16919725e-01 0.00000000e+00 4.45546266e+02] [-3.16919725e-01 9.48452365e-01 0.00000000e+00 -1.20096912e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27389051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.58, Y:-120.11, Z:0.03 [[ 9.48846037e-01 3.15739131e-01 0.00000000e+00 4.45576545e+02] [-3.15739131e-01 9.48846037e-01 0.00000000e+00 -1.20109271e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34401235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.61, Y:-120.12, Z:0.03 [[ 9.49275955e-01 3.14444211e-01 0.00000000e+00 4.45606767e+02] [-3.14444211e-01 9.49275955e-01 0.00000000e+00 -1.20121280e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40675138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.64, Y:-120.13, Z:0.04 [[ 9.49519068e-01 3.13709323e-01 0.00000000e+00 4.45637948e+02] [-3.13709323e-01 9.49519068e-01 0.00000000e+00 -1.20133914e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58509086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.67, Y:-120.15, Z:0.04 [[ 9.49539964e-01 3.13646071e-01 0.00000000e+00 4.45667891e+02] [-3.13646071e-01 9.49539964e-01 0.00000000e+00 -1.20149228e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.85666648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.70, Y:-120.16, Z:0.04 [[ 9.49213647e-01 3.14632251e-01 0.00000000e+00 4.45698718e+02] [-3.14632251e-01 9.49213647e-01 0.00000000e+00 -1.20160921e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75484529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.73, Y:-120.17, Z:0.04 [[ 9.48709324e-01 3.16149677e-01 0.00000000e+00 4.45729376e+02] [-3.16149677e-01 9.48709324e-01 0.00000000e+00 -1.20171571e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62065306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.76, Y:-120.18, Z:0.03 [[ 9.48084315e-01 3.18019073e-01 0.00000000e+00 4.45760123e+02] [-3.18019073e-01 9.48084315e-01 0.00000000e+00 -1.20181398e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43842388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.79, Y:-120.19, Z:0.03 [[ 9.47247673e-01 3.20502491e-01 0.00000000e+00 4.45791111e+02] [-3.20502491e-01 9.47247673e-01 0.00000000e+00 -1.20191286e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35587343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.82, Y:-120.20, Z:0.03 [[ 9.45587448e-01 3.25368065e-01 0.00000000e+00 4.45821654e+02] [-3.25368065e-01 9.45587448e-01 0.00000000e+00 -1.20203804e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42066776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.85, Y:-120.21, Z:0.03 [[ 9.45075675e-01 3.26851601e-01 0.00000000e+00 4.45851939e+02] [-3.26851601e-01 9.45075675e-01 0.00000000e+00 -1.20214048e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44224148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.88, Y:-120.22, Z:0.03 [[ 9.44720216e-01 3.27877589e-01 0.00000000e+00 4.45883064e+02] [-3.27877589e-01 9.44720216e-01 0.00000000e+00 -1.20223118e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41343067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.92, Y:-120.23, Z:0.03 [[ 9.44492606e-01 3.28532674e-01 0.00000000e+00 4.45915079e+02] [-3.28532674e-01 9.44492606e-01 0.00000000e+00 -1.20231922e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30002452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.95, Y:-120.24, Z:0.03 [[ 9.44413413e-01 3.28760256e-01 0.00000000e+00 4.45946105e+02] [-3.28760256e-01 9.44413413e-01 0.00000000e+00 -1.20241462e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96132056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.98, Y:-120.25, Z:0.03 [[ 9.44274899e-01 3.29157887e-01 0.00000000e+00 4.45977481e+02] [-3.29157887e-01 9.44274899e-01 0.00000000e+00 -1.20251940e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90840482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.01, Y:-120.26, Z:0.03 [[ 9.44198389e-01 3.29377293e-01 0.00000000e+00 4.46008160e+02] [-3.29377293e-01 9.44198389e-01 0.00000000e+00 -1.20261783e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94376823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.04, Y:-120.27, Z:0.03 [[ 9.44012282e-01 3.29910309e-01 0.00000000e+00 4.46040143e+02] [-3.29910309e-01 9.44012282e-01 0.00000000e+00 -1.20271319e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17275476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.07, Y:-120.28, Z:0.03 [[ 9.43876912e-01 3.30297403e-01 0.00000000e+00 4.46070417e+02] [-3.30297403e-01 9.43876912e-01 0.00000000e+00 -1.20281979e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36326812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.10, Y:-120.29, Z:0.03 [[ 9.43974418e-01 3.30018634e-01 0.00000000e+00 4.46100498e+02] [-3.30018634e-01 9.43974418e-01 0.00000000e+00 -1.20292977e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24878173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.13, Y:-120.30, Z:0.03 [[ 9.44061844e-01 3.29768458e-01 0.00000000e+00 4.46131090e+02] [-3.29768458e-01 9.44061844e-01 0.00000000e+00 -1.20304174e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09628174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.16, Y:-120.32, Z:0.03 [[ 9.43931136e-01 3.30142411e-01 0.00000000e+00 4.46160348e+02] [-3.30142411e-01 9.43931136e-01 0.00000000e+00 -1.20316868e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98234112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.19, Y:-120.33, Z:0.03 [[ 9.43533556e-01 3.31276966e-01 0.00000000e+00 4.46191705e+02] [-3.31276966e-01 9.43533556e-01 0.00000000e+00 -1.20328512e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10228309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.22, Y:-120.34, Z:0.03 [[ 9.43011350e-01 3.32760565e-01 0.00000000e+00 4.46221271e+02] [-3.32760565e-01 9.43011350e-01 0.00000000e+00 -1.20339981e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17038603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.25, Y:-120.35, Z:0.03 [[ 9.42453581e-01 3.34337026e-01 0.00000000e+00 4.46251237e+02] [-3.34337026e-01 9.42453581e-01 0.00000000e+00 -1.20351885e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16864866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.28, Y:-120.37, Z:0.03 [[ 9.41418805e-01 3.37239727e-01 0.00000000e+00 4.46281581e+02] [-3.37239727e-01 9.41418805e-01 0.00000000e+00 -1.20366393e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05497361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.31, Y:-120.38, Z:0.03 [[ 9.40798402e-01 3.38966615e-01 0.00000000e+00 4.46312021e+02] [-3.38966615e-01 9.40798402e-01 0.00000000e+00 -1.20378091e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09432538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.34, Y:-120.39, Z:0.03 [[ 9.40042298e-01 3.41057881e-01 0.00000000e+00 4.46341418e+02] [-3.41057881e-01 9.40042298e-01 0.00000000e+00 -1.20389766e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13876228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.37, Y:-120.40, Z:0.03 [[ 9.39174508e-01 3.43440305e-01 0.00000000e+00 4.46371829e+02] [-3.43440305e-01 9.39174508e-01 0.00000000e+00 -1.20401704e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17769307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.40, Y:-120.41, Z:0.03 [[ 9.38235786e-01 3.45996547e-01 0.00000000e+00 4.46401354e+02] [-3.45996547e-01 9.38235786e-01 0.00000000e+00 -1.20413304e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13100551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.43, Y:-120.43, Z:0.03 [[ 9.36209752e-01 3.51441746e-01 0.00000000e+00 4.46432113e+02] [-3.51441746e-01 9.36209752e-01 0.00000000e+00 -1.20425870e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93291269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.46, Y:-120.44, Z:0.03 [[ 9.35186139e-01 3.54156582e-01 0.00000000e+00 4.46463035e+02] [-3.54156582e-01 9.35186139e-01 0.00000000e+00 -1.20436319e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83947914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.49, Y:-120.45, Z:0.03 [[ 9.34260806e-01 3.56590446e-01 0.00000000e+00 4.46494448e+02] [-3.56590446e-01 9.34260806e-01 0.00000000e+00 -1.20446826e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92415974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.53, Y:-120.46, Z:0.03 [[ 9.33690812e-01 3.58080253e-01 0.00000000e+00 4.46525225e+02] [-3.58080253e-01 9.33690812e-01 0.00000000e+00 -1.20457315e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12938472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.56, Y:-120.47, Z:0.04 [[ 9.33667563e-01 3.58140869e-01 0.00000000e+00 4.46555470e+02] [-3.58140869e-01 9.33667563e-01 0.00000000e+00 -1.20469456e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57867060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.59, Y:-120.48, Z:0.04 [[ 9.34082177e-01 3.57058100e-01 0.00000000e+00 4.46586935e+02] [-3.57058100e-01 9.34082177e-01 0.00000000e+00 -1.20479828e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59583931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.62, Y:-120.49, Z:0.03 [[ 9.34559235e-01 3.55807583e-01 0.00000000e+00 4.46617642e+02] [-3.55807583e-01 9.34559235e-01 0.00000000e+00 -1.20489611e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47431897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.65, Y:-120.50, Z:0.03 [[ 9.35131435e-01 3.54301000e-01 0.00000000e+00 4.46648659e+02] [-3.54301000e-01 9.35131435e-01 0.00000000e+00 -1.20499452e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32890337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.68, Y:-120.51, Z:0.03 [[ 9.36190566e-01 3.51492850e-01 0.00000000e+00 4.46678332e+02] [-3.51492850e-01 9.36190566e-01 0.00000000e+00 -1.20510841e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15041667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.71, Y:-120.52, Z:0.03 [[ 9.36689136e-01 3.50162051e-01 0.00000000e+00 4.46709663e+02] [-3.50162051e-01 9.36689136e-01 0.00000000e+00 -1.20521329e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07121832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.74, Y:-120.53, Z:0.03 [[ 9.37061646e-01 3.49163961e-01 0.00000000e+00 4.46741099e+02] [-3.49163961e-01 9.37061646e-01 0.00000000e+00 -1.20531309e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92519317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.77, Y:-120.54, Z:0.03 [[ 9.37275759e-01 3.48588801e-01 0.00000000e+00 4.46772425e+02] [-3.48588801e-01 9.37275759e-01 0.00000000e+00 -1.20541141e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78319885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.80, Y:-120.55, Z:0.03 [[ 9.37394174e-01 3.48270244e-01 0.00000000e+00 4.46802899e+02] [-3.48270244e-01 9.37394174e-01 0.00000000e+00 -1.20551019e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56169080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.83, Y:-120.56, Z:0.03 [[ 9.37412494e-01 3.48220930e-01 0.00000000e+00 4.46833676e+02] [-3.48220930e-01 9.37412494e-01 0.00000000e+00 -1.20561656e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64307242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.86, Y:-120.57, Z:0.03 [[ 9.37333429e-01 3.48433699e-01 0.00000000e+00 4.46863171e+02] [-3.48433699e-01 9.37333429e-01 0.00000000e+00 -1.20574309e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92363748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.89, Y:-120.59, Z:0.03 [[ 9.37191204e-01 3.48816064e-01 0.00000000e+00 4.46894700e+02] [-3.48816064e-01 9.37191204e-01 0.00000000e+00 -1.20585542e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03996759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.93, Y:-120.60, Z:0.03 [[ 9.37065139e-01 3.49154587e-01 0.00000000e+00 4.46926017e+02] [-3.49154587e-01 9.37065139e-01 0.00000000e+00 -1.20596147e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04982302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.96, Y:-120.61, Z:0.03 [[ 9.36581176e-01 3.50450711e-01 0.00000000e+00 4.46955985e+02] [-3.50450711e-01 9.36581176e-01 0.00000000e+00 -1.20607689e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83040932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.99, Y:-120.62, Z:0.03 [[ 9.36191996e-01 3.51489043e-01 0.00000000e+00 4.46987536e+02] [-3.51489043e-01 9.36191996e-01 0.00000000e+00 -1.20618797e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78822482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.02, Y:-120.63, Z:0.03 [[ 9.35805393e-01 3.52517044e-01 0.00000000e+00 4.47018465e+02] [-3.52517044e-01 9.35805393e-01 0.00000000e+00 -1.20629373e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74489146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.05, Y:-120.64, Z:0.03 [[ 9.35446910e-01 3.53467224e-01 0.00000000e+00 4.47049226e+02] [-3.53467224e-01 9.35446910e-01 0.00000000e+00 -1.20639172e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77706719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.541400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:447.08, Y:-120.65, Z:0.03 [[ 9.35028527e-01 3.54572495e-01 0.00000000e+00 4.47081067e+02] [-3.54572495e-01 9.35028527e-01 0.00000000e+00 -1.20648914e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79371652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.11, Y:-120.66, Z:0.03 [[ 9.34296821e-01 3.56496075e-01 0.00000000e+00 4.47110745e+02] [-3.56496075e-01 9.34296821e-01 0.00000000e+00 -1.20660163e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87416629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.14, Y:-120.67, Z:0.03 [[ 9.34069117e-01 3.57092263e-01 0.00000000e+00 4.47141845e+02] [-3.57092263e-01 9.34069117e-01 0.00000000e+00 -1.20671379e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85855161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.17, Y:-120.68, Z:0.03 [[ 9.33879736e-01 3.57587246e-01 0.00000000e+00 4.47171755e+02] [-3.57587246e-01 9.33879736e-01 0.00000000e+00 -1.20681573e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77896887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.20, Y:-120.69, Z:0.03 [[ 9.33640954e-01 3.58210231e-01 0.00000000e+00 4.47202982e+02] [-3.58210231e-01 9.33640954e-01 0.00000000e+00 -1.20691933e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84700392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.23, Y:-120.70, Z:0.03 [[ 9.33422585e-01 3.58778871e-01 0.00000000e+00 4.47234168e+02] [-3.58778871e-01 9.33422585e-01 0.00000000e+00 -1.20701901e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98796113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.26, Y:-120.71, Z:0.03 [[ 9.33173681e-01 3.59425765e-01 0.00000000e+00 4.47264583e+02] [-3.59425765e-01 9.33173681e-01 0.00000000e+00 -1.20712633e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22582952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.30, Y:-120.72, Z:0.03 [[ 9.33156501e-01 3.59470367e-01 0.00000000e+00 4.47295739e+02] [-3.59470367e-01 9.33156501e-01 0.00000000e+00 -1.20722314e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19870450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.33, Y:-120.73, Z:0.03 [[ 9.33095422e-01 3.59628883e-01 0.00000000e+00 4.47327769e+02] [-3.59628883e-01 9.33095422e-01 0.00000000e+00 -1.20732019e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19870450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.36, Y:-120.74, Z:0.03 [[ 9.33167332e-01 3.59442248e-01 0.00000000e+00 4.47359383e+02] [-3.59442248e-01 9.33167332e-01 0.00000000e+00 -1.20741794e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18958168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.39, Y:-120.75, Z:0.03 [[ 9.33288545e-01 3.59127403e-01 0.00000000e+00 4.47391374e+02] [-3.59127403e-01 9.33288545e-01 0.00000000e+00 -1.20751384e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18148933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.42, Y:-120.76, Z:0.03 [[ 9.33509512e-01 3.58552633e-01 0.00000000e+00 4.47422283e+02] [-3.58552633e-01 9.33509512e-01 0.00000000e+00 -1.20761849e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13185846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.45, Y:-120.77, Z:0.03 [[ 9.33707932e-01 3.58035609e-01 0.00000000e+00 4.47452651e+02] [-3.58035609e-01 9.33707932e-01 0.00000000e+00 -1.20771638e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13757904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.48, Y:-120.78, Z:0.03 [[ 9.33904821e-01 3.57521728e-01 0.00000000e+00 4.47484063e+02] [-3.57521728e-01 9.33904821e-01 0.00000000e+00 -1.20781253e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19417590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.52, Y:-120.79, Z:0.03 [[ 9.34151643e-01 3.56876319e-01 0.00000000e+00 4.47515220e+02] [-3.56876319e-01 9.34151643e-01 0.00000000e+00 -1.20790118e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17492079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.55, Y:-120.80, Z:0.03 [[ 9.34331761e-01 3.56404490e-01 0.00000000e+00 4.47546714e+02] [-3.56404490e-01 9.34331761e-01 0.00000000e+00 -1.20798619e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10890521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.58, Y:-120.81, Z:0.03 [[ 9.34589285e-01 3.55728645e-01 0.00000000e+00 4.47578392e+02] [-3.55728645e-01 9.34589285e-01 0.00000000e+00 -1.20807229e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86189797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.61, Y:-120.82, Z:0.03 [[ 9.34516612e-01 3.55919516e-01 0.00000000e+00 4.47609346e+02] [-3.55919516e-01 9.34516612e-01 0.00000000e+00 -1.20816494e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80375163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.64, Y:-120.83, Z:0.03 [[ 9.34342489e-01 3.56376363e-01 0.00000000e+00 4.47640786e+02] [-3.56376363e-01 9.34342489e-01 0.00000000e+00 -1.20825646e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93003047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.67, Y:-120.83, Z:0.03 [[ 9.33971065e-01 3.57348640e-01 0.00000000e+00 4.47671938e+02] [-3.57348640e-01 9.33971065e-01 0.00000000e+00 -1.20831573e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01721085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.70, Y:-120.84, Z:0.03 [[ 9.33658657e-01 3.58164085e-01 0.00000000e+00 4.47703291e+02] [-3.58164085e-01 9.33658657e-01 0.00000000e+00 -1.20839119e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84016690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.73, Y:-120.85, Z:0.03 [[ 9.33312124e-01 3.59066122e-01 0.00000000e+00 4.47734447e+02] [-3.59066122e-01 9.33312124e-01 0.00000000e+00 -1.20846827e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66702389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.77, Y:-120.85, Z:0.03 [[ 9.32918330e-01 3.60088031e-01 0.00000000e+00 4.47766902e+02] [-3.60088031e-01 9.32918330e-01 0.00000000e+00 -1.20854845e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69203594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.80, Y:-120.86, Z:0.03 [[ 9.32571454e-01 3.60985433e-01 0.00000000e+00 4.47797696e+02] [-3.60985433e-01 9.32571454e-01 0.00000000e+00 -1.20862309e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74625168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.83, Y:-120.87, Z:0.03 [[ 9.32059795e-01 3.62304483e-01 0.00000000e+00 4.47829938e+02] [-3.62304483e-01 9.32059795e-01 0.00000000e+00 -1.20868410e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94507827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.86, Y:-120.88, Z:0.03 [[ 9.31980485e-01 3.62508450e-01 0.00000000e+00 4.47860872e+02] [-3.62508450e-01 9.31980485e-01 0.00000000e+00 -1.20875742e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83082335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.321400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:447.89, Y:-120.88, Z:0.03 [[ 9.32031495e-01 3.62377279e-01 0.00000000e+00 4.47892848e+02] [-3.62377279e-01 9.32031495e-01 0.00000000e+00 -1.20883325e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72363164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.92, Y:-120.89, Z:0.03 [[ 9.32068537e-01 3.62281994e-01 0.00000000e+00 4.47924077e+02] [-3.62281994e-01 9.32068537e-01 0.00000000e+00 -1.20891510e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67000939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.96, Y:-120.90, Z:0.03 [[ 9.32298225e-01 3.61690503e-01 0.00000000e+00 4.47956151e+02] [-3.61690503e-01 9.32298225e-01 0.00000000e+00 -1.20900203e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73943406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.411400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:447.99, Y:-120.91, Z:0.03 [[ 9.33073243e-01 3.59686423e-01 0.00000000e+00 4.47987003e+02] [-3.59686423e-01 9.33073243e-01 0.00000000e+00 -1.20907791e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87352294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.02, Y:-120.92, Z:0.03 [[ 9.33684052e-01 3.58097879e-01 0.00000000e+00 4.48018678e+02] [-3.58097879e-01 9.33684052e-01 0.00000000e+00 -1.20916880e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87576281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.05, Y:-120.93, Z:0.03 [[ 9.34280555e-01 3.56538699e-01 0.00000000e+00 4.48049980e+02] [-3.56538699e-01 9.34280555e-01 0.00000000e+00 -1.20926526e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83471754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.08, Y:-120.94, Z:0.03 [[ 9.35150549e-01 3.54250548e-01 0.00000000e+00 4.48081022e+02] [-3.54250548e-01 9.35150549e-01 0.00000000e+00 -1.20939313e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87363812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.11, Y:-120.95, Z:0.03 [[ 9.35122130e-01 3.54325559e-01 0.00000000e+00 4.48110727e+02] [-3.54325559e-01 9.35122130e-01 0.00000000e+00 -1.20950055e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96880880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.14, Y:-120.96, Z:0.03 [[ 9.34813670e-01 3.55138568e-01 0.00000000e+00 4.48141880e+02] [-3.55138568e-01 9.34813670e-01 0.00000000e+00 -1.20960312e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08105572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.17, Y:-120.97, Z:0.03 [[ 9.34312264e-01 3.56455599e-01 0.00000000e+00 4.48173495e+02] [-3.56455599e-01 9.34312264e-01 0.00000000e+00 -1.20969813e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06292676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.20, Y:-120.98, Z:0.03 [[ 9.33695661e-01 3.58067609e-01 0.00000000e+00 4.48204270e+02] [-3.58067609e-01 9.33695661e-01 0.00000000e+00 -1.20979375e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01498069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.24, Y:-120.99, Z:0.03 [[ 9.33064522e-01 3.59709046e-01 0.00000000e+00 4.48235647e+02] [-3.59709046e-01 9.33064522e-01 0.00000000e+00 -1.20989580e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06017352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.27, Y:-121.00, Z:0.03 [[ 9.32139050e-01 3.62100526e-01 0.00000000e+00 4.48265945e+02] [-3.62100526e-01 9.32139050e-01 0.00000000e+00 -1.21000002e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12017423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.30, Y:-121.01, Z:0.03 [[ 9.31742944e-01 3.63118558e-01 0.00000000e+00 4.48296688e+02] [-3.63118558e-01 9.31742944e-01 0.00000000e+00 -1.21009780e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07426373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.33, Y:-121.02, Z:0.03 [[ 9.31501845e-01 3.63736599e-01 0.00000000e+00 4.48327858e+02] [-3.63736599e-01 9.31501845e-01 0.00000000e+00 -1.21019798e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01388658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.771400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:448.36, Y:-121.03, Z:0.03 [[ 9.31489159e-01 3.63769084e-01 0.00000000e+00 4.48357884e+02] [-3.63769084e-01 9.31489159e-01 0.00000000e+00 -1.21029824e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94658051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.39, Y:-121.04, Z:0.03 [[ 9.31789578e-01 3.62998873e-01 0.00000000e+00 4.48388270e+02] [-3.62998873e-01 9.31789578e-01 0.00000000e+00 -1.21040571e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01597810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.42, Y:-121.05, Z:0.03 [[ 9.31923827e-01 3.62654080e-01 0.00000000e+00 4.48419974e+02] [-3.62654080e-01 9.31923827e-01 0.00000000e+00 -1.21050595e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92059695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.861400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:448.45, Y:-121.06, Z:0.03 [[ 9.31959701e-01 3.62561879e-01 0.00000000e+00 4.48451422e+02] [-3.62561879e-01 9.31959701e-01 0.00000000e+00 -1.21060808e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76299458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.48, Y:-121.07, Z:0.03 [[ 9.31936133e-01 3.62622454e-01 0.00000000e+00 4.48481668e+02] [-3.62622454e-01 9.31936133e-01 0.00000000e+00 -1.21071546e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69556783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.51, Y:-121.08, Z:0.03 [[ 9.31725676e-01 3.63162862e-01 0.00000000e+00 4.48512438e+02] [-3.63162862e-01 9.31725676e-01 0.00000000e+00 -1.21082764e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58336989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.54, Y:-121.09, Z:0.03 [[ 9.31385430e-01 3.64034587e-01 0.00000000e+00 4.48543586e+02] [-3.64034587e-01 9.31385430e-01 0.00000000e+00 -1.21092118e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56039734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.57, Y:-121.10, Z:0.03 [[ 9.30824079e-01 3.65467554e-01 0.00000000e+00 4.48573869e+02] [-3.65467554e-01 9.30824079e-01 0.00000000e+00 -1.21100878e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54340432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.61, Y:-121.11, Z:0.03 [[ 9.30188730e-01 3.67081635e-01 0.00000000e+00 4.48605595e+02] [-3.67081635e-01 9.30188730e-01 0.00000000e+00 -1.21109636e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65138802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.64, Y:-121.12, Z:0.03 [[ 9.29501292e-01 3.68818855e-01 0.00000000e+00 4.48637437e+02] [-3.68818855e-01 9.29501292e-01 0.00000000e+00 -1.21118721e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69912459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.67, Y:-121.13, Z:0.03 [[ 9.28223760e-01 3.72022381e-01 0.00000000e+00 4.48668832e+02] [-3.72022381e-01 9.28223760e-01 0.00000000e+00 -1.21125911e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70419236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.70, Y:-121.13, Z:0.03 [[ 9.27651271e-01 3.73447612e-01 0.00000000e+00 4.48700771e+02] [-3.73447612e-01 9.27651271e-01 0.00000000e+00 -1.21134308e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73389860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.73, Y:-121.14, Z:0.03 [[ 9.27186716e-01 3.74599510e-01 0.00000000e+00 4.48732521e+02] [-3.74599510e-01 9.27186716e-01 0.00000000e+00 -1.21142567e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80391439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.76, Y:-121.15, Z:0.03 [[ 9.26838801e-01 3.75459502e-01 0.00000000e+00 4.48763270e+02] [-3.75459502e-01 9.26838801e-01 0.00000000e+00 -1.21150709e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93028499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.79, Y:-121.16, Z:0.03 [[ 9.26787030e-01 3.75587275e-01 0.00000000e+00 4.48794954e+02] [-3.75587275e-01 9.26787030e-01 0.00000000e+00 -1.21156768e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23237961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.83, Y:-121.16, Z:0.03 [[ 9.27130144e-01 3.74739505e-01 0.00000000e+00 4.48827069e+02] [-3.74739505e-01 9.27130144e-01 0.00000000e+00 -1.21164695e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30849361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.86, Y:-121.17, Z:0.03 [[ 9.27620537e-01 3.73523948e-01 0.00000000e+00 4.48858913e+02] [-3.73523948e-01 9.27620537e-01 0.00000000e+00 -1.21172719e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31539595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.89, Y:-121.18, Z:0.03 [[ 9.28170990e-01 3.72154018e-01 0.00000000e+00 4.48890603e+02] [-3.72154018e-01 9.28170990e-01 0.00000000e+00 -1.21180754e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22197201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.92, Y:-121.19, Z:0.03 [[ 9.29152994e-01 3.69695433e-01 0.00000000e+00 4.48922822e+02] [-3.69695433e-01 9.29152994e-01 0.00000000e+00 -1.21189063e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92014858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.95, Y:-121.20, Z:0.03 [[ 9.29479354e-01 3.68874140e-01 0.00000000e+00 4.48954311e+02] [-3.68874140e-01 9.29479354e-01 0.00000000e+00 -1.21198051e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88495268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.99, Y:-121.21, Z:0.03 [[ 9.29560720e-01 3.68669049e-01 0.00000000e+00 4.48985584e+02] [-3.68669049e-01 9.29560720e-01 0.00000000e+00 -1.21206704e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92168229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.02, Y:-121.22, Z:0.03 [[ 9.29351567e-01 3.69195971e-01 0.00000000e+00 4.49017526e+02] [-3.69195971e-01 9.29351567e-01 0.00000000e+00 -1.21215339e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98190557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.05, Y:-121.22, Z:0.03 [[ 9.28737863e-01 3.70737078e-01 0.00000000e+00 4.49049484e+02] [-3.70737078e-01 9.28737863e-01 0.00000000e+00 -1.21222552e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84064759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.08, Y:-121.23, Z:0.03 [[ 9.28451629e-01 3.71453326e-01 0.00000000e+00 4.49079854e+02] [-3.71453326e-01 9.28451629e-01 0.00000000e+00 -1.21230957e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70268325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.11, Y:-121.24, Z:0.03 [[ 9.28309819e-01 3.71807585e-01 0.00000000e+00 4.49112150e+02] [-3.71807585e-01 9.28309819e-01 0.00000000e+00 -1.21239451e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66124043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.14, Y:-121.25, Z:0.03 [[ 9.28233468e-01 3.71998157e-01 0.00000000e+00 4.49143308e+02] [-3.71998157e-01 9.28233468e-01 0.00000000e+00 -1.21247834e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53636560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.17, Y:-121.26, Z:0.02 [[ 9.28799079e-01 3.70583688e-01 0.00000000e+00 4.49174295e+02] [-3.70583688e-01 9.28799079e-01 0.00000000e+00 -1.21255856e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46244053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.21, Y:-121.27, Z:0.03 [[ 9.29166736e-01 3.69660895e-01 0.00000000e+00 4.49205828e+02] [-3.69660895e-01 9.29166736e-01 0.00000000e+00 -1.21265505e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52766948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.24, Y:-121.27, Z:0.03 [[ 9.29533190e-01 3.68738457e-01 0.00000000e+00 4.49237624e+02] [-3.68738457e-01 9.29533190e-01 0.00000000e+00 -1.21274657e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54598787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.27, Y:-121.28, Z:0.03 [[ 9.29467331e-01 3.68904434e-01 0.00000000e+00 4.49269562e+02] [-3.68904434e-01 9.29467331e-01 0.00000000e+00 -1.21284679e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54598787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.30, Y:-121.29, Z:0.03 [[ 9.29646146e-01 3.68453584e-01 0.00000000e+00 4.49301129e+02] [-3.68453584e-01 9.29646146e-01 0.00000000e+00 -1.21293457e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53383771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.33, Y:-121.30, Z:0.02 [[ 9.29224767e-01 3.69514996e-01 0.00000000e+00 4.49333104e+02] [-3.69514996e-01 9.29224767e-01 0.00000000e+00 -1.21299212e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42053488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.37, Y:-121.31, Z:0.03 [[ 9.28572002e-01 3.71152309e-01 0.00000000e+00 4.49365051e+02] [-3.71152309e-01 9.28572002e-01 0.00000000e+00 -1.21306570e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50836191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.40, Y:-121.31, Z:0.02 [[ 9.27801118e-01 3.73075175e-01 0.00000000e+00 4.49396443e+02] [-3.73075175e-01 9.27801118e-01 0.00000000e+00 -1.21313889e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45319644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.43, Y:-121.32, Z:0.02 [[ 9.26597303e-01 3.76055099e-01 0.00000000e+00 4.49428966e+02] [-3.76055099e-01 9.26597303e-01 0.00000000e+00 -1.21319136e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48837892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.46, Y:-121.33, Z:0.02 [[ 9.26411552e-01 3.76512466e-01 0.00000000e+00 4.49459299e+02] [-3.76512466e-01 9.26411552e-01 0.00000000e+00 -1.21325753e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46404898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.49, Y:-121.33, Z:0.02 [[ 9.26612317e-01 3.76018102e-01 0.00000000e+00 4.49491432e+02] [-3.76018102e-01 9.26612317e-01 0.00000000e+00 -1.21333139e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38662113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.52, Y:-121.34, Z:0.02 [[ 9.26994247e-01 3.75075546e-01 0.00000000e+00 4.49521693e+02] [-3.75075546e-01 9.26994247e-01 0.00000000e+00 -1.21340613e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21607245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.55, Y:-121.35, Z:0.02 [[ 9.27955812e-01 3.72690234e-01 0.00000000e+00 4.49553114e+02] [-3.72690234e-01 9.27955812e-01 0.00000000e+00 -1.21346971e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11137921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.58, Y:-121.35, Z:0.02 [[ 9.28160313e-01 3.72180646e-01 0.00000000e+00 4.49583962e+02] [-3.72180646e-01 9.28160313e-01 0.00000000e+00 -1.21354791e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23942648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.62, Y:-121.36, Z:0.02 [[ 9.28162092e-01 3.72176211e-01 0.00000000e+00 4.49616433e+02] [-3.72176211e-01 9.28162092e-01 0.00000000e+00 -1.21362445e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37480947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.65, Y:-121.37, Z:0.02 [[ 9.28033659e-01 3.72496346e-01 0.00000000e+00 4.49646599e+02] [-3.72496346e-01 9.28033659e-01 0.00000000e+00 -1.21369083e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42632573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.68, Y:-121.38, Z:0.02 [[ 9.27909429e-01 3.72805702e-01 0.00000000e+00 4.49675933e+02] [-3.72805702e-01 9.27909429e-01 0.00000000e+00 -1.21375377e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44601902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.71, Y:-121.38, Z:0.03 [[ 9.27659348e-01 3.73427548e-01 0.00000000e+00 4.49708400e+02] [-3.73427548e-01 9.27659348e-01 0.00000000e+00 -1.21380087e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56561960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.74, Y:-121.39, Z:0.03 [[ 9.27681176e-01 3.73373320e-01 0.00000000e+00 4.49737276e+02] [-3.73373320e-01 9.27681176e-01 0.00000000e+00 -1.21387828e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63719737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.121400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:449.77, Y:-121.40, Z:0.03 [[ 9.27880300e-01 3.72878195e-01 0.00000000e+00 4.49766656e+02] [-3.72878195e-01 9.27880300e-01 0.00000000e+00 -1.21395765e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62056455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.79, Y:-121.40, Z:0.03 [[ 9.28069990e-01 3.72405819e-01 0.00000000e+00 4.49793946e+02] [-3.72405819e-01 9.28069990e-01 0.00000000e+00 -1.21403953e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66780810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.82, Y:-121.41, Z:0.03 [[ 9.28786067e-01 3.70616301e-01 0.00000000e+00 4.49822741e+02] [-3.70616301e-01 9.28786067e-01 0.00000000e+00 -1.21410030e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65630497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.85, Y:-121.42, Z:0.03 [[ 9.29183840e-01 3.69617899e-01 0.00000000e+00 4.49851317e+02] [-3.69617899e-01 9.29183840e-01 0.00000000e+00 -1.21417410e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79303872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.88, Y:-121.43, Z:0.03 [[ 9.29407235e-01 3.69055811e-01 0.00000000e+00 4.49877764e+02] [-3.69055811e-01 9.29407235e-01 0.00000000e+00 -1.21425183e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06268980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.91, Y:-121.43, Z:0.03 [[ 9.29262366e-01 3.69420431e-01 0.00000000e+00 4.49906189e+02] [-3.69420431e-01 9.29262366e-01 0.00000000e+00 -1.21433929e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23837153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.93, Y:-121.44, Z:0.03 [[ 9.28028469e-01 3.72509276e-01 0.00000000e+00 4.49932859e+02] [-3.72509276e-01 9.28028469e-01 0.00000000e+00 -1.21440411e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09560534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.96, Y:-121.45, Z:0.03 [[ 9.27093978e-01 3.74828968e-01 0.00000000e+00 4.49962179e+02] [-3.74828968e-01 9.27093978e-01 0.00000000e+00 -1.21447343e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96627163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.99, Y:-121.45, Z:0.03 [[ 9.26136110e-01 3.77189482e-01 0.00000000e+00 4.49989038e+02] [-3.77189482e-01 9.26136110e-01 0.00000000e+00 -1.21453485e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97240029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.02, Y:-121.46, Z:0.03 [[ 9.24772965e-01 3.80519335e-01 0.00000000e+00 4.50017638e+02] [-3.80519335e-01 9.24772965e-01 0.00000000e+00 -1.21458541e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02357197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.04, Y:-121.47, Z:0.03 [[ 9.24547920e-01 3.81065800e-01 0.00000000e+00 4.50044822e+02] [-3.81065800e-01 9.24547920e-01 0.00000000e+00 -1.21465021e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88099906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.07, Y:-121.47, Z:0.03 [[ 9.24592681e-01 3.80957182e-01 0.00000000e+00 4.50072651e+02] [-3.80957182e-01 9.24592681e-01 0.00000000e+00 -1.21470972e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65809775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.10, Y:-121.48, Z:0.02 [[ 9.24847323e-01 3.80338571e-01 0.00000000e+00 4.50099327e+02] [-3.80338571e-01 9.24847323e-01 0.00000000e+00 -1.21476561e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46220396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.13, Y:-121.48, Z:0.02 [[ 9.25229228e-01 3.79408586e-01 0.00000000e+00 4.50125804e+02] [-3.79408586e-01 9.25229228e-01 0.00000000e+00 -1.21482375e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36128053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.15, Y:-121.49, Z:0.02 [[ 9.26256198e-01 3.76894490e-01 0.00000000e+00 4.50154567e+02] [-3.76894490e-01 9.26256198e-01 0.00000000e+00 -1.21487490e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33287495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.18, Y:-121.49, Z:0.02 [[ 9.26834597e-01 3.75469879e-01 0.00000000e+00 4.50183002e+02] [-3.75469879e-01 9.26834597e-01 0.00000000e+00 -1.21493897e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38810350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.601400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:450.21, Y:-121.50, Z:0.02 [[ 9.27401061e-01 3.74068539e-01 0.00000000e+00 4.50212114e+02] [-3.74068539e-01 9.27401061e-01 0.00000000e+00 -1.21499066e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37409263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.24, Y:-121.51, Z:0.03 [[ 9.27672108e-01 3.73395850e-01 0.00000000e+00 4.50240436e+02] [-3.73395850e-01 9.27672108e-01 0.00000000e+00 -1.21505824e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53900788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.27, Y:-121.51, Z:0.03 [[ 9.27975976e-01 3.72640025e-01 0.00000000e+00 4.50267109e+02] [-3.72640025e-01 9.27975976e-01 0.00000000e+00 -1.21512186e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58180695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.29, Y:-121.52, Z:0.03 [[ 9.28603033e-01 3.71074666e-01 0.00000000e+00 4.50294480e+02] [-3.71074666e-01 9.28603033e-01 0.00000000e+00 -1.21516486e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62396128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.32, Y:-121.52, Z:0.03 [[ 9.28994401e-01 3.70093776e-01 0.00000000e+00 4.50321967e+02] [-3.70093776e-01 9.28994401e-01 0.00000000e+00 -1.21521645e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62483384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.35, Y:-121.53, Z:0.03 [[ 9.29434498e-01 3.68987145e-01 0.00000000e+00 4.50348410e+02] [-3.68987145e-01 9.29434498e-01 0.00000000e+00 -1.21526920e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67522116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.38, Y:-121.53, Z:0.03 [[ 9.30379023e-01 3.66599064e-01 0.00000000e+00 4.50375756e+02] [-3.66599064e-01 9.30379023e-01 0.00000000e+00 -1.21533683e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74078528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.40, Y:-121.54, Z:0.03 [[ 9.30827914e-01 3.65457787e-01 0.00000000e+00 4.50402556e+02] [-3.65457787e-01 9.30827914e-01 0.00000000e+00 -1.21541566e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71706336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.43, Y:-121.55, Z:0.03 [[ 9.31095212e-01 3.64776242e-01 0.00000000e+00 4.50429445e+02] [-3.64776242e-01 9.31095212e-01 0.00000000e+00 -1.21548419e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56073851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.46, Y:-121.55, Z:0.02 [[ 9.31064449e-01 3.64854755e-01 0.00000000e+00 4.50456196e+02] [-3.64854755e-01 9.31064449e-01 0.00000000e+00 -1.21554461e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42038499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.48, Y:-121.56, Z:0.02 [[ 9.29656300e-01 3.68427963e-01 0.00000000e+00 4.50483421e+02] [-3.68427963e-01 9.29656300e-01 0.00000000e+00 -1.21559551e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47666423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.51, Y:-121.57, Z:0.03 [[ 9.28494698e-01 3.71345656e-01 0.00000000e+00 4.50509538e+02] [-3.71345656e-01 9.28494698e-01 0.00000000e+00 -1.21566216e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51702251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.54, Y:-121.57, Z:0.03 [[ 9.27436758e-01 3.73980027e-01 0.00000000e+00 4.50536857e+02] [-3.73980027e-01 9.27436758e-01 0.00000000e+00 -1.21571915e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51870314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.56, Y:-121.58, Z:0.03 [[ 9.26612705e-01 3.76017148e-01 0.00000000e+00 4.50563657e+02] [-3.76017148e-01 9.26612705e-01 0.00000000e+00 -1.21576788e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53469388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.59, Y:-121.58, Z:0.03 [[ 9.25765391e-01 3.78098454e-01 0.00000000e+00 4.50592354e+02] [-3.78098454e-01 9.25765391e-01 0.00000000e+00 -1.21579603e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67097806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.62, Y:-121.59, Z:0.03 [[ 9.25558533e-01 3.78604545e-01 0.00000000e+00 4.50619965e+02] [-3.78604545e-01 9.25558533e-01 0.00000000e+00 -1.21586663e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75501696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.65, Y:-121.59, Z:0.03 [[ 9.25518719e-01 3.78701863e-01 0.00000000e+00 4.50646432e+02] [-3.78701863e-01 9.25518719e-01 0.00000000e+00 -1.21593984e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74887398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.67, Y:-121.60, Z:0.03 [[ 9.25688237e-01 3.78287309e-01 0.00000000e+00 4.50673595e+02] [-3.78287309e-01 9.25688237e-01 0.00000000e+00 -1.21600663e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60341795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.70, Y:-121.60, Z:0.02 [[ 9.26040798e-01 3.77423422e-01 0.00000000e+00 4.50701852e+02] [-3.77423422e-01 9.26040798e-01 0.00000000e+00 -1.21603549e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33029358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.73, Y:-121.61, Z:0.02 [[ 9.26055901e-01 3.77386364e-01 0.00000000e+00 4.50730064e+02] [-3.77386364e-01 9.26055901e-01 0.00000000e+00 -1.21608688e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27636368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.76, Y:-121.61, Z:0.02 [[ 9.25842239e-01 3.77910238e-01 0.00000000e+00 4.50756346e+02] [-3.77910238e-01 9.25842239e-01 0.00000000e+00 -1.21613648e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19388576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.78, Y:-121.62, Z:0.02 [[ 9.25653812e-01 3.78371538e-01 0.00000000e+00 4.50783217e+02] [-3.78371538e-01 9.25653812e-01 0.00000000e+00 -1.21618925e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17557192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.81, Y:-121.62, Z:0.02 [[ 9.25625698e-01 3.78440308e-01 0.00000000e+00 4.50810759e+02] [-3.78440308e-01 9.25625698e-01 0.00000000e+00 -1.21622904e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17053742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.84, Y:-121.63, Z:0.02 [[ 9.26250462e-01 3.76908584e-01 0.00000000e+00 4.50837887e+02] [-3.76908584e-01 9.26250462e-01 0.00000000e+00 -1.21628997e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13880566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.87, Y:-121.64, Z:0.02 [[ 9.26889961e-01 3.75333185e-01 0.00000000e+00 4.50865327e+02] [-3.75333185e-01 9.26889961e-01 0.00000000e+00 -1.21635976e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15621702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.89, Y:-121.64, Z:0.02 [[ 9.27784692e-01 3.73116020e-01 0.00000000e+00 4.50891604e+02] [-3.73116020e-01 9.27784692e-01 0.00000000e+00 -1.21642782e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10430023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.92, Y:-121.65, Z:0.02 [[ 9.29705842e-01 3.68302929e-01 0.00000000e+00 4.50918733e+02] [-3.68302929e-01 9.29705842e-01 0.00000000e+00 -1.21648255e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14733486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.95, Y:-121.65, Z:0.02 [[ 9.30405934e-01 3.66530759e-01 0.00000000e+00 4.50946248e+02] [-3.66530759e-01 9.30405934e-01 0.00000000e+00 -1.21654691e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26059126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.97, Y:-121.66, Z:0.02 [[ 9.30801176e-01 3.65525883e-01 0.00000000e+00 4.50973847e+02] [-3.65525883e-01 9.30801176e-01 0.00000000e+00 -1.21660436e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32781774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.00, Y:-121.66, Z:0.03 [[ 9.31063475e-01 3.64857239e-01 0.00000000e+00 4.51001637e+02] [-3.64857239e-01 9.31063475e-01 0.00000000e+00 -1.21663704e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58487667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.03, Y:-121.67, Z:0.03 [[ 9.31025815e-01 3.64953328e-01 0.00000000e+00 4.51028572e+02] [-3.64953328e-01 9.31025815e-01 0.00000000e+00 -1.21670510e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64004791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.06, Y:-121.68, Z:0.03 [[ 9.30921948e-01 3.65218192e-01 0.00000000e+00 4.51055611e+02] [-3.65218192e-01 9.30921948e-01 0.00000000e+00 -1.21677472e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64067404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.08, Y:-121.68, Z:0.03 [[ 9.30711140e-01 3.65755073e-01 0.00000000e+00 4.51082070e+02] [-3.65755073e-01 9.30711140e-01 0.00000000e+00 -1.21684357e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62992220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.11, Y:-121.69, Z:0.03 [[ 9.30776486e-01 3.65588750e-01 0.00000000e+00 4.51109355e+02] [-3.65588750e-01 9.30776486e-01 0.00000000e+00 -1.21692594e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62992220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.14, Y:-121.70, Z:0.03 [[ 9.30292594e-01 3.66818332e-01 0.00000000e+00 4.51136887e+02] [-3.66818332e-01 9.30292594e-01 0.00000000e+00 -1.21697621e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75831513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.16, Y:-121.70, Z:0.03 [[ 9.29861719e-01 3.67909205e-01 0.00000000e+00 4.51163228e+02] [-3.67909205e-01 9.29861719e-01 0.00000000e+00 -1.21703714e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73515042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.19, Y:-121.71, Z:0.03 [[ 9.29455906e-01 3.68933217e-01 0.00000000e+00 4.51190518e+02] [-3.68933217e-01 9.29455906e-01 0.00000000e+00 -1.21709967e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72441103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.22, Y:-121.71, Z:0.03 [[ 9.29099320e-01 3.69830303e-01 0.00000000e+00 4.51217527e+02] [-3.69830303e-01 9.29099320e-01 0.00000000e+00 -1.21714005e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64763463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.24, Y:-121.72, Z:0.03 [[ 9.29080773e-01 3.69876895e-01 0.00000000e+00 4.51244559e+02] [-3.69876895e-01 9.29080773e-01 0.00000000e+00 -1.21720666e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79412851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.27, Y:-121.73, Z:0.03 [[ 9.28990895e-01 3.70102576e-01 0.00000000e+00 4.51272075e+02] [-3.70102576e-01 9.28990895e-01 0.00000000e+00 -1.21727387e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94290897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.30, Y:-121.73, Z:0.03 [[ 9.28695411e-01 3.70843409e-01 0.00000000e+00 4.51298283e+02] [-3.70843409e-01 9.28695411e-01 0.00000000e+00 -1.21733533e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14014676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.33, Y:-121.74, Z:0.03 [[ 9.27559523e-01 3.73675436e-01 0.00000000e+00 4.51325797e+02] [-3.73675436e-01 9.27559523e-01 0.00000000e+00 -1.21735669e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22512582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.35, Y:-121.74, Z:0.03 [[ 9.27009214e-01 3.75038554e-01 0.00000000e+00 4.51353523e+02] [-3.75038554e-01 9.27009214e-01 0.00000000e+00 -1.21740178e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11039227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.38, Y:-121.74, Z:0.03 [[ 9.26524694e-01 3.76233958e-01 0.00000000e+00 4.51380103e+02] [-3.76233958e-01 9.26524694e-01 0.00000000e+00 -1.21744531e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00405540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.41, Y:-121.75, Z:0.03 [[ 9.25794517e-01 3.78027131e-01 0.00000000e+00 4.51408174e+02] [-3.78027131e-01 9.25794517e-01 0.00000000e+00 -1.21747137e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93253242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.44, Y:-121.75, Z:0.03 [[ 9.25677670e-01 3.78313166e-01 0.00000000e+00 4.51435364e+02] [-3.78313166e-01 9.25677670e-01 0.00000000e+00 -1.21751983e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80061981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.46, Y:-121.76, Z:0.03 [[ 9.25604777e-01 3.78491474e-01 0.00000000e+00 4.51462825e+02] [-3.78491474e-01 9.25604777e-01 0.00000000e+00 -1.21756695e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60021992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.49, Y:-121.76, Z:0.02 [[ 9.25257521e-01 3.79339584e-01 0.00000000e+00 4.51492726e+02] [-3.79339584e-01 9.25257521e-01 0.00000000e+00 -1.21758988e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29070661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.52, Y:-121.76, Z:0.02 [[ 9.25057644e-01 3.79826745e-01 0.00000000e+00 4.51519763e+02] [-3.79826745e-01 9.25057644e-01 0.00000000e+00 -1.21763077e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21248053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.55, Y:-121.77, Z:0.02 [[ 9.24861722e-01 3.80303558e-01 0.00000000e+00 4.51547867e+02] [-3.80303558e-01 9.24861722e-01 0.00000000e+00 -1.21766925e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31628859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.58, Y:-121.77, Z:0.02 [[ 9.24703092e-01 3.80689100e-01 0.00000000e+00 4.51575070e+02] [-3.80689100e-01 9.24703092e-01 0.00000000e+00 -1.21769905e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36896653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.60, Y:-121.77, Z:0.02 [[ 9.24260329e-01 3.81762812e-01 0.00000000e+00 4.51604457e+02] [-3.81762812e-01 9.24260329e-01 0.00000000e+00 -1.21769552e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49825535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.63, Y:-121.77, Z:0.02 [[ 9.24067722e-01 3.82228787e-01 0.00000000e+00 4.51631528e+02] [-3.82228787e-01 9.24067722e-01 0.00000000e+00 -1.21773475e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34772059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.66, Y:-121.78, Z:0.02 [[ 9.23965779e-01 3.82475148e-01 0.00000000e+00 4.51658621e+02] [-3.82475148e-01 9.23965779e-01 0.00000000e+00 -1.21776841e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19467683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.69, Y:-121.78, Z:0.02 [[ 9.24122002e-01 3.82097534e-01 0.00000000e+00 4.51687298e+02] [-3.82097534e-01 9.24122002e-01 0.00000000e+00 -1.21779722e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30738152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.72, Y:-121.78, Z:0.03 [[ 9.24944744e-01 3.80101593e-01 0.00000000e+00 4.51717242e+02] [-3.80101593e-01 9.24944744e-01 0.00000000e+00 -1.21777346e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61464618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.74, Y:-121.78, Z:0.03 [[ 9.25584014e-01 3.78542248e-01 0.00000000e+00 4.51744435e+02] [-3.78542248e-01 9.25584014e-01 0.00000000e+00 -1.21780193e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62260012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.77, Y:-121.78, Z:0.03 [[ 9.26262302e-01 3.76879488e-01 0.00000000e+00 4.51771077e+02] [-3.76879488e-01 9.26262302e-01 0.00000000e+00 -1.21783753e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54304907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.80, Y:-121.79, Z:0.02 [[ 9.27928684e-01 3.72757773e-01 0.00000000e+00 4.51799533e+02] [-3.72757773e-01 9.27928684e-01 0.00000000e+00 -1.21785953e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46474592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.83, Y:-121.79, Z:0.02 [[ 9.29016115e-01 3.70039266e-01 0.00000000e+00 4.51827013e+02] [-3.70039266e-01 9.29016115e-01 0.00000000e+00 -1.21791784e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48882883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.85, Y:-121.80, Z:0.02 [[ 9.30143970e-01 3.67195038e-01 0.00000000e+00 4.51854954e+02] [-3.67195038e-01 9.30143970e-01 0.00000000e+00 -1.21797685e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48675788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.88, Y:-121.80, Z:0.02 [[ 9.31141440e-01 3.64658222e-01 0.00000000e+00 4.51881132e+02] [-3.64658222e-01 9.31141440e-01 0.00000000e+00 -1.21803592e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46438433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.91, Y:-121.81, Z:0.03 [[ 9.33062378e-01 3.59714607e-01 0.00000000e+00 4.51908731e+02] [-3.59714607e-01 9.33062378e-01 0.00000000e+00 -1.21809872e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51897845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.94, Y:-121.82, Z:0.03 [[ 9.34048223e-01 3.57146914e-01 0.00000000e+00 4.51936044e+02] [-3.57146914e-01 9.34048223e-01 0.00000000e+00 -1.21817111e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56761351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.96, Y:-121.82, Z:0.03 [[ 9.35106785e-01 3.54366054e-01 0.00000000e+00 4.51963273e+02] [-3.54366054e-01 9.35106785e-01 0.00000000e+00 -1.21824340e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67551010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.99, Y:-121.83, Z:0.03 [[ 9.36050602e-01 3.51865414e-01 0.00000000e+00 4.51989809e+02] [-3.51865414e-01 9.36050602e-01 0.00000000e+00 -1.21832039e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75132472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.581400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:452.02, Y:-121.84, Z:0.03 [[ 9.37193724e-01 3.48809294e-01 0.00000000e+00 4.52016260e+02] [-3.48809294e-01 9.37193724e-01 0.00000000e+00 -1.21842037e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74423543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.04, Y:-121.85, Z:0.03 [[ 9.37198195e-01 3.48797281e-01 0.00000000e+00 4.52041082e+02] [-3.48797281e-01 9.37198195e-01 0.00000000e+00 -1.21851594e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69926816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.07, Y:-121.86, Z:0.03 [[ 9.37093741e-01 3.49077814e-01 0.00000000e+00 4.52067545e+02] [-3.49077814e-01 9.37093741e-01 0.00000000e+00 -1.21860650e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69268569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.09, Y:-121.87, Z:0.03 [[ 9.36866768e-01 3.49686516e-01 0.00000000e+00 4.52093480e+02] [-3.49686516e-01 9.36866768e-01 0.00000000e+00 -1.21869175e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71566062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.12, Y:-121.88, Z:0.03 [[ 9.36619546e-01 3.50348150e-01 0.00000000e+00 4.52119629e+02] [-3.50348150e-01 9.36619546e-01 0.00000000e+00 -1.21878656e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81537027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.15, Y:-121.89, Z:0.03 [[ 9.36660845e-01 3.50237720e-01 0.00000000e+00 4.52145037e+02] [-3.50237720e-01 9.36660845e-01 0.00000000e+00 -1.21888470e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60591356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.17, Y:-121.90, Z:0.02 [[ 9.36888610e-01 3.49627991e-01 0.00000000e+00 4.52170809e+02] [-3.49627991e-01 9.36888610e-01 0.00000000e+00 -1.21898967e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43546469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.20, Y:-121.91, Z:0.02 [[ 9.37392603e-01 3.48274473e-01 0.00000000e+00 4.52195933e+02] [-3.48274473e-01 9.37392603e-01 0.00000000e+00 -1.21911525e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22850454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.22, Y:-121.92, Z:0.02 [[ 9.37515337e-01 3.47943952e-01 0.00000000e+00 4.52221228e+02] [-3.47943952e-01 9.37515337e-01 0.00000000e+00 -1.21921199e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22318030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.25, Y:-121.93, Z:0.02 [[ 9.37746497e-01 3.47320467e-01 0.00000000e+00 4.52247775e+02] [-3.47320467e-01 9.37746497e-01 0.00000000e+00 -1.21931258e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28639904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.27, Y:-121.94, Z:0.02 [[ 9.37672323e-01 3.47520669e-01 0.00000000e+00 4.52273087e+02] [-3.47520669e-01 9.37672323e-01 0.00000000e+00 -1.21940703e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25339673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.30, Y:-121.95, Z:0.02 [[ 9.37217533e-01 3.48745315e-01 0.00000000e+00 4.52298517e+02] [-3.48745315e-01 9.37217533e-01 0.00000000e+00 -1.21952405e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15557522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.32, Y:-121.96, Z:0.02 [[ 9.36946634e-01 3.49472467e-01 0.00000000e+00 4.52323651e+02] [-3.49472467e-01 9.36946634e-01 0.00000000e+00 -1.21962468e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11413582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.35, Y:-121.97, Z:0.02 [[ 9.36747085e-01 3.50006997e-01 0.00000000e+00 4.52350074e+02] [-3.50006997e-01 9.36747085e-01 0.00000000e+00 -1.21973068e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13601624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.37, Y:-121.99, Z:0.02 [[ 9.36568373e-01 3.50484925e-01 0.00000000e+00 4.52374005e+02] [-3.50484925e-01 9.36568373e-01 0.00000000e+00 -1.21985699e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14948595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.40, Y:-122.00, Z:0.02 [[ 9.36795633e-01 3.49877039e-01 0.00000000e+00 4.52399941e+02] [-3.49877039e-01 9.36795633e-01 0.00000000e+00 -1.21996092e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28731416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.43, Y:-122.01, Z:0.02 [[ 9.36995458e-01 3.49341539e-01 0.00000000e+00 4.52425705e+02] [-3.49341539e-01 9.36995458e-01 0.00000000e+00 -1.22007119e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36464409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.45, Y:-122.02, Z:0.02 [[ 9.37235256e-01 3.48697684e-01 0.00000000e+00 4.52451359e+02] [-3.48697684e-01 9.37235256e-01 0.00000000e+00 -1.22018484e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36664672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.48, Y:-122.03, Z:0.02 [[ 9.37001565e-01 3.49325160e-01 0.00000000e+00 4.52475218e+02] [-3.49325160e-01 9.37001565e-01 0.00000000e+00 -1.22032780e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17443468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.151400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:452.50, Y:-122.04, Z:0.02 [[ 9.36591216e-01 3.50423877e-01 0.00000000e+00 4.52501623e+02] [-3.50423877e-01 9.36591216e-01 0.00000000e+00 -1.22043800e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20063912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.53, Y:-122.05, Z:0.02 [[ 9.35750170e-01 3.52663607e-01 0.00000000e+00 4.52527469e+02] [-3.52663607e-01 9.35750170e-01 0.00000000e+00 -1.22054223e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34277866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.55, Y:-122.06, Z:0.03 [[ 9.34281760e-01 3.56535541e-01 0.00000000e+00 4.52553607e+02] [-3.56535541e-01 9.34281760e-01 0.00000000e+00 -1.22064774e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60338847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.58, Y:-122.07, Z:0.03 [[ 9.33670196e-01 3.58134005e-01 0.00000000e+00 4.52579217e+02] [-3.58134005e-01 9.33670196e-01 0.00000000e+00 -1.22073837e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51841812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.61, Y:-122.08, Z:0.02 [[ 9.33166312e-01 3.59444896e-01 0.00000000e+00 4.52605231e+02] [-3.59444896e-01 9.33166312e-01 0.00000000e+00 -1.22083425e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47469921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.63, Y:-122.09, Z:0.02 [[ 9.32522080e-01 3.61112961e-01 0.00000000e+00 4.52630547e+02] [-3.61112961e-01 9.32522080e-01 0.00000000e+00 -1.22094757e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43484199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.66, Y:-122.10, Z:0.02 [[ 9.32312636e-01 3.61653355e-01 0.00000000e+00 4.52656183e+02] [-3.61653355e-01 9.32312636e-01 0.00000000e+00 -1.22103428e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46975321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.68, Y:-122.11, Z:0.03 [[ 9.32241472e-01 3.61836756e-01 0.00000000e+00 4.52682770e+02] [-3.61836756e-01 9.32241472e-01 0.00000000e+00 -1.22111167e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62194482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.71, Y:-122.12, Z:0.03 [[ 9.31475124e-01 3.63805021e-01 0.00000000e+00 4.52709378e+02] [-3.63805021e-01 9.31475124e-01 0.00000000e+00 -1.22118109e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74630291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.74, Y:-122.13, Z:0.03 [[ 9.31008585e-01 3.64997281e-01 0.00000000e+00 4.52736482e+02] [-3.64997281e-01 9.31008585e-01 0.00000000e+00 -1.22126066e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75970958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.76, Y:-122.13, Z:0.03 [[ 9.31075332e-01 3.64826981e-01 0.00000000e+00 4.52763829e+02] [-3.64826981e-01 9.31075332e-01 0.00000000e+00 -1.22134064e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75970958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.79, Y:-122.14, Z:0.03 [[ 9.30626675e-01 3.65969934e-01 0.00000000e+00 4.52789120e+02] [-3.65969934e-01 9.30626675e-01 0.00000000e+00 -1.22142345e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66871219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.82, Y:-122.15, Z:0.02 [[ 9.30189101e-01 3.67080693e-01 0.00000000e+00 4.52816060e+02] [-3.67080693e-01 9.30189101e-01 0.00000000e+00 -1.22150032e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44094730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.84, Y:-122.16, Z:0.02 [[ 9.30144865e-01 3.67192770e-01 0.00000000e+00 4.52842658e+02] [-3.67192770e-01 9.30144865e-01 0.00000000e+00 -1.22156594e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35129696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.87, Y:-122.16, Z:0.02 [[ 9.30185340e-01 3.67090226e-01 0.00000000e+00 4.52870005e+02] [-3.67090226e-01 9.30185340e-01 0.00000000e+00 -1.22163137e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37988786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.90, Y:-122.17, Z:0.02 [[ 9.30040613e-01 3.67456743e-01 0.00000000e+00 4.52896626e+02] [-3.67456743e-01 9.30040613e-01 0.00000000e+00 -1.22169939e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39543045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.92, Y:-122.18, Z:0.02 [[ 9.29409892e-01 3.69049121e-01 0.00000000e+00 4.52924174e+02] [-3.69049121e-01 9.29409892e-01 0.00000000e+00 -1.22176100e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12627887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.661400513 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:452.95, Y:-122.18, Z:0.02 [[ 9.29145783e-01 3.69713557e-01 0.00000000e+00 4.52952400e+02] [-3.69713557e-01 9.29145783e-01 0.00000000e+00 -1.22182056e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84760528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.98, Y:-122.19, Z:0.02 [[ 9.28966296e-01 3.70164315e-01 0.00000000e+00 4.52980921e+02] [-3.70164315e-01 9.28966296e-01 0.00000000e+00 -1.22187598e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75687481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.01, Y:-122.19, Z:0.02 [[ 9.28811859e-01 3.70551658e-01 0.00000000e+00 4.53007980e+02] [-3.70551658e-01 9.28811859e-01 0.00000000e+00 -1.22192559e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73827010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.04, Y:-122.20, Z:0.02 [[ 9.29205727e-01 3.69562874e-01 0.00000000e+00 4.53037085e+02] [-3.69562874e-01 9.29205727e-01 0.00000000e+00 -1.22196807e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11745518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.06, Y:-122.20, Z:0.02 [[ 9.29669065e-01 3.68395750e-01 0.00000000e+00 4.53063814e+02] [-3.68395750e-01 9.29669065e-01 0.00000000e+00 -1.22203288e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23256502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.09, Y:-122.21, Z:0.02 [[ 9.30988565e-01 3.65048343e-01 0.00000000e+00 4.53091924e+02] [-3.65048343e-01 9.30988565e-01 0.00000000e+00 -1.22207864e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28215213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.12, Y:-122.21, Z:0.02 [[ 9.31534689e-01 3.63652477e-01 0.00000000e+00 4.53119124e+02] [-3.63652477e-01 9.31534689e-01 0.00000000e+00 -1.22213995e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29565857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.15, Y:-122.22, Z:0.02 [[ 9.31994936e-01 3.62471296e-01 0.00000000e+00 4.53146031e+02] [-3.62471296e-01 9.31994936e-01 0.00000000e+00 -1.22220336e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44977416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.17, Y:-122.23, Z:0.03 [[ 9.32318731e-01 3.61637641e-01 0.00000000e+00 4.53173218e+02] [-3.61637641e-01 9.32318731e-01 0.00000000e+00 -1.22226394e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64548062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.20, Y:-122.23, Z:0.03 [[ 9.32337254e-01 3.61589885e-01 0.00000000e+00 4.53201526e+02] [-3.61589885e-01 9.32337254e-01 0.00000000e+00 -1.22228861e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86460183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.23, Y:-122.23, Z:0.03 [[ 9.31864271e-01 3.62807085e-01 0.00000000e+00 4.53228083e+02] [-3.62807085e-01 9.31864271e-01 0.00000000e+00 -1.22234464e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66585819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.26, Y:-122.24, Z:0.02 [[ 9.31347821e-01 3.64130797e-01 0.00000000e+00 4.53255514e+02] [-3.64130797e-01 9.31347821e-01 0.00000000e+00 -1.22240792e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43193703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.28, Y:-122.25, Z:0.02 [[ 9.30794825e-01 3.65542056e-01 0.00000000e+00 4.53282921e+02] [-3.65542056e-01 9.30794825e-01 0.00000000e+00 -1.22246453e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19707513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.31, Y:-122.25, Z:0.02 [[ 9.29725743e-01 3.68252688e-01 0.00000000e+00 4.53311031e+02] [-3.68252688e-01 9.29725743e-01 0.00000000e+00 -1.22248908e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01837360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.081400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:453.34, Y:-122.25, Z:0.02 [[ 9.29656239e-01 3.68428117e-01 0.00000000e+00 4.53338187e+02] [-3.68428117e-01 9.29656239e-01 0.00000000e+00 -1.22254361e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08718872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.37, Y:-122.26, Z:0.02 [[ 9.29699488e-01 3.68318968e-01 0.00000000e+00 4.53365946e+02] [-3.68318968e-01 9.29699488e-01 0.00000000e+00 -1.22260414e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25061106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.39, Y:-122.26, Z:0.03 [[ 9.30725961e-01 3.65717358e-01 0.00000000e+00 4.53393679e+02] [-3.65717358e-01 9.30725961e-01 0.00000000e+00 -1.22262969e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81053458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.42, Y:-122.27, Z:0.03 [[ 9.31504647e-01 3.63729422e-01 0.00000000e+00 4.53421283e+02] [-3.63729422e-01 9.31504647e-01 0.00000000e+00 -1.22268780e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06042655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.45, Y:-122.28, Z:0.03 [[ 9.32318501e-01 3.61638235e-01 0.00000000e+00 4.53447841e+02] [-3.61638235e-01 9.32318501e-01 0.00000000e+00 -1.22275886e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11801023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.47, Y:-122.28, Z:0.03 [[ 9.33209708e-01 3.59332214e-01 0.00000000e+00 4.53474081e+02] [-3.59332214e-01 9.33209708e-01 0.00000000e+00 -1.22284713e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99874771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.50, Y:-122.30, Z:0.03 [[ 9.35044777e-01 3.54529639e-01 0.00000000e+00 4.53498961e+02] [-3.54529639e-01 9.35044777e-01 0.00000000e+00 -1.22295521e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73667795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.53, Y:-122.31, Z:0.03 [[ 9.36052469e-01 3.51860449e-01 0.00000000e+00 4.53525669e+02] [-3.51860449e-01 9.36052469e-01 0.00000000e+00 -1.22305229e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73502437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.55, Y:-122.31, Z:0.03 [[ 9.37093468e-01 3.49078546e-01 0.00000000e+00 4.53550922e+02] [-3.49078546e-01 9.37093468e-01 0.00000000e+00 -1.22314804e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79761414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.58, Y:-122.33, Z:0.03 [[ 9.38393174e-01 3.45569460e-01 0.00000000e+00 4.53576431e+02] [-3.45569460e-01 9.38393174e-01 0.00000000e+00 -1.22328993e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85456374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.60, Y:-122.34, Z:0.03 [[ 9.38688905e-01 3.44765339e-01 0.00000000e+00 4.53602100e+02] [-3.44765339e-01 9.38688905e-01 0.00000000e+00 -1.22340445e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70348773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.63, Y:-122.35, Z:0.02 [[ 9.38719990e-01 3.44680693e-01 0.00000000e+00 4.53626607e+02] [-3.44680693e-01 9.38719990e-01 0.00000000e+00 -1.22351377e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45462278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.65, Y:-122.36, Z:0.02 [[ 9.38472005e-01 3.45355319e-01 0.00000000e+00 4.53652278e+02] [-3.45355319e-01 9.38472005e-01 0.00000000e+00 -1.22362168e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20363566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.68, Y:-122.37, Z:0.02 [[ 9.37351009e-01 3.48386402e-01 0.00000000e+00 4.53677529e+02] [-3.48386402e-01 9.37351009e-01 0.00000000e+00 -1.22374289e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88645587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.70, Y:-122.38, Z:0.02 [[ 9.36812682e-01 3.49831386e-01 0.00000000e+00 4.53702777e+02] [-3.49831386e-01 9.36812682e-01 0.00000000e+00 -1.22383919e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82974092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.73, Y:-122.39, Z:0.02 [[ 9.36483776e-01 3.50710904e-01 0.00000000e+00 4.53728857e+02] [-3.50710904e-01 9.36483776e-01 0.00000000e+00 -1.22394456e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87190866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.75, Y:-122.41, Z:0.02 [[ 9.36732870e-01 3.50045039e-01 0.00000000e+00 4.53753727e+02] [-3.50045039e-01 9.36732870e-01 0.00000000e+00 -1.22407551e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76467666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.78, Y:-122.42, Z:0.02 [[ 9.37147767e-01 3.48932748e-01 0.00000000e+00 4.53780080e+02] [-3.48932748e-01 9.37147767e-01 0.00000000e+00 -1.22417905e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54035978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.81, Y:-122.43, Z:0.02 [[ 9.37779876e-01 3.47230333e-01 0.00000000e+00 4.53805891e+02] [-3.47230333e-01 9.37779876e-01 0.00000000e+00 -1.22427961e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57632196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.83, Y:-122.44, Z:0.02 [[ 9.38334476e-01 3.45728811e-01 0.00000000e+00 4.53831781e+02] [-3.45728811e-01 9.38334476e-01 0.00000000e+00 -1.22438378e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58053875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.86, Y:-122.45, Z:0.02 [[ 9.38923829e-01 3.44125040e-01 0.00000000e+00 4.53857715e+02] [-3.44125040e-01 9.38923829e-01 0.00000000e+00 -1.22451693e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85365877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.88, Y:-122.46, Z:0.02 [[ 9.39025753e-01 3.43846818e-01 0.00000000e+00 4.53883817e+02] [-3.43846818e-01 9.39025753e-01 0.00000000e+00 -1.22461730e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98468416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.91, Y:-122.47, Z:0.02 [[ 9.38998919e-01 3.43920094e-01 0.00000000e+00 4.53909376e+02] [-3.43920094e-01 9.38998919e-01 0.00000000e+00 -1.22471466e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01589911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.93, Y:-122.48, Z:0.02 [[ 9.39012212e-01 3.43883798e-01 0.00000000e+00 4.53934641e+02] [-3.43883798e-01 9.39012212e-01 0.00000000e+00 -1.22483411e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97555867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.96, Y:-122.49, Z:0.02 [[ 9.39078501e-01 3.43702732e-01 0.00000000e+00 4.53961300e+02] [-3.43702732e-01 9.39078501e-01 0.00000000e+00 -1.22493627e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03921137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.99, Y:-122.50, Z:0.02 [[ 9.38943254e-01 3.44072035e-01 0.00000000e+00 4.53987643e+02] [-3.44072035e-01 9.38943254e-01 0.00000000e+00 -1.22503784e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18300969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.01, Y:-122.52, Z:0.03 [[ 9.38337286e-01 3.45721184e-01 0.00000000e+00 4.54012755e+02] [-3.45721184e-01 9.38337286e-01 0.00000000e+00 -1.22515323e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70997650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.04, Y:-122.52, Z:0.03 [[ 9.37853254e-01 3.47032093e-01 0.00000000e+00 4.54038413e+02] [-3.47032093e-01 9.37853254e-01 0.00000000e+00 -1.22523392e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92857034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.07, Y:-122.53, Z:0.03 [[ 9.37233454e-01 3.48702528e-01 0.00000000e+00 4.54065365e+02] [-3.48702528e-01 9.37233454e-01 0.00000000e+00 -1.22531989e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98213826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.09, Y:-122.54, Z:0.03 [[ 9.35985055e-01 3.52039738e-01 0.00000000e+00 4.54091695e+02] [-3.52039738e-01 9.35985055e-01 0.00000000e+00 -1.22542972e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79437231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.12, Y:-122.55, Z:0.03 [[ 9.35313997e-01 3.53818778e-01 0.00000000e+00 4.54118566e+02] [-3.53818778e-01 9.35313997e-01 0.00000000e+00 -1.22552493e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73212366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.14, Y:-122.56, Z:0.03 [[ 9.34596662e-01 3.55709263e-01 0.00000000e+00 4.54144012e+02] [-3.55709263e-01 9.34596662e-01 0.00000000e+00 -1.22560333e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65918276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.17, Y:-122.57, Z:0.02 [[ 9.33386465e-01 3.58872829e-01 0.00000000e+00 4.54171017e+02] [-3.58872829e-01 9.33386465e-01 0.00000000e+00 -1.22567003e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34866898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.20, Y:-122.57, Z:0.02 [[ 9.33059606e-01 3.59721798e-01 0.00000000e+00 4.54196766e+02] [-3.59721798e-01 9.33059606e-01 0.00000000e+00 -1.22574450e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14206023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.22, Y:-122.58, Z:0.02 [[ 9.32950226e-01 3.60005383e-01 0.00000000e+00 4.54223856e+02] [-3.60005383e-01 9.32950226e-01 0.00000000e+00 -1.22583127e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99939638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.25, Y:-122.59, Z:0.02 [[ 9.32936262e-01 3.60041567e-01 0.00000000e+00 4.54249346e+02] [-3.60041567e-01 9.32936262e-01 0.00000000e+00 -1.22591390e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94684120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.28, Y:-122.60, Z:0.02 [[ 9.33153661e-01 3.59477740e-01 0.00000000e+00 4.54276295e+02] [-3.59477740e-01 9.33153661e-01 0.00000000e+00 -1.22599732e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10615880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.30, Y:-122.61, Z:0.02 [[ 9.33419057e-01 3.58788049e-01 0.00000000e+00 4.54302831e+02] [-3.58788049e-01 9.33419057e-01 0.00000000e+00 -1.22607464e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17324559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.33, Y:-122.62, Z:0.02 [[ 9.33716411e-01 3.58013498e-01 0.00000000e+00 4.54329123e+02] [-3.58013498e-01 9.33716411e-01 0.00000000e+00 -1.22615533e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23480662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.35, Y:-122.62, Z:0.02 [[ 9.34228010e-01 3.56676360e-01 0.00000000e+00 4.54354386e+02] [-3.56676360e-01 9.34228010e-01 0.00000000e+00 -1.22624833e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19594184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.38, Y:-122.63, Z:0.02 [[ 9.34630494e-01 3.55620360e-01 0.00000000e+00 4.54380864e+02] [-3.55620360e-01 9.34630494e-01 0.00000000e+00 -1.22632873e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22545853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.41, Y:-122.64, Z:0.02 [[ 9.35014148e-01 3.54610410e-01 0.00000000e+00 4.54406553e+02] [-3.54610410e-01 9.35014148e-01 0.00000000e+00 -1.22640366e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08577229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.43, Y:-122.65, Z:0.02 [[ 9.35528514e-01 3.53251185e-01 0.00000000e+00 4.54433595e+02] [-3.53251185e-01 9.35528514e-01 0.00000000e+00 -1.22648114e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99555809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.46, Y:-122.66, Z:0.02 [[ 9.36707234e-01 3.50113635e-01 0.00000000e+00 4.54459990e+02] [-3.50113635e-01 9.36707234e-01 0.00000000e+00 -1.22656310e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99375919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.49, Y:-122.66, Z:0.02 [[ 9.36771483e-01 3.49941692e-01 0.00000000e+00 4.54487411e+02] [-3.49941692e-01 9.36771483e-01 0.00000000e+00 -1.22664073e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99375919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.51, Y:-122.67, Z:0.02 [[ 9.37341411e-01 3.48412225e-01 0.00000000e+00 4.54513039e+02] [-3.48412225e-01 9.37341411e-01 0.00000000e+00 -1.22671931e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93922459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.54, Y:-122.68, Z:0.02 [[ 9.38046934e-01 3.46508225e-01 0.00000000e+00 4.54540306e+02] [-3.46508225e-01 9.38046934e-01 0.00000000e+00 -1.22679936e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04308605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.57, Y:-122.69, Z:0.02 [[ 9.38769629e-01 3.44545473e-01 0.00000000e+00 4.54566437e+02] [-3.44545473e-01 9.38769629e-01 0.00000000e+00 -1.22687018e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15548125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.59, Y:-122.69, Z:0.02 [[ 9.39894875e-01 3.41463942e-01 0.00000000e+00 4.54593241e+02] [-3.41463942e-01 9.39894875e-01 0.00000000e+00 -1.22693222e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29670190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.62, Y:-122.70, Z:0.02 [[ 9.40412464e-01 3.40035877e-01 0.00000000e+00 4.54620639e+02] [-3.40035877e-01 9.40412464e-01 0.00000000e+00 -1.22700030e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29962161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.65, Y:-122.71, Z:0.02 [[ 9.41537140e-01 3.36909206e-01 0.00000000e+00 4.54647231e+02] [-3.36909206e-01 9.41537140e-01 0.00000000e+00 -1.22706556e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16641063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.67, Y:-122.71, Z:0.02 [[ 9.42195646e-01 3.35063224e-01 0.00000000e+00 4.54673763e+02] [-3.35063224e-01 9.42195646e-01 0.00000000e+00 -1.22713942e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22911179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.70, Y:-122.72, Z:0.02 [[ 9.42983612e-01 3.32839163e-01 0.00000000e+00 4.54699819e+02] [-3.32839163e-01 9.42983612e-01 0.00000000e+00 -1.22721180e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19901497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.73, Y:-122.73, Z:0.02 [[ 9.43872413e-01 3.30310260e-01 0.00000000e+00 4.54725788e+02] [-3.30310260e-01 9.43872413e-01 0.00000000e+00 -1.22728444e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25352628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.75, Y:-122.74, Z:0.03 [[ 9.45917186e-01 3.24408194e-01 0.00000000e+00 4.54753086e+02] [-3.24408194e-01 9.45917186e-01 0.00000000e+00 -1.22735552e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50309759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.78, Y:-122.74, Z:0.03 [[ 9.47171971e-01 3.20726140e-01 0.00000000e+00 4.54780123e+02] [-3.20726140e-01 9.47171971e-01 0.00000000e+00 -1.22742830e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60397176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.81, Y:-122.75, Z:0.03 [[ 9.48477390e-01 3.16844821e-01 0.00000000e+00 4.54807039e+02] [-3.16844821e-01 9.48477390e-01 0.00000000e+00 -1.22750461e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68280228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.83, Y:-122.76, Z:0.03 [[ 9.49823363e-01 3.12786794e-01 0.00000000e+00 4.54832480e+02] [-3.12786794e-01 9.49823363e-01 0.00000000e+00 -1.22758070e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76817532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.86, Y:-122.77, Z:0.03 [[ 9.52434444e-01 3.04743548e-01 0.00000000e+00 4.54858615e+02] [-3.04743548e-01 9.52434444e-01 0.00000000e+00 -1.22767275e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81195537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.88, Y:-122.78, Z:0.03 [[ 9.53675448e-01 3.00837397e-01 0.00000000e+00 4.54884063e+02] [-3.00837397e-01 9.53675448e-01 0.00000000e+00 -1.22775947e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76727539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.91, Y:-122.78, Z:0.03 [[ 9.54825968e-01 2.97165560e-01 0.00000000e+00 4.54910163e+02] [-2.97165560e-01 9.54825968e-01 0.00000000e+00 -1.22784856e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79351019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.94, Y:-122.79, Z:0.03 [[ 9.55900748e-01 2.93689905e-01 0.00000000e+00 4.54937090e+02] [-2.93689905e-01 9.55900748e-01 0.00000000e+00 -1.22793952e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81693873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.941400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:454.96, Y:-122.80, Z:0.03 [[ 9.57668142e-01 2.87874502e-01 0.00000000e+00 4.54961120e+02] [-2.87874502e-01 9.57668142e-01 0.00000000e+00 -1.22804033e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64429695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.99, Y:-122.81, Z:0.03 [[ 9.58367606e-01 2.85537269e-01 0.00000000e+00 4.54989303e+02] [-2.85537269e-01 9.58367606e-01 0.00000000e+00 -1.22814302e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63611289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.01, Y:-122.83, Z:0.03 [[ 9.58433338e-01 2.85316554e-01 0.00000000e+00 4.55014979e+02] [-2.85316554e-01 9.58433338e-01 0.00000000e+00 -1.22825890e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58562168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.04, Y:-122.84, Z:0.03 [[ 9.58005244e-01 2.86750681e-01 0.00000000e+00 4.55041207e+02] [-2.86750681e-01 9.58005244e-01 0.00000000e+00 -1.22835098e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62846056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.07, Y:-122.84, Z:0.03 [[ 9.57457955e-01 2.88572805e-01 0.00000000e+00 4.55067597e+02] [-2.88572805e-01 9.57457955e-01 0.00000000e+00 -1.22844177e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70101670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.091400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:455.09, Y:-122.85, Z:0.03 [[ 9.56944156e-01 2.90272082e-01 0.00000000e+00 4.55093088e+02] [-2.90272082e-01 9.56944156e-01 0.00000000e+00 -1.22852461e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63368296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.12, Y:-122.86, Z:0.02 [[ 9.55937867e-01 2.93569063e-01 0.00000000e+00 4.55120296e+02] [-2.93569063e-01 9.55937867e-01 0.00000000e+00 -1.22862963e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31364105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.15, Y:-122.87, Z:0.02 [[ 9.55550816e-01 2.94826455e-01 0.00000000e+00 4.55145753e+02] [-2.94826455e-01 9.55550816e-01 0.00000000e+00 -1.22872486e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23245928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.17, Y:-122.88, Z:0.02 [[ 9.55158001e-01 2.96096594e-01 0.00000000e+00 4.55171168e+02] [-2.96096594e-01 9.55158001e-01 0.00000000e+00 -1.22882057e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33579428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.20, Y:-122.89, Z:0.03 [[ 9.54212698e-01 2.99128949e-01 0.00000000e+00 4.55198153e+02] [-2.99128949e-01 9.54212698e-01 0.00000000e+00 -1.22894341e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67260242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.24140051300003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:455.22, Y:-122.90, Z:0.03 [[ 9.53627715e-01 3.00988672e-01 0.00000000e+00 4.55224112e+02] [-3.00988672e-01 9.53627715e-01 0.00000000e+00 -1.22903483e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59536242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.25, Y:-122.91, Z:0.02 [[ 9.52928194e-01 3.03196070e-01 0.00000000e+00 4.55249570e+02] [-3.03196070e-01 9.52928194e-01 0.00000000e+00 -1.22912458e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45747871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.28, Y:-122.92, Z:0.02 [[ 9.51442167e-01 3.07827553e-01 0.00000000e+00 4.55275400e+02] [-3.07827553e-01 9.51442167e-01 0.00000000e+00 -1.22923317e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18924711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.30, Y:-122.93, Z:0.02 [[ 9.50698795e-01 3.10115787e-01 0.00000000e+00 4.55301471e+02] [-3.10115787e-01 9.50698795e-01 0.00000000e+00 -1.22932404e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15623555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.33, Y:-122.94, Z:0.02 [[ 9.50070816e-01 3.12034364e-01 0.00000000e+00 4.55327680e+02] [-3.12034364e-01 9.50070816e-01 0.00000000e+00 -1.22941453e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13819566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.35, Y:-122.95, Z:0.02 [[ 9.49290795e-01 3.14399405e-01 0.00000000e+00 4.55353404e+02] [-3.14399405e-01 9.49290795e-01 0.00000000e+00 -1.22952787e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19774083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.38, Y:-122.96, Z:0.02 [[ 9.48980409e-01 3.15335033e-01 0.00000000e+00 4.55380293e+02] [-3.15335033e-01 9.48980409e-01 0.00000000e+00 -1.22962326e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25826994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.41, Y:-122.97, Z:0.02 [[ 9.48663599e-01 3.16286858e-01 0.00000000e+00 4.55406641e+02] [-3.16286858e-01 9.48663599e-01 0.00000000e+00 -1.22971416e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29401150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.43, Y:-122.98, Z:0.02 [[ 9.47610774e-01 3.19427334e-01 0.00000000e+00 4.55432967e+02] [-3.19427334e-01 9.47610774e-01 0.00000000e+00 -1.22981388e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07949870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.46, Y:-122.99, Z:0.02 [[ 9.46830633e-01 3.21732423e-01 0.00000000e+00 4.55460192e+02] [-3.21732423e-01 9.46830633e-01 0.00000000e+00 -1.22989716e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99781975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.49, Y:-123.00, Z:0.02 [[ 9.45928620e-01 3.24374853e-01 0.00000000e+00 4.55487196e+02] [-3.24374853e-01 9.45928620e-01 0.00000000e+00 -1.22997276e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83271726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.51, Y:-123.00, Z:0.02 [[ 9.45081728e-01 3.26834099e-01 0.00000000e+00 4.55514592e+02] [-3.26834099e-01 9.45081728e-01 0.00000000e+00 -1.23004684e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91725023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.54, Y:-123.01, Z:0.02 [[ 9.43576053e-01 3.31155904e-01 0.00000000e+00 4.55541497e+02] [-3.31155904e-01 9.43576053e-01 0.00000000e+00 -1.23011597e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06913538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.57, Y:-123.02, Z:0.02 [[ 9.43157951e-01 3.32344820e-01 0.00000000e+00 4.55569309e+02] [-3.32344820e-01 9.43157951e-01 0.00000000e+00 -1.23018934e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20144163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.60, Y:-123.03, Z:0.02 [[ 9.43060951e-01 3.32619967e-01 0.00000000e+00 4.55595653e+02] [-3.32619967e-01 9.43060951e-01 0.00000000e+00 -1.23025289e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16863780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.62, Y:-123.03, Z:0.02 [[ 9.43459703e-01 3.31487237e-01 0.00000000e+00 4.55622722e+02] [-3.31487237e-01 9.43459703e-01 0.00000000e+00 -1.23031203e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16050683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.65, Y:-123.04, Z:0.02 [[ 9.43710477e-01 3.30772634e-01 0.00000000e+00 4.55649462e+02] [-3.30772634e-01 9.43710477e-01 0.00000000e+00 -1.23038708e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23404388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.68, Y:-123.05, Z:0.02 [[ 9.43903116e-01 3.30222513e-01 0.00000000e+00 4.55675723e+02] [-3.30222513e-01 9.43903116e-01 0.00000000e+00 -1.23046357e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29023664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.781400513 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:455.70, Y:-123.05, Z:0.02 [[ 9.43874560e-01 3.30304125e-01 0.00000000e+00 4.55703338e+02] [-3.30304125e-01 9.43874560e-01 0.00000000e+00 -1.23053544e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42419227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.811400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:455.73, Y:-123.06, Z:0.03 [[ 9.43620365e-01 3.31029615e-01 0.00000000e+00 4.55729707e+02] [-3.31029615e-01 9.43620365e-01 0.00000000e+00 -1.23058794e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53359029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.76, Y:-123.06, Z:0.03 [[ 9.42654134e-01 3.33771153e-01 0.00000000e+00 4.55757491e+02] [-3.33771153e-01 9.42654134e-01 0.00000000e+00 -1.23061368e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70483176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.78, Y:-123.07, Z:0.03 [[ 9.42047129e-01 3.35480562e-01 0.00000000e+00 4.55784501e+02] [-3.35480562e-01 9.42047129e-01 0.00000000e+00 -1.23066960e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65311386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.901400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:455.81, Y:-123.07, Z:0.03 [[ 9.41494444e-01 3.37028504e-01 0.00000000e+00 4.55811755e+02] [-3.37028504e-01 9.41494444e-01 0.00000000e+00 -1.23073022e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55043890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.84, Y:-123.08, Z:0.02 [[ 9.41164846e-01 3.37947825e-01 0.00000000e+00 4.55839269e+02] [-3.37947825e-01 9.41164846e-01 0.00000000e+00 -1.23079284e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43550819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.87, Y:-123.09, Z:0.02 [[ 9.41064729e-01 3.38226516e-01 0.00000000e+00 4.55865912e+02] [-3.38226516e-01 9.41064729e-01 0.00000000e+00 -1.23085166e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30639147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.89, Y:-123.09, Z:0.02 [[ 9.41261889e-01 3.37677444e-01 0.00000000e+00 4.55893478e+02] [-3.37677444e-01 9.41261889e-01 0.00000000e+00 -1.23091173e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09697406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.92, Y:-123.10, Z:0.02 [[ 9.41473804e-01 3.37086156e-01 0.00000000e+00 4.55919659e+02] [-3.37086156e-01 9.41473804e-01 0.00000000e+00 -1.23097904e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12876995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.95, Y:-123.10, Z:0.02 [[ 9.41486961e-01 3.37049406e-01 0.00000000e+00 4.55947655e+02] [-3.37049406e-01 9.41486961e-01 0.00000000e+00 -1.23104806e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25877735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.98, Y:-123.11, Z:0.02 [[ 9.41261526e-01 3.37678456e-01 0.00000000e+00 4.55976208e+02] [-3.37678456e-01 9.41261526e-01 0.00000000e+00 -1.23111552e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42253098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.00, Y:-123.12, Z:0.02 [[ 9.40484679e-01 3.39836090e-01 0.00000000e+00 4.56003084e+02] [-3.39836090e-01 9.40484679e-01 0.00000000e+00 -1.23116812e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35220825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.03, Y:-123.12, Z:0.02 [[ 9.40013187e-01 3.41138108e-01 0.00000000e+00 4.56030630e+02] [-3.41138108e-01 9.40013187e-01 0.00000000e+00 -1.23123471e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17488907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.06, Y:-123.13, Z:0.02 [[ 9.39484649e-01 3.42591002e-01 0.00000000e+00 4.56058107e+02] [-3.42591002e-01 9.39484649e-01 0.00000000e+00 -1.23130393e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91122090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.09, Y:-123.14, Z:0.02 [[ 9.38975547e-01 3.43983898e-01 0.00000000e+00 4.56086017e+02] [-3.43983898e-01 9.38975547e-01 0.00000000e+00 -1.23137789e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87119729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.11, Y:-123.14, Z:0.02 [[ 9.38538034e-01 3.45175837e-01 0.00000000e+00 4.56113102e+02] [-3.45175837e-01 9.38538034e-01 0.00000000e+00 -1.23144522e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94020700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.14, Y:-123.15, Z:0.02 [[ 9.38215955e-01 3.46050317e-01 0.00000000e+00 4.56141070e+02] [-3.46050317e-01 9.38215955e-01 0.00000000e+00 -1.23151522e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09249996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.17, Y:-123.16, Z:0.02 [[ 9.38239804e-01 3.45985650e-01 0.00000000e+00 4.56168526e+02] [-3.45985650e-01 9.38239804e-01 0.00000000e+00 -1.23159172e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09249996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.20, Y:-123.17, Z:0.02 [[ 9.37843851e-01 3.47057505e-01 0.00000000e+00 4.56195372e+02] [-3.47057505e-01 9.37843851e-01 0.00000000e+00 -1.23165226e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04560789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.22, Y:-123.17, Z:0.02 [[ 9.37820654e-01 3.47120183e-01 0.00000000e+00 4.56222703e+02] [-3.47120183e-01 9.37820654e-01 0.00000000e+00 -1.23172014e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84080495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.25, Y:-123.18, Z:0.02 [[ 9.37858985e-01 3.47016606e-01 0.00000000e+00 4.56249706e+02] [-3.47016606e-01 9.37858985e-01 0.00000000e+00 -1.23178299e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67893193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.28, Y:-123.18, Z:0.02 [[ 9.38100821e-01 3.46362309e-01 0.00000000e+00 4.56277572e+02] [-3.46362309e-01 9.38100821e-01 0.00000000e+00 -1.23184181e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76249830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.31, Y:-123.19, Z:0.02 [[ 9.38413756e-01 3.45513564e-01 0.00000000e+00 4.56305802e+02] [-3.45513564e-01 9.38413756e-01 0.00000000e+00 -1.23191069e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04726765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.33, Y:-123.20, Z:0.02 [[ 9.38618107e-01 3.44958041e-01 0.00000000e+00 4.56332977e+02] [-3.44958041e-01 9.38618107e-01 0.00000000e+00 -1.23197583e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16507535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.36, Y:-123.20, Z:0.02 [[ 9.38726879e-01 3.44661931e-01 0.00000000e+00 4.56361463e+02] [-3.44661931e-01 9.38726879e-01 0.00000000e+00 -1.23203814e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06179174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.39, Y:-123.21, Z:0.02 [[ 9.38652683e-01 3.44863946e-01 0.00000000e+00 4.56387434e+02] [-3.44863946e-01 9.38652683e-01 0.00000000e+00 -1.23211149e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96234068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.41, Y:-123.22, Z:0.02 [[ 9.38661431e-01 3.44840134e-01 0.00000000e+00 4.56414134e+02] [-3.44840134e-01 9.38661431e-01 0.00000000e+00 -1.23219125e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00431414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.44, Y:-123.23, Z:0.02 [[ 9.38709799e-01 3.44708445e-01 0.00000000e+00 4.56441369e+02] [-3.44708445e-01 9.38709799e-01 0.00000000e+00 -1.23226967e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07957634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.47, Y:-123.23, Z:0.02 [[ 9.38815365e-01 3.44420833e-01 0.00000000e+00 4.56467722e+02] [-3.44420833e-01 9.38815365e-01 0.00000000e+00 -1.23234654e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08578710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.50, Y:-123.24, Z:0.02 [[ 9.38878024e-01 3.44249991e-01 0.00000000e+00 4.56495289e+02] [-3.44249991e-01 9.38878024e-01 0.00000000e+00 -1.23243159e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16509348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.52, Y:-123.25, Z:0.02 [[ 9.38921070e-01 3.44132568e-01 0.00000000e+00 4.56520839e+02] [-3.44132568e-01 9.38921070e-01 0.00000000e+00 -1.23253592e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20761683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.55, Y:-123.26, Z:0.02 [[ 9.39017723e-01 3.43868748e-01 0.00000000e+00 4.56547245e+02] [-3.43868748e-01 9.39017723e-01 0.00000000e+00 -1.23263074e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14894319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.57, Y:-123.27, Z:0.02 [[ 9.39177879e-01 3.43431086e-01 0.00000000e+00 4.56573290e+02] [-3.43431086e-01 9.39177879e-01 0.00000000e+00 -1.23272414e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13765211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.60, Y:-123.28, Z:0.02 [[ 9.39365102e-01 3.42918657e-01 0.00000000e+00 4.56598708e+02] [-3.42918657e-01 9.39365102e-01 0.00000000e+00 -1.23281199e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15773115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.63, Y:-123.29, Z:0.02 [[ 9.39594110e-01 3.42290678e-01 0.00000000e+00 4.56625515e+02] [-3.42290678e-01 9.39594110e-01 0.00000000e+00 -1.23292223e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31739695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.831400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:456.65, Y:-123.30, Z:0.02 [[ 9.39588633e-01 3.42305713e-01 0.00000000e+00 4.56651702e+02] [-3.42305713e-01 9.39588633e-01 0.00000000e+00 -1.23300981e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29892509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.68, Y:-123.31, Z:0.02 [[ 9.39484872e-01 3.42590390e-01 0.00000000e+00 4.56676940e+02] [-3.42590390e-01 9.39484872e-01 0.00000000e+00 -1.23309380e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16339860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.70, Y:-123.32, Z:0.02 [[ 9.39424717e-01 3.42755308e-01 0.00000000e+00 4.56703653e+02] [-3.42755308e-01 9.39424717e-01 0.00000000e+00 -1.23317137e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94347538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.73, Y:-123.32, Z:0.02 [[ 9.39324182e-01 3.43030729e-01 0.00000000e+00 4.56730540e+02] [-3.43030729e-01 9.39324182e-01 0.00000000e+00 -1.23324330e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94661872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.76, Y:-123.33, Z:0.02 [[ 9.39415739e-01 3.42779915e-01 0.00000000e+00 4.56757762e+02] [-3.42779915e-01 9.39415739e-01 0.00000000e+00 -1.23332584e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00335332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.981400513 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:456.78, Y:-123.34, Z:0.02 [[ 9.39563279e-01 3.42375298e-01 0.00000000e+00 4.56784440e+02] [-3.42375298e-01 9.39563279e-01 0.00000000e+00 -1.23341826e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00533535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.81, Y:-123.35, Z:0.02 [[ 9.40173583e-01 3.40695807e-01 0.00000000e+00 4.56811875e+02] [-3.40695807e-01 9.40173583e-01 0.00000000e+00 -1.23350056e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95247763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.84, Y:-123.36, Z:0.02 [[ 9.41266395e-01 3.37664884e-01 0.00000000e+00 4.56838263e+02] [-3.37664884e-01 9.41266395e-01 0.00000000e+00 -1.23357435e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73699431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.86, Y:-123.36, Z:0.02 [[ 9.41662845e-01 3.36557700e-01 0.00000000e+00 4.56864836e+02] [-3.36557700e-01 9.41662845e-01 0.00000000e+00 -1.23364627e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81242662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.101400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:456.89, Y:-123.37, Z:0.02 [[ 9.41822374e-01 3.36111017e-01 0.00000000e+00 4.56890605e+02] [-3.36111017e-01 9.41822374e-01 0.00000000e+00 -1.23371722e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77573169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.92, Y:-123.38, Z:0.02 [[ 9.41827581e-01 3.36096426e-01 0.00000000e+00 4.56916886e+02] [-3.36096426e-01 9.41827581e-01 0.00000000e+00 -1.23379407e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77612352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.95, Y:-123.39, Z:0.02 [[ 9.42015368e-01 3.35569734e-01 0.00000000e+00 4.56945403e+02] [-3.35569734e-01 9.42015368e-01 0.00000000e+00 -1.23385625e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87210403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.97, Y:-123.39, Z:0.02 [[ 9.42186176e-01 3.35089854e-01 0.00000000e+00 4.56972149e+02] [-3.35089854e-01 9.42186176e-01 0.00000000e+00 -1.23391621e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74498716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.00, Y:-123.40, Z:0.02 [[ 9.42364542e-01 3.34587911e-01 0.00000000e+00 4.56999960e+02] [-3.34587911e-01 9.42364542e-01 0.00000000e+00 -1.23399093e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62426777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.03, Y:-123.41, Z:0.01 [[ 9.42549697e-01 3.34065964e-01 0.00000000e+00 4.57026318e+02] [-3.34065964e-01 9.42549697e-01 0.00000000e+00 -1.23407258e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44774294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.05, Y:-123.42, Z:0.01 [[ 9.42845298e-01 3.33230766e-01 0.00000000e+00 4.57054007e+02] [-3.33230766e-01 9.42845298e-01 0.00000000e+00 -1.23415748e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45775421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.311400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:457.08, Y:-123.42, Z:0.02 [[ 9.43590386e-01 3.31115061e-01 0.00000000e+00 4.57082324e+02] [-3.31115061e-01 9.43590386e-01 0.00000000e+00 -1.23422220e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78104158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.11, Y:-123.43, Z:0.02 [[ 9.43865574e-01 3.30329801e-01 0.00000000e+00 4.57108889e+02] [-3.30329801e-01 9.43865574e-01 0.00000000e+00 -1.23428818e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91786422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.13, Y:-123.44, Z:0.02 [[ 9.44009654e-01 3.29917827e-01 0.00000000e+00 4.57134621e+02] [-3.29917827e-01 9.44009654e-01 0.00000000e+00 -1.23436345e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94323341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.16, Y:-123.44, Z:0.02 [[ 9.44076289e-01 3.29727099e-01 0.00000000e+00 4.57160822e+02] [-3.29727099e-01 9.44076289e-01 0.00000000e+00 -1.23444475e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86229351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.19, Y:-123.45, Z:0.02 [[ 9.44120137e-01 3.29601526e-01 0.00000000e+00 4.57188546e+02] [-3.29601526e-01 9.44120137e-01 0.00000000e+00 -1.23452741e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88353588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.22, Y:-123.46, Z:0.02 [[ 9.43975156e-01 3.30016521e-01 0.00000000e+00 4.57215272e+02] [-3.30016521e-01 9.43975156e-01 0.00000000e+00 -1.23459610e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92868880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.24, Y:-123.47, Z:0.02 [[ 9.43647419e-01 3.30952487e-01 0.00000000e+00 4.57242622e+02] [-3.30952487e-01 9.43647419e-01 0.00000000e+00 -1.23467246e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98179740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.27, Y:-123.47, Z:0.02 [[ 9.43268323e-01 3.32031431e-01 0.00000000e+00 4.57269083e+02] [-3.32031431e-01 9.43268323e-01 0.00000000e+00 -1.23474536e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02576745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.30, Y:-123.48, Z:0.02 [[ 9.42063619e-01 3.35434251e-01 0.00000000e+00 4.57296365e+02] [-3.35434251e-01 9.42063619e-01 0.00000000e+00 -1.23479810e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31745330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.32, Y:-123.49, Z:0.02 [[ 9.41305553e-01 3.37555709e-01 0.00000000e+00 4.57323229e+02] [-3.37555709e-01 9.41305553e-01 0.00000000e+00 -1.23485232e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41204745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.35, Y:-123.49, Z:0.02 [[ 9.40518092e-01 3.39743607e-01 0.00000000e+00 4.57349372e+02] [-3.39743607e-01 9.40518092e-01 0.00000000e+00 -1.23491581e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39627610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.38, Y:-123.50, Z:0.02 [[ 9.39885764e-01 3.41489021e-01 0.00000000e+00 4.57376358e+02] [-3.41489021e-01 9.39885764e-01 0.00000000e+00 -1.23499631e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33999026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.40, Y:-123.51, Z:0.02 [[ 9.39615092e-01 3.42233078e-01 0.00000000e+00 4.57402972e+02] [-3.42233078e-01 9.39615092e-01 0.00000000e+00 -1.23507960e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28195410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.43, Y:-123.52, Z:0.02 [[ 9.39690841e-01 3.42025032e-01 0.00000000e+00 4.57429565e+02] [-3.42025032e-01 9.39690841e-01 0.00000000e+00 -1.23516210e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25537700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.46, Y:-123.53, Z:0.02 [[ 9.40405278e-01 3.40055749e-01 0.00000000e+00 4.57456412e+02] [-3.40055749e-01 9.40405278e-01 0.00000000e+00 -1.23525143e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34187593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.48, Y:-123.53, Z:0.02 [[ 9.40851414e-01 3.38819446e-01 0.00000000e+00 4.57481993e+02] [-3.38819446e-01 9.40851414e-01 0.00000000e+00 -1.23534153e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36934490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.51, Y:-123.54, Z:0.02 [[ 9.41303250e-01 3.37562130e-01 0.00000000e+00 4.57508357e+02] [-3.37562130e-01 9.41303250e-01 0.00000000e+00 -1.23543858e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40398486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.53, Y:-123.55, Z:0.02 [[ 9.41738143e-01 3.36346950e-01 0.00000000e+00 4.57534348e+02] [-3.36346950e-01 9.41738143e-01 0.00000000e+00 -1.23552851e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36449040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.56, Y:-123.56, Z:0.02 [[ 9.42193495e-01 3.35069274e-01 0.00000000e+00 4.57559111e+02] [-3.35069274e-01 9.42193495e-01 0.00000000e+00 -1.23562757e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21795903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.881400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:457.59, Y:-123.57, Z:0.02 [[ 9.42062997e-01 3.35435998e-01 0.00000000e+00 4.57586242e+02] [-3.35435998e-01 9.42062997e-01 0.00000000e+00 -1.23572786e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17890926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.61, Y:-123.58, Z:0.02 [[ 9.41694785e-01 3.36468322e-01 0.00000000e+00 4.57612438e+02] [-3.36468322e-01 9.41694785e-01 0.00000000e+00 -1.23582974e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05865351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.64, Y:-123.59, Z:0.02 [[ 9.41215648e-01 3.37806311e-01 0.00000000e+00 4.57640097e+02] [-3.37806311e-01 9.41215648e-01 0.00000000e+00 -1.23592736e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05064234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.67, Y:-123.60, Z:0.02 [[ 9.40659288e-01 3.39352478e-01 0.00000000e+00 4.57667122e+02] [-3.39352478e-01 9.40659288e-01 0.00000000e+00 -1.23601471e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97366669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.69, Y:-123.61, Z:0.02 [[ 9.39311827e-01 3.43064558e-01 0.00000000e+00 4.57693687e+02] [-3.43064558e-01 9.39311827e-01 0.00000000e+00 -1.23611023e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97398324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.72, Y:-123.62, Z:0.02 [[ 9.38716998e-01 3.44688841e-01 0.00000000e+00 4.57720942e+02] [-3.44688841e-01 9.38716998e-01 0.00000000e+00 -1.23620375e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12546695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.75, Y:-123.63, Z:0.02 [[ 9.38192874e-01 3.46112888e-01 0.00000000e+00 4.57746951e+02] [-3.46112888e-01 9.38192874e-01 0.00000000e+00 -1.23629303e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12459452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.77, Y:-123.64, Z:0.02 [[ 9.37801448e-01 3.47172066e-01 0.00000000e+00 4.57774567e+02] [-3.47172066e-01 9.37801448e-01 0.00000000e+00 -1.23637698e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03352736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.80, Y:-123.64, Z:0.02 [[ 9.37089037e-01 3.49090443e-01 0.00000000e+00 4.57802293e+02] [-3.49090443e-01 9.37089037e-01 0.00000000e+00 -1.23644685e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90420774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.83, Y:-123.65, Z:0.02 [[ 9.36522227e-01 3.50608211e-01 0.00000000e+00 4.57828991e+02] [-3.50608211e-01 9.36522227e-01 0.00000000e+00 -1.23651286e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86232612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.86, Y:-123.66, Z:0.02 [[ 9.36054361e-01 3.51855416e-01 0.00000000e+00 4.57857373e+02] [-3.51855416e-01 9.36054361e-01 0.00000000e+00 -1.23658212e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05882100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.88, Y:-123.67, Z:0.02 [[ 9.36078617e-01 3.51790880e-01 0.00000000e+00 4.57884862e+02] [-3.51790880e-01 9.36078617e-01 0.00000000e+00 -1.23665748e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05882100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.91, Y:-123.67, Z:0.02 [[ 9.35635988e-01 3.52966425e-01 0.00000000e+00 4.57912297e+02] [-3.52966425e-01 9.35635988e-01 0.00000000e+00 -1.23671837e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93425688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.94, Y:-123.67, Z:0.02 [[ 9.35150381e-01 3.54250992e-01 0.00000000e+00 4.57942107e+02] [-3.54250992e-01 9.35150381e-01 0.00000000e+00 -1.23673954e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89769356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.97, Y:-123.68, Z:0.02 [[ 9.35220810e-01 3.54065019e-01 0.00000000e+00 4.57969418e+02] [-3.54065019e-01 9.35220810e-01 0.00000000e+00 -1.23678215e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76791183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.00, Y:-123.68, Z:0.02 [[ 9.35516764e-01 3.53282302e-01 0.00000000e+00 4.57996430e+02] [-3.53282302e-01 9.35516764e-01 0.00000000e+00 -1.23683154e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79117885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.03, Y:-123.69, Z:0.02 [[ 9.35900761e-01 3.52263772e-01 0.00000000e+00 4.58025110e+02] [-3.52263772e-01 9.35900761e-01 0.00000000e+00 -1.23689340e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07622267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.05, Y:-123.69, Z:0.03 [[ 9.37019213e-01 3.49277818e-01 0.00000000e+00 4.58052861e+02] [-3.49277818e-01 9.37019213e-01 0.00000000e+00 -1.23692249e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64026084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.08, Y:-123.70, Z:0.03 [[ 9.37656896e-01 3.47562291e-01 0.00000000e+00 4.58080713e+02] [-3.47562291e-01 9.37656896e-01 0.00000000e+00 -1.23695985e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72736019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.11, Y:-123.70, Z:0.03 [[ 9.38144686e-01 3.46243481e-01 0.00000000e+00 4.58108518e+02] [-3.46243481e-01 9.38144686e-01 0.00000000e+00 -1.23699398e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65972537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.14, Y:-123.70, Z:0.02 [[ 9.38584605e-01 3.45049184e-01 0.00000000e+00 4.58136454e+02] [-3.45049184e-01 9.38584605e-01 0.00000000e+00 -1.23703044e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40590054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.17, Y:-123.71, Z:0.02 [[ 9.38828118e-01 3.44386070e-01 0.00000000e+00 4.58165343e+02] [-3.44386070e-01 9.38828118e-01 0.00000000e+00 -1.23707756e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26917385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.19, Y:-123.71, Z:0.02 [[ 9.38916435e-01 3.44145214e-01 0.00000000e+00 4.58194331e+02] [-3.44145214e-01 9.38916435e-01 0.00000000e+00 -1.23710158e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17020626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.571400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:458.22, Y:-123.71, Z:0.02 [[ 9.38841540e-01 3.44349477e-01 0.00000000e+00 4.58223279e+02] [-3.44349477e-01 9.38841540e-01 0.00000000e+00 -1.23714925e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07520792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.25, Y:-123.72, Z:0.02 [[ 9.38692027e-01 3.44756838e-01 0.00000000e+00 4.58250953e+02] [-3.44756838e-01 9.38692027e-01 0.00000000e+00 -1.23719347e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02107666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.28, Y:-123.72, Z:0.02 [[ 9.38552365e-01 3.45136870e-01 0.00000000e+00 4.58279232e+02] [-3.45136870e-01 9.38552365e-01 0.00000000e+00 -1.23723595e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98132955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.31, Y:-123.72, Z:0.02 [[ 9.38041835e-01 3.46522028e-01 0.00000000e+00 4.58307508e+02] [-3.46522028e-01 9.38041835e-01 0.00000000e+00 -1.23724163e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03348686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.34, Y:-123.73, Z:0.02 [[ 9.37926186e-01 3.46834930e-01 0.00000000e+00 4.58335251e+02] [-3.46834930e-01 9.37926186e-01 0.00000000e+00 -1.23728238e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15727316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.36, Y:-123.73, Z:0.02 [[ 9.37900568e-01 3.46904201e-01 0.00000000e+00 4.58363171e+02] [-3.46904201e-01 9.37900568e-01 0.00000000e+00 -1.23732784e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20932350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.39, Y:-123.74, Z:0.02 [[ 9.37925579e-01 3.46836572e-01 0.00000000e+00 4.58389484e+02] [-3.46836572e-01 9.37925579e-01 0.00000000e+00 -1.23737177e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22034666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.42, Y:-123.74, Z:0.02 [[ 9.38336668e-01 3.45722862e-01 0.00000000e+00 4.58417780e+02] [-3.45722862e-01 9.38336668e-01 0.00000000e+00 -1.23739485e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28308947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.45, Y:-123.74, Z:0.02 [[ 9.38612755e-01 3.44972602e-01 0.00000000e+00 4.58445330e+02] [-3.44972602e-01 9.38612755e-01 0.00000000e+00 -1.23744305e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23853662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.47, Y:-123.75, Z:0.02 [[ 9.38730327e-01 3.44652541e-01 0.00000000e+00 4.58472288e+02] [-3.44652541e-01 9.38730327e-01 0.00000000e+00 -1.23749150e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12947466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.50, Y:-123.75, Z:0.02 [[ 9.38883177e-01 3.44235937e-01 0.00000000e+00 4.58500334e+02] [-3.44235937e-01 9.38883177e-01 0.00000000e+00 -1.23754185e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14426045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.53, Y:-123.76, Z:0.02 [[ 9.38932645e-01 3.44100984e-01 0.00000000e+00 4.58526640e+02] [-3.44100984e-01 9.38932645e-01 0.00000000e+00 -1.23758816e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03585138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.55, Y:-123.76, Z:0.02 [[ 9.38911628e-01 3.44158328e-01 0.00000000e+00 4.58554338e+02] [-3.44158328e-01 9.38911628e-01 0.00000000e+00 -1.23760145e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01957875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.58, Y:-123.76, Z:0.02 [[ 9.38964893e-01 3.44012980e-01 0.00000000e+00 4.58582409e+02] [-3.44012980e-01 9.38964893e-01 0.00000000e+00 -1.23764469e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18581103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.61, Y:-123.77, Z:0.02 [[ 9.39063491e-01 3.43743740e-01 0.00000000e+00 4.58609840e+02] [-3.43743740e-01 9.39063491e-01 0.00000000e+00 -1.23768645e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35958425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.64, Y:-123.77, Z:0.02 [[ 9.38906203e-01 3.44173128e-01 0.00000000e+00 4.58638522e+02] [-3.44173128e-01 9.38906203e-01 0.00000000e+00 -1.23770764e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16940140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.67, Y:-123.77, Z:0.02 [[ 9.38748072e-01 3.44604205e-01 0.00000000e+00 4.58666660e+02] [-3.44604205e-01 9.38748072e-01 0.00000000e+00 -1.23774970e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07929894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.69, Y:-123.78, Z:0.02 [[ 9.38456679e-01 3.45396962e-01 0.00000000e+00 4.58693390e+02] [-3.45396962e-01 9.38456679e-01 0.00000000e+00 -1.23778349e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96010121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.72, Y:-123.78, Z:0.02 [[ 9.38141779e-01 3.46251357e-01 0.00000000e+00 4.58721652e+02] [-3.46251357e-01 9.38141779e-01 0.00000000e+00 -1.23781656e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09005227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.75, Y:-123.78, Z:0.02 [[ 9.37758669e-01 3.47287603e-01 0.00000000e+00 4.58749070e+02] [-3.47287603e-01 9.37758669e-01 0.00000000e+00 -1.23784591e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03172612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.78, Y:-123.79, Z:0.02 [[ 9.37439619e-01 3.48147901e-01 0.00000000e+00 4.58777357e+02] [-3.48147901e-01 9.37439619e-01 0.00000000e+00 -1.23787904e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18990179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.81, Y:-123.79, Z:0.02 [[ 9.37255777e-01 3.48642522e-01 0.00000000e+00 4.58806637e+02] [-3.48642522e-01 9.37255777e-01 0.00000000e+00 -1.23788431e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28538597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.83, Y:-123.79, Z:0.02 [[ 9.37513643e-01 3.47948514e-01 0.00000000e+00 4.58834462e+02] [-3.47948514e-01 9.37513643e-01 0.00000000e+00 -1.23792745e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38182720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.86, Y:-123.80, Z:0.03 [[ 9.38042774e-01 3.46519486e-01 0.00000000e+00 4.58862127e+02] [-3.46519486e-01 9.38042774e-01 0.00000000e+00 -1.23796881e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53920936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.89, Y:-123.80, Z:0.03 [[ 9.38703419e-01 3.44725821e-01 0.00000000e+00 4.58889843e+02] [-3.44725821e-01 9.38703419e-01 0.00000000e+00 -1.23801023e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64174439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.92, Y:-123.80, Z:0.03 [[ 9.40000823e-01 3.41172174e-01 0.00000000e+00 4.58918118e+02] [-3.41172174e-01 9.40000823e-01 0.00000000e+00 -1.23804592e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70664731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.94, Y:-123.81, Z:0.03 [[ 9.40726590e-01 3.39165864e-01 0.00000000e+00 4.58944848e+02] [-3.39165864e-01 9.40726590e-01 0.00000000e+00 -1.23810760e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67722686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.97, Y:-123.82, Z:0.03 [[ 9.41501995e-01 3.37007407e-01 0.00000000e+00 4.58971807e+02] [-3.37007407e-01 9.41501995e-01 0.00000000e+00 -1.23816882e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78481913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.00, Y:-123.82, Z:0.03 [[ 9.42177105e-01 3.35115357e-01 0.00000000e+00 4.58999370e+02] [-3.35115357e-01 9.42177105e-01 0.00000000e+00 -1.23823247e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92882854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.03, Y:-123.83, Z:0.03 [[ 9.42791304e-01 3.33383498e-01 0.00000000e+00 4.59027273e+02] [-3.33383498e-01 9.42791304e-01 0.00000000e+00 -1.23828936e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14460255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.05, Y:-123.84, Z:0.03 [[ 9.42648258e-01 3.33787749e-01 0.00000000e+00 4.59054726e+02] [-3.33787749e-01 9.42648258e-01 0.00000000e+00 -1.23835710e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17434719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.08, Y:-123.84, Z:0.03 [[ 9.42297952e-01 3.34775402e-01 0.00000000e+00 4.59081196e+02] [-3.34775402e-01 9.42297952e-01 0.00000000e+00 -1.23842122e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17590164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.11, Y:-123.85, Z:0.03 [[ 9.41926316e-01 3.35819618e-01 0.00000000e+00 4.59108153e+02] [-3.35819618e-01 9.41926316e-01 0.00000000e+00 -1.23848935e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27559935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.14, Y:-123.86, Z:0.03 [[ 9.41658020e-01 3.36571202e-01 0.00000000e+00 4.59135032e+02] [-3.36571202e-01 9.41658020e-01 0.00000000e+00 -1.23855770e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37318989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.16, Y:-123.86, Z:0.03 [[ 9.41545903e-01 3.36884718e-01 0.00000000e+00 4.59161782e+02] [-3.36884718e-01 9.41545903e-01 0.00000000e+00 -1.23860764e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25661646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.19, Y:-123.87, Z:0.03 [[ 9.41563971e-01 3.36834214e-01 0.00000000e+00 4.59188921e+02] [-3.36834214e-01 9.41563971e-01 0.00000000e+00 -1.23866337e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11764227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.22, Y:-123.87, Z:0.03 [[ 9.41533947e-01 3.36918129e-01 0.00000000e+00 4.59215826e+02] [-3.36918129e-01 9.41533947e-01 0.00000000e+00 -1.23872724e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88952280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.681400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:459.24, Y:-123.88, Z:0.03 [[ 9.41558864e-01 3.36848491e-01 0.00000000e+00 4.59243065e+02] [-3.36848491e-01 9.41558864e-01 0.00000000e+00 -1.23879660e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74443663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.27, Y:-123.89, Z:0.03 [[ 9.41614730e-01 3.36692294e-01 0.00000000e+00 4.59269623e+02] [-3.36692294e-01 9.41614730e-01 0.00000000e+00 -1.23885769e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71306642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.30, Y:-123.89, Z:0.03 [[ 9.41725958e-01 3.36381064e-01 0.00000000e+00 4.59297483e+02] [-3.36381064e-01 9.41725958e-01 0.00000000e+00 -1.23891639e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80254835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.32, Y:-123.90, Z:0.03 [[ 9.41703970e-01 3.36442615e-01 0.00000000e+00 4.59324090e+02] [-3.36442615e-01 9.41703970e-01 0.00000000e+00 -1.23896720e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78014995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.35, Y:-123.90, Z:0.03 [[ 9.41485597e-01 3.37053217e-01 0.00000000e+00 4.59352749e+02] [-3.37053217e-01 9.41485597e-01 0.00000000e+00 -1.23898817e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91337853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.38, Y:-123.90, Z:0.03 [[ 9.41390928e-01 3.37317537e-01 0.00000000e+00 4.59379431e+02] [-3.37317537e-01 9.41390928e-01 0.00000000e+00 -1.23902591e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83985412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.41, Y:-123.91, Z:0.03 [[ 9.41514568e-01 3.36972281e-01 0.00000000e+00 4.59406548e+02] [-3.36972281e-01 9.41514568e-01 0.00000000e+00 -1.23907180e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74693215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.43, Y:-123.91, Z:0.03 [[ 9.41942237e-01 3.35774958e-01 0.00000000e+00 4.59434227e+02] [-3.35774958e-01 9.41942237e-01 0.00000000e+00 -1.23912799e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81695726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.46, Y:-123.92, Z:0.03 [[ 9.42647678e-01 3.33789386e-01 0.00000000e+00 4.59461469e+02] [-3.33789386e-01 9.42647678e-01 0.00000000e+00 -1.23918648e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92451739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.49, Y:-123.92, Z:0.03 [[ 9.43503277e-01 3.31363194e-01 0.00000000e+00 4.59489059e+02] [-3.31363194e-01 9.43503277e-01 0.00000000e+00 -1.23924985e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11919532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.52, Y:-123.93, Z:0.03 [[ 9.45317722e-01 3.26150891e-01 0.00000000e+00 4.59516851e+02] [-3.26150891e-01 9.45317722e-01 0.00000000e+00 -1.23930078e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35703656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.54, Y:-123.94, Z:0.03 [[ 9.46146122e-01 3.23739888e-01 0.00000000e+00 4.59543572e+02] [-3.23739888e-01 9.46146122e-01 0.00000000e+00 -1.23936596e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35395894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.57, Y:-123.94, Z:0.03 [[ 9.46817051e-01 3.21772393e-01 0.00000000e+00 4.59570791e+02] [-3.21772393e-01 9.46817051e-01 0.00000000e+00 -1.23943760e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35758870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.60, Y:-123.95, Z:0.03 [[ 9.47249860e-01 3.20496026e-01 0.00000000e+00 4.59596496e+02] [-3.20496026e-01 9.47249860e-01 0.00000000e+00 -1.23950734e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37799328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.62, Y:-123.96, Z:0.03 [[ 9.47307932e-01 3.20324338e-01 0.00000000e+00 4.59624034e+02] [-3.20324338e-01 9.47307932e-01 0.00000000e+00 -1.23957987e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37799328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.65, Y:-123.97, Z:0.03 [[ 9.47509612e-01 3.19727284e-01 0.00000000e+00 4.59650892e+02] [-3.19727284e-01 9.47509612e-01 0.00000000e+00 -1.23965067e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47056417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.68, Y:-123.97, Z:0.03 [[ 9.47329963e-01 3.20259177e-01 0.00000000e+00 4.59677386e+02] [-3.20259177e-01 9.47329963e-01 0.00000000e+00 -1.23971789e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47843841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.71, Y:-123.98, Z:0.03 [[ 9.46516930e-01 3.22654151e-01 0.00000000e+00 4.59705990e+02] [-3.22654151e-01 9.46516930e-01 0.00000000e+00 -1.23978408e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98062387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.221400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:459.73, Y:-123.99, Z:0.03 [[ 9.46066995e-01 3.23971050e-01 0.00000000e+00 4.59734557e+02] [-3.23971050e-01 9.46066995e-01 0.00000000e+00 -1.23985209e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64912483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.76, Y:-123.99, Z:0.03 [[ 9.45434660e-01 3.25811760e-01 0.00000000e+00 4.59761793e+02] [-3.25811760e-01 9.45434660e-01 0.00000000e+00 -1.23992467e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58241338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.79, Y:-124.00, Z:0.03 [[ 9.44792601e-01 3.27668949e-01 0.00000000e+00 4.59788313e+02] [-3.27668949e-01 9.44792601e-01 0.00000000e+00 -1.23999360e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64799881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.81, Y:-124.01, Z:0.03 [[ 9.43678396e-01 3.30864149e-01 0.00000000e+00 4.59814729e+02] [-3.30864149e-01 9.43678396e-01 0.00000000e+00 -1.24006946e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03654179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.84, Y:-124.01, Z:0.03 [[ 9.43374859e-01 3.31728618e-01 0.00000000e+00 4.59841948e+02] [-3.31728618e-01 9.43374859e-01 0.00000000e+00 -1.24013372e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19709355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.87, Y:-124.02, Z:0.03 [[ 9.43187299e-01 3.32261521e-01 0.00000000e+00 4.59869241e+02] [-3.32261521e-01 9.43187299e-01 0.00000000e+00 -1.24019092e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10960013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.90, Y:-124.03, Z:0.03 [[ 9.42983645e-01 3.32839069e-01 0.00000000e+00 4.59896534e+02] [-3.32839069e-01 9.42983645e-01 0.00000000e+00 -1.24025180e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92489201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.431400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:459.92, Y:-124.03, Z:0.03 [[ 9.43055156e-01 3.32636396e-01 0.00000000e+00 4.59923958e+02] [-3.32636396e-01 9.43055156e-01 0.00000000e+00 -1.24031865e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64002529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.95, Y:-124.04, Z:0.03 [[ 9.43328659e-01 3.31859973e-01 0.00000000e+00 4.59950988e+02] [-3.31859973e-01 9.43328659e-01 0.00000000e+00 -1.24039366e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68933086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.98, Y:-124.05, Z:0.03 [[ 9.43799850e-01 3.30517538e-01 0.00000000e+00 4.59978700e+02] [-3.30517538e-01 9.43799850e-01 0.00000000e+00 -1.24045863e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80156371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.00, Y:-124.05, Z:0.03 [[ 9.44348501e-01 3.28946666e-01 0.00000000e+00 4.60004897e+02] [-3.28946666e-01 9.44348501e-01 0.00000000e+00 -1.24051943e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81398382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.03, Y:-124.06, Z:0.03 [[ 9.45595282e-01 3.25345298e-01 0.00000000e+00 4.60031677e+02] [-3.25345298e-01 9.45595282e-01 0.00000000e+00 -1.24059611e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64807447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.06, Y:-124.07, Z:0.03 [[ 9.46149147e-01 3.23731049e-01 0.00000000e+00 4.60058299e+02] [-3.23731049e-01 9.46149147e-01 0.00000000e+00 -1.24067731e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55262135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.08, Y:-124.08, Z:0.03 [[ 9.46657618e-01 3.22241142e-01 0.00000000e+00 4.60084368e+02] [-3.22241142e-01 9.46657618e-01 0.00000000e+00 -1.24075370e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52166192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.11, Y:-124.08, Z:0.03 [[ 9.47090942e-01 3.20965337e-01 0.00000000e+00 4.60111352e+02] [-3.20965337e-01 9.47090942e-01 0.00000000e+00 -1.24082531e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58757307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.14, Y:-124.09, Z:0.03 [[ 9.47817100e-01 3.18814594e-01 0.00000000e+00 4.60138149e+02] [-3.18814594e-01 9.47817100e-01 0.00000000e+00 -1.24090628e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55841827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.17, Y:-124.10, Z:0.03 [[ 9.48332548e-01 3.17278079e-01 0.00000000e+00 4.60165060e+02] [-3.17278079e-01 9.48332548e-01 0.00000000e+00 -1.24098388e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55417886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.19, Y:-124.11, Z:0.03 [[ 9.48897861e-01 3.15583347e-01 0.00000000e+00 4.60192197e+02] [-3.15583347e-01 9.48897861e-01 0.00000000e+00 -1.24106177e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57229542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.22, Y:-124.11, Z:0.03 [[ 9.49339692e-01 3.14251730e-01 0.00000000e+00 4.60218815e+02] [-3.14251730e-01 9.49339692e-01 0.00000000e+00 -1.24113578e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77495825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.25, Y:-124.12, Z:0.03 [[ 9.49403262e-01 3.14059622e-01 0.00000000e+00 4.60245690e+02] [-3.14059622e-01 9.49403262e-01 0.00000000e+00 -1.24121454e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08467859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.27, Y:-124.13, Z:0.03 [[ 9.49176679e-01 3.14743756e-01 0.00000000e+00 4.60272883e+02] [-3.14743756e-01 9.49176679e-01 0.00000000e+00 -1.24129703e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08759519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.30, Y:-124.14, Z:0.03 [[ 9.48833364e-01 3.15777211e-01 0.00000000e+00 4.60300053e+02] [-3.15777211e-01 9.48833364e-01 0.00000000e+00 -1.24137566e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97216448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.33, Y:-124.14, Z:0.03 [[ 9.48352461e-01 3.17218553e-01 0.00000000e+00 4.60327195e+02] [-3.17218553e-01 9.48352461e-01 0.00000000e+00 -1.24144752e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90495656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.35, Y:-124.15, Z:0.03 [[ 9.47902645e-01 3.18560159e-01 0.00000000e+00 4.60353108e+02] [-3.18560159e-01 9.47902645e-01 0.00000000e+00 -1.24150733e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94030111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.38, Y:-124.16, Z:0.03 [[ 9.46800708e-01 3.21820478e-01 0.00000000e+00 4.60381430e+02] [-3.21820478e-01 9.46800708e-01 0.00000000e+00 -1.24157588e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39857779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.41, Y:-124.17, Z:0.03 [[ 9.46294408e-01 3.23306193e-01 0.00000000e+00 4.60407235e+02] [-3.23306193e-01 9.46294408e-01 0.00000000e+00 -1.24165006e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49161477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.43, Y:-124.17, Z:0.03 [[ 9.45945158e-01 3.24326623e-01 0.00000000e+00 4.60434508e+02] [-3.24326623e-01 9.45945158e-01 0.00000000e+00 -1.24173019e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45588615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.46, Y:-124.18, Z:0.03 [[ 9.45722764e-01 3.24974544e-01 0.00000000e+00 4.60460117e+02] [-3.24974544e-01 9.45722764e-01 0.00000000e+00 -1.24180394e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30935075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.49, Y:-124.19, Z:0.03 [[ 9.45604829e-01 3.25317548e-01 0.00000000e+00 4.60486926e+02] [-3.25317548e-01 9.45604829e-01 0.00000000e+00 -1.24187427e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20662306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.51, Y:-124.19, Z:0.03 [[ 9.45157300e-01 3.26615490e-01 0.00000000e+00 4.60513397e+02] [-3.26615490e-01 9.45157300e-01 0.00000000e+00 -1.24193972e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14554912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.54, Y:-124.20, Z:0.03 [[ 9.44949426e-01 3.27216415e-01 0.00000000e+00 4.60540382e+02] [-3.27216415e-01 9.44949426e-01 0.00000000e+00 -1.24200998e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24968533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.57, Y:-124.21, Z:0.03 [[ 9.44511117e-01 3.28479452e-01 0.00000000e+00 4.60568086e+02] [-3.28479452e-01 9.44511117e-01 0.00000000e+00 -1.24207103e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29308968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.59, Y:-124.21, Z:0.03 [[ 9.44348832e-01 3.28945715e-01 0.00000000e+00 4.60594120e+02] [-3.28945715e-01 9.44348832e-01 0.00000000e+00 -1.24212832e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20641204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.62, Y:-124.22, Z:0.03 [[ 9.44285161e-01 3.29128447e-01 0.00000000e+00 4.60621081e+02] [-3.29128447e-01 9.44285161e-01 0.00000000e+00 -1.24218759e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05314523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.65, Y:-124.22, Z:0.03 [[ 9.44249795e-01 3.29229897e-01 0.00000000e+00 4.60646997e+02] [-3.29229897e-01 9.44249795e-01 0.00000000e+00 -1.24224836e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93585030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.67, Y:-124.23, Z:0.03 [[ 9.44516402e-01 3.28464255e-01 0.00000000e+00 4.60674571e+02] [-3.28464255e-01 9.44516402e-01 0.00000000e+00 -1.24231624e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96572790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.70, Y:-124.24, Z:0.03 [[ 9.44898933e-01 3.27362195e-01 0.00000000e+00 4.60700293e+02] [-3.27362195e-01 9.44898933e-01 0.00000000e+00 -1.24238279e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98178206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.73, Y:-124.24, Z:0.03 [[ 9.45997738e-01 3.24173225e-01 0.00000000e+00 4.60727782e+02] [-3.24173225e-01 9.45997738e-01 0.00000000e+00 -1.24244475e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94704525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.75, Y:-124.25, Z:0.03 [[ 9.46531979e-01 3.22610002e-01 0.00000000e+00 4.60754822e+02] [-3.22610002e-01 9.46531979e-01 0.00000000e+00 -1.24250819e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87394514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.78, Y:-124.26, Z:0.03 [[ 9.46867879e-01 3.21622791e-01 0.00000000e+00 4.60781344e+02] [-3.21622791e-01 9.46867879e-01 0.00000000e+00 -1.24257109e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89081375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.81, Y:-124.26, Z:0.03 [[ 9.46939189e-01 3.21412775e-01 0.00000000e+00 4.60807685e+02] [-3.21412775e-01 9.46939189e-01 0.00000000e+00 -1.24263222e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93161917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.83, Y:-124.27, Z:0.03 [[ 9.46015127e-01 3.24122477e-01 0.00000000e+00 4.60834679e+02] [-3.24122477e-01 9.46015127e-01 0.00000000e+00 -1.24269100e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84983022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.86, Y:-124.28, Z:0.03 [[ 9.45178760e-01 3.26553383e-01 0.00000000e+00 4.60861432e+02] [-3.26553383e-01 9.45178760e-01 0.00000000e+00 -1.24275498e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75304134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.89, Y:-124.28, Z:0.03 [[ 9.44366635e-01 3.28894602e-01 0.00000000e+00 4.60888588e+02] [-3.28894602e-01 9.44366635e-01 0.00000000e+00 -1.24281092e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77659508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.92, Y:-124.29, Z:0.03 [[ 9.43518072e-01 3.31321065e-01 0.00000000e+00 4.60916241e+02] [-3.31321065e-01 9.43518072e-01 0.00000000e+00 -1.24286019e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87045351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.94, Y:-124.29, Z:0.03 [[ 9.42784400e-01 3.33403023e-01 0.00000000e+00 4.60943276e+02] [-3.33403023e-01 9.42784400e-01 0.00000000e+00 -1.24290840e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04757668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.97, Y:-124.30, Z:0.03 [[ 9.42198769e-01 3.35054443e-01 0.00000000e+00 4.60971103e+02] [-3.35054443e-01 9.42198769e-01 0.00000000e+00 -1.24296822e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21483872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.00, Y:-124.30, Z:0.03 [[ 9.41422888e-01 3.37228328e-01 0.00000000e+00 4.60998890e+02] [-3.37228328e-01 9.41422888e-01 0.00000000e+00 -1.24302676e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37917043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.03, Y:-124.31, Z:0.03 [[ 9.41406896e-01 3.37272970e-01 0.00000000e+00 4.61025191e+02] [-3.37272970e-01 9.41406896e-01 0.00000000e+00 -1.24308362e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36888088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.05, Y:-124.31, Z:0.03 [[ 9.41675608e-01 3.36521990e-01 0.00000000e+00 4.61051651e+02] [-3.36521990e-01 9.41675608e-01 0.00000000e+00 -1.24313987e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38661840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.08, Y:-124.32, Z:0.03 [[ 9.42085229e-01 3.35373556e-01 0.00000000e+00 4.61079135e+02] [-3.35373556e-01 9.42085229e-01 0.00000000e+00 -1.24320604e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49269674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.10, Y:-124.33, Z:0.04 [[ 9.42755561e-01 3.33484562e-01 0.00000000e+00 4.61104815e+02] [-3.33484562e-01 9.42755561e-01 0.00000000e+00 -1.24327911e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66636162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.13, Y:-124.33, Z:0.04 [[ 9.43066248e-01 3.32604949e-01 0.00000000e+00 4.61132063e+02] [-3.32604949e-01 9.43066248e-01 0.00000000e+00 -1.24334208e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71086592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.16, Y:-124.34, Z:0.04 [[ 9.43212390e-01 3.32190288e-01 0.00000000e+00 4.61158358e+02] [-3.32190288e-01 9.43212390e-01 0.00000000e+00 -1.24339397e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67222404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.18, Y:-124.34, Z:0.04 [[ 9.43606132e-01 3.31070186e-01 0.00000000e+00 4.61184992e+02] [-3.31070186e-01 9.43606132e-01 0.00000000e+00 -1.24342705e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51187506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.21, Y:-124.35, Z:0.03 [[ 9.43905048e-01 3.30216991e-01 0.00000000e+00 4.61212208e+02] [-3.30216991e-01 9.43905048e-01 0.00000000e+00 -1.24348718e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43149136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.24, Y:-124.35, Z:0.03 [[ 9.44286463e-01 3.29124713e-01 0.00000000e+00 4.61239478e+02] [-3.29124713e-01 9.44286463e-01 0.00000000e+00 -1.24354845e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37478199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.931400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:461.27, Y:-124.36, Z:0.03 [[ 9.44763860e-01 3.27751811e-01 0.00000000e+00 4.61266792e+02] [-3.27751811e-01 9.44763860e-01 0.00000000e+00 -1.24360692e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15447189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.29, Y:-124.37, Z:0.03 [[ 9.45315272e-01 3.26157995e-01 0.00000000e+00 4.61293735e+02] [-3.26157995e-01 9.45315272e-01 0.00000000e+00 -1.24367111e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02420007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.32, Y:-124.37, Z:0.03 [[ 9.46384966e-01 3.23041012e-01 0.00000000e+00 4.61321418e+02] [-3.23041012e-01 9.46384966e-01 0.00000000e+00 -1.24373136e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18649348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.35, Y:-124.38, Z:0.03 [[ 9.46446313e-01 3.22861235e-01 0.00000000e+00 4.61349012e+02] [-3.22861235e-01 9.46446313e-01 0.00000000e+00 -1.24380154e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18649348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.38, Y:-124.39, Z:0.03 [[ 9.46621060e-01 3.22348522e-01 0.00000000e+00 4.61376056e+02] [-3.22348522e-01 9.46621060e-01 0.00000000e+00 -1.24386467e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41465807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.40, Y:-124.39, Z:0.04 [[ 9.46577541e-01 3.22476291e-01 0.00000000e+00 4.61403032e+02] [-3.22476291e-01 9.46577541e-01 0.00000000e+00 -1.24392455e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62269866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.43, Y:-124.40, Z:0.04 [[ 9.46254239e-01 3.23423740e-01 0.00000000e+00 4.61428832e+02] [-3.23423740e-01 9.46254239e-01 0.00000000e+00 -1.24398781e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59740999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.46, Y:-124.41, Z:0.03 [[ 9.45911266e-01 3.24425457e-01 0.00000000e+00 4.61455549e+02] [-3.24425457e-01 9.45911266e-01 0.00000000e+00 -1.24405896e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43757608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.48, Y:-124.41, Z:0.03 [[ 9.45229462e-01 3.26406593e-01 0.00000000e+00 4.61483366e+02] [-3.26406593e-01 9.45229462e-01 0.00000000e+00 -1.24412892e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89976675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.51, Y:-124.42, Z:0.03 [[ 9.44912595e-01 3.27322756e-01 0.00000000e+00 4.61510536e+02] [-3.27322756e-01 9.44912595e-01 0.00000000e+00 -1.24419776e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74787026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.54, Y:-124.43, Z:0.03 [[ 9.44659310e-01 3.28053026e-01 0.00000000e+00 4.61537908e+02] [-3.28053026e-01 9.44659310e-01 0.00000000e+00 -1.24426665e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83513801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.57, Y:-124.43, Z:0.03 [[ 9.44160664e-01 3.29485417e-01 0.00000000e+00 4.61565104e+02] [-3.29485417e-01 9.44160664e-01 0.00000000e+00 -1.24434219e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95395674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.59, Y:-124.44, Z:0.03 [[ 9.44042668e-01 3.29823348e-01 0.00000000e+00 4.61591611e+02] [-3.29823348e-01 9.44042668e-01 0.00000000e+00 -1.24441250e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93213872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.62, Y:-124.45, Z:0.03 [[ 9.43979119e-01 3.30005186e-01 0.00000000e+00 4.61618555e+02] [-3.30005186e-01 9.43979119e-01 0.00000000e+00 -1.24447858e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91403454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.65, Y:-124.45, Z:0.03 [[ 9.43934171e-01 3.30133731e-01 0.00000000e+00 4.61645739e+02] [-3.30133731e-01 9.43934171e-01 0.00000000e+00 -1.24454656e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86309419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.67, Y:-124.46, Z:0.03 [[ 9.44044354e-01 3.29818521e-01 0.00000000e+00 4.61672670e+02] [-3.29818521e-01 9.44044354e-01 0.00000000e+00 -1.24461683e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86456097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.70, Y:-124.47, Z:0.03 [[ 9.44424651e-01 3.28727971e-01 0.00000000e+00 4.61699288e+02] [-3.28727971e-01 9.44424651e-01 0.00000000e+00 -1.24469627e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93465822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.73, Y:-124.48, Z:0.03 [[ 9.46161879e-01 3.23693834e-01 0.00000000e+00 4.61726513e+02] [-3.23693834e-01 9.46161879e-01 0.00000000e+00 -1.24479363e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25057040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.75, Y:-124.49, Z:0.03 [[ 9.47115263e-01 3.20893563e-01 0.00000000e+00 4.61751933e+02] [-3.20893563e-01 9.47115263e-01 0.00000000e+00 -1.24486930e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14631360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.78, Y:-124.50, Z:0.03 [[ 9.47936388e-01 3.18459737e-01 0.00000000e+00 4.61778259e+02] [-3.18459737e-01 9.47936388e-01 0.00000000e+00 -1.24495378e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15665604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.80, Y:-124.51, Z:0.03 [[ 9.49087758e-01 3.15011790e-01 0.00000000e+00 4.61804337e+02] [-3.15011790e-01 9.49087758e-01 0.00000000e+00 -1.24506603e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18549844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.83, Y:-124.52, Z:0.03 [[ 9.49469513e-01 3.13859274e-01 0.00000000e+00 4.61831064e+02] [-3.13859274e-01 9.49469513e-01 0.00000000e+00 -1.24515792e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26276820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.86, Y:-124.52, Z:0.04 [[ 9.49860937e-01 3.12672673e-01 0.00000000e+00 4.61858097e+02] [-3.12672673e-01 9.49860937e-01 0.00000000e+00 -1.24524374e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56704841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.89, Y:-124.53, Z:0.04 [[ 9.50198728e-01 3.11644634e-01 0.00000000e+00 4.61885289e+02] [-3.11644634e-01 9.50198728e-01 0.00000000e+00 -1.24532882e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83594331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.91, Y:-124.54, Z:0.04 [[ 9.50490304e-01 3.10754215e-01 0.00000000e+00 4.61911680e+02] [-3.10754215e-01 9.50490304e-01 0.00000000e+00 -1.24541454e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90709022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.94, Y:-124.55, Z:0.04 [[ 9.50666224e-01 3.10215619e-01 0.00000000e+00 4.61936712e+02] [-3.10215619e-01 9.50666224e-01 0.00000000e+00 -1.24550625e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74551158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.711400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:461.96, Y:-124.56, Z:0.03 [[ 9.50873501e-01 3.09579692e-01 0.00000000e+00 4.61962917e+02] [-3.09579692e-01 9.50873501e-01 0.00000000e+00 -1.24562407e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44541051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.99, Y:-124.57, Z:0.03 [[ 9.50825240e-01 3.09727886e-01 0.00000000e+00 4.61988736e+02] [-3.09727886e-01 9.50825240e-01 0.00000000e+00 -1.24570909e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47380680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.02, Y:-124.58, Z:0.04 [[ 9.50799083e-01 3.09808173e-01 0.00000000e+00 4.62015002e+02] [-3.09808173e-01 9.50799083e-01 0.00000000e+00 -1.24579532e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60930745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.04, Y:-124.59, Z:0.04 [[ 9.50678527e-01 3.10177915e-01 0.00000000e+00 4.62041770e+02] [-3.10177915e-01 9.50678527e-01 0.00000000e+00 -1.24588633e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67712809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.07, Y:-124.60, Z:0.03 [[ 9.50261140e-01 3.11454275e-01 0.00000000e+00 4.62066507e+02] [-3.11454275e-01 9.50261140e-01 0.00000000e+00 -1.24600459e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42380118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.09, Y:-124.61, Z:0.03 [[ 9.50242462e-01 3.11511258e-01 0.00000000e+00 4.62092867e+02] [-3.11511258e-01 9.50242462e-01 0.00000000e+00 -1.24609836e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25211908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.12, Y:-124.62, Z:0.03 [[ 9.50286920e-01 3.11375607e-01 0.00000000e+00 4.62119106e+02] [-3.11375607e-01 9.50286920e-01 0.00000000e+00 -1.24619460e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20642871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.14, Y:-124.63, Z:0.03 [[ 9.50320951e-01 3.11271730e-01 0.00000000e+00 4.62144685e+02] [-3.11271730e-01 9.50320951e-01 0.00000000e+00 -1.24629354e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13656493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.17, Y:-124.64, Z:0.03 [[ 9.50259799e-01 3.11458367e-01 0.00000000e+00 4.62169963e+02] [-3.11458367e-01 9.50259799e-01 0.00000000e+00 -1.24643392e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17718564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.20, Y:-124.65, Z:0.03 [[ 9.50010831e-01 3.12216946e-01 0.00000000e+00 4.62195036e+02] [-3.12216946e-01 9.50010831e-01 0.00000000e+00 -1.24652998e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05253018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.22, Y:-124.66, Z:0.03 [[ 9.49550935e-01 3.13612853e-01 0.00000000e+00 4.62221013e+02] [-3.13612853e-01 9.49550935e-01 0.00000000e+00 -1.24662613e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83656500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.25, Y:-124.67, Z:0.03 [[ 9.49036540e-01 3.15166061e-01 0.00000000e+00 4.62247647e+02] [-3.15166061e-01 9.49036540e-01 0.00000000e+00 -1.24671873e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65632832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.27, Y:-124.68, Z:0.03 [[ 9.48409474e-01 3.17048056e-01 0.00000000e+00 4.62273979e+02] [-3.17048056e-01 9.48409474e-01 0.00000000e+00 -1.24681490e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66588514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.30, Y:-124.69, Z:0.03 [[ 9.47709544e-01 3.19134172e-01 0.00000000e+00 4.62300775e+02] [-3.19134172e-01 9.47709544e-01 0.00000000e+00 -1.24691129e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70923449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.33, Y:-124.70, Z:0.03 [[ 9.46119357e-01 3.23818101e-01 0.00000000e+00 4.62327051e+02] [-3.23818101e-01 9.46119357e-01 0.00000000e+00 -1.24700820e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76967375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.35, Y:-124.71, Z:0.03 [[ 9.45357639e-01 3.26035172e-01 0.00000000e+00 4.62354456e+02] [-3.26035172e-01 9.45357639e-01 0.00000000e+00 -1.24707939e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69248959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.38, Y:-124.71, Z:0.03 [[ 9.44785857e-01 3.27688394e-01 0.00000000e+00 4.62381034e+02] [-3.27688394e-01 9.44785857e-01 0.00000000e+00 -1.24714729e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59574915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.41, Y:-124.72, Z:0.03 [[ 9.44322046e-01 3.29022602e-01 0.00000000e+00 4.62408661e+02] [-3.29022602e-01 9.44322046e-01 0.00000000e+00 -1.24722149e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73501290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.44, Y:-124.73, Z:0.03 [[ 9.44393406e-01 3.28817724e-01 0.00000000e+00 4.62436520e+02] [-3.28817724e-01 9.44393406e-01 0.00000000e+00 -1.24728101e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78604024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.46, Y:-124.73, Z:0.03 [[ 9.44445249e-01 3.28668786e-01 0.00000000e+00 4.62464206e+02] [-3.28668786e-01 9.44445249e-01 0.00000000e+00 -1.24733376e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78407480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.49, Y:-124.74, Z:0.03 [[ 9.44472737e-01 3.28589787e-01 0.00000000e+00 4.62491217e+02] [-3.28589787e-01 9.44472737e-01 0.00000000e+00 -1.24738037e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70082128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.52, Y:-124.74, Z:0.03 [[ 9.44591926e-01 3.28247000e-01 0.00000000e+00 4.62519175e+02] [-3.28247000e-01 9.44591926e-01 0.00000000e+00 -1.24742959e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78347418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.55, Y:-124.75, Z:0.03 [[ 9.45306258e-01 3.26184119e-01 0.00000000e+00 4.62547487e+02] [-3.26184119e-01 9.45306258e-01 0.00000000e+00 -1.24747320e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07674796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.57, Y:-124.75, Z:0.03 [[ 9.45953381e-01 3.24302638e-01 0.00000000e+00 4.62574273e+02] [-3.24302638e-01 9.45953381e-01 0.00000000e+00 -1.24752814e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05700790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.60, Y:-124.76, Z:0.03 [[ 9.46759480e-01 3.21941746e-01 0.00000000e+00 4.62601527e+02] [-3.21941746e-01 9.46759480e-01 0.00000000e+00 -1.24758586e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99461438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.63, Y:-124.76, Z:0.03 [[ 9.47462339e-01 3.19867341e-01 0.00000000e+00 4.62628292e+02] [-3.19867341e-01 9.47462339e-01 0.00000000e+00 -1.24764929e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97786815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.66, Y:-124.77, Z:0.03 [[ 9.48129622e-01 3.17883972e-01 0.00000000e+00 4.62655063e+02] [-3.17883972e-01 9.48129622e-01 0.00000000e+00 -1.24771897e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98033506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.68, Y:-124.78, Z:0.03 [[ 9.49178909e-01 3.14737031e-01 0.00000000e+00 4.62681866e+02] [-3.14737031e-01 9.49178909e-01 0.00000000e+00 -1.24778973e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01595209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.71, Y:-124.79, Z:0.03 [[ 9.49463275e-01 3.13878143e-01 0.00000000e+00 4.62709247e+02] [-3.13878143e-01 9.49463275e-01 0.00000000e+00 -1.24785047e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02189731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.74, Y:-124.79, Z:0.03 [[ 9.49553182e-01 3.13606049e-01 0.00000000e+00 4.62736618e+02] [-3.13606049e-01 9.49553182e-01 0.00000000e+00 -1.24791400e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06079497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.76, Y:-124.80, Z:0.03 [[ 9.49517204e-01 3.13714964e-01 0.00000000e+00 4.62763681e+02] [-3.13714964e-01 9.49517204e-01 0.00000000e+00 -1.24799084e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04743708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.79, Y:-124.81, Z:0.03 [[ 9.49468711e-01 3.13861700e-01 0.00000000e+00 4.62790786e+02] [-3.13861700e-01 9.49468711e-01 0.00000000e+00 -1.24807030e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98112815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.82, Y:-124.81, Z:0.03 [[ 9.49374902e-01 3.14145340e-01 0.00000000e+00 4.62816218e+02] [-3.14145340e-01 9.49374902e-01 0.00000000e+00 -1.24814767e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84573534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.84, Y:-124.82, Z:0.03 [[ 9.49142697e-01 3.14846218e-01 0.00000000e+00 4.62842264e+02] [-3.14846218e-01 9.49142697e-01 0.00000000e+00 -1.24823288e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72482260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.87, Y:-124.83, Z:0.03 [[ 9.48960823e-01 3.15393971e-01 0.00000000e+00 4.62867754e+02] [-3.15393971e-01 9.48960823e-01 0.00000000e+00 -1.24831161e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68244403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.90, Y:-124.84, Z:0.03 [[ 9.48860813e-01 3.15694723e-01 0.00000000e+00 4.62895109e+02] [-3.15694723e-01 9.48860813e-01 0.00000000e+00 -1.24838990e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79618668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.92, Y:-124.85, Z:0.03 [[ 9.48836733e-01 3.15767089e-01 0.00000000e+00 4.62922634e+02] [-3.15767089e-01 9.48836733e-01 0.00000000e+00 -1.24846311e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77151166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.95, Y:-124.85, Z:0.03 [[ 9.48870833e-01 3.15664605e-01 0.00000000e+00 4.62948107e+02] [-3.15664605e-01 9.48870833e-01 0.00000000e+00 -1.24853947e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66668879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.97, Y:-124.86, Z:0.02 [[ 9.49018063e-01 3.15221694e-01 0.00000000e+00 4.62973872e+02] [-3.15221694e-01 9.49018063e-01 0.00000000e+00 -1.24862107e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48919906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.00, Y:-124.87, Z:0.03 [[ 9.49733761e-01 3.13058753e-01 0.00000000e+00 4.63001277e+02] [-3.13058753e-01 9.49733761e-01 0.00000000e+00 -1.24872029e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73776666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.03, Y:-124.88, Z:0.03 [[ 9.49792224e-01 3.12881338e-01 0.00000000e+00 4.63028948e+02] [-3.12881338e-01 9.49792224e-01 0.00000000e+00 -1.24878795e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73776666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.06, Y:-124.89, Z:0.03 [[ 9.50131889e-01 3.11848349e-01 0.00000000e+00 4.63055275e+02] [-3.11848349e-01 9.50131889e-01 0.00000000e+00 -1.24886382e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76606921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.08, Y:-124.89, Z:0.03 [[ 9.50408923e-01 3.11003021e-01 0.00000000e+00 4.63081424e+02] [-3.11003021e-01 9.50408923e-01 0.00000000e+00 -1.24894492e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70653754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.11, Y:-124.90, Z:0.03 [[ 9.50731693e-01 3.10014917e-01 0.00000000e+00 4.63108451e+02] [-3.10014917e-01 9.50731693e-01 0.00000000e+00 -1.24903450e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65839740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.13, Y:-124.91, Z:0.03 [[ 9.51101129e-01 3.08879656e-01 0.00000000e+00 4.63133948e+02] [-3.08879656e-01 9.51101129e-01 0.00000000e+00 -1.24912104e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54991501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.16, Y:-124.92, Z:0.03 [[ 9.51952473e-01 3.06245798e-01 0.00000000e+00 4.63161430e+02] [-3.06245798e-01 9.51952473e-01 0.00000000e+00 -1.24920116e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87530069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.19, Y:-124.93, Z:0.03 [[ 9.52235763e-01 3.05363802e-01 0.00000000e+00 4.63188374e+02] [-3.05363802e-01 9.52235763e-01 0.00000000e+00 -1.24927777e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08478805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.21, Y:-124.94, Z:0.03 [[ 9.52445274e-01 3.04709697e-01 0.00000000e+00 4.63214822e+02] [-3.04709697e-01 9.52445274e-01 0.00000000e+00 -1.24936350e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11391850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.24, Y:-124.95, Z:0.03 [[ 9.52546032e-01 3.04394575e-01 0.00000000e+00 4.63241758e+02] [-3.04394575e-01 9.52546032e-01 0.00000000e+00 -1.24945809e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06325100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.27, Y:-124.95, Z:0.03 [[ 9.52510985e-01 3.04504224e-01 0.00000000e+00 4.63268761e+02] [-3.04504224e-01 9.52510985e-01 0.00000000e+00 -1.24954117e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71048444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.30, Y:-124.96, Z:0.03 [[ 9.52497719e-01 3.04545720e-01 0.00000000e+00 4.63295867e+02] [-3.04545720e-01 9.52497719e-01 0.00000000e+00 -1.24960823e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64576477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.32, Y:-124.97, Z:0.03 [[ 9.52421102e-01 3.04785243e-01 0.00000000e+00 4.63322082e+02] [-3.04785243e-01 9.52421102e-01 0.00000000e+00 -1.24969484e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62546627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.35, Y:-124.98, Z:0.03 [[ 9.52379036e-01 3.04916664e-01 0.00000000e+00 4.63348631e+02] [-3.04916664e-01 9.52379036e-01 0.00000000e+00 -1.24979446e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67907166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.38, Y:-124.99, Z:0.03 [[ 9.52333952e-01 3.05057443e-01 0.00000000e+00 4.63375365e+02] [-3.05057443e-01 9.52333952e-01 0.00000000e+00 -1.24989465e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07092436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.40, Y:-125.00, Z:0.03 [[ 9.52155388e-01 3.05614328e-01 0.00000000e+00 4.63402532e+02] [-3.05614328e-01 9.52155388e-01 0.00000000e+00 -1.24996022e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12692179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.43, Y:-125.00, Z:0.03 [[ 9.51808300e-01 3.06693595e-01 0.00000000e+00 4.63429866e+02] [-3.06693595e-01 9.51808300e-01 0.00000000e+00 -1.25002601e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13854176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.46, Y:-125.01, Z:0.03 [[ 9.51260533e-01 3.08388389e-01 0.00000000e+00 4.63456031e+02] [-3.08388389e-01 9.51260533e-01 0.00000000e+00 -1.25009752e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03483895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.48, Y:-125.02, Z:0.03 [[ 9.50455502e-01 3.10860642e-01 0.00000000e+00 4.63482979e+02] [-3.10860642e-01 9.50455502e-01 0.00000000e+00 -1.25018842e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05599743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.51, Y:-125.03, Z:0.03 [[ 9.50276455e-01 3.11407546e-01 0.00000000e+00 4.63509468e+02] [-3.11407546e-01 9.50276455e-01 0.00000000e+00 -1.25025540e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05453593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.54, Y:-125.03, Z:0.03 [[ 9.50210841e-01 3.11607697e-01 0.00000000e+00 4.63537171e+02] [-3.11607697e-01 9.50210841e-01 0.00000000e+00 -1.25032070e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04415626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.511400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:463.56, Y:-125.04, Z:0.03 [[ 9.50161523e-01 3.11758046e-01 0.00000000e+00 4.63564501e+02] [-3.11758046e-01 9.50161523e-01 0.00000000e+00 -1.25038996e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08353104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.59, Y:-125.05, Z:0.03 [[ 9.50192497e-01 3.11663630e-01 0.00000000e+00 4.63591106e+02] [-3.11663630e-01 9.50192497e-01 0.00000000e+00 -1.25045762e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06561933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.62, Y:-125.05, Z:0.03 [[ 9.49784119e-01 3.12905941e-01 0.00000000e+00 4.63617180e+02] [-3.12905941e-01 9.49784119e-01 0.00000000e+00 -1.25052293e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04257733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.64, Y:-125.06, Z:0.03 [[ 9.49313552e-01 3.14330685e-01 0.00000000e+00 4.63644800e+02] [-3.14330685e-01 9.49313552e-01 0.00000000e+00 -1.25057812e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11245768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.67, Y:-125.06, Z:0.03 [[ 9.48686550e-01 3.16218009e-01 0.00000000e+00 4.63672407e+02] [-3.16218009e-01 9.48686550e-01 0.00000000e+00 -1.25062862e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20200082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.70, Y:-125.07, Z:0.03 [[ 9.47976518e-01 3.18340261e-01 0.00000000e+00 4.63699404e+02] [-3.18340261e-01 9.47976518e-01 0.00000000e+00 -1.25068248e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29953475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.73, Y:-125.07, Z:0.03 [[ 9.46915984e-01 3.21481133e-01 0.00000000e+00 4.63726775e+02] [-3.21481133e-01 9.46915984e-01 0.00000000e+00 -1.25072926e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36155978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.75, Y:-125.08, Z:0.03 [[ 9.46798294e-01 3.21827579e-01 0.00000000e+00 4.63754618e+02] [-3.21827579e-01 9.46798294e-01 0.00000000e+00 -1.25078824e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31848665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.78, Y:-125.08, Z:0.03 [[ 9.46843635e-01 3.21694157e-01 0.00000000e+00 4.63780472e+02] [-3.21694157e-01 9.46843635e-01 0.00000000e+00 -1.25084700e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27738164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.81, Y:-125.09, Z:0.03 [[ 9.47107259e-01 3.20917187e-01 0.00000000e+00 4.63807819e+02] [-3.20917187e-01 9.47107259e-01 0.00000000e+00 -1.25091412e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33504157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.84, Y:-125.10, Z:0.03 [[ 9.47471524e-01 3.19840135e-01 0.00000000e+00 4.63835293e+02] [-3.19840135e-01 9.47471524e-01 0.00000000e+00 -1.25098960e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44854962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.86, Y:-125.11, Z:0.03 [[ 9.47631976e-01 3.19364429e-01 0.00000000e+00 4.63861480e+02] [-3.19364429e-01 9.47631976e-01 0.00000000e+00 -1.25105849e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39373429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.89, Y:-125.11, Z:0.03 [[ 9.47779215e-01 3.18927201e-01 0.00000000e+00 4.63888242e+02] [-3.18927201e-01 9.47779215e-01 0.00000000e+00 -1.25112823e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40749680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.901400513 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:463.91, Y:-125.12, Z:0.03 [[ 9.47762491e-01 3.18976898e-01 0.00000000e+00 4.63913941e+02] [-3.18976898e-01 9.47762491e-01 0.00000000e+00 -1.25119503e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38327584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.94, Y:-125.13, Z:0.03 [[ 9.47566542e-01 3.19558522e-01 0.00000000e+00 4.63941214e+02] [-3.19558522e-01 9.47566542e-01 0.00000000e+00 -1.25126499e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40406036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.97, Y:-125.13, Z:0.03 [[ 9.47077325e-01 3.21005516e-01 0.00000000e+00 4.63966977e+02] [-3.21005516e-01 9.47077325e-01 0.00000000e+00 -1.25133235e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31878656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.00, Y:-125.14, Z:0.03 [[ 9.45745155e-01 3.24909376e-01 0.00000000e+00 4.63995195e+02] [-3.24909376e-01 9.45745155e-01 0.00000000e+00 -1.25138502e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07442233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.02, Y:-125.14, Z:0.03 [[ 9.45172916e-01 3.26570296e-01 0.00000000e+00 4.64022475e+02] [-3.26570296e-01 9.45172916e-01 0.00000000e+00 -1.25143270e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08777345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.05, Y:-125.15, Z:0.03 [[ 9.44387132e-01 3.28835742e-01 0.00000000e+00 4.64050180e+02] [-3.28835742e-01 9.44387132e-01 0.00000000e+00 -1.25149310e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30489128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.08, Y:-125.16, Z:0.03 [[ 9.44259219e-01 3.29202867e-01 0.00000000e+00 4.64077302e+02] [-3.29202867e-01 9.44259219e-01 0.00000000e+00 -1.25156498e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35035302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.10, Y:-125.16, Z:0.03 [[ 9.44353774e-01 3.28931527e-01 0.00000000e+00 4.64104793e+02] [-3.28931527e-01 9.44353774e-01 0.00000000e+00 -1.25163096e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27797444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.13, Y:-125.17, Z:0.03 [[ 9.44580693e-01 3.28279324e-01 0.00000000e+00 4.64132455e+02] [-3.28279324e-01 9.44580693e-01 0.00000000e+00 -1.25168738e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13873742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.16, Y:-125.17, Z:0.03 [[ 9.44909044e-01 3.27333009e-01 0.00000000e+00 4.64159457e+02] [-3.27333009e-01 9.44909044e-01 0.00000000e+00 -1.25173609e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81157587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.201400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:464.19, Y:-125.18, Z:0.03 [[ 9.45515800e-01 3.25576215e-01 0.00000000e+00 4.64186767e+02] [-3.25576215e-01 9.45515800e-01 0.00000000e+00 -1.25179783e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78428239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.21, Y:-125.19, Z:0.03 [[ 9.45707245e-01 3.25019702e-01 0.00000000e+00 4.64213617e+02] [-3.25019702e-01 9.45707245e-01 0.00000000e+00 -1.25185841e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89434758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.24, Y:-125.19, Z:0.03 [[ 9.45628767e-01 3.25247960e-01 0.00000000e+00 4.64239889e+02] [-3.25247960e-01 9.45628767e-01 0.00000000e+00 -1.25191023e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85819315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.27, Y:-125.19, Z:0.03 [[ 9.45522974e-01 3.25555381e-01 0.00000000e+00 4.64267741e+02] [-3.25555381e-01 9.45522974e-01 0.00000000e+00 -1.25194888e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76566010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.30, Y:-125.20, Z:0.03 [[ 9.45458802e-01 3.25741697e-01 0.00000000e+00 4.64295965e+02] [-3.25741697e-01 9.45458802e-01 0.00000000e+00 -1.25198509e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69052187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.32, Y:-125.20, Z:0.03 [[ 9.45564935e-01 3.25433485e-01 0.00000000e+00 4.64323323e+02] [-3.25433485e-01 9.45564935e-01 0.00000000e+00 -1.25202827e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64414829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.35, Y:-125.21, Z:0.03 [[ 9.45862020e-01 3.24569006e-01 0.00000000e+00 4.64351573e+02] [-3.24569006e-01 9.45862020e-01 0.00000000e+00 -1.25209242e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99099612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.38, Y:-125.21, Z:0.03 [[ 9.46346216e-01 3.23154512e-01 0.00000000e+00 4.64379802e+02] [-3.23154512e-01 9.46346216e-01 0.00000000e+00 -1.25214379e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17373299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.41, Y:-125.22, Z:0.03 [[ 9.46970083e-01 3.21321743e-01 0.00000000e+00 4.64406484e+02] [-3.21321743e-01 9.46970083e-01 0.00000000e+00 -1.25218528e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16184621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.43, Y:-125.22, Z:0.03 [[ 9.48516296e-01 3.16728333e-01 0.00000000e+00 4.64433554e+02] [-3.16728333e-01 9.48516296e-01 0.00000000e+00 -1.25223867e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94873558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.46, Y:-125.23, Z:0.03 [[ 9.49207776e-01 3.14649962e-01 0.00000000e+00 4.64459517e+02] [-3.14649962e-01 9.49207776e-01 0.00000000e+00 -1.25230490e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93498845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.49, Y:-125.24, Z:0.03 [[ 9.49862091e-01 3.12669168e-01 0.00000000e+00 4.64485703e+02] [-3.12669168e-01 9.49862091e-01 0.00000000e+00 -1.25236758e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96736979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.51, Y:-125.24, Z:0.03 [[ 9.50355000e-01 3.11167758e-01 0.00000000e+00 4.64513290e+02] [-3.11167758e-01 9.50355000e-01 0.00000000e+00 -1.25243033e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21063158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.54, Y:-125.25, Z:0.03 [[ 9.50956510e-01 3.09324614e-01 0.00000000e+00 4.64542285e+02] [-3.09324614e-01 9.50956510e-01 0.00000000e+00 -1.25247751e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45193028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.57, Y:-125.25, Z:0.03 [[ 9.51073201e-01 3.08965638e-01 0.00000000e+00 4.64569621e+02] [-3.08965638e-01 9.51073201e-01 0.00000000e+00 -1.25253939e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45336762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.60, Y:-125.26, Z:0.03 [[ 9.51146003e-01 3.08741448e-01 0.00000000e+00 4.64596885e+02] [-3.08741448e-01 9.51146003e-01 0.00000000e+00 -1.25260292e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35070628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.62, Y:-125.27, Z:0.03 [[ 9.51134264e-01 3.08777609e-01 0.00000000e+00 4.64623135e+02] [-3.08777609e-01 9.51134264e-01 0.00000000e+00 -1.25267708e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14171741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.65, Y:-125.27, Z:0.03 [[ 9.51276095e-01 3.08340382e-01 0.00000000e+00 4.64650535e+02] [-3.08340382e-01 9.51276095e-01 0.00000000e+00 -1.25274731e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16848389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.68, Y:-125.28, Z:0.03 [[ 9.51425005e-01 3.07880592e-01 0.00000000e+00 4.64678004e+02] [-3.07880592e-01 9.51425005e-01 0.00000000e+00 -1.25281206e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12797170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.71, Y:-125.29, Z:0.03 [[ 9.51453933e-01 3.07791186e-01 0.00000000e+00 4.64705039e+02] [-3.07791186e-01 9.51453933e-01 0.00000000e+00 -1.25287731e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95500183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.73, Y:-125.29, Z:0.03 [[ 9.51508762e-01 3.07621644e-01 0.00000000e+00 4.64732774e+02] [-3.07621644e-01 9.51508762e-01 0.00000000e+00 -1.25294235e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95500183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.76, Y:-125.30, Z:0.03 [[ 9.51445614e-01 3.07816900e-01 0.00000000e+00 4.64760599e+02] [-3.07816900e-01 9.51445614e-01 0.00000000e+00 -1.25300919e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78871215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.79, Y:-125.31, Z:0.03 [[ 9.50995073e-01 3.09206033e-01 0.00000000e+00 4.64787243e+02] [-3.09206033e-01 9.50995073e-01 0.00000000e+00 -1.25308506e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71410893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.81, Y:-125.32, Z:0.03 [[ 9.50759061e-01 3.09930973e-01 0.00000000e+00 4.64814385e+02] [-3.09930973e-01 9.50759061e-01 0.00000000e+00 -1.25316426e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81891621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.921400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:464.84, Y:-125.32, Z:0.03 [[ 9.50562473e-01 3.10533389e-01 0.00000000e+00 4.64841426e+02] [-3.10533389e-01 9.50562473e-01 0.00000000e+00 -1.25324905e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93907590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.87, Y:-125.33, Z:0.03 [[ 9.50626494e-01 3.10337348e-01 0.00000000e+00 4.64868450e+02] [-3.10337348e-01 9.50626494e-01 0.00000000e+00 -1.25333666e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06021818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.89, Y:-125.34, Z:0.03 [[ 9.51317620e-01 3.08212242e-01 0.00000000e+00 4.64894720e+02] [-3.08212242e-01 9.51317620e-01 0.00000000e+00 -1.25343701e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06173639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.92, Y:-125.35, Z:0.03 [[ 9.51863431e-01 3.06522444e-01 0.00000000e+00 4.64920962e+02] [-3.06522444e-01 9.51863431e-01 0.00000000e+00 -1.25351483e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05408067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.95, Y:-125.36, Z:0.03 [[ 9.52505229e-01 3.04522231e-01 0.00000000e+00 4.64947345e+02] [-3.04522231e-01 9.52505229e-01 0.00000000e+00 -1.25359524e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04498379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.97, Y:-125.37, Z:0.03 [[ 9.53107496e-01 3.02631958e-01 0.00000000e+00 4.64974030e+02] [-3.02631958e-01 9.53107496e-01 0.00000000e+00 -1.25368803e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08582497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.00, Y:-125.38, Z:0.03 [[ 9.53984234e-01 2.99856768e-01 0.00000000e+00 4.64999677e+02] [-2.99856768e-01 9.53984234e-01 0.00000000e+00 -1.25380733e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30127685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.03, Y:-125.39, Z:0.03 [[ 9.54224161e-01 2.99092379e-01 0.00000000e+00 4.65027414e+02] [-2.99092379e-01 9.54224161e-01 0.00000000e+00 -1.25388894e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42926701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.05, Y:-125.40, Z:0.03 [[ 9.54346199e-01 2.98702750e-01 0.00000000e+00 4.65053429e+02] [-2.98702750e-01 9.54346199e-01 0.00000000e+00 -1.25396588e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49219176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.08, Y:-125.41, Z:0.03 [[ 9.54178438e-01 2.99238212e-01 0.00000000e+00 4.65079580e+02] [-2.99238212e-01 9.54178438e-01 0.00000000e+00 -1.25407052e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46372504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.11, Y:-125.42, Z:0.03 [[ 9.53920768e-01 3.00058608e-01 0.00000000e+00 4.65107232e+02] [-3.00058608e-01 9.53920768e-01 0.00000000e+00 -1.25415215e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40079518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.13, Y:-125.42, Z:0.03 [[ 9.53674531e-01 3.00840306e-01 0.00000000e+00 4.65134065e+02] [-3.00840306e-01 9.53674531e-01 0.00000000e+00 -1.25422021e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23385021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.16, Y:-125.43, Z:0.03 [[ 9.53534247e-01 3.01284649e-01 0.00000000e+00 4.65162529e+02] [-3.01284649e-01 9.53534247e-01 0.00000000e+00 -1.25428342e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11846885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.19, Y:-125.43, Z:0.03 [[ 9.53512772e-01 3.01352607e-01 0.00000000e+00 4.65188606e+02] [-3.01352607e-01 9.53512772e-01 0.00000000e+00 -1.25434061e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19613932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.22, Y:-125.44, Z:0.04 [[ 9.54003533e-01 2.99795362e-01 0.00000000e+00 4.65217144e+02] [-2.99795362e-01 9.54003533e-01 0.00000000e+00 -1.25440337e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54328463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.24, Y:-125.45, Z:0.04 [[ 9.54532575e-01 2.98106632e-01 0.00000000e+00 4.65243321e+02] [-2.98106632e-01 9.54532575e-01 0.00000000e+00 -1.25446808e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50977227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.27, Y:-125.45, Z:0.04 [[ 9.55253047e-01 2.95789819e-01 0.00000000e+00 4.65270131e+02] [-2.95789819e-01 9.55253047e-01 0.00000000e+00 -1.25453217e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53318636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.30, Y:-125.46, Z:0.03 [[ 9.55992515e-01 2.93391056e-01 0.00000000e+00 4.65296238e+02] [-2.93391056e-01 9.55992515e-01 0.00000000e+00 -1.25459036e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46569750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.32, Y:-125.47, Z:0.04 [[ 9.56802206e-01 2.90739641e-01 0.00000000e+00 4.65324071e+02] [-2.90739641e-01 9.56802206e-01 0.00000000e+00 -1.25465226e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52555883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.35, Y:-125.47, Z:0.04 [[ 9.58542569e-01 2.84949371e-01 0.00000000e+00 4.65350562e+02] [-2.84949371e-01 9.58542569e-01 0.00000000e+00 -1.25473145e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62676601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.38, Y:-125.48, Z:0.04 [[ 9.59232312e-01 2.82618776e-01 0.00000000e+00 4.65378364e+02] [-2.82618776e-01 9.59232312e-01 0.00000000e+00 -1.25481018e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50022757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.551400513 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:465.41, Y:-125.49, Z:0.03 [[ 9.59630897e-01 2.81262408e-01 0.00000000e+00 4.65406648e+02] [-2.81262408e-01 9.59630897e-01 0.00000000e+00 -1.25488727e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28805570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.43, Y:-125.50, Z:0.03 [[ 9.59893857e-01 2.80363663e-01 0.00000000e+00 4.65434534e+02] [-2.80363663e-01 9.59893857e-01 0.00000000e+00 -1.25497683e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31987626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.46, Y:-125.51, Z:0.04 [[ 9.59896998e-01 2.80352910e-01 0.00000000e+00 4.65461900e+02] [-2.80352910e-01 9.59896998e-01 0.00000000e+00 -1.25505690e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50731157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.49, Y:-125.51, Z:0.04 [[ 9.59904823e-01 2.80326116e-01 0.00000000e+00 4.65488706e+02] [-2.80326116e-01 9.59904823e-01 0.00000000e+00 -1.25513090e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64283292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.52, Y:-125.52, Z:0.04 [[ 9.59964715e-01 2.80120947e-01 0.00000000e+00 4.65515316e+02] [-2.80120947e-01 9.59964715e-01 0.00000000e+00 -1.25520738e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68250680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.54, Y:-125.53, Z:0.04 [[ 9.60645599e-01 2.77776948e-01 0.00000000e+00 4.65541191e+02] [-2.77776948e-01 9.60645599e-01 0.00000000e+00 -1.25530934e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58483715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.57, Y:-125.54, Z:0.04 [[ 9.61340610e-01 2.75362001e-01 0.00000000e+00 4.65566948e+02] [-2.75362001e-01 9.61340610e-01 0.00000000e+00 -1.25539700e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52992139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.59, Y:-125.55, Z:0.04 [[ 9.62259808e-01 2.72132436e-01 0.00000000e+00 4.65593454e+02] [-2.72132436e-01 9.62259808e-01 0.00000000e+00 -1.25548470e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53518717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.62, Y:-125.56, Z:0.04 [[ 9.63303147e-01 2.68415809e-01 0.00000000e+00 4.65619454e+02] [-2.68415809e-01 9.63303147e-01 0.00000000e+00 -1.25556647e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56702334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.821400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:465.65, Y:-125.57, Z:0.04 [[ 9.65372866e-01 2.60873974e-01 0.00000000e+00 4.65646895e+02] [-2.60873974e-01 9.65372866e-01 0.00000000e+00 -1.25567488e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55838187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.851400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:465.67, Y:-125.58, Z:0.04 [[ 9.66353337e-01 2.57218250e-01 0.00000000e+00 4.65673354e+02] [-2.57218250e-01 9.66353337e-01 0.00000000e+00 -1.25576004e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54518041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.70, Y:-125.58, Z:0.04 [[ 9.67245581e-01 2.53842445e-01 0.00000000e+00 4.65700119e+02] [-2.53842445e-01 9.67245581e-01 0.00000000e+00 -1.25584627e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60800700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.911400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:465.73, Y:-125.59, Z:0.04 [[ 9.67895090e-01 2.51354518e-01 0.00000000e+00 4.65726903e+02] [-2.51354518e-01 9.67895090e-01 0.00000000e+00 -1.25593364e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65872321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.75, Y:-125.60, Z:0.04 [[ 9.68423998e-01 2.49308966e-01 0.00000000e+00 4.65754120e+02] [-2.49308966e-01 9.68423998e-01 0.00000000e+00 -1.25602119e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83101588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.971400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:465.78, Y:-125.61, Z:0.04 [[ 9.68759919e-01 2.48000442e-01 0.00000000e+00 4.65781101e+02] [-2.48000442e-01 9.68759919e-01 0.00000000e+00 -1.25614386e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84545639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.001400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:465.81, Y:-125.62, Z:0.04 [[ 9.68658836e-01 2.48394966e-01 0.00000000e+00 4.65807849e+02] [-2.48394966e-01 9.68658836e-01 0.00000000e+00 -1.25624327e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74487202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.83, Y:-125.63, Z:0.04 [[ 9.68530316e-01 2.48895615e-01 0.00000000e+00 4.65834523e+02] [-2.48895615e-01 9.68530316e-01 0.00000000e+00 -1.25634698e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66556666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.86, Y:-125.64, Z:0.04 [[ 9.68159437e-01 2.50334385e-01 0.00000000e+00 4.65861607e+02] [-2.50334385e-01 9.68159437e-01 0.00000000e+00 -1.25644915e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56288202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.091400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:465.89, Y:-125.66, Z:0.04 [[ 9.66400853e-01 2.57039669e-01 0.00000000e+00 4.65887366e+02] [-2.57039669e-01 9.66400853e-01 0.00000000e+00 -1.25655863e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52674307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.92, Y:-125.66, Z:0.04 [[ 9.65224230e-01 2.61423384e-01 0.00000000e+00 4.65915108e+02] [-2.61423384e-01 9.65224230e-01 0.00000000e+00 -1.25662853e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65129184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.151400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:465.94, Y:-125.67, Z:0.04 [[ 9.63851442e-01 2.66440234e-01 0.00000000e+00 4.65942957e+02] [-2.66440234e-01 9.63851442e-01 0.00000000e+00 -1.25669382e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59417677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.97, Y:-125.67, Z:0.03 [[ 9.61682565e-01 2.74165358e-01 0.00000000e+00 4.65971240e+02] [-2.74165358e-01 9.61682565e-01 0.00000000e+00 -1.25674947e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37029183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.00, Y:-125.68, Z:0.03 [[ 9.61018409e-01 2.76484390e-01 0.00000000e+00 4.65998998e+02] [-2.76484390e-01 9.61018409e-01 0.00000000e+00 -1.25680521e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32845330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.03, Y:-125.69, Z:0.03 [[ 9.60846641e-01 2.77080733e-01 0.00000000e+00 4.66026120e+02] [-2.77080733e-01 9.60846641e-01 0.00000000e+00 -1.25685695e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37274760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.05, Y:-125.69, Z:0.03 [[ 9.61082160e-01 2.76262705e-01 0.00000000e+00 4.66053421e+02] [-2.76262705e-01 9.61082160e-01 0.00000000e+00 -1.25691194e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38821318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.08, Y:-125.70, Z:0.03 [[ 9.62688936e-01 2.70610443e-01 0.00000000e+00 4.66080914e+02] [-2.70610443e-01 9.62688936e-01 0.00000000e+00 -1.25696736e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19449364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.331400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:466.11, Y:-125.70, Z:0.03 [[ 9.63832032e-01 2.66510440e-01 0.00000000e+00 4.66108563e+02] [-2.66510440e-01 9.63832032e-01 0.00000000e+00 -1.25702810e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21432192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.14, Y:-125.71, Z:0.04 [[ 9.64953579e-01 2.62420638e-01 0.00000000e+00 4.66136731e+02] [-2.62420638e-01 9.64953579e-01 0.00000000e+00 -1.25708473e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52473784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.16, Y:-125.71, Z:0.04 [[ 9.65768523e-01 2.59405396e-01 0.00000000e+00 4.66164458e+02] [-2.59405396e-01 9.65768523e-01 0.00000000e+00 -1.25714441e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76301705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.19, Y:-125.72, Z:0.04 [[ 9.66338377e-01 2.57274446e-01 0.00000000e+00 4.66191823e+02] [-2.57274446e-01 9.66338377e-01 0.00000000e+00 -1.25721468e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97190361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.22, Y:-125.73, Z:0.04 [[ 9.66231521e-01 2.57675470e-01 0.00000000e+00 4.66219394e+02] [-2.57675470e-01 9.66231521e-01 0.00000000e+00 -1.25728067e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89252467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.25, Y:-125.73, Z:0.04 [[ 9.65970732e-01 2.58651397e-01 0.00000000e+00 4.66247312e+02] [-2.58651397e-01 9.65970732e-01 0.00000000e+00 -1.25733679e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75734999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.28, Y:-125.74, Z:0.04 [[ 9.65623530e-01 2.59944607e-01 0.00000000e+00 4.66275243e+02] [-2.59944607e-01 9.65623530e-01 0.00000000e+00 -1.25739175e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64835515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.30, Y:-125.75, Z:0.04 [[ 9.65217740e-01 2.61447347e-01 0.00000000e+00 4.66303008e+02] [-2.61447347e-01 9.65217740e-01 0.00000000e+00 -1.25745262e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60932883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.33, Y:-125.75, Z:0.04 [[ 9.64276284e-01 2.64898561e-01 0.00000000e+00 4.66329124e+02] [-2.64898561e-01 9.64276284e-01 0.00000000e+00 -1.25753590e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87731013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.36, Y:-125.76, Z:0.04 [[ 9.63911723e-01 2.66222071e-01 0.00000000e+00 4.66356355e+02] [-2.66222071e-01 9.63911723e-01 0.00000000e+00 -1.25761565e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04849333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.38, Y:-125.77, Z:0.04 [[ 9.63617612e-01 2.67284677e-01 0.00000000e+00 4.66383125e+02] [-2.67284677e-01 9.63617612e-01 0.00000000e+00 -1.25768818e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.05160048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.41, Y:-125.78, Z:0.04 [[ 9.63425209e-01 2.67977360e-01 0.00000000e+00 4.66411035e+02] [-2.67977360e-01 9.63425209e-01 0.00000000e+00 -1.25778150e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70658682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.44, Y:-125.79, Z:0.04 [[ 9.63216739e-01 2.68725722e-01 0.00000000e+00 4.66438216e+02] [-2.68725722e-01 9.63216739e-01 0.00000000e+00 -1.25787672e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75363171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.47, Y:-125.79, Z:0.04 [[ 9.63229401e-01 2.68680332e-01 0.00000000e+00 4.66466787e+02] [-2.68680332e-01 9.63229401e-01 0.00000000e+00 -1.25794320e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75363171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.49, Y:-125.80, Z:0.04 [[ 9.62853403e-01 2.70024675e-01 0.00000000e+00 4.66493196e+02] [-2.70024675e-01 9.62853403e-01 0.00000000e+00 -1.25804650e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80259091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.52, Y:-125.81, Z:0.04 [[ 9.62465813e-01 2.71402946e-01 0.00000000e+00 4.66519737e+02] [-2.71402946e-01 9.62465813e-01 0.00000000e+00 -1.25814623e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.92240205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.55, Y:-125.83, Z:0.04 [[ 9.61638065e-01 2.74321403e-01 0.00000000e+00 4.66546630e+02] [-2.74321403e-01 9.61638065e-01 0.00000000e+00 -1.25825971e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76090178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.57, Y:-125.83, Z:0.04 [[ 9.61128142e-01 2.76102689e-01 0.00000000e+00 4.66573928e+02] [-2.76102689e-01 9.61128142e-01 0.00000000e+00 -1.25834398e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65048090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.60, Y:-125.84, Z:0.04 [[ 9.60471870e-01 2.78377059e-01 0.00000000e+00 4.66600074e+02] [-2.78377059e-01 9.60471870e-01 0.00000000e+00 -1.25842632e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68963027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.63, Y:-125.85, Z:0.04 [[ 9.59706110e-01 2.81005664e-01 0.00000000e+00 4.66627853e+02] [-2.81005664e-01 9.59706110e-01 0.00000000e+00 -1.25851122e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78615014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.66, Y:-125.86, Z:0.04 [[ 9.58717708e-01 2.84359555e-01 0.00000000e+00 4.66655695e+02] [-2.84359555e-01 9.58717708e-01 0.00000000e+00 -1.25858743e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84368732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.68, Y:-125.87, Z:0.03 [[ 9.56687854e-01 2.91115698e-01 0.00000000e+00 4.66682675e+02] [-2.91115698e-01 9.56687854e-01 0.00000000e+00 -1.25866898e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45601109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.99140051300003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:466.71, Y:-125.88, Z:0.03 [[ 9.55818696e-01 2.93956834e-01 0.00000000e+00 4.66710160e+02] [-2.93956834e-01 9.55818696e-01 0.00000000e+00 -1.25875297e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13641188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.74, Y:-125.88, Z:0.03 [[ 9.55566972e-01 2.94774086e-01 0.00000000e+00 4.66736542e+02] [-2.94774086e-01 9.55566972e-01 0.00000000e+00 -1.25883484e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90436487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.76, Y:-125.89, Z:0.03 [[ 9.55603026e-01 2.94657184e-01 0.00000000e+00 4.66764463e+02] [-2.94657184e-01 9.55603026e-01 0.00000000e+00 -1.25892277e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05436056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.79, Y:-125.90, Z:0.03 [[ 9.56144936e-01 2.92893941e-01 0.00000000e+00 4.66791092e+02] [-2.92893941e-01 9.56144936e-01 0.00000000e+00 -1.25904738e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27812680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.82, Y:-125.91, Z:0.03 [[ 9.56508334e-01 2.91704999e-01 0.00000000e+00 4.66818302e+02] [-2.91704999e-01 9.56508334e-01 0.00000000e+00 -1.25914573e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29542414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.85, Y:-125.92, Z:0.03 [[ 9.56652312e-01 2.91232473e-01 0.00000000e+00 4.66846157e+02] [-2.91232473e-01 9.56652312e-01 0.00000000e+00 -1.25924280e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18630444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.87, Y:-125.93, Z:0.03 [[ 9.56581313e-01 2.91465594e-01 0.00000000e+00 4.66873238e+02] [-2.91465594e-01 9.56581313e-01 0.00000000e+00 -1.25932746e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00410335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.90, Y:-125.94, Z:0.03 [[ 9.55522248e-01 2.94919030e-01 0.00000000e+00 4.66901219e+02] [-2.94919030e-01 9.55522248e-01 0.00000000e+00 -1.25941404e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89189943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.93, Y:-125.95, Z:0.03 [[ 9.54743609e-01 2.97430061e-01 0.00000000e+00 4.66929258e+02] [-2.97430061e-01 9.54743609e-01 0.00000000e+00 -1.25948257e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98035863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.96, Y:-125.96, Z:0.03 [[ 9.54034868e-01 2.99695631e-01 0.00000000e+00 4.66957997e+02] [-2.99695631e-01 9.54034868e-01 0.00000000e+00 -1.25955218e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23859770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.99, Y:-125.96, Z:0.03 [[ 9.53506130e-01 3.01373621e-01 0.00000000e+00 4.66985587e+02] [-3.01373621e-01 9.53506130e-01 0.00000000e+00 -1.25961486e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43448842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.02, Y:-125.97, Z:0.04 [[ 9.53379007e-01 3.01775526e-01 0.00000000e+00 4.67015182e+02] [-3.01775526e-01 9.53379007e-01 0.00000000e+00 -1.25967314e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54778907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.04, Y:-125.97, Z:0.03 [[ 9.53728582e-01 3.00668908e-01 0.00000000e+00 4.67043930e+02] [-3.00668908e-01 9.53728582e-01 0.00000000e+00 -1.25973769e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35491049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.07, Y:-125.98, Z:0.03 [[ 9.54273470e-01 2.98935018e-01 0.00000000e+00 4.67071137e+02] [-2.98935018e-01 9.54273470e-01 0.00000000e+00 -1.25979029e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14547432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.10, Y:-125.98, Z:0.03 [[ 9.54876161e-01 2.97004238e-01 0.00000000e+00 4.67100203e+02] [-2.97004238e-01 9.54876161e-01 0.00000000e+00 -1.25984255e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26791934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.13, Y:-125.99, Z:0.03 [[ 9.55517392e-01 2.94934760e-01 0.00000000e+00 4.67128930e+02] [-2.94934760e-01 9.55517392e-01 0.00000000e+00 -1.25989323e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33856782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.16, Y:-125.99, Z:0.04 [[ 9.56473698e-01 2.91818548e-01 0.00000000e+00 4.67156883e+02] [-2.91818548e-01 9.56473698e-01 0.00000000e+00 -1.25992908e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82744753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.18, Y:-126.00, Z:0.04 [[ 9.56704087e-01 2.91062346e-01 0.00000000e+00 4.67184800e+02] [-2.91062346e-01 9.56704087e-01 0.00000000e+00 -1.25998863e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01828004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.21, Y:-126.00, Z:0.04 [[ 9.56874558e-01 2.90501429e-01 0.00000000e+00 4.67212152e+02] [-2.90501429e-01 9.56874558e-01 0.00000000e+00 -1.26004779e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01886730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.24, Y:-126.01, Z:0.04 [[ 9.56928199e-01 2.90324683e-01 0.00000000e+00 4.67241488e+02] [-2.90324683e-01 9.56928199e-01 0.00000000e+00 -1.26011128e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87570611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.27, Y:-126.02, Z:0.04 [[ 9.56725965e-01 2.90990427e-01 0.00000000e+00 4.67269758e+02] [-2.90990427e-01 9.56725965e-01 0.00000000e+00 -1.26015621e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62726892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.30, Y:-126.02, Z:0.04 [[ 9.56635073e-01 2.91289095e-01 0.00000000e+00 4.67298991e+02] [-2.91289095e-01 9.56635073e-01 0.00000000e+00 -1.26022106e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54763662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.33, Y:-126.03, Z:0.03 [[ 9.56664395e-01 2.91192780e-01 0.00000000e+00 4.67326421e+02] [-2.91192780e-01 9.56664395e-01 0.00000000e+00 -1.26028646e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43863899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.36, Y:-126.04, Z:0.03 [[ 9.56973987e-01 2.90173720e-01 0.00000000e+00 4.67355588e+02] [-2.90173720e-01 9.56973987e-01 0.00000000e+00 -1.26035976e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21915722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.38, Y:-126.04, Z:0.03 [[ 9.57145237e-01 2.89608348e-01 0.00000000e+00 4.67384378e+02] [-2.89608348e-01 9.57145237e-01 0.00000000e+00 -1.26042817e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98800704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.41, Y:-126.05, Z:0.03 [[ 9.57460324e-01 2.88564945e-01 0.00000000e+00 4.67412656e+02] [-2.88564945e-01 9.57460324e-01 0.00000000e+00 -1.26049964e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92491018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.44, Y:-126.06, Z:0.03 [[ 9.57840752e-01 2.87299659e-01 0.00000000e+00 4.67440003e+02] [-2.87299659e-01 9.57840752e-01 0.00000000e+00 -1.26057910e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93602508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.47, Y:-126.07, Z:0.03 [[ 9.58332377e-01 2.85655485e-01 0.00000000e+00 4.67469068e+02] [-2.85655485e-01 9.58332377e-01 0.00000000e+00 -1.26067276e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03649590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.50, Y:-126.08, Z:0.03 [[ 9.59149032e-01 2.82901280e-01 0.00000000e+00 4.67497708e+02] [-2.82901280e-01 9.59149032e-01 0.00000000e+00 -1.26079154e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88129254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.53, Y:-126.09, Z:0.03 [[ 9.59349412e-01 2.82221022e-01 0.00000000e+00 4.67526803e+02] [-2.82221022e-01 9.59349412e-01 0.00000000e+00 -1.26087945e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80717023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.56, Y:-126.10, Z:0.03 [[ 9.59361841e-01 2.82178768e-01 0.00000000e+00 4.67556967e+02] [-2.82178768e-01 9.59361841e-01 0.00000000e+00 -1.26097212e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68995181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.59, Y:-126.11, Z:0.03 [[ 9.59265206e-01 2.82507105e-01 0.00000000e+00 4.67586233e+02] [-2.82507105e-01 9.59265206e-01 0.00000000e+00 -1.26106813e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57620196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.62, Y:-126.12, Z:0.03 [[ 9.59150528e-01 2.82896208e-01 0.00000000e+00 4.67615203e+02] [-2.82896208e-01 9.59150528e-01 0.00000000e+00 -1.26116290e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56532714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.64, Y:-126.13, Z:0.03 [[ 9.58999772e-01 2.83406840e-01 0.00000000e+00 4.67644486e+02] [-2.83406840e-01 9.58999772e-01 0.00000000e+00 -1.26129334e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87657106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.68, Y:-126.14, Z:0.03 [[ 9.58821985e-01 2.84007747e-01 0.00000000e+00 4.67675473e+02] [-2.84007747e-01 9.58821985e-01 0.00000000e+00 -1.26141076e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06698146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.71, Y:-126.15, Z:0.03 [[ 9.58572986e-01 2.84847030e-01 0.00000000e+00 4.67706243e+02] [-2.84847030e-01 9.58572986e-01 0.00000000e+00 -1.26153429e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20189593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.74, Y:-126.17, Z:0.03 [[ 9.58275856e-01 2.85845035e-01 0.00000000e+00 4.67737547e+02] [-2.85845035e-01 9.58275856e-01 0.00000000e+00 -1.26165926e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28409200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.77, Y:-126.18, Z:0.03 [[ 9.57375042e-01 2.88847762e-01 0.00000000e+00 4.67766075e+02] [-2.88847762e-01 9.57375042e-01 0.00000000e+00 -1.26180124e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44682076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.80, Y:-126.19, Z:0.04 [[ 9.56767532e-01 2.90853727e-01 0.00000000e+00 4.67797530e+02] [-2.90853727e-01 9.56767532e-01 0.00000000e+00 -1.26190982e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60127975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.83, Y:-126.20, Z:0.04 [[ 9.55459728e-01 2.95121514e-01 0.00000000e+00 4.67826949e+02] [-2.95121514e-01 9.55459728e-01 0.00000000e+00 -1.26204982e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75630950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.86, Y:-126.22, Z:0.04 [[ 9.54765122e-01 2.97360996e-01 0.00000000e+00 4.67857030e+02] [-2.97360996e-01 9.54765122e-01 0.00000000e+00 -1.26216101e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75312921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.89, Y:-126.23, Z:0.04 [[ 9.54099991e-01 2.99488244e-01 0.00000000e+00 4.67888442e+02] [-2.99488244e-01 9.54099991e-01 0.00000000e+00 -1.26227567e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69917195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.92, Y:-126.24, Z:0.04 [[ 9.53404344e-01 3.01695471e-01 0.00000000e+00 4.67918539e+02] [-3.01695471e-01 9.53404344e-01 0.00000000e+00 -1.26238812e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53719379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.95, Y:-126.25, Z:0.03 [[ 9.52689120e-01 3.03946443e-01 0.00000000e+00 4.67948504e+02] [-3.03946443e-01 9.52689120e-01 0.00000000e+00 -1.26249814e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34517410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.98, Y:-126.26, Z:0.03 [[ 9.51886523e-01 3.06450727e-01 0.00000000e+00 4.67977964e+02] [-3.06450727e-01 9.51886523e-01 0.00000000e+00 -1.26262935e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28548997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.01, Y:-126.27, Z:0.03 [[ 9.51761653e-01 3.06838323e-01 0.00000000e+00 4.68009792e+02] [-3.06838323e-01 9.51761653e-01 0.00000000e+00 -1.26272964e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41620473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.04, Y:-126.28, Z:0.03 [[ 9.51793676e-01 3.06738975e-01 0.00000000e+00 4.68040691e+02] [-3.06738975e-01 9.51793676e-01 0.00000000e+00 -1.26282546e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41518126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.07, Y:-126.29, Z:0.03 [[ 9.51796480e-01 3.06730273e-01 0.00000000e+00 4.68072378e+02] [-3.06730273e-01 9.51796480e-01 0.00000000e+00 -1.26292826e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36718801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.431400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:468.10, Y:-126.30, Z:0.03 [[ 9.51702641e-01 3.07021306e-01 0.00000000e+00 4.68103385e+02] [-3.07021306e-01 9.51702641e-01 0.00000000e+00 -1.26303540e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17852413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.13, Y:-126.31, Z:0.03 [[ 9.51997915e-01 3.06104509e-01 0.00000000e+00 4.68134310e+02] [-3.06104509e-01 9.51997915e-01 0.00000000e+00 -1.26313653e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13394381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.49140051300003 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:468.16, Y:-126.33, Z:0.03 [[ 9.52264510e-01 3.05274143e-01 0.00000000e+00 4.68164148e+02] [-3.05274143e-01 9.52264510e-01 0.00000000e+00 -1.26325699e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84975731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.19, Y:-126.33, Z:0.03 [[ 9.52649415e-01 3.04070868e-01 0.00000000e+00 4.68194503e+02] [-3.04070868e-01 9.52649415e-01 0.00000000e+00 -1.26334795e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88215726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.23, Y:-126.34, Z:0.03 [[ 9.52794388e-01 3.03616295e-01 0.00000000e+00 4.68225387e+02] [-3.03616295e-01 9.52794388e-01 0.00000000e+00 -1.26343956e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72430778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.26, Y:-126.35, Z:0.03 [[ 9.52541254e-01 3.04409524e-01 0.00000000e+00 4.68256893e+02] [-3.04409524e-01 9.52541254e-01 0.00000000e+00 -1.26354682e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97871383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.29, Y:-126.36, Z:0.03 [[ 9.52485543e-01 3.04583799e-01 0.00000000e+00 4.68289425e+02] [-3.04583799e-01 9.52485543e-01 0.00000000e+00 -1.26362559e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97871383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.32, Y:-126.37, Z:0.03 [[ 9.52182336e-01 3.05530355e-01 0.00000000e+00 4.68321448e+02] [-3.05530355e-01 9.52182336e-01 0.00000000e+00 -1.26371110e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03557102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.35, Y:-126.38, Z:0.03 [[ 9.51858098e-01 3.06539005e-01 0.00000000e+00 4.68352386e+02] [-3.06539005e-01 9.51858098e-01 0.00000000e+00 -1.26379661e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00659541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.38, Y:-126.39, Z:0.03 [[ 9.51562533e-01 3.07455273e-01 0.00000000e+00 4.68382731e+02] [-3.07455273e-01 9.51562533e-01 0.00000000e+00 -1.26388415e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98048258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.41, Y:-126.40, Z:0.03 [[ 9.51355812e-01 3.08094334e-01 0.00000000e+00 4.68414605e+02] [-3.08094334e-01 9.51355812e-01 0.00000000e+00 -1.26397232e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86591350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.45, Y:-126.41, Z:0.03 [[ 9.51195298e-01 3.08589542e-01 0.00000000e+00 4.68446046e+02] [-3.08589542e-01 9.51195298e-01 0.00000000e+00 -1.26406019e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76331284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.48, Y:-126.42, Z:0.03 [[ 9.50789076e-01 3.09838882e-01 0.00000000e+00 4.68476175e+02] [-3.09838882e-01 9.50789076e-01 0.00000000e+00 -1.26416049e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95473573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.51, Y:-126.42, Z:0.03 [[ 9.50493195e-01 3.10745372e-01 0.00000000e+00 4.68507543e+02] [-3.10745372e-01 9.50493195e-01 0.00000000e+00 -1.26424243e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06004986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.54, Y:-126.43, Z:0.03 [[ 9.50135026e-01 3.11838791e-01 0.00000000e+00 4.68539418e+02] [-3.11838791e-01 9.50135026e-01 0.00000000e+00 -1.26431563e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08919995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.57, Y:-126.44, Z:0.03 [[ 9.49365732e-01 3.14173052e-01 0.00000000e+00 4.68571482e+02] [-3.14173052e-01 9.49365732e-01 0.00000000e+00 -1.26436410e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02519941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.60, Y:-126.44, Z:0.03 [[ 9.48944449e-01 3.15443232e-01 0.00000000e+00 4.68603534e+02] [-3.15443232e-01 9.48944449e-01 0.00000000e+00 -1.26443355e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99211582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.64, Y:-126.45, Z:0.03 [[ 9.48699231e-01 3.16179962e-01 0.00000000e+00 4.68635880e+02] [-3.16179962e-01 9.48699231e-01 0.00000000e+00 -1.26450783e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99705382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.67, Y:-126.46, Z:0.03 [[ 9.48625393e-01 3.16401429e-01 0.00000000e+00 4.68667868e+02] [-3.16401429e-01 9.48625393e-01 0.00000000e+00 -1.26458316e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03667418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.70, Y:-126.46, Z:0.03 [[ 9.49300408e-01 3.14370379e-01 0.00000000e+00 4.68700029e+02] [-3.14370379e-01 9.49300408e-01 0.00000000e+00 -1.26463332e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03579694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.73, Y:-126.47, Z:0.03 [[ 9.49927605e-01 3.12470072e-01 0.00000000e+00 4.68731100e+02] [-3.12470072e-01 9.49927605e-01 0.00000000e+00 -1.26469640e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05145909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.76, Y:-126.48, Z:0.03 [[ 9.50599144e-01 3.10421113e-01 0.00000000e+00 4.68762552e+02] [-3.10421113e-01 9.50599144e-01 0.00000000e+00 -1.26477182e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06754577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.79, Y:-126.48, Z:0.03 [[ 9.51397786e-01 3.07964693e-01 0.00000000e+00 4.68794393e+02] [-3.07964693e-01 9.51397786e-01 0.00000000e+00 -1.26484902e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09002842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.83, Y:-126.49, Z:0.03 [[ 9.52093775e-01 3.05806219e-01 0.00000000e+00 4.68826826e+02] [-3.05806219e-01 9.52093775e-01 0.00000000e+00 -1.26492861e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10193904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.86, Y:-126.50, Z:0.03 [[ 9.52612396e-01 3.04186822e-01 0.00000000e+00 4.68859154e+02] [-3.04186822e-01 9.52612396e-01 0.00000000e+00 -1.26500205e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10927510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.89, Y:-126.51, Z:0.03 [[ 9.53108801e-01 3.02627847e-01 0.00000000e+00 4.68890612e+02] [-3.02627847e-01 9.53108801e-01 0.00000000e+00 -1.26506333e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04124719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.92, Y:-126.51, Z:0.03 [[ 9.53043227e-01 3.02834290e-01 0.00000000e+00 4.68923017e+02] [-3.02834290e-01 9.53043227e-01 0.00000000e+00 -1.26514225e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08843958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.95, Y:-126.52, Z:0.03 [[ 9.52843671e-01 3.03461594e-01 0.00000000e+00 4.68954413e+02] [-3.03461594e-01 9.52843671e-01 0.00000000e+00 -1.26521234e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09089298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.99, Y:-126.53, Z:0.03 [[ 9.52199738e-01 3.05476119e-01 0.00000000e+00 4.68986393e+02] [-3.05476119e-01 9.52199738e-01 0.00000000e+00 -1.26527429e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28623357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.02, Y:-126.54, Z:0.03 [[ 9.51837286e-01 3.06603623e-01 0.00000000e+00 4.69017188e+02] [-3.06603623e-01 9.51837286e-01 0.00000000e+00 -1.26535268e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17761345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.05, Y:-126.54, Z:0.03 [[ 9.51480196e-01 3.07709988e-01 0.00000000e+00 4.69049638e+02] [-3.07709988e-01 9.51480196e-01 0.00000000e+00 -1.26543356e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06559362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.08, Y:-126.55, Z:0.03 [[ 9.51253990e-01 3.08408571e-01 0.00000000e+00 4.69080111e+02] [-3.08408571e-01 9.51253990e-01 0.00000000e+00 -1.26550862e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82242388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.11, Y:-126.56, Z:0.03 [[ 9.51236444e-01 3.08462684e-01 0.00000000e+00 4.69111279e+02] [-3.08462684e-01 9.51236444e-01 0.00000000e+00 -1.26558050e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65240941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.14, Y:-126.57, Z:0.03 [[ 9.51355155e-01 3.08096362e-01 0.00000000e+00 4.69142448e+02] [-3.08096362e-01 9.51355155e-01 0.00000000e+00 -1.26565263e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52410508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.17, Y:-126.57, Z:0.03 [[ 9.51769241e-01 3.06814786e-01 0.00000000e+00 4.69173631e+02] [-3.06814786e-01 9.51769241e-01 0.00000000e+00 -1.26573064e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94213348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.481400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:469.21, Y:-126.58, Z:0.03 [[ 9.51884026e-01 3.06458483e-01 0.00000000e+00 4.69205254e+02] [-3.06458483e-01 9.51884026e-01 0.00000000e+00 -1.26581519e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06200766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.24, Y:-126.59, Z:0.03 [[ 9.52053443e-01 3.05931761e-01 0.00000000e+00 4.69236656e+02] [-3.05931761e-01 9.52053443e-01 0.00000000e+00 -1.26589480e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19598695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.27, Y:-126.60, Z:0.03 [[ 9.52130584e-01 3.05691593e-01 0.00000000e+00 4.69268577e+02] [-3.05691593e-01 9.52130584e-01 0.00000000e+00 -1.26597311e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15191423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.30, Y:-126.60, Z:0.03 [[ 9.52085956e-01 3.05830562e-01 0.00000000e+00 4.69300379e+02] [-3.05830562e-01 9.52085956e-01 0.00000000e+00 -1.26604748e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06730242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.33, Y:-126.61, Z:0.03 [[ 9.51916491e-01 3.06357625e-01 0.00000000e+00 4.69331715e+02] [-3.06357625e-01 9.51916491e-01 0.00000000e+00 -1.26611927e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92147614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.36, Y:-126.62, Z:0.03 [[ 9.51429073e-01 3.07868023e-01 0.00000000e+00 4.69364313e+02] [-3.07868023e-01 9.51429073e-01 0.00000000e+00 -1.26618160e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11859820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.40, Y:-126.63, Z:0.03 [[ 9.51277338e-01 3.08336548e-01 0.00000000e+00 4.69395430e+02] [-3.08336548e-01 9.51277338e-01 0.00000000e+00 -1.26625000e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33204851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.43, Y:-126.63, Z:0.04 [[ 9.51203411e-01 3.08564534e-01 0.00000000e+00 4.69427867e+02] [-3.08564534e-01 9.51203411e-01 0.00000000e+00 -1.26632406e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50777833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.46, Y:-126.64, Z:0.04 [[ 9.51325231e-01 3.08188750e-01 0.00000000e+00 4.69460163e+02] [-3.08188750e-01 9.51325231e-01 0.00000000e+00 -1.26640070e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52024204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.49, Y:-126.65, Z:0.03 [[ 9.51621412e-01 3.07272986e-01 0.00000000e+00 4.69491261e+02] [-3.07272986e-01 9.51621412e-01 0.00000000e+00 -1.26647390e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48575822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.52, Y:-126.66, Z:0.03 [[ 9.52092167e-01 3.05811227e-01 0.00000000e+00 4.69522358e+02] [-3.05811227e-01 9.52092167e-01 0.00000000e+00 -1.26655117e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41852638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.55, Y:-126.67, Z:0.04 [[ 9.53484007e-01 3.01443608e-01 0.00000000e+00 4.69553731e+02] [-3.01443608e-01 9.53484007e-01 0.00000000e+00 -1.26665274e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57130781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.58, Y:-126.67, Z:0.04 [[ 9.54252447e-01 2.99002120e-01 0.00000000e+00 4.69584454e+02] [-2.99002120e-01 9.54252447e-01 0.00000000e+00 -1.26674785e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65933107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.62, Y:-126.68, Z:0.04 [[ 9.54985926e-01 2.96651109e-01 0.00000000e+00 4.69616396e+02] [-2.96651109e-01 9.54985926e-01 0.00000000e+00 -1.26684311e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59884963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.65, Y:-126.70, Z:0.03 [[ 9.55984878e-01 2.93415938e-01 0.00000000e+00 4.69647304e+02] [-2.93415938e-01 9.55984878e-01 0.00000000e+00 -1.26696483e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45094561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.68, Y:-126.71, Z:0.03 [[ 9.56119821e-01 2.92975918e-01 0.00000000e+00 4.69678012e+02] [-2.92975918e-01 9.56119821e-01 0.00000000e+00 -1.26707692e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39562303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.71, Y:-126.72, Z:0.03 [[ 9.55968633e-01 2.93468861e-01 0.00000000e+00 4.69709134e+02] [-2.93468861e-01 9.55968633e-01 0.00000000e+00 -1.26720085e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38166311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.74, Y:-126.73, Z:0.03 [[ 9.55649824e-01 2.94505372e-01 0.00000000e+00 4.69738885e+02] [-2.94505372e-01 9.55649824e-01 0.00000000e+00 -1.26732764e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38571738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.77, Y:-126.74, Z:0.03 [[ 9.55172229e-01 2.96050694e-01 0.00000000e+00 4.69768555e+02] [-2.96050694e-01 9.55172229e-01 0.00000000e+00 -1.26744644e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34746521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.80, Y:-126.76, Z:0.03 [[ 9.53783851e-01 3.00493537e-01 0.00000000e+00 4.69799021e+02] [-3.00493537e-01 9.53783851e-01 0.00000000e+00 -1.26758434e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08462562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.83, Y:-126.77, Z:0.03 [[ 9.52870631e-01 3.03376927e-01 0.00000000e+00 4.69829600e+02] [-3.03376927e-01 9.52870631e-01 0.00000000e+00 -1.26768957e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97304329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.86, Y:-126.78, Z:0.03 [[ 9.51876326e-01 3.06482396e-01 0.00000000e+00 4.69860498e+02] [-3.06482396e-01 9.51876326e-01 0.00000000e+00 -1.26779876e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98121758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.89, Y:-126.79, Z:0.03 [[ 9.50874998e-01 3.09575093e-01 0.00000000e+00 4.69891275e+02] [-3.09575093e-01 9.50874998e-01 0.00000000e+00 -1.26790367e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91675465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.171400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:469.92, Y:-126.80, Z:0.03 [[ 9.49841481e-01 3.12731773e-01 0.00000000e+00 4.69922725e+02] [-3.12731773e-01 9.49841481e-01 0.00000000e+00 -1.26800391e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86821790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.95, Y:-126.81, Z:0.03 [[ 9.48222667e-01 3.17606320e-01 0.00000000e+00 4.69953265e+02] [-3.17606320e-01 9.48222667e-01 0.00000000e+00 -1.26810693e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75174181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.98, Y:-126.82, Z:0.03 [[ 9.47555029e-01 3.19592658e-01 0.00000000e+00 4.69984951e+02] [-3.19592658e-01 9.47555029e-01 0.00000000e+00 -1.26820330e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78441931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.02, Y:-126.83, Z:0.03 [[ 9.47020374e-01 3.21173491e-01 0.00000000e+00 4.70016030e+02] [-3.21173491e-01 9.47020374e-01 0.00000000e+00 -1.26829818e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91081243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.291400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:470.05, Y:-126.84, Z:0.03 [[ 9.46550559e-01 3.22555482e-01 0.00000000e+00 4.70047773e+02] [-3.22555482e-01 9.46550559e-01 0.00000000e+00 -1.26839496e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09372016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.321400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:470.08, Y:-126.85, Z:0.03 [[ 9.46100657e-01 3.23872732e-01 0.00000000e+00 4.70078357e+02] [-3.23872732e-01 9.46100657e-01 0.00000000e+00 -1.26848282e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22283471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.11, Y:-126.86, Z:0.03 [[ 9.45362065e-01 3.26022340e-01 0.00000000e+00 4.70108992e+02] [-3.26022340e-01 9.45362065e-01 0.00000000e+00 -1.26855900e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21892644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.14, Y:-126.86, Z:0.03 [[ 9.44876366e-01 3.27427326e-01 0.00000000e+00 4.70141059e+02] [-3.27427326e-01 9.44876366e-01 0.00000000e+00 -1.26863458e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09121690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.17, Y:-126.87, Z:0.03 [[ 9.44371388e-01 3.28880953e-01 0.00000000e+00 4.70173208e+02] [-3.28880953e-01 9.44371388e-01 0.00000000e+00 -1.26871252e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00383472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.20, Y:-126.88, Z:0.03 [[ 9.43963271e-01 3.30050515e-01 0.00000000e+00 4.70204359e+02] [-3.30050515e-01 9.43963271e-01 0.00000000e+00 -1.26878234e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94485421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.24, Y:-126.88, Z:0.03 [[ 9.43557210e-01 3.31209589e-01 0.00000000e+00 4.70237085e+02] [-3.31209589e-01 9.43557210e-01 0.00000000e+00 -1.26883932e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20127087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.27, Y:-126.89, Z:0.03 [[ 9.43671878e-01 3.30882740e-01 0.00000000e+00 4.70269040e+02] [-3.30882740e-01 9.43671878e-01 0.00000000e+00 -1.26891297e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28960753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.30, Y:-126.90, Z:0.03 [[ 9.43613840e-01 3.31048216e-01 0.00000000e+00 4.70301482e+02] [-3.31048216e-01 9.43613840e-01 0.00000000e+00 -1.26899521e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28960753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.33, Y:-126.91, Z:0.03 [[ 9.43857715e-01 3.30352257e-01 0.00000000e+00 4.70333398e+02] [-3.30352257e-01 9.43857715e-01 0.00000000e+00 -1.26907253e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38824093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.36, Y:-126.91, Z:0.03 [[ 9.44286500e-01 3.29124605e-01 0.00000000e+00 4.70364321e+02] [-3.29124605e-01 9.44286500e-01 0.00000000e+00 -1.26914642e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46399915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.40, Y:-126.92, Z:0.03 [[ 9.44905888e-01 3.27342119e-01 0.00000000e+00 4.70395814e+02] [-3.27342119e-01 9.44905888e-01 0.00000000e+00 -1.26921595e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47021176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.43, Y:-126.93, Z:0.03 [[ 9.45559137e-01 3.25450331e-01 0.00000000e+00 4.70428276e+02] [-3.25450331e-01 9.45559137e-01 0.00000000e+00 -1.26928439e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45488301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.46, Y:-126.93, Z:0.03 [[ 9.46604259e-01 3.22397854e-01 0.00000000e+00 4.70460637e+02] [-3.22397854e-01 9.46604259e-01 0.00000000e+00 -1.26933547e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49485046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.49, Y:-126.94, Z:0.03 [[ 9.46810208e-01 3.21792527e-01 0.00000000e+00 4.70491934e+02] [-3.21792527e-01 9.46810208e-01 0.00000000e+00 -1.26940012e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49292568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.52, Y:-126.95, Z:0.04 [[ 9.46775512e-01 3.21894595e-01 0.00000000e+00 4.70523969e+02] [-3.21894595e-01 9.46775512e-01 0.00000000e+00 -1.26946395e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51333988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.56, Y:-126.95, Z:0.03 [[ 9.46609084e-01 3.22383687e-01 0.00000000e+00 4.70555813e+02] [-3.22383687e-01 9.46609084e-01 0.00000000e+00 -1.26952356e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44262943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.801400513 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:470.59, Y:-126.96, Z:0.03 [[ 9.46426797e-01 3.22918439e-01 0.00000000e+00 4.70588522e+02] [-3.22918439e-01 9.46426797e-01 0.00000000e+00 -1.26958175e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43198198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.62, Y:-126.96, Z:0.04 [[ 9.45983591e-01 3.24214504e-01 0.00000000e+00 4.70621173e+02] [-3.24214504e-01 9.45983591e-01 0.00000000e+00 -1.26960208e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52654505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.65, Y:-126.96, Z:0.04 [[ 9.45979195e-01 3.24227331e-01 0.00000000e+00 4.70653637e+02] [-3.24227331e-01 9.45979195e-01 0.00000000e+00 -1.26964425e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55601064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.69, Y:-126.97, Z:0.04 [[ 9.46244570e-01 3.23452026e-01 0.00000000e+00 4.70686531e+02] [-3.23452026e-01 9.46244570e-01 0.00000000e+00 -1.26968767e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55750342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.72, Y:-126.97, Z:0.03 [[ 9.46672608e-01 3.22197104e-01 0.00000000e+00 4.70718114e+02] [-3.22197104e-01 9.46672608e-01 0.00000000e+00 -1.26973275e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49777190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.75, Y:-126.98, Z:0.04 [[ 9.47204073e-01 3.20631321e-01 0.00000000e+00 4.70750378e+02] [-3.20631321e-01 9.47204073e-01 0.00000000e+00 -1.26978754e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54158476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.78, Y:-126.98, Z:0.04 [[ 9.47855593e-01 3.18700134e-01 0.00000000e+00 4.70782040e+02] [-3.18700134e-01 9.47855593e-01 0.00000000e+00 -1.26984407e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59952349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.82, Y:-126.99, Z:0.04 [[ 9.49153922e-01 3.14812375e-01 0.00000000e+00 4.70815297e+02] [-3.14812375e-01 9.49153922e-01 0.00000000e+00 -1.26989174e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71746709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.85, Y:-127.00, Z:0.04 [[ 9.49585307e-01 3.13508764e-01 0.00000000e+00 4.70846867e+02] [-3.13508764e-01 9.49585307e-01 0.00000000e+00 -1.26995660e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81478773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.88, Y:-127.00, Z:0.04 [[ 9.49894190e-01 3.12571638e-01 0.00000000e+00 4.70879063e+02] [-3.12571638e-01 9.49894190e-01 0.00000000e+00 -1.27002144e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.85854728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.91, Y:-127.01, Z:0.04 [[ 9.50075743e-01 3.12019361e-01 0.00000000e+00 4.70910832e+02] [-3.12019361e-01 9.50075743e-01 0.00000000e+00 -1.27009140e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86684851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.94, Y:-127.02, Z:0.04 [[ 9.50183370e-01 3.11691456e-01 0.00000000e+00 4.70943312e+02] [-3.11691456e-01 9.50183370e-01 0.00000000e+00 -1.27016687e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86544826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.161400513 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:470.98, Y:-127.02, Z:0.04 [[ 9.50269207e-01 3.11429663e-01 0.00000000e+00 4.70975289e+02] [-3.11429663e-01 9.50269207e-01 0.00000000e+00 -1.27023532e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82862555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.191400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:471.01, Y:-127.03, Z:0.04 [[ 9.50091612e-01 3.11971040e-01 0.00000000e+00 4.71008640e+02] [-3.11971040e-01 9.50091612e-01 0.00000000e+00 -1.27027483e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61738482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.04, Y:-127.03, Z:0.03 [[ 9.49726244e-01 3.13081557e-01 0.00000000e+00 4.71039539e+02] [-3.13081557e-01 9.49726244e-01 0.00000000e+00 -1.27033874e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39673232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.07, Y:-127.04, Z:0.03 [[ 9.49352248e-01 3.14213795e-01 0.00000000e+00 4.71071495e+02] [-3.14213795e-01 9.49352248e-01 0.00000000e+00 -1.27040577e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21412099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.10, Y:-127.05, Z:0.03 [[ 9.48858044e-01 3.15703045e-01 0.00000000e+00 4.71103862e+02] [-3.15703045e-01 9.48858044e-01 0.00000000e+00 -1.27047407e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18744935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.14, Y:-127.05, Z:0.04 [[ 9.47969817e-01 3.18360215e-01 0.00000000e+00 4.71136329e+02] [-3.18360215e-01 9.47969817e-01 0.00000000e+00 -1.27051852e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65699732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.17, Y:-127.06, Z:0.04 [[ 9.47494782e-01 3.19771228e-01 0.00000000e+00 4.71168074e+02] [-3.19771228e-01 9.47494782e-01 0.00000000e+00 -1.27057929e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.92978924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.20, Y:-127.06, Z:0.04 [[ 9.46962151e-01 3.21345118e-01 0.00000000e+00 4.71200642e+02] [-3.21345118e-01 9.46962151e-01 0.00000000e+00 -1.27064322e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06156293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.23, Y:-127.07, Z:0.04 [[ 9.46391555e-01 3.23021711e-01 0.00000000e+00 4.71232443e+02] [-3.23021711e-01 9.46391555e-01 0.00000000e+00 -1.27070776e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.07284258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.431400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:471.27, Y:-127.08, Z:0.04 [[ 9.45831383e-01 3.24658274e-01 0.00000000e+00 4.71265322e+02] [-3.24658274e-01 9.45831383e-01 0.00000000e+00 -1.27076925e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.94527124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.30, Y:-127.08, Z:0.04 [[ 9.44480314e-01 3.28568010e-01 0.00000000e+00 4.71297694e+02] [-3.28568010e-01 9.44480314e-01 0.00000000e+00 -1.27080346e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70321430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.33, Y:-127.09, Z:0.04 [[ 9.43972843e-01 3.30023137e-01 0.00000000e+00 4.71329725e+02] [-3.30023137e-01 9.43972843e-01 0.00000000e+00 -1.27086533e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78780046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.36, Y:-127.09, Z:0.04 [[ 9.43653389e-01 3.30935465e-01 0.00000000e+00 4.71361010e+02] [-3.30935465e-01 9.43653389e-01 0.00000000e+00 -1.27093275e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89424345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.39, Y:-127.10, Z:0.04 [[ 9.43428312e-01 3.31576567e-01 0.00000000e+00 4.71393010e+02] [-3.31576567e-01 9.43428312e-01 0.00000000e+00 -1.27101109e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.94830522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.42, Y:-127.11, Z:0.04 [[ 9.43123776e-01 3.32441789e-01 0.00000000e+00 4.71423903e+02] [-3.32441789e-01 9.43123776e-01 0.00000000e+00 -1.27108064e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.73239412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.45, Y:-127.11, Z:0.04 [[ 9.43103091e-01 3.32500466e-01 0.00000000e+00 4.71454735e+02] [-3.32500466e-01 9.43103091e-01 0.00000000e+00 -1.27114804e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55865111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.49, Y:-127.12, Z:0.03 [[ 9.43064102e-01 3.32611034e-01 0.00000000e+00 4.71487108e+02] [-3.32611034e-01 9.43064102e-01 0.00000000e+00 -1.27122001e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47261144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.52, Y:-127.13, Z:0.03 [[ 9.43022206e-01 3.32729798e-01 0.00000000e+00 4.71517839e+02] [-3.32729798e-01 9.43022206e-01 0.00000000e+00 -1.27129416e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39609924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.55, Y:-127.14, Z:0.03 [[ 9.42988677e-01 3.32824811e-01 0.00000000e+00 4.71549259e+02] [-3.32824811e-01 9.42988677e-01 0.00000000e+00 -1.27137791e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43008671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.58, Y:-127.15, Z:0.03 [[ 9.42981342e-01 3.32845593e-01 0.00000000e+00 4.71580179e+02] [-3.32845593e-01 9.42981342e-01 0.00000000e+00 -1.27146257e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42011809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.61, Y:-127.15, Z:0.03 [[ 9.43033866e-01 3.32696749e-01 0.00000000e+00 4.71612914e+02] [-3.32696749e-01 9.43033866e-01 0.00000000e+00 -1.27153124e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40247849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.64, Y:-127.16, Z:0.03 [[ 9.42977811e-01 3.32855596e-01 0.00000000e+00 4.71643905e+02] [-3.32855596e-01 9.42977811e-01 0.00000000e+00 -1.27159900e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35491573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.821400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:471.67, Y:-127.17, Z:0.03 [[ 9.43002573e-01 3.32785438e-01 0.00000000e+00 4.71673895e+02] [-3.32785438e-01 9.43002573e-01 0.00000000e+00 -1.27166733e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32956162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.70, Y:-127.18, Z:0.03 [[ 9.42910199e-01 3.33047080e-01 0.00000000e+00 4.71704787e+02] [-3.33047080e-01 9.42910199e-01 0.00000000e+00 -1.27175190e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38036563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.74, Y:-127.18, Z:0.03 [[ 9.42950556e-01 3.32932801e-01 0.00000000e+00 4.71736751e+02] [-3.32932801e-01 9.42950556e-01 0.00000000e+00 -1.27183820e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44896356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.77, Y:-127.19, Z:0.04 [[ 9.43069253e-01 3.32596428e-01 0.00000000e+00 4.71768403e+02] [-3.32596428e-01 9.43069253e-01 0.00000000e+00 -1.27191830e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57242694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.80, Y:-127.20, Z:0.04 [[ 9.43195959e-01 3.32236938e-01 0.00000000e+00 4.71800585e+02] [-3.32236938e-01 9.43195959e-01 0.00000000e+00 -1.27198588e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56408925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.83, Y:-127.21, Z:0.03 [[ 9.43162521e-01 3.32331851e-01 0.00000000e+00 4.71832302e+02] [-3.32331851e-01 9.43162521e-01 0.00000000e+00 -1.27205739e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43264414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.86, Y:-127.21, Z:0.03 [[ 9.43074475e-01 3.32581622e-01 0.00000000e+00 4.71863368e+02] [-3.32581622e-01 9.43074475e-01 0.00000000e+00 -1.27212362e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24464746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.90, Y:-127.22, Z:0.03 [[ 9.43088517e-01 3.32541800e-01 0.00000000e+00 4.71895300e+02] [-3.32541800e-01 9.43088517e-01 0.00000000e+00 -1.27218773e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25337420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.93, Y:-127.23, Z:0.03 [[ 9.43238611e-01 3.32115827e-01 0.00000000e+00 4.71927729e+02] [-3.32115827e-01 9.43238611e-01 0.00000000e+00 -1.27225364e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37876049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.96, Y:-127.23, Z:0.04 [[ 9.44061879e-01 3.29768355e-01 0.00000000e+00 4.71959651e+02] [-3.29768355e-01 9.44061879e-01 0.00000000e+00 -1.27232101e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77366941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.99, Y:-127.24, Z:0.04 [[ 9.44537927e-01 3.28402351e-01 0.00000000e+00 4.71990366e+02] [-3.28402351e-01 9.44537927e-01 0.00000000e+00 -1.27240105e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86732490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.02, Y:-127.25, Z:0.04 [[ 9.44984757e-01 3.27114368e-01 0.00000000e+00 4.72019439e+02] [-3.27114368e-01 9.44984757e-01 0.00000000e+00 -1.27247351e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90557619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.05, Y:-127.25, Z:0.04 [[ 9.45257570e-01 3.26325185e-01 0.00000000e+00 4.72049377e+02] [-3.26325185e-01 9.45257570e-01 0.00000000e+00 -1.27253752e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97814830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.08, Y:-127.26, Z:0.04 [[ 9.45241726e-01 3.26371076e-01 0.00000000e+00 4.72078199e+02] [-3.26371076e-01 9.45241726e-01 0.00000000e+00 -1.27259276e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01379055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.11, Y:-127.26, Z:0.04 [[ 9.44976138e-01 3.27139265e-01 0.00000000e+00 4.72107357e+02] [-3.27139265e-01 9.44976138e-01 0.00000000e+00 -1.27264656e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01374055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.14, Y:-127.27, Z:0.04 [[ 9.44004445e-01 3.29932733e-01 0.00000000e+00 4.72135968e+02] [-3.29932733e-01 9.44004445e-01 0.00000000e+00 -1.27267504e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89902228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.16, Y:-127.27, Z:0.04 [[ 9.43452562e-01 3.31507562e-01 0.00000000e+00 4.72164766e+02] [-3.31507562e-01 9.43452562e-01 0.00000000e+00 -1.27271906e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81721422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.331400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:472.19, Y:-127.28, Z:0.04 [[ 9.43132751e-01 3.32416327e-01 0.00000000e+00 4.72192072e+02] [-3.32416327e-01 9.43132751e-01 0.00000000e+00 -1.27275808e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74206053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.22, Y:-127.28, Z:0.04 [[ 9.42946454e-01 3.32944418e-01 0.00000000e+00 4.72222153e+02] [-3.32944418e-01 9.42946454e-01 0.00000000e+00 -1.27281856e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74035105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.25, Y:-127.29, Z:0.04 [[ 9.43030342e-01 3.32706740e-01 0.00000000e+00 4.72250572e+02] [-3.32706740e-01 9.43030342e-01 0.00000000e+00 -1.27287883e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76002307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.28, Y:-127.30, Z:0.04 [[ 9.43045110e-01 3.32664878e-01 0.00000000e+00 4.72278993e+02] [-3.32664878e-01 9.43045110e-01 0.00000000e+00 -1.27295158e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76002307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.31, Y:-127.30, Z:0.04 [[ 9.43310579e-01 3.31911360e-01 0.00000000e+00 4.72307341e+02] [-3.31911360e-01 9.43310579e-01 0.00000000e+00 -1.27300711e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68269278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.34, Y:-127.30, Z:0.04 [[ 9.43720562e-01 3.30743860e-01 0.00000000e+00 4.72336602e+02] [-3.30743860e-01 9.43720562e-01 0.00000000e+00 -1.27301631e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51679846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.36, Y:-127.30, Z:0.03 [[ 9.43791632e-01 3.30541003e-01 0.00000000e+00 4.72364261e+02] [-3.30541003e-01 9.43791632e-01 0.00000000e+00 -1.27304848e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43103210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.39, Y:-127.31, Z:0.03 [[ 9.43801733e-01 3.30512163e-01 0.00000000e+00 4.72393041e+02] [-3.30512163e-01 9.43801733e-01 0.00000000e+00 -1.27308458e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43697646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.42, Y:-127.31, Z:0.04 [[ 9.43818892e-01 3.30463158e-01 0.00000000e+00 4.72421291e+02] [-3.30463158e-01 9.43818892e-01 0.00000000e+00 -1.27311642e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51433794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.45, Y:-127.31, Z:0.04 [[ 9.44096758e-01 3.29668488e-01 0.00000000e+00 4.72449506e+02] [-3.29668488e-01 9.44096758e-01 0.00000000e+00 -1.27308954e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63536710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.48, Y:-127.31, Z:0.04 [[ 9.44484960e-01 3.28554653e-01 0.00000000e+00 4.72477037e+02] [-3.28554653e-01 9.44484960e-01 0.00000000e+00 -1.27311477e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58789024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.50, Y:-127.32, Z:0.04 [[ 9.45080485e-01 3.26837693e-01 0.00000000e+00 4.72504859e+02] [-3.26837693e-01 9.45080485e-01 0.00000000e+00 -1.27315558e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58672956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.53, Y:-127.32, Z:0.04 [[ 9.45787625e-01 3.24785728e-01 0.00000000e+00 4.72532298e+02] [-3.24785728e-01 9.45787625e-01 0.00000000e+00 -1.27320706e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55583462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.56, Y:-127.33, Z:0.04 [[ 9.46708755e-01 3.22090878e-01 0.00000000e+00 4.72560020e+02] [-3.22090878e-01 9.46708755e-01 0.00000000e+00 -1.27326501e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62160054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.59, Y:-127.33, Z:0.04 [[ 9.47839608e-01 3.18747669e-01 0.00000000e+00 4.72587627e+02] [-3.18747669e-01 9.47839608e-01 0.00000000e+00 -1.27332350e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71606279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.61, Y:-127.34, Z:0.04 [[ 9.49011001e-01 3.15242954e-01 0.00000000e+00 4.72613636e+02] [-3.15242954e-01 9.49011001e-01 0.00000000e+00 -1.27338491e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80061278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.64, Y:-127.35, Z:0.04 [[ 9.51361729e-01 3.08076064e-01 0.00000000e+00 4.72640656e+02] [-3.08076064e-01 9.51361729e-01 0.00000000e+00 -1.27346125e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95579498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.67, Y:-127.35, Z:0.04 [[ 9.52267572e-01 3.05264591e-01 0.00000000e+00 4.72667915e+02] [-3.05264591e-01 9.52267572e-01 0.00000000e+00 -1.27354186e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.09931632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.69, Y:-127.36, Z:0.04 [[ 9.52865045e-01 3.03394472e-01 0.00000000e+00 4.72694121e+02] [-3.03394472e-01 9.52865045e-01 0.00000000e+00 -1.27362417e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.31532263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.72, Y:-127.37, Z:0.04 [[ 9.53172999e-01 3.02425584e-01 0.00000000e+00 4.72720806e+02] [-3.02425584e-01 9.53172999e-01 0.00000000e+00 -1.27370843e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.44635309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.75, Y:-127.38, Z:0.05 [[ 9.53262713e-01 3.02142683e-01 0.00000000e+00 4.72746862e+02] [-3.02142683e-01 9.53262713e-01 0.00000000e+00 -1.27378870e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.55707139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.77, Y:-127.39, Z:0.05 [[ 9.53049466e-01 3.02814655e-01 0.00000000e+00 4.72774475e+02] [-3.02814655e-01 9.53049466e-01 0.00000000e+00 -1.27387444e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.58197913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.80, Y:-127.40, Z:0.05 [[ 9.51792560e-01 3.06742438e-01 0.00000000e+00 4.72800357e+02] [-3.06742438e-01 9.51792560e-01 0.00000000e+00 -1.27397272e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.63296873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.83, Y:-127.41, Z:0.05 [[ 9.50965960e-01 3.09295559e-01 0.00000000e+00 4.72827685e+02] [-3.09295559e-01 9.50965960e-01 0.00000000e+00 -1.27405511e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.56061571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.85, Y:-127.41, Z:0.05 [[ 9.50154902e-01 3.11778226e-01 0.00000000e+00 4.72854550e+02] [-3.11778226e-01 9.50154902e-01 0.00000000e+00 -1.27413635e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.52685363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.88, Y:-127.42, Z:0.04 [[ 9.49568290e-01 3.13560300e-01 0.00000000e+00 4.72880809e+02] [-3.13560300e-01 9.49568290e-01 0.00000000e+00 -1.27421985e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.48267141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.91, Y:-127.43, Z:0.04 [[ 9.49137036e-01 3.14863281e-01 0.00000000e+00 4.72907998e+02] [-3.14863281e-01 9.49137036e-01 0.00000000e+00 -1.27430410e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39520590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.94, Y:-127.44, Z:0.04 [[ 9.48914254e-01 3.15534054e-01 0.00000000e+00 4.72935322e+02] [-3.15534054e-01 9.48914254e-01 0.00000000e+00 -1.27438783e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.34046026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.96, Y:-127.45, Z:0.04 [[ 9.48253725e-01 3.17513581e-01 0.00000000e+00 4.72962842e+02] [-3.17513581e-01 9.48253725e-01 0.00000000e+00 -1.27447869e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.16566145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.99, Y:-127.46, Z:0.04 [[ 9.47861605e-01 3.18682252e-01 0.00000000e+00 4.72990641e+02] [-3.18682252e-01 9.47861605e-01 0.00000000e+00 -1.27455703e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18768903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.02, Y:-127.46, Z:0.04 [[ 9.47478865e-01 3.19818388e-01 0.00000000e+00 4.73018084e+02] [-3.19818388e-01 9.47478865e-01 0.00000000e+00 -1.27463233e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22579606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.05, Y:-127.47, Z:0.04 [[ 9.46997891e-01 3.21239776e-01 0.00000000e+00 4.73045296e+02] [-3.21239776e-01 9.46997891e-01 0.00000000e+00 -1.27470024e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.17607326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.07, Y:-127.48, Z:0.04 [[ 9.46370823e-01 3.23082445e-01 0.00000000e+00 4.73073048e+02] [-3.23082445e-01 9.46370823e-01 0.00000000e+00 -1.27476518e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97513790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.10, Y:-127.48, Z:0.04 [[ 9.44953809e-01 3.27203759e-01 0.00000000e+00 4.73100299e+02] [-3.27203759e-01 9.44953809e-01 0.00000000e+00 -1.27481068e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52555887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.13, Y:-127.49, Z:0.03 [[ 9.44502428e-01 3.28504433e-01 0.00000000e+00 4.73128515e+02] [-3.28504433e-01 9.44502428e-01 0.00000000e+00 -1.27486377e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35627650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.381400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:473.16, Y:-127.49, Z:0.03 [[ 9.44248616e-01 3.29233279e-01 0.00000000e+00 4.73155642e+02] [-3.29233279e-01 9.44248616e-01 0.00000000e+00 -1.27491283e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22767198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.18, Y:-127.50, Z:0.03 [[ 9.44151244e-01 3.29512410e-01 0.00000000e+00 4.73182858e+02] [-3.29512410e-01 9.44151244e-01 0.00000000e+00 -1.27496098e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20804913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.21, Y:-127.50, Z:0.03 [[ 9.44127943e-01 3.29579168e-01 0.00000000e+00 4.73210750e+02] [-3.29579168e-01 9.44127943e-01 0.00000000e+00 -1.27501390e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24971223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.24, Y:-127.51, Z:0.03 [[ 9.44462265e-01 3.28619886e-01 0.00000000e+00 4.73237645e+02] [-3.28619886e-01 9.44462265e-01 0.00000000e+00 -1.27505936e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17054757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.27, Y:-127.51, Z:0.03 [[ 9.44789774e-01 3.27677103e-01 0.00000000e+00 4.73265355e+02] [-3.27677103e-01 9.44789774e-01 0.00000000e+00 -1.27511964e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13399890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.29, Y:-127.52, Z:0.03 [[ 9.45254649e-01 3.26333647e-01 0.00000000e+00 4.73292638e+02] [-3.26333647e-01 9.45254649e-01 0.00000000e+00 -1.27517552e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09355247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.32, Y:-127.52, Z:0.03 [[ 9.45757012e-01 3.24874859e-01 0.00000000e+00 4.73319677e+02] [-3.24874859e-01 9.45757012e-01 0.00000000e+00 -1.27523327e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03585517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.35, Y:-127.53, Z:0.03 [[ 9.46283530e-01 3.23338028e-01 0.00000000e+00 4.73346990e+02] [-3.23338028e-01 9.46283530e-01 0.00000000e+00 -1.27529334e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95546066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.37, Y:-127.54, Z:0.03 [[ 9.46809656e-01 3.21794150e-01 0.00000000e+00 4.73374131e+02] [-3.21794150e-01 9.46809656e-01 0.00000000e+00 -1.27536035e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92930934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.40, Y:-127.54, Z:0.03 [[ 9.48006380e-01 3.18251322e-01 0.00000000e+00 4.73402221e+02] [-3.18251322e-01 9.48006380e-01 0.00000000e+00 -1.27543617e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10690118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.681400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:473.43, Y:-127.55, Z:0.03 [[ 9.48569406e-01 3.16569238e-01 0.00000000e+00 4.73428961e+02] [-3.16569238e-01 9.48569406e-01 0.00000000e+00 -1.27550756e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31375339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.46, Y:-127.56, Z:0.04 [[ 9.49024834e-01 3.15201308e-01 0.00000000e+00 4.73455251e+02] [-3.15201308e-01 9.49024834e-01 0.00000000e+00 -1.27558057e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61125084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.48, Y:-127.57, Z:0.04 [[ 9.49449394e-01 3.13920132e-01 0.00000000e+00 4.73483042e+02] [-3.13920132e-01 9.49449394e-01 0.00000000e+00 -1.27565575e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78664008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.51, Y:-127.57, Z:0.04 [[ 9.49637313e-01 3.13351200e-01 0.00000000e+00 4.73510192e+02] [-3.13351200e-01 9.49637313e-01 0.00000000e+00 -1.27572751e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91745726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.54, Y:-127.58, Z:0.04 [[ 9.49706260e-01 3.13142171e-01 0.00000000e+00 4.73537831e+02] [-3.13142171e-01 9.49706260e-01 0.00000000e+00 -1.27579600e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86402564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.831400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:473.56, Y:-127.59, Z:0.04 [[ 9.49594462e-01 3.13481032e-01 0.00000000e+00 4.73564916e+02] [-3.13481032e-01 9.49594462e-01 0.00000000e+00 -1.27585081e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64237371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.59, Y:-127.59, Z:0.04 [[ 9.49457126e-01 3.13896745e-01 0.00000000e+00 4.73592374e+02] [-3.13896745e-01 9.49457126e-01 0.00000000e+00 -1.27591051e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70125501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.62, Y:-127.60, Z:0.04 [[ 9.49383772e-01 3.14118534e-01 0.00000000e+00 4.73618689e+02] [-3.14118534e-01 9.49383772e-01 0.00000000e+00 -1.27596591e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77429012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.65, Y:-127.60, Z:0.04 [[ 9.49461352e-01 3.13883962e-01 0.00000000e+00 4.73646023e+02] [-3.13883962e-01 9.49461352e-01 0.00000000e+00 -1.27602576e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84447866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.67, Y:-127.61, Z:0.04 [[ 9.49887890e-01 3.12590781e-01 0.00000000e+00 4.73673195e+02] [-3.12590781e-01 9.49887890e-01 0.00000000e+00 -1.27608855e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84050171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.70, Y:-127.62, Z:0.04 [[ 9.50572055e-01 3.10504055e-01 0.00000000e+00 4.73700119e+02] [-3.10504055e-01 9.50572055e-01 0.00000000e+00 -1.27615937e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81191668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.73, Y:-127.63, Z:0.04 [[ 9.52213480e-01 3.05433280e-01 0.00000000e+00 4.73727413e+02] [-3.05433280e-01 9.52213480e-01 0.00000000e+00 -1.27625673e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74393967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.75, Y:-127.64, Z:0.04 [[ 9.52939216e-01 3.03161427e-01 0.00000000e+00 4.73753817e+02] [-3.03161427e-01 9.52939216e-01 0.00000000e+00 -1.27635241e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86006686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.78, Y:-127.64, Z:0.04 [[ 9.53423392e-01 3.01635270e-01 0.00000000e+00 4.73780286e+02] [-3.01635270e-01 9.53423392e-01 0.00000000e+00 -1.27644207e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99032884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.81, Y:-127.65, Z:0.04 [[ 9.53511885e-01 3.01355414e-01 0.00000000e+00 4.73807491e+02] [-3.01355414e-01 9.53511885e-01 0.00000000e+00 -1.27653633e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.94245409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.83, Y:-127.66, Z:0.04 [[ 9.53126753e-01 3.02571303e-01 0.00000000e+00 4.73834274e+02] [-3.02571303e-01 9.53126753e-01 0.00000000e+00 -1.27663230e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81879203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.86, Y:-127.68, Z:0.04 [[ 9.51368087e-01 3.08056429e-01 0.00000000e+00 4.73861194e+02] [-3.08056429e-01 9.51368087e-01 0.00000000e+00 -1.27676328e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53150807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.89, Y:-127.69, Z:0.04 [[ 9.50274431e-01 3.11413720e-01 0.00000000e+00 4.73888183e+02] [-3.11413720e-01 9.50274431e-01 0.00000000e+00 -1.27685341e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53422988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.92, Y:-127.69, Z:0.04 [[ 9.49089633e-01 3.15006141e-01 0.00000000e+00 4.73916029e+02] [-3.15006141e-01 9.49089633e-01 0.00000000e+00 -1.27693515e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54650758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.94, Y:-127.70, Z:0.04 [[ 9.47992319e-01 3.18293203e-01 0.00000000e+00 4.73942570e+02] [-3.18293203e-01 9.47992319e-01 0.00000000e+00 -1.27700981e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50255854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.97, Y:-127.71, Z:0.03 [[ 9.46942616e-01 3.21402678e-01 0.00000000e+00 4.73969559e+02] [-3.21402678e-01 9.46942616e-01 0.00000000e+00 -1.27708676e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44246740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.00, Y:-127.72, Z:0.03 [[ 9.46068606e-01 3.23966345e-01 0.00000000e+00 4.73997312e+02] [-3.23966345e-01 9.46068606e-01 0.00000000e+00 -1.27716492e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37960468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.03, Y:-127.72, Z:0.03 [[ 9.46082814e-01 3.23924852e-01 0.00000000e+00 4.74025760e+02] [-3.23924852e-01 9.46082814e-01 0.00000000e+00 -1.27723656e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37960468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.05, Y:-127.73, Z:0.03 [[ 9.44827437e-01 3.27568488e-01 0.00000000e+00 4.74052498e+02] [-3.27568488e-01 9.44827437e-01 0.00000000e+00 -1.27730443e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43122332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.08, Y:-127.74, Z:0.03 [[ 9.44466596e-01 3.28607440e-01 0.00000000e+00 4.74081148e+02] [-3.28607440e-01 9.44466596e-01 0.00000000e+00 -1.27736584e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41903656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.11, Y:-127.74, Z:0.03 [[ 9.44253273e-01 3.29219921e-01 0.00000000e+00 4.74109172e+02] [-3.29219921e-01 9.44253273e-01 0.00000000e+00 -1.27741923e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35085985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.14, Y:-127.75, Z:0.03 [[ 9.44042440e-01 3.29823999e-01 0.00000000e+00 4.74137128e+02] [-3.29823999e-01 9.44042440e-01 0.00000000e+00 -1.27747068e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30520307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.17, Y:-127.75, Z:0.03 [[ 9.43961376e-01 3.30055935e-01 0.00000000e+00 4.74165534e+02] [-3.30055935e-01 9.43961376e-01 0.00000000e+00 -1.27752168e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26191257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.19, Y:-127.76, Z:0.03 [[ 9.43959203e-01 3.30062149e-01 0.00000000e+00 4.74193857e+02] [-3.30062149e-01 9.43959203e-01 0.00000000e+00 -1.27757291e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19352901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.22, Y:-127.76, Z:0.03 [[ 9.44258385e-01 3.29205259e-01 0.00000000e+00 4.74221681e+02] [-3.29205259e-01 9.44258385e-01 0.00000000e+00 -1.27761569e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02851923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.25, Y:-127.77, Z:0.03 [[ 9.44693520e-01 3.27954498e-01 0.00000000e+00 4.74248813e+02] [-3.27954498e-01 9.44693520e-01 0.00000000e+00 -1.27766789e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93989143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.611400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:474.28, Y:-127.77, Z:0.03 [[ 9.45228558e-01 3.26409211e-01 0.00000000e+00 4.74277456e+02] [-3.26409211e-01 9.45228558e-01 0.00000000e+00 -1.27771806e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94857500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.30, Y:-127.78, Z:0.03 [[ 9.45663578e-01 3.25146733e-01 0.00000000e+00 4.74304738e+02] [-3.25146733e-01 9.45663578e-01 0.00000000e+00 -1.27776333e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93173558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.33, Y:-127.78, Z:0.03 [[ 9.46149821e-01 3.23729078e-01 0.00000000e+00 4.74333322e+02] [-3.23729078e-01 9.46149821e-01 0.00000000e+00 -1.27780505e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95799972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.36, Y:-127.78, Z:0.03 [[ 9.46419289e-01 3.22940441e-01 0.00000000e+00 4.74360973e+02] [-3.22940441e-01 9.46419289e-01 0.00000000e+00 -1.27784738e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07304570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.39, Y:-127.79, Z:0.03 [[ 9.46315419e-01 3.23244688e-01 0.00000000e+00 4.74389315e+02] [-3.23244688e-01 9.46315419e-01 0.00000000e+00 -1.27787739e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47591998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.42, Y:-127.79, Z:0.03 [[ 9.45944822e-01 3.24327603e-01 0.00000000e+00 4.74417171e+02] [-3.24327603e-01 9.45944822e-01 0.00000000e+00 -1.27792270e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49813605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.791400513 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:474.44, Y:-127.80, Z:0.03 [[ 9.45604125e-01 3.25319594e-01 0.00000000e+00 4.74444161e+02] [-3.25319594e-01 9.45604125e-01 0.00000000e+00 -1.27795872e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42885101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.47, Y:-127.80, Z:0.03 [[ 9.45185522e-01 3.26533810e-01 0.00000000e+00 4.74472039e+02] [-3.26533810e-01 9.45185522e-01 0.00000000e+00 -1.27799652e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36523317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.50, Y:-127.80, Z:0.03 [[ 9.44887814e-01 3.27394287e-01 0.00000000e+00 4.74500258e+02] [-3.27394287e-01 9.44887814e-01 0.00000000e+00 -1.27803042e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28850426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.53, Y:-127.81, Z:0.03 [[ 9.44585429e-01 3.28265695e-01 0.00000000e+00 4.74527288e+02] [-3.28265695e-01 9.44585429e-01 0.00000000e+00 -1.27806330e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25719201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.56, Y:-127.81, Z:0.03 [[ 9.44088999e-01 3.29690707e-01 0.00000000e+00 4.74556539e+02] [-3.29690707e-01 9.44088999e-01 0.00000000e+00 -1.27806639e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23191831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.58, Y:-127.81, Z:0.03 [[ 9.44072309e-01 3.29738494e-01 0.00000000e+00 4.74584236e+02] [-3.29738494e-01 9.44072309e-01 0.00000000e+00 -1.27809546e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29272670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.61, Y:-127.81, Z:0.03 [[ 9.44126829e-01 3.29582357e-01 0.00000000e+00 4.74611922e+02] [-3.29582357e-01 9.44126829e-01 0.00000000e+00 -1.27812939e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25094891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.64, Y:-127.81, Z:0.03 [[ 9.44607591e-01 3.28201919e-01 0.00000000e+00 4.74640684e+02] [-3.28201919e-01 9.44607591e-01 0.00000000e+00 -1.27813329e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17574483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.67, Y:-127.82, Z:0.03 [[ 9.44875858e-01 3.27428790e-01 0.00000000e+00 4.74667861e+02] [-3.27428790e-01 9.44875858e-01 0.00000000e+00 -1.27817069e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11553346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.70, Y:-127.82, Z:0.03 [[ 9.45222572e-01 3.26426544e-01 0.00000000e+00 4.74695994e+02] [-3.26426544e-01 9.45222572e-01 0.00000000e+00 -1.27820300e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10539488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.72, Y:-127.82, Z:0.03 [[ 9.45525967e-01 3.25546687e-01 0.00000000e+00 4.74723746e+02] [-3.25546687e-01 9.45525967e-01 0.00000000e+00 -1.27822855e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08697190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.75, Y:-127.83, Z:0.03 [[ 9.45844267e-01 3.24620736e-01 0.00000000e+00 4.74752334e+02] [-3.24620736e-01 9.45844267e-01 0.00000000e+00 -1.27825573e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99916624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.78, Y:-127.83, Z:0.03 [[ 9.46175890e-01 3.23652876e-01 0.00000000e+00 4.74779957e+02] [-3.23652876e-01 9.46175890e-01 0.00000000e+00 -1.27828415e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94117521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.81, Y:-127.83, Z:0.03 [[ 9.47176230e-01 3.20713562e-01 0.00000000e+00 4.74807397e+02] [-3.20713562e-01 9.47176230e-01 0.00000000e+00 -1.27828980e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09092580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.83, Y:-127.83, Z:0.03 [[ 9.47663210e-01 3.19271733e-01 0.00000000e+00 4.74834355e+02] [-3.19271733e-01 9.47663210e-01 0.00000000e+00 -1.27832016e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11707967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.86, Y:-127.84, Z:0.03 [[ 9.48154067e-01 3.17811053e-01 0.00000000e+00 4.74862508e+02] [-3.17811053e-01 9.48154067e-01 0.00000000e+00 -1.27835047e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06984327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.89, Y:-127.84, Z:0.03 [[ 9.48554716e-01 3.16613250e-01 0.00000000e+00 4.74889422e+02] [-3.16613250e-01 9.48554716e-01 0.00000000e+00 -1.27837950e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10903366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.92, Y:-127.84, Z:0.03 [[ 9.48833916e-01 3.15775554e-01 0.00000000e+00 4.74917474e+02] [-3.15775554e-01 9.48833916e-01 0.00000000e+00 -1.27841474e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11798257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.95, Y:-127.84, Z:0.03 [[ 9.49419256e-01 3.14011267e-01 0.00000000e+00 4.74945464e+02] [-3.14011267e-01 9.49419256e-01 0.00000000e+00 -1.27842944e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96486163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.97, Y:-127.85, Z:0.03 [[ 9.49944528e-01 3.12418618e-01 0.00000000e+00 4.74973289e+02] [-3.12418618e-01 9.49944528e-01 0.00000000e+00 -1.27847499e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89604572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.00, Y:-127.85, Z:0.03 [[ 9.50494201e-01 3.10742295e-01 0.00000000e+00 4.75000445e+02] [-3.10742295e-01 9.50494201e-01 0.00000000e+00 -1.27852246e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86876276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.03, Y:-127.86, Z:0.03 [[ 9.51127038e-01 3.08799867e-01 0.00000000e+00 4.75028256e+02] [-3.08799867e-01 9.51127038e-01 0.00000000e+00 -1.27858069e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94152830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.05, Y:-127.86, Z:0.03 [[ 9.51835383e-01 3.06609529e-01 0.00000000e+00 4.75054573e+02] [-3.06609529e-01 9.51835383e-01 0.00000000e+00 -1.27864261e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93790898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.08, Y:-127.87, Z:0.03 [[ 9.52499361e-01 3.04540585e-01 0.00000000e+00 4.75080762e+02] [-3.04540585e-01 9.52499361e-01 0.00000000e+00 -1.27871668e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90819887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.11, Y:-127.88, Z:0.03 [[ 9.53341837e-01 3.01892930e-01 0.00000000e+00 4.75107630e+02] [-3.01892930e-01 9.53341837e-01 0.00000000e+00 -1.27880397e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74602860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.13, Y:-127.89, Z:0.03 [[ 9.53270862e-01 3.02116970e-01 0.00000000e+00 4.75134111e+02] [-3.02116970e-01 9.53270862e-01 0.00000000e+00 -1.27887400e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75217484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.16, Y:-127.89, Z:0.03 [[ 9.52814635e-01 3.03552748e-01 0.00000000e+00 4.75161534e+02] [-3.03552748e-01 9.52814635e-01 0.00000000e+00 -1.27894166e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82307504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.19, Y:-127.90, Z:0.03 [[ 9.51976716e-01 3.06170430e-01 0.00000000e+00 4.75188595e+02] [-3.06170430e-01 9.51976716e-01 0.00000000e+00 -1.27900787e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95550715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.22, Y:-127.91, Z:0.03 [[ 9.50868353e-01 3.09595504e-01 0.00000000e+00 4.75215095e+02] [-3.09595504e-01 9.50868353e-01 0.00000000e+00 -1.27907420e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01108636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.24, Y:-127.91, Z:0.03 [[ 9.49775256e-01 3.12932842e-01 0.00000000e+00 4.75242117e+02] [-3.12932842e-01 9.49775256e-01 0.00000000e+00 -1.27914171e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92534997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.27, Y:-127.92, Z:0.03 [[ 9.48044443e-01 3.18137917e-01 0.00000000e+00 4.75269532e+02] [-3.18137917e-01 9.48044443e-01 0.00000000e+00 -1.27919828e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78728545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.721400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:475.30, Y:-127.93, Z:0.03 [[ 9.47395193e-01 3.20066163e-01 0.00000000e+00 4.75296677e+02] [-3.20066163e-01 9.47395193e-01 0.00000000e+00 -1.27925231e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76384188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.32, Y:-127.93, Z:0.03 [[ 9.46884356e-01 3.21574277e-01 0.00000000e+00 4.75323448e+02] [-3.21574277e-01 9.46884356e-01 0.00000000e+00 -1.27931180e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78139122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.35, Y:-127.94, Z:0.03 [[ 9.46707628e-01 3.22094189e-01 0.00000000e+00 4.75349216e+02] [-3.22094189e-01 9.46707628e-01 0.00000000e+00 -1.27937640e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75572120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.38, Y:-127.95, Z:0.03 [[ 9.46965880e-01 3.21334129e-01 0.00000000e+00 4.75376122e+02] [-3.21334129e-01 9.46965880e-01 0.00000000e+00 -1.27945172e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75477763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.40, Y:-127.95, Z:0.03 [[ 9.47494878e-01 3.19770943e-01 0.00000000e+00 4.75403463e+02] [-3.19770943e-01 9.47494878e-01 0.00000000e+00 -1.27953054e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78985189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.43, Y:-127.96, Z:0.03 [[ 9.48862484e-01 3.15689699e-01 0.00000000e+00 4.75430326e+02] [-3.15689699e-01 9.48862484e-01 0.00000000e+00 -1.27962315e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65708651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.46, Y:-127.97, Z:0.03 [[ 9.49566058e-01 3.13567061e-01 0.00000000e+00 4.75456621e+02] [-3.13567061e-01 9.49566058e-01 0.00000000e+00 -1.27970457e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52109770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.48, Y:-127.98, Z:0.02 [[ 9.50207312e-01 3.11618459e-01 0.00000000e+00 4.75483041e+02] [-3.11618459e-01 9.50207312e-01 0.00000000e+00 -1.27979097e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45708376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.51, Y:-127.99, Z:0.02 [[ 9.50678586e-01 3.10177734e-01 0.00000000e+00 4.75508842e+02] [-3.10177734e-01 9.50678586e-01 0.00000000e+00 -1.27987759e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43842250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.53, Y:-128.00, Z:0.02 [[ 9.51038565e-01 3.09072237e-01 0.00000000e+00 4.75534501e+02] [-3.09072237e-01 9.51038565e-01 0.00000000e+00 -1.27996341e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48524470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.56, Y:-128.01, Z:0.02 [[ 9.51202306e-01 3.08567938e-01 0.00000000e+00 4.75560698e+02] [-3.08567938e-01 9.51202306e-01 0.00000000e+00 -1.28005165e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43935162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.59, Y:-128.02, Z:0.02 [[ 9.51082796e-01 3.08936102e-01 0.00000000e+00 4.75587979e+02] [-3.08936102e-01 9.51082796e-01 0.00000000e+00 -1.28015128e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08829084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.61, Y:-128.02, Z:0.02 [[ 9.50927774e-01 3.09412943e-01 0.00000000e+00 4.75614158e+02] [-3.09412943e-01 9.50927774e-01 0.00000000e+00 -1.28023432e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83381925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.64, Y:-128.03, Z:0.02 [[ 9.50639817e-01 3.10296532e-01 0.00000000e+00 4.75641870e+02] [-3.10296532e-01 9.50639817e-01 0.00000000e+00 -1.28032430e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78525425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.67, Y:-128.04, Z:0.02 [[ 9.50222486e-01 3.11572187e-01 0.00000000e+00 4.75669696e+02] [-3.11572187e-01 9.50222486e-01 0.00000000e+00 -1.28041119e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89749099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.70, Y:-128.05, Z:0.02 [[ 9.49742856e-01 3.13031162e-01 0.00000000e+00 4.75696460e+02] [-3.13031162e-01 9.49742856e-01 0.00000000e+00 -1.28048935e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02358833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.72, Y:-128.06, Z:0.02 [[ 9.49229497e-01 3.14584426e-01 0.00000000e+00 4.75723988e+02] [-3.14584426e-01 9.49229497e-01 0.00000000e+00 -1.28056766e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27215253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.75, Y:-128.06, Z:0.02 [[ 9.49250521e-01 3.14520983e-01 0.00000000e+00 4.75751678e+02] [-3.14520983e-01 9.49250521e-01 0.00000000e+00 -1.28063512e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27215253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.78, Y:-128.07, Z:0.02 [[ 9.48072170e-01 3.18055278e-01 0.00000000e+00 4.75777673e+02] [-3.18055278e-01 9.48072170e-01 0.00000000e+00 -1.28073436e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30043876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.81, Y:-128.08, Z:0.02 [[ 9.47532131e-01 3.19660541e-01 0.00000000e+00 4.75805003e+02] [-3.19660541e-01 9.47532131e-01 0.00000000e+00 -1.28082767e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21311299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.83, Y:-128.09, Z:0.02 [[ 9.47077918e-01 3.21003764e-01 0.00000000e+00 4.75831975e+02] [-3.21003764e-01 9.47077918e-01 0.00000000e+00 -1.28091467e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20355705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.351400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:475.86, Y:-128.10, Z:0.02 [[ 9.46349738e-01 3.23144198e-01 0.00000000e+00 4.75859749e+02] [-3.23144198e-01 9.46349738e-01 0.00000000e+00 -1.28100512e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35227760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.89, Y:-128.11, Z:0.02 [[ 9.46000756e-01 3.24164419e-01 0.00000000e+00 4.75885957e+02] [-3.24164419e-01 9.46000756e-01 0.00000000e+00 -1.28107102e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41266770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.91, Y:-128.11, Z:0.02 [[ 9.45557200e-01 3.25455960e-01 0.00000000e+00 4.75912845e+02] [-3.25455960e-01 9.45557200e-01 0.00000000e+00 -1.28113439e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43920766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.94, Y:-128.12, Z:0.02 [[ 9.45018376e-01 3.27017231e-01 0.00000000e+00 4.75938877e+02] [-3.27017231e-01 9.45018376e-01 0.00000000e+00 -1.28119106e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44794722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.96, Y:-128.12, Z:0.02 [[ 9.44444210e-01 3.28671773e-01 0.00000000e+00 4.75964992e+02] [-3.28671773e-01 9.44444210e-01 0.00000000e+00 -1.28124713e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42997879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.99, Y:-128.13, Z:0.02 [[ 9.43432874e-01 3.31563588e-01 0.00000000e+00 4.75991682e+02] [-3.31563588e-01 9.43432874e-01 0.00000000e+00 -1.28128304e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44568891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.02, Y:-128.13, Z:0.02 [[ 9.43042159e-01 3.32673243e-01 0.00000000e+00 4.76019241e+02] [-3.32673243e-01 9.43042159e-01 0.00000000e+00 -1.28133062e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47842330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.05, Y:-128.14, Z:0.02 [[ 9.42785321e-01 3.33400417e-01 0.00000000e+00 4.76046589e+02] [-3.33400417e-01 9.42785321e-01 0.00000000e+00 -1.28136915e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47585571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.07, Y:-128.14, Z:0.02 [[ 9.42594428e-01 3.33939732e-01 0.00000000e+00 4.76073613e+02] [-3.33939732e-01 9.42594428e-01 0.00000000e+00 -1.28140099e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44782172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.10, Y:-128.14, Z:0.02 [[ 9.42509013e-01 3.34180731e-01 0.00000000e+00 4.76102219e+02] [-3.34180731e-01 9.42509013e-01 0.00000000e+00 -1.28143101e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41179948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.13, Y:-128.15, Z:0.02 [[ 9.42498747e-01 3.34209683e-01 0.00000000e+00 4.76130368e+02] [-3.34209683e-01 9.42498747e-01 0.00000000e+00 -1.28145527e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39200772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.16, Y:-128.14, Z:0.02 [[ 9.42535828e-01 3.34105092e-01 0.00000000e+00 4.76159866e+02] [-3.34105092e-01 9.42535828e-01 0.00000000e+00 -1.28143791e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32834141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.19, Y:-128.15, Z:0.02 [[ 9.42622684e-01 3.33859965e-01 0.00000000e+00 4.76187489e+02] [-3.33859965e-01 9.42622684e-01 0.00000000e+00 -1.28145807e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33352154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.22, Y:-128.15, Z:0.02 [[ 9.42780035e-01 3.33415366e-01 0.00000000e+00 4.76215293e+02] [-3.33415366e-01 9.42780035e-01 0.00000000e+00 -1.28147896e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38139657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.24, Y:-128.15, Z:0.02 [[ 9.42987394e-01 3.32828446e-01 0.00000000e+00 4.76242272e+02] [-3.32828446e-01 9.42987394e-01 0.00000000e+00 -1.28150349e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42742288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.27, Y:-128.15, Z:0.02 [[ 9.43913195e-01 3.30193702e-01 0.00000000e+00 4.76271774e+02] [-3.30193702e-01 9.43913195e-01 0.00000000e+00 -1.28150133e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38712862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.30, Y:-128.15, Z:0.02 [[ 9.44508073e-01 3.28488204e-01 0.00000000e+00 4.76299876e+02] [-3.28488204e-01 9.44508073e-01 0.00000000e+00 -1.28153311e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15549116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.33, Y:-128.16, Z:0.02 [[ 9.45183537e-01 3.26539556e-01 0.00000000e+00 4.76327530e+02] [-3.26539556e-01 9.45183537e-01 0.00000000e+00 -1.28156153e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07436907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.36, Y:-128.16, Z:0.02 [[ 9.45808162e-01 3.24725915e-01 0.00000000e+00 4.76355094e+02] [-3.24725915e-01 9.45808162e-01 0.00000000e+00 -1.28159617e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11895533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.38, Y:-128.16, Z:0.02 [[ 9.46307628e-01 3.23267495e-01 0.00000000e+00 4.76382623e+02] [-3.23267495e-01 9.46307628e-01 0.00000000e+00 -1.28163763e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23539746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.41, Y:-128.17, Z:0.02 [[ 9.46731906e-01 3.22022822e-01 0.00000000e+00 4.76410626e+02] [-3.22022822e-01 9.46731906e-01 0.00000000e+00 -1.28168522e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30206579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.44, Y:-128.17, Z:0.02 [[ 9.47267212e-01 3.20444737e-01 0.00000000e+00 4.76438637e+02] [-3.20444737e-01 9.47267212e-01 0.00000000e+00 -1.28170338e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07704892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.47, Y:-128.17, Z:0.02 [[ 9.47420655e-01 3.19990786e-01 0.00000000e+00 4.76466114e+02] [-3.19990786e-01 9.47420655e-01 0.00000000e+00 -1.28174224e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09575061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.49, Y:-128.18, Z:0.02 [[ 9.47483652e-01 3.19804203e-01 0.00000000e+00 4.76493382e+02] [-3.19804203e-01 9.47483652e-01 0.00000000e+00 -1.28178663e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05651933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.52, Y:-128.18, Z:0.02 [[ 9.47597847e-01 3.19465678e-01 0.00000000e+00 4.76521711e+02] [-3.19465678e-01 9.47597847e-01 0.00000000e+00 -1.28183712e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27207680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.55, Y:-128.19, Z:0.02 [[ 9.47721043e-01 3.19100022e-01 0.00000000e+00 4.76550361e+02] [-3.19100022e-01 9.47721043e-01 0.00000000e+00 -1.28189304e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44174503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.58, Y:-128.19, Z:0.03 [[ 9.48070241e-01 3.18061029e-01 0.00000000e+00 4.76578297e+02] [-3.18061029e-01 9.48070241e-01 0.00000000e+00 -1.28192977e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53742310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.61, Y:-128.20, Z:0.03 [[ 9.48572569e-01 3.16559759e-01 0.00000000e+00 4.76605785e+02] [-3.16559759e-01 9.48572569e-01 0.00000000e+00 -1.28197909e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56235958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.63, Y:-128.20, Z:0.03 [[ 9.49325600e-01 3.14294296e-01 0.00000000e+00 4.76632302e+02] [-3.14294296e-01 9.49325600e-01 0.00000000e+00 -1.28203311e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59469416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.66, Y:-128.21, Z:0.03 [[ 9.50371764e-01 3.11116553e-01 0.00000000e+00 4.76659736e+02] [-3.11116553e-01 9.50371764e-01 0.00000000e+00 -1.28210340e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75347048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.69, Y:-128.22, Z:0.03 [[ 9.51685391e-01 3.07074775e-01 0.00000000e+00 4.76686266e+02] [-3.07074775e-01 9.51685391e-01 0.00000000e+00 -1.28218065e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90094214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.71, Y:-128.23, Z:0.03 [[ 9.53072452e-01 3.02742302e-01 0.00000000e+00 4.76713159e+02] [-3.02742302e-01 9.53072452e-01 0.00000000e+00 -1.28226588e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99516589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.74, Y:-128.24, Z:0.03 [[ 9.54478700e-01 2.98279084e-01 0.00000000e+00 4.76738620e+02] [-2.98279084e-01 9.54478700e-01 0.00000000e+00 -1.28235104e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97391335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.77, Y:-128.25, Z:0.03 [[ 9.56862148e-01 2.90542303e-01 0.00000000e+00 4.76766217e+02] [-2.90542303e-01 9.56862148e-01 0.00000000e+00 -1.28245765e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76817991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.79, Y:-128.25, Z:0.03 [[ 9.57751303e-01 2.87597707e-01 0.00000000e+00 4.76792110e+02] [-2.87597707e-01 9.57751303e-01 0.00000000e+00 -1.28254100e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66297465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.82, Y:-128.26, Z:0.03 [[ 9.58511506e-01 2.85053841e-01 0.00000000e+00 4.76818242e+02] [-2.85053841e-01 9.58511506e-01 0.00000000e+00 -1.28263243e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68525697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.84, Y:-128.27, Z:0.03 [[ 9.59118906e-01 2.83003400e-01 0.00000000e+00 4.76844578e+02] [-2.83003400e-01 9.59118906e-01 0.00000000e+00 -1.28273075e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78951708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.87, Y:-128.29, Z:0.03 [[ 9.59970208e-01 2.80102125e-01 0.00000000e+00 4.76869008e+02] [-2.80102125e-01 9.59970208e-01 0.00000000e+00 -1.28285323e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86903201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.90, Y:-128.29, Z:0.03 [[ 9.60340021e-01 2.78831570e-01 0.00000000e+00 4.76895238e+02] [-2.78831570e-01 9.60340021e-01 0.00000000e+00 -1.28294715e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82785545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.92, Y:-128.30, Z:0.03 [[ 9.60632364e-01 2.77822715e-01 0.00000000e+00 4.76921566e+02] [-2.77822715e-01 9.60632364e-01 0.00000000e+00 -1.28304643e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74106049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.95, Y:-128.31, Z:0.03 [[ 9.60990891e-01 2.76580020e-01 0.00000000e+00 4.76947254e+02] [-2.76580020e-01 9.60990891e-01 0.00000000e+00 -1.28314323e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56594074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.97, Y:-128.32, Z:0.03 [[ 9.61442869e-01 2.75004744e-01 0.00000000e+00 4.76974097e+02] [-2.75004744e-01 9.61442869e-01 0.00000000e+00 -1.28323967e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57169998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.00, Y:-128.34, Z:0.03 [[ 9.62254984e-01 2.72149492e-01 0.00000000e+00 4.76999341e+02] [-2.72149492e-01 9.62254984e-01 0.00000000e+00 -1.28336233e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67720178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.03, Y:-128.35, Z:0.03 [[ 9.62687613e-01 2.70615151e-01 0.00000000e+00 4.77025499e+02] [-2.70615151e-01 9.62687613e-01 0.00000000e+00 -1.28346467e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72352006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.05, Y:-128.36, Z:0.03 [[ 9.63199606e-01 2.68787126e-01 0.00000000e+00 4.77050608e+02] [-2.68787126e-01 9.63199606e-01 0.00000000e+00 -1.28356811e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69309191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.08, Y:-128.37, Z:0.03 [[ 9.63730810e-01 2.66876236e-01 0.00000000e+00 4.77076964e+02] [-2.66876236e-01 9.63730810e-01 0.00000000e+00 -1.28367161e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64112813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.10, Y:-128.38, Z:0.03 [[ 9.64274174e-01 2.64906244e-01 0.00000000e+00 4.77102419e+02] [-2.64906244e-01 9.64274174e-01 0.00000000e+00 -1.28376264e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55533217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.13, Y:-128.38, Z:0.03 [[ 9.64760453e-01 2.63129755e-01 0.00000000e+00 4.77129333e+02] [-2.63129755e-01 9.64760453e-01 0.00000000e+00 -1.28384686e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54305187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.16, Y:-128.40, Z:0.02 [[ 9.65576720e-01 2.60118430e-01 0.00000000e+00 4.77155738e+02] [-2.60118430e-01 9.65576720e-01 0.00000000e+00 -1.28395176e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48516351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.18, Y:-128.40, Z:0.02 [[ 9.66037310e-01 2.58402624e-01 0.00000000e+00 4.77182528e+02] [-2.58402624e-01 9.66037310e-01 0.00000000e+00 -1.28403898e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46954075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.21, Y:-128.41, Z:0.03 [[ 9.66479033e-01 2.56745552e-01 0.00000000e+00 4.77208826e+02] [-2.56745552e-01 9.66479033e-01 0.00000000e+00 -1.28412220e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53541957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.24, Y:-128.42, Z:0.03 [[ 9.66893091e-01 2.55181800e-01 0.00000000e+00 4.77235192e+02] [-2.55181800e-01 9.66893091e-01 0.00000000e+00 -1.28419799e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58517812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.26, Y:-128.43, Z:0.03 [[ 9.67331454e-01 2.53515004e-01 0.00000000e+00 4.77261658e+02] [-2.53515004e-01 9.67331454e-01 0.00000000e+00 -1.28427080e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58925731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.29, Y:-128.43, Z:0.03 [[ 9.67794362e-01 2.51742078e-01 0.00000000e+00 4.77289727e+02] [-2.51742078e-01 9.67794362e-01 0.00000000e+00 -1.28434866e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71526886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.32, Y:-128.44, Z:0.03 [[ 9.68711120e-01 2.48190988e-01 0.00000000e+00 4.77316904e+02] [-2.48190988e-01 9.68711120e-01 0.00000000e+00 -1.28444296e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77554498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.34, Y:-128.45, Z:0.03 [[ 9.69190341e-01 2.46312976e-01 0.00000000e+00 4.77344064e+02] [-2.46312976e-01 9.69190341e-01 0.00000000e+00 -1.28451798e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77734461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.37, Y:-128.46, Z:0.03 [[ 9.69674580e-01 2.44399691e-01 0.00000000e+00 4.77371017e+02] [-2.44399691e-01 9.69674580e-01 0.00000000e+00 -1.28458356e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70803853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.40, Y:-128.47, Z:0.02 [[ 9.70478529e-01 2.41187531e-01 0.00000000e+00 4.77397937e+02] [-2.41187531e-01 9.70478529e-01 0.00000000e+00 -1.28465192e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49694124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.43, Y:-128.47, Z:0.03 [[ 9.70744467e-01 2.40114929e-01 0.00000000e+00 4.77426315e+02] [-2.40114929e-01 9.70744467e-01 0.00000000e+00 -1.28472563e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63278973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.121400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:477.45, Y:-128.48, Z:0.03 [[ 9.70923319e-01 2.39390703e-01 0.00000000e+00 4.77453675e+02] [-2.39390703e-01 9.70923319e-01 0.00000000e+00 -1.28479329e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60110718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.151400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:477.48, Y:-128.49, Z:0.03 [[ 9.70939821e-01 2.39323763e-01 0.00000000e+00 4.77481412e+02] [-2.39323763e-01 9.70939821e-01 0.00000000e+00 -1.28485883e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60110718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.51, Y:-128.49, Z:0.03 [[ 9.71070445e-01 2.38793196e-01 0.00000000e+00 4.77509287e+02] [-2.38793196e-01 9.71070445e-01 0.00000000e+00 -1.28492241e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78022496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.54, Y:-128.50, Z:0.03 [[ 9.71220965e-01 2.38180263e-01 0.00000000e+00 4.77536992e+02] [-2.38180263e-01 9.71220965e-01 0.00000000e+00 -1.28498155e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81835915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.56, Y:-128.50, Z:0.03 [[ 9.71450797e-01 2.37241118e-01 0.00000000e+00 4.77564736e+02] [-2.37241118e-01 9.71450797e-01 0.00000000e+00 -1.28504336e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81841841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.59, Y:-128.51, Z:0.03 [[ 9.72260364e-01 2.33901227e-01 0.00000000e+00 4.77592108e+02] [-2.33901227e-01 9.72260364e-01 0.00000000e+00 -1.28511006e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73834052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.62, Y:-128.52, Z:0.03 [[ 9.72766115e-01 2.31788883e-01 0.00000000e+00 4.77619316e+02] [-2.31788883e-01 9.72766115e-01 0.00000000e+00 -1.28517139e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80700351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.331400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:477.65, Y:-128.52, Z:0.03 [[ 9.73285316e-01 2.29598983e-01 0.00000000e+00 4.77647083e+02] [-2.29598983e-01 9.73285316e-01 0.00000000e+00 -1.28523425e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93013133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.67, Y:-128.53, Z:0.03 [[ 9.73759002e-01 2.27581648e-01 0.00000000e+00 4.77674861e+02] [-2.27581648e-01 9.73759002e-01 0.00000000e+00 -1.28529922e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93618517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.70, Y:-128.54, Z:0.03 [[ 9.74269119e-01 2.25387853e-01 0.00000000e+00 4.77702722e+02] [-2.25387853e-01 9.74269119e-01 0.00000000e+00 -1.28536425e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87691899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.73, Y:-128.54, Z:0.03 [[ 9.75146073e-01 2.21562938e-01 0.00000000e+00 4.77731346e+02] [-2.21562938e-01 9.75146073e-01 0.00000000e+00 -1.28542269e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83195335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.76, Y:-128.55, Z:0.03 [[ 9.75545614e-01 2.19797075e-01 0.00000000e+00 4.77758421e+02] [-2.19797075e-01 9.75545614e-01 0.00000000e+00 -1.28548427e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78135988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.79, Y:-128.56, Z:0.03 [[ 9.75860573e-01 2.18394463e-01 0.00000000e+00 4.77786752e+02] [-2.18394463e-01 9.75860573e-01 0.00000000e+00 -1.28555749e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73286118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.81, Y:-128.56, Z:0.03 [[ 9.76087509e-01 2.17377955e-01 0.00000000e+00 4.77814619e+02] [-2.17377955e-01 9.76087509e-01 0.00000000e+00 -1.28563005e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62589660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.84, Y:-128.57, Z:0.02 [[ 9.76302249e-01 2.16411458e-01 0.00000000e+00 4.77841828e+02] [-2.16411458e-01 9.76302249e-01 0.00000000e+00 -1.28568500e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22444093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.87, Y:-128.57, Z:0.02 [[ 9.76298299e-01 2.16429274e-01 0.00000000e+00 4.77870116e+02] [-2.16429274e-01 9.76298299e-01 0.00000000e+00 -1.28573354e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22326373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.90, Y:-128.58, Z:0.02 [[ 9.76248560e-01 2.16653523e-01 0.00000000e+00 4.77897659e+02] [-2.16653523e-01 9.76248560e-01 0.00000000e+00 -1.28577974e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23900027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.93, Y:-128.58, Z:0.02 [[ 9.76186140e-01 2.16934600e-01 0.00000000e+00 4.77926324e+02] [-2.16934600e-01 9.76186140e-01 0.00000000e+00 -1.28582980e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44924844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.95, Y:-128.59, Z:0.03 [[ 9.76121539e-01 2.17225094e-01 0.00000000e+00 4.77953988e+02] [-2.17225094e-01 9.76121539e-01 0.00000000e+00 -1.28588216e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59458240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.98, Y:-128.59, Z:0.03 [[ 9.76109395e-01 2.17279658e-01 0.00000000e+00 4.77982139e+02] [-2.17279658e-01 9.76109395e-01 0.00000000e+00 -1.28592987e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65674671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.01, Y:-128.60, Z:0.02 [[ 9.76102024e-01 2.17312766e-01 0.00000000e+00 4.78010874e+02] [-2.17312766e-01 9.76102024e-01 0.00000000e+00 -1.28596631e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43600660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.04, Y:-128.60, Z:0.02 [[ 9.76188449e-01 2.16924210e-01 0.00000000e+00 4.78039499e+02] [-2.16924210e-01 9.76188449e-01 0.00000000e+00 -1.28602590e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38657585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.07, Y:-128.61, Z:0.02 [[ 9.76374391e-01 2.16085743e-01 0.00000000e+00 4.78068093e+02] [-2.16085743e-01 9.76374391e-01 0.00000000e+00 -1.28608759e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36902422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.811400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:478.10, Y:-128.61, Z:0.02 [[ 9.76527453e-01 2.15392977e-01 0.00000000e+00 4.78095866e+02] [-2.15392977e-01 9.76527453e-01 0.00000000e+00 -1.28614430e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34934153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.12, Y:-128.62, Z:0.02 [[ 9.76582242e-01 2.15144429e-01 0.00000000e+00 4.78123585e+02] [-2.15144429e-01 9.76582242e-01 0.00000000e+00 -1.28619364e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33938194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.15, Y:-128.62, Z:0.02 [[ 9.76541157e-01 2.15330836e-01 0.00000000e+00 4.78151751e+02] [-2.15330836e-01 9.76541157e-01 0.00000000e+00 -1.28623880e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39671501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.18, Y:-128.62, Z:0.02 [[ 9.76140237e-01 2.17141055e-01 0.00000000e+00 4.78180347e+02] [-2.17141055e-01 9.76140237e-01 0.00000000e+00 -1.28624649e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45361698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.21, Y:-128.63, Z:0.02 [[ 9.75903499e-01 2.18202566e-01 0.00000000e+00 4.78208600e+02] [-2.18202566e-01 9.75903499e-01 0.00000000e+00 -1.28627978e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41003929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.24, Y:-128.63, Z:0.02 [[ 9.75683078e-01 2.19186067e-01 0.00000000e+00 4.78235558e+02] [-2.19186067e-01 9.75683078e-01 0.00000000e+00 -1.28630627e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39541301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.26, Y:-128.63, Z:0.03 [[ 9.75545945e-01 2.19795607e-01 0.00000000e+00 4.78264077e+02] [-2.19795607e-01 9.75545945e-01 0.00000000e+00 -1.28633552e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54296012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.29, Y:-128.64, Z:0.03 [[ 9.75585847e-01 2.19618431e-01 0.00000000e+00 4.78293304e+02] [-2.19618431e-01 9.75585847e-01 0.00000000e+00 -1.28636788e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78412211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.32, Y:-128.64, Z:0.03 [[ 9.76109321e-01 2.17279987e-01 0.00000000e+00 4.78322586e+02] [-2.17279987e-01 9.76109321e-01 0.00000000e+00 -1.28638286e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96369082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.35, Y:-128.64, Z:0.03 [[ 9.76521185e-01 2.15421389e-01 0.00000000e+00 4.78351161e+02] [-2.15421389e-01 9.76521185e-01 0.00000000e+00 -1.28642226e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85426203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.38, Y:-128.65, Z:0.03 [[ 9.76975938e-01 2.13349518e-01 0.00000000e+00 4.78378584e+02] [-2.13349518e-01 9.76975938e-01 0.00000000e+00 -1.28645591e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62447556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.41, Y:-128.65, Z:0.03 [[ 9.77494682e-01 2.10960057e-01 0.00000000e+00 4.78407461e+02] [-2.10960057e-01 9.77494682e-01 0.00000000e+00 -1.28649693e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57668244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.44, Y:-128.65, Z:0.03 [[ 9.78617150e-01 2.05690235e-01 0.00000000e+00 4.78436012e+02] [-2.05690235e-01 9.78617150e-01 0.00000000e+00 -1.28651771e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73042655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.201400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:478.46, Y:-128.66, Z:0.03 [[ 9.79005302e-01 2.03834784e-01 0.00000000e+00 4.78463329e+02] [-2.03834784e-01 9.79005302e-01 0.00000000e+00 -1.28655983e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69629045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.49, Y:-128.66, Z:0.03 [[ 9.79230758e-01 2.02748916e-01 0.00000000e+00 4.78492125e+02] [-2.02748916e-01 9.79230758e-01 0.00000000e+00 -1.28660742e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56642662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.52, Y:-128.67, Z:0.02 [[ 9.79363907e-01 2.02104767e-01 0.00000000e+00 4.78520069e+02] [-2.02104767e-01 9.79363907e-01 0.00000000e+00 -1.28665198e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37940868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.291400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:478.55, Y:-128.67, Z:0.02 [[ 9.79438936e-01 2.01740851e-01 0.00000000e+00 4.78548709e+02] [-2.01740851e-01 9.79438936e-01 0.00000000e+00 -1.28669379e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42736317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.58, Y:-128.67, Z:0.03 [[ 9.79444707e-01 2.01712828e-01 0.00000000e+00 4.78577734e+02] [-2.01712828e-01 9.79444707e-01 0.00000000e+00 -1.28673783e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55755646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.351400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:478.61, Y:-128.68, Z:0.03 [[ 9.79491102e-01 2.01487422e-01 0.00000000e+00 4.78606154e+02] [-2.01487422e-01 9.79491102e-01 0.00000000e+00 -1.28675135e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87991169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.63, Y:-128.68, Z:0.03 [[ 9.79568685e-01 2.01109899e-01 0.00000000e+00 4.78634104e+02] [-2.01109899e-01 9.79568685e-01 0.00000000e+00 -1.28679090e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02587357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.411400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:478.66, Y:-128.68, Z:0.03 [[ 9.79700245e-01 2.00468026e-01 0.00000000e+00 4.78662159e+02] [-2.00468026e-01 9.79700245e-01 0.00000000e+00 -1.28683297e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09851550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.69, Y:-128.69, Z:0.03 [[ 9.79895350e-01 1.99512162e-01 0.00000000e+00 4.78689318e+02] [-1.99512162e-01 9.79895350e-01 0.00000000e+00 -1.28687735e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08239368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.72, Y:-128.69, Z:0.03 [[ 9.80614580e-01 1.95946536e-01 0.00000000e+00 4.78717089e+02] [-1.95946536e-01 9.80614580e-01 0.00000000e+00 -1.28690704e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06727560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.501400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:478.75, Y:-128.70, Z:0.03 [[ 9.81039036e-01 1.93810244e-01 0.00000000e+00 4.78745253e+02] [-1.93810244e-01 9.81039036e-01 0.00000000e+00 -1.28695332e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14846638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.77, Y:-128.70, Z:0.03 [[ 9.81471422e-01 1.91608578e-01 0.00000000e+00 4.78772604e+02] [-1.91608578e-01 9.81471422e-01 0.00000000e+00 -1.28699711e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08677834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.561400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:478.80, Y:-128.70, Z:0.03 [[ 9.82231825e-01 1.87671632e-01 0.00000000e+00 4.78801505e+02] [-1.87671632e-01 9.82231825e-01 0.00000000e+00 -1.28703159e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77776573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.83, Y:-128.71, Z:0.03 [[ 9.82463414e-01 1.86455466e-01 0.00000000e+00 4.78829292e+02] [-1.86455466e-01 9.82463414e-01 0.00000000e+00 -1.28708638e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59641311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.86, Y:-128.71, Z:0.03 [[ 9.82614703e-01 1.85656526e-01 0.00000000e+00 4.78856672e+02] [-1.85656526e-01 9.82614703e-01 0.00000000e+00 -1.28714179e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56544085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.88, Y:-128.72, Z:0.03 [[ 9.82666970e-01 1.85379679e-01 0.00000000e+00 4.78883928e+02] [-1.85379679e-01 9.82666970e-01 0.00000000e+00 -1.28719648e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68267938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.91, Y:-128.73, Z:0.03 [[ 9.82599467e-01 1.85737147e-01 0.00000000e+00 4.78911642e+02] [-1.85737147e-01 9.82599467e-01 0.00000000e+00 -1.28725194e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89123017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.94, Y:-128.73, Z:0.03 [[ 9.82290611e-01 1.87363699e-01 0.00000000e+00 4.78940056e+02] [-1.87363699e-01 9.82290611e-01 0.00000000e+00 -1.28729748e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18306645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.97, Y:-128.73, Z:0.03 [[ 9.82228226e-01 1.87690469e-01 0.00000000e+00 4.78967314e+02] [-1.87690469e-01 9.82228226e-01 0.00000000e+00 -1.28734814e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16724241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.99, Y:-128.74, Z:0.03 [[ 9.82229939e-01 1.87681503e-01 0.00000000e+00 4.78994433e+02] [-1.87681503e-01 9.82229939e-01 0.00000000e+00 -1.28739924e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03964037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.02, Y:-128.75, Z:0.03 [[ 9.82292404e-01 1.87354299e-01 0.00000000e+00 4.79021638e+02] [-1.87354299e-01 9.82292404e-01 0.00000000e+00 -1.28745757e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76677204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.05, Y:-128.75, Z:0.03 [[ 9.82362238e-01 1.86987790e-01 0.00000000e+00 4.79050009e+02] [-1.86987790e-01 9.82362238e-01 0.00000000e+00 -1.28752407e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80409278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.08, Y:-128.76, Z:0.03 [[ 9.82421039e-01 1.86678609e-01 0.00000000e+00 4.79077945e+02] [-1.86678609e-01 9.82421039e-01 0.00000000e+00 -1.28758589e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80387036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.891400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:479.11, Y:-128.76, Z:0.03 [[ 9.82476690e-01 1.86385495e-01 0.00000000e+00 4.79105265e+02] [-1.86385495e-01 9.82476690e-01 0.00000000e+00 -1.28763468e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56711820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.921400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:479.13, Y:-128.77, Z:0.02 [[ 9.82494090e-01 1.86293754e-01 0.00000000e+00 4.79133006e+02] [-1.86293754e-01 9.82494090e-01 0.00000000e+00 -1.28769394e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49130367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.16, Y:-128.78, Z:0.03 [[ 9.82588275e-01 1.85796343e-01 0.00000000e+00 4.79160882e+02] [-1.85796343e-01 9.82588275e-01 0.00000000e+00 -1.28775474e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57415358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.981400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:479.19, Y:-128.78, Z:0.03 [[ 9.82670460e-01 1.85361182e-01 0.00000000e+00 4.79189014e+02] [-1.85361182e-01 9.82670460e-01 0.00000000e+00 -1.28781535e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74699947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.011400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:479.22, Y:-128.79, Z:0.03 [[ 9.82753923e-01 1.84918162e-01 0.00000000e+00 4.79216624e+02] [-1.84918162e-01 9.82753923e-01 0.00000000e+00 -1.28786445e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76554892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.041400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:479.24, Y:-128.79, Z:0.03 [[ 9.82766386e-01 1.84851915e-01 0.00000000e+00 4.79244376e+02] [-1.84851915e-01 9.82766386e-01 0.00000000e+00 -1.28792899e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76554892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.071400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:479.27, Y:-128.80, Z:0.03 [[ 9.82744932e-01 1.84965937e-01 0.00000000e+00 4.79271663e+02] [-1.84965937e-01 9.82744932e-01 0.00000000e+00 -1.28797436e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87910285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.101400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:479.30, Y:-128.80, Z:0.03 [[ 9.82693540e-01 1.85238784e-01 0.00000000e+00 4.79299146e+02] [-1.85238784e-01 9.82693540e-01 0.00000000e+00 -1.28801871e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04076077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.131400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:479.33, Y:-128.81, Z:0.03 [[ 9.82470373e-01 1.86418794e-01 0.00000000e+00 4.79326764e+02] [-1.86418794e-01 9.82470373e-01 0.00000000e+00 -1.28805530e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15659041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.35, Y:-128.81, Z:0.03 [[ 9.82340584e-01 1.87101517e-01 0.00000000e+00 4.79354123e+02] [-1.87101517e-01 9.82340584e-01 0.00000000e+00 -1.28809630e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26744594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.38, Y:-128.81, Z:0.03 [[ 9.82242903e-01 1.87613646e-01 0.00000000e+00 4.79382634e+02] [-1.87613646e-01 9.82242903e-01 0.00000000e+00 -1.28813545e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39163168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.41, Y:-128.82, Z:0.04 [[ 9.82228151e-01 1.87690859e-01 0.00000000e+00 4.79410548e+02] [-1.87690859e-01 9.82228151e-01 0.00000000e+00 -1.28817883e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51727842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.251400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:479.44, Y:-128.82, Z:0.04 [[ 9.82383170e-01 1.86877790e-01 0.00000000e+00 4.79436638e+02] [-1.86877790e-01 9.82383170e-01 0.00000000e+00 -1.28822860e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50694965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.281400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:479.47, Y:-128.83, Z:0.03 [[ 9.83121285e-01 1.82955018e-01 0.00000000e+00 4.79465194e+02] [-1.82955018e-01 9.83121285e-01 0.00000000e+00 -1.28827933e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45190870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.311400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:479.49, Y:-128.83, Z:0.03 [[ 9.83656023e-01 1.80057847e-01 0.00000000e+00 4.79492398e+02] [-1.80057847e-01 9.83656023e-01 0.00000000e+00 -1.28833072e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22376117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.52, Y:-128.84, Z:0.03 [[ 9.84203828e-01 1.77039047e-01 0.00000000e+00 4.79521193e+02] [-1.77039047e-01 9.84203828e-01 0.00000000e+00 -1.28838593e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06858894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.371400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:479.55, Y:-128.85, Z:0.03 [[ 9.84757464e-01 1.73933139e-01 0.00000000e+00 4.79549158e+02] [-1.73933139e-01 9.84757464e-01 0.00000000e+00 -1.28845081e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88161347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.401400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:479.58, Y:-128.85, Z:0.03 [[ 9.85547790e-01 1.69397622e-01 0.00000000e+00 4.79575491e+02] [-1.69397622e-01 9.85547790e-01 0.00000000e+00 -1.28852427e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84345695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.431400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:479.60, Y:-128.86, Z:0.03 [[ 9.85715107e-01 1.68421282e-01 0.00000000e+00 4.79603503e+02] [-1.68421282e-01 9.85715107e-01 0.00000000e+00 -1.28859065e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98027471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.63, Y:-128.87, Z:0.03 [[ 9.85711293e-01 1.68443600e-01 0.00000000e+00 4.79632059e+02] [-1.68443600e-01 9.85711293e-01 0.00000000e+00 -1.28865642e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15767370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.66, Y:-128.87, Z:0.03 [[ 9.85634302e-01 1.68893525e-01 0.00000000e+00 4.79658970e+02] [-1.68893525e-01 9.85634302e-01 0.00000000e+00 -1.28871993e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22860188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.69, Y:-128.88, Z:0.03 [[ 9.85438455e-01 1.70032500e-01 0.00000000e+00 4.79686818e+02] [-1.70032500e-01 9.85438455e-01 0.00000000e+00 -1.28879441e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37763186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.551400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:479.71, Y:-128.89, Z:0.04 [[ 9.84830319e-01 1.73520149e-01 0.00000000e+00 4.79714796e+02] [-1.73520149e-01 9.84830319e-01 0.00000000e+00 -1.28887625e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60401317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.74, Y:-128.89, Z:0.04 [[ 9.84512780e-01 1.75312823e-01 0.00000000e+00 4.79741024e+02] [-1.75312823e-01 9.84512780e-01 0.00000000e+00 -1.28893214e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55353000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.77, Y:-128.90, Z:0.04 [[ 9.84144048e-01 1.77371060e-01 0.00000000e+00 4.79770024e+02] [-1.77371060e-01 9.84144048e-01 0.00000000e+00 -1.28897949e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51654219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.80, Y:-128.90, Z:0.03 [[ 9.83699072e-01 1.79822511e-01 0.00000000e+00 4.79796455e+02] [-1.79822511e-01 9.83699072e-01 0.00000000e+00 -1.28901376e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42708922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.671400513 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:479.83, Y:-128.90, Z:0.03 [[ 9.82937461e-01 1.83940067e-01 0.00000000e+00 4.79825330e+02] [-1.83940067e-01 9.82937461e-01 0.00000000e+00 -1.28902984e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43337167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.85, Y:-128.91, Z:0.04 [[ 9.82753927e-01 1.84918142e-01 0.00000000e+00 4.79853896e+02] [-1.84918142e-01 9.82753927e-01 0.00000000e+00 -1.28907346e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61393389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.88, Y:-128.91, Z:0.04 [[ 9.82809795e-01 1.84620980e-01 0.00000000e+00 4.79882937e+02] [-1.84620980e-01 9.82809795e-01 0.00000000e+00 -1.28911217e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71127844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.761400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:479.91, Y:-128.91, Z:0.04 [[ 9.83483731e-01 1.80996549e-01 0.00000000e+00 4.79911330e+02] [-1.80996549e-01 9.83483731e-01 0.00000000e+00 -1.28912960e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64903278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.94, Y:-128.92, Z:0.04 [[ 9.83969604e-01 1.78336250e-01 0.00000000e+00 4.79939028e+02] [-1.78336250e-01 9.83969604e-01 0.00000000e+00 -1.28917839e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58310665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.97, Y:-128.92, Z:0.04 [[ 9.84492460e-01 1.75426899e-01 0.00000000e+00 4.79966293e+02] [-1.75426899e-01 9.84492460e-01 0.00000000e+00 -1.28922163e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59135164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.851400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:480.00, Y:-128.93, Z:0.04 [[ 9.85039843e-01 1.72326746e-01 0.00000000e+00 4.79995052e+02] [-1.72326746e-01 9.85039843e-01 0.00000000e+00 -1.28926173e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55019112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.02, Y:-128.93, Z:0.04 [[ 9.85580551e-01 1.69206905e-01 0.00000000e+00 4.80022592e+02] [-1.69206905e-01 9.85580551e-01 0.00000000e+00 -1.28930423e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56823276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.05, Y:-128.93, Z:0.03 [[ 9.86457757e-01 1.64015531e-01 0.00000000e+00 4.80049658e+02] [-1.64015531e-01 9.86457757e-01 0.00000000e+00 -1.28932804e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47112714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.08, Y:-128.94, Z:0.03 [[ 9.86819918e-01 1.61822279e-01 0.00000000e+00 4.80075952e+02] [-1.61822279e-01 9.86819918e-01 0.00000000e+00 -1.28937496e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32685169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.971400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:480.10, Y:-128.94, Z:0.03 [[ 9.87189508e-01 1.59552108e-01 0.00000000e+00 4.80104529e+02] [-1.59552108e-01 9.87189508e-01 0.00000000e+00 -1.28943041e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31658725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.13, Y:-128.95, Z:0.03 [[ 9.87515975e-01 1.57518883e-01 0.00000000e+00 4.80131807e+02] [-1.57518883e-01 9.87515975e-01 0.00000000e+00 -1.28949115e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32091668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.16, Y:-128.96, Z:0.03 [[ 9.87815911e-01 1.55626882e-01 0.00000000e+00 4.80159468e+02] [-1.55626882e-01 9.87815911e-01 0.00000000e+00 -1.28955289e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31420265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.19, Y:-128.96, Z:0.03 [[ 9.88253301e-01 1.52824778e-01 0.00000000e+00 4.80185306e+02] [-1.52824778e-01 9.88253301e-01 0.00000000e+00 -1.28963360e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27407124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.091400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:480.21, Y:-128.97, Z:0.03 [[ 9.88380910e-01 1.51997291e-01 0.00000000e+00 4.80212411e+02] [-1.51997291e-01 9.88380910e-01 0.00000000e+00 -1.28970917e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24593525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.121400513 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:480.24, Y:-128.98, Z:0.03 [[ 9.88413172e-01 1.51787357e-01 0.00000000e+00 4.80239245e+02] [-1.51787357e-01 9.88413172e-01 0.00000000e+00 -1.28978235e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29659974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.27, Y:-128.99, Z:0.03 [[ 9.88284412e-01 1.52623462e-01 0.00000000e+00 4.80266219e+02] [-1.52623462e-01 9.88284412e-01 0.00000000e+00 -1.28987192e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96243454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.29, Y:-129.00, Z:0.03 [[ 9.88199575e-01 1.53171796e-01 0.00000000e+00 4.80292676e+02] [-1.53171796e-01 9.88199575e-01 0.00000000e+00 -1.28995611e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76587220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.211400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:480.32, Y:-129.00, Z:0.03 [[ 9.88129578e-01 1.53622708e-01 0.00000000e+00 4.80319782e+02] [-1.53622708e-01 9.88129578e-01 0.00000000e+00 -1.29004168e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77617471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.35, Y:-129.01, Z:0.03 [[ 9.88029673e-01 1.54263945e-01 0.00000000e+00 4.80346342e+02] [-1.54263945e-01 9.88029673e-01 0.00000000e+00 -1.29012999e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73524877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.37, Y:-129.02, Z:0.03 [[ 9.87804753e-01 1.55697687e-01 0.00000000e+00 4.80373433e+02] [-1.55697687e-01 9.87804753e-01 0.00000000e+00 -1.29022615e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21417088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.40, Y:-129.03, Z:0.03 [[ 9.87658639e-01 1.56621879e-01 0.00000000e+00 4.80400718e+02] [-1.56621879e-01 9.87658639e-01 0.00000000e+00 -1.29030749e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29104340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.43, Y:-129.04, Z:0.03 [[ 9.87515738e-01 1.57520369e-01 0.00000000e+00 4.80428051e+02] [-1.57520369e-01 9.87515738e-01 0.00000000e+00 -1.29038843e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14687630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.361400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:480.46, Y:-129.05, Z:0.03 [[ 9.87419607e-01 1.58121854e-01 0.00000000e+00 4.80455767e+02] [-1.58121854e-01 9.87419607e-01 0.00000000e+00 -1.29046561e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94075437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.48, Y:-129.05, Z:0.03 [[ 9.87376700e-01 1.58389557e-01 0.00000000e+00 4.80483666e+02] [-1.58389557e-01 9.87376700e-01 0.00000000e+00 -1.29054359e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69160043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.421400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:480.51, Y:-129.06, Z:0.02 [[ 9.87613223e-01 1.56908004e-01 0.00000000e+00 4.80511619e+02] [-1.56908004e-01 9.87613223e-01 0.00000000e+00 -1.29063288e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46923734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.54, Y:-129.07, Z:0.03 [[ 9.87802731e-01 1.55710514e-01 0.00000000e+00 4.80539016e+02] [-1.55710514e-01 9.87802731e-01 0.00000000e+00 -1.29072359e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59985537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.57, Y:-129.08, Z:0.03 [[ 9.88058769e-01 1.54077476e-01 0.00000000e+00 4.80565657e+02] [-1.54077476e-01 9.88058769e-01 0.00000000e+00 -1.29081393e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68970298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.59, Y:-129.09, Z:0.03 [[ 9.88313071e-01 1.52437769e-01 0.00000000e+00 4.80593211e+02] [-1.52437769e-01 9.88313071e-01 0.00000000e+00 -1.29090443e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81565534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.62, Y:-129.10, Z:0.03 [[ 9.88772015e-01 1.49431932e-01 0.00000000e+00 4.80619970e+02] [-1.49431932e-01 9.88772015e-01 0.00000000e+00 -1.29101215e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93277610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.65, Y:-129.11, Z:0.03 [[ 9.88941616e-01 1.48305361e-01 0.00000000e+00 4.80646351e+02] [-1.48305361e-01 9.88941616e-01 0.00000000e+00 -1.29109620e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93701173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.67, Y:-129.12, Z:0.03 [[ 9.89091593e-01 1.47301804e-01 0.00000000e+00 4.80671928e+02] [-1.47301804e-01 9.89091593e-01 0.00000000e+00 -1.29117157e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96186275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.70, Y:-129.12, Z:0.03 [[ 9.89168453e-01 1.46784783e-01 0.00000000e+00 4.80698586e+02] [-1.46784783e-01 9.89168453e-01 0.00000000e+00 -1.29124230e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99736885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.73, Y:-129.13, Z:0.03 [[ 9.89154656e-01 1.46877728e-01 0.00000000e+00 4.80726041e+02] [-1.46877728e-01 9.89154656e-01 0.00000000e+00 -1.29130818e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02604418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.691400513 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:480.75, Y:-129.14, Z:0.03 [[ 9.89090723e-01 1.47307644e-01 0.00000000e+00 4.80753218e+02] [-1.47307644e-01 9.89090723e-01 0.00000000e+00 -1.29136575e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11314314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.721400513 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:480.78, Y:-129.14, Z:0.03 [[ 9.88775802e-01 1.49406870e-01 0.00000000e+00 4.80780508e+02] [-1.49406870e-01 9.88775802e-01 0.00000000e+00 -1.29143673e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16658830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.81, Y:-129.15, Z:0.03 [[ 9.88602844e-01 1.50547061e-01 0.00000000e+00 4.80807440e+02] [-1.50547061e-01 9.88602844e-01 0.00000000e+00 -1.29150629e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18683221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.781400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:480.84, Y:-129.16, Z:0.03 [[ 9.88420067e-01 1.51742450e-01 0.00000000e+00 4.80835368e+02] [-1.51742450e-01 9.88420067e-01 0.00000000e+00 -1.29156296e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21349337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.811400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:480.86, Y:-129.16, Z:0.03 [[ 9.88189902e-01 1.53234191e-01 0.00000000e+00 4.80862741e+02] [-1.53234191e-01 9.88189902e-01 0.00000000e+00 -1.29161825e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30126498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.89, Y:-129.17, Z:0.03 [[ 9.87726102e-01 1.56195863e-01 0.00000000e+00 4.80890583e+02] [-1.56195863e-01 9.87726102e-01 0.00000000e+00 -1.29166655e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39292514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.871400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:480.92, Y:-129.17, Z:0.04 [[ 9.87509666e-01 1.57558434e-01 0.00000000e+00 4.80918006e+02] [-1.57558434e-01 9.87509666e-01 0.00000000e+00 -1.29171312e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50368051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.95, Y:-129.18, Z:0.04 [[ 9.87254093e-01 1.59151989e-01 0.00000000e+00 4.80945629e+02] [-1.59151989e-01 9.87254093e-01 0.00000000e+00 -1.29176364e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58821810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.97, Y:-129.18, Z:0.04 [[ 9.87008687e-01 1.60666897e-01 0.00000000e+00 4.80973169e+02] [-1.60666897e-01 9.87008687e-01 0.00000000e+00 -1.29180347e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59023595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.00, Y:-129.19, Z:0.04 [[ 9.87019897e-01 1.60598016e-01 0.00000000e+00 4.81000943e+02] [-1.60598016e-01 9.87019897e-01 0.00000000e+00 -1.29186699e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59023595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.03, Y:-129.19, Z:0.03 [[ 9.86786253e-01 1.62027439e-01 0.00000000e+00 4.81027613e+02] [-1.62027439e-01 9.86786253e-01 0.00000000e+00 -1.29190510e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46948485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.021400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:481.06, Y:-129.19, Z:0.03 [[ 9.86481902e-01 1.63870247e-01 0.00000000e+00 4.81056552e+02] [-1.63870247e-01 9.86481902e-01 0.00000000e+00 -1.29193556e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14401250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.051400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:481.09, Y:-129.20, Z:0.03 [[ 9.86395609e-01 1.64388879e-01 0.00000000e+00 4.81085429e+02] [-1.64388879e-01 9.86395609e-01 0.00000000e+00 -1.29198667e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07069119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.081400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:481.11, Y:-129.20, Z:0.03 [[ 9.86318472e-01 1.64851060e-01 0.00000000e+00 4.81112826e+02] [-1.64851060e-01 9.86318472e-01 0.00000000e+00 -1.29203020e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11576824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.111400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:481.14, Y:-129.21, Z:0.03 [[ 9.86203038e-01 1.65540231e-01 0.00000000e+00 4.81139494e+02] [-1.65540231e-01 9.86203038e-01 0.00000000e+00 -1.29206683e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03522966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.17, Y:-129.21, Z:0.03 [[ 9.86007345e-01 1.66701879e-01 0.00000000e+00 4.81166965e+02] [-1.66701879e-01 9.86007345e-01 0.00000000e+00 -1.29210403e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12130812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.20, Y:-129.21, Z:0.03 [[ 9.85531590e-01 1.69491842e-01 0.00000000e+00 4.81195029e+02] [-1.69491842e-01 9.85531590e-01 0.00000000e+00 -1.29211337e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30436437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.22, Y:-129.21, Z:0.03 [[ 9.85290432e-01 1.70888166e-01 0.00000000e+00 4.81223211e+02] [-1.70888166e-01 9.85290432e-01 0.00000000e+00 -1.29214575e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44116251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.231400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:481.25, Y:-129.22, Z:0.03 [[ 9.85031865e-01 1.72372346e-01 0.00000000e+00 4.81250419e+02] [-1.72372346e-01 9.85031865e-01 0.00000000e+00 -1.29217340e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33770018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.261400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:481.28, Y:-129.22, Z:0.03 [[ 9.84842749e-01 1.73449589e-01 0.00000000e+00 4.81278857e+02] [-1.73449589e-01 9.84842749e-01 0.00000000e+00 -1.29220542e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30728722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.31, Y:-129.22, Z:0.03 [[ 9.84740271e-01 1.74030453e-01 0.00000000e+00 4.81307122e+02] [-1.74030453e-01 9.84740271e-01 0.00000000e+00 -1.29220596e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44058424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.33, Y:-129.22, Z:0.04 [[ 9.84868236e-01 1.73304810e-01 0.00000000e+00 4.81334780e+02] [-1.73304810e-01 9.84868236e-01 0.00000000e+00 -1.29223299e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56867273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.351400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:481.36, Y:-129.23, Z:0.04 [[ 9.85062008e-01 1.72200000e-01 0.00000000e+00 4.81362815e+02] [-1.72200000e-01 9.85062008e-01 0.00000000e+00 -1.29225880e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61073323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.381400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:481.39, Y:-129.23, Z:0.04 [[ 9.85342690e-01 1.70586585e-01 0.00000000e+00 4.81392080e+02] [-1.70586585e-01 9.85342690e-01 0.00000000e+00 -1.29228615e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51381297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.411400513 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:481.42, Y:-129.23, Z:0.03 [[ 9.85809987e-01 1.67865034e-01 0.00000000e+00 4.81422184e+02] [-1.67865034e-01 9.85809987e-01 0.00000000e+00 -1.29228387e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11782024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.441400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:481.45, Y:-129.23, Z:0.03 [[ 9.86059460e-01 1.66393332e-01 0.00000000e+00 4.81449604e+02] [-1.66393332e-01 9.86059460e-01 0.00000000e+00 -1.29231109e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11761627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.471400513 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:481.48, Y:-129.23, Z:0.03 [[ 9.86293774e-01 1.64998761e-01 0.00000000e+00 4.81478686e+02] [-1.64998761e-01 9.86293774e-01 0.00000000e+00 -1.29234345e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17013655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.501400513 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:481.51, Y:-129.24, Z:0.03 [[ 9.86532819e-01 1.63563437e-01 0.00000000e+00 4.81507919e+02] [-1.63563437e-01 9.86532819e-01 0.00000000e+00 -1.29237168e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39211348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.54, Y:-129.24, Z:0.03 [[ 9.86729960e-01 1.62369902e-01 0.00000000e+00 4.81535440e+02] [-1.62369902e-01 9.86729960e-01 0.00000000e+00 -1.29239697e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47578476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.561400513 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:481.56, Y:-129.24, Z:0.04 [[ 9.86983860e-01 1.60819343e-01 0.00000000e+00 4.81564132e+02] [-1.60819343e-01 9.86983860e-01 0.00000000e+00 -1.29242589e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51793697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.591400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:481.59, Y:-129.24, Z:0.03 [[ 9.87565481e-01 1.57208211e-01 0.00000000e+00 4.81592161e+02] [-1.57208211e-01 9.87565481e-01 0.00000000e+00 -1.29243990e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44019643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.62, Y:-129.25, Z:0.03 [[ 9.87932451e-01 1.54885353e-01 0.00000000e+00 4.81618990e+02] [-1.54885353e-01 9.87932451e-01 0.00000000e+00 -1.29248903e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31432086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.65, Y:-129.25, Z:0.03 [[ 9.88325402e-01 1.52357804e-01 0.00000000e+00 4.81646693e+02] [-1.52357804e-01 9.88325402e-01 0.00000000e+00 -1.29253805e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31433809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.67, Y:-129.26, Z:0.03 [[ 9.88658531e-01 1.50180921e-01 0.00000000e+00 4.81672966e+02] [-1.50180921e-01 9.88658531e-01 0.00000000e+00 -1.29258342e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24895435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.70, Y:-129.26, Z:0.03 [[ 9.89022605e-01 1.47764296e-01 0.00000000e+00 4.81700705e+02] [-1.47764296e-01 9.89022605e-01 0.00000000e+00 -1.29261023e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26015442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.73, Y:-129.26, Z:0.03 [[ 9.89043268e-01 1.47625923e-01 0.00000000e+00 4.81727285e+02] [-1.47625923e-01 9.89043268e-01 0.00000000e+00 -1.29264691e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22833189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.75, Y:-129.27, Z:0.03 [[ 9.88922699e-01 1.48431449e-01 0.00000000e+00 4.81754812e+02] [-1.48431449e-01 9.88922699e-01 0.00000000e+00 -1.29268112e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29133722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.78, Y:-129.27, Z:0.03 [[ 9.88719423e-01 1.49779510e-01 0.00000000e+00 4.81782479e+02] [-1.49779510e-01 9.88719423e-01 0.00000000e+00 -1.29271141e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36719773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.831400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:481.81, Y:-129.27, Z:0.03 [[ 9.88071548e-01 1.53995508e-01 0.00000000e+00 4.81811077e+02] [-1.53995508e-01 9.88071548e-01 0.00000000e+00 -1.29269754e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38934245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.84, Y:-129.27, Z:0.03 [[ 9.87682561e-01 1.56470953e-01 0.00000000e+00 4.81837918e+02] [-1.56470953e-01 9.87682561e-01 0.00000000e+00 -1.29271967e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31778429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.87, Y:-129.27, Z:0.03 [[ 9.87367933e-01 1.58444200e-01 0.00000000e+00 4.81865775e+02] [-1.58444200e-01 9.87367933e-01 0.00000000e+00 -1.29274614e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44169843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.89, Y:-129.28, Z:0.04 [[ 9.87085268e-01 1.60195733e-01 0.00000000e+00 4.81893350e+02] [-1.60195733e-01 9.87085268e-01 0.00000000e+00 -1.29276986e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57827255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.951400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:481.92, Y:-129.27, Z:0.04 [[ 9.86845893e-01 1.61663797e-01 0.00000000e+00 4.81922613e+02] [-1.61663797e-01 9.86845893e-01 0.00000000e+00 -1.29274408e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69393326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.981400513 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:481.95, Y:-129.28, Z:0.03 [[ 9.86879318e-01 1.61459627e-01 0.00000000e+00 4.81950227e+02] [-1.61459627e-01 9.86879318e-01 0.00000000e+00 -1.29276540e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49290076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.98, Y:-129.28, Z:0.03 [[ 9.87036497e-01 1.60495963e-01 0.00000000e+00 4.81977943e+02] [-1.60495963e-01 9.87036497e-01 0.00000000e+00 -1.29279844e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31302079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.041400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:482.01, Y:-129.28, Z:0.03 [[ 9.87297094e-01 1.58885013e-01 0.00000000e+00 4.82005157e+02] [-1.58885013e-01 9.87297094e-01 0.00000000e+00 -1.29283924e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08037833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.071400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:482.03, Y:-129.29, Z:0.03 [[ 9.88229214e-01 1.52980461e-01 0.00000000e+00 4.82033680e+02] [-1.52980461e-01 9.88229214e-01 0.00000000e+00 -1.29286215e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25639284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.101400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:482.06, Y:-129.29, Z:0.03 [[ 9.88832766e-01 1.49029396e-01 0.00000000e+00 4.82061076e+02] [-1.49029396e-01 9.88832766e-01 0.00000000e+00 -1.29290689e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39174762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.131400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:482.09, Y:-129.30, Z:0.03 [[ 9.89365641e-01 1.45449745e-01 0.00000000e+00 4.82087389e+02] [-1.45449745e-01 9.89365641e-01 0.00000000e+00 -1.29296149e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24851160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.11, Y:-129.30, Z:0.03 [[ 9.89806363e-01 1.42419675e-01 0.00000000e+00 4.82114393e+02] [-1.42419675e-01 9.89806363e-01 0.00000000e+00 -1.29302697e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24846512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.14, Y:-129.31, Z:0.03 [[ 9.90116866e-01 1.40244753e-01 0.00000000e+00 4.82141754e+02] [-1.40244753e-01 9.90116866e-01 0.00000000e+00 -1.29309328e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18371679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.221400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:482.17, Y:-129.32, Z:0.03 [[ 9.90311995e-01 1.38860188e-01 0.00000000e+00 4.82169682e+02] [-1.38860188e-01 9.90311995e-01 0.00000000e+00 -1.29315423e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04869817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.20, Y:-129.32, Z:0.03 [[ 9.90295881e-01 1.38975059e-01 0.00000000e+00 4.82197297e+02] [-1.38975059e-01 9.90295881e-01 0.00000000e+00 -1.29319820e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08117570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.22, Y:-129.32, Z:0.03 [[ 9.90123751e-01 1.40196142e-01 0.00000000e+00 4.82224657e+02] [-1.40196142e-01 9.90123751e-01 0.00000000e+00 -1.29324979e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11594464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.311400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:482.25, Y:-129.33, Z:0.03 [[ 9.89912467e-01 1.41680301e-01 0.00000000e+00 4.82253152e+02] [-1.41680301e-01 9.89912467e-01 0.00000000e+00 -1.29330612e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20486253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.341400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:482.28, Y:-129.34, Z:0.03 [[ 9.89682880e-01 1.43275246e-01 0.00000000e+00 4.82280695e+02] [-1.43275246e-01 9.89682880e-01 0.00000000e+00 -1.29336022e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33174771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.371400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:482.31, Y:-129.34, Z:0.03 [[ 9.89472665e-01 1.44719889e-01 0.00000000e+00 4.82308536e+02] [-1.44719889e-01 9.89472665e-01 0.00000000e+00 -1.29337873e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39245275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.401400513 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:482.34, Y:-129.34, Z:0.04 [[ 9.89566213e-01 1.44078832e-01 0.00000000e+00 4.82336607e+02] [-1.44078832e-01 9.89566213e-01 0.00000000e+00 -1.29341575e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55769215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.36, Y:-129.35, Z:0.04 [[ 9.89705784e-01 1.43116951e-01 0.00000000e+00 4.82364116e+02] [-1.43116951e-01 9.89705784e-01 0.00000000e+00 -1.29346076e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62330451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.461400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:482.39, Y:-129.35, Z:0.03 [[ 9.89928042e-01 1.41571438e-01 0.00000000e+00 4.82391054e+02] [-1.41571438e-01 9.89928042e-01 0.00000000e+00 -1.29350674e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27351221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.42, Y:-129.36, Z:0.03 [[ 9.90179416e-01 1.39802444e-01 0.00000000e+00 4.82419145e+02] [-1.39802444e-01 9.90179416e-01 0.00000000e+00 -1.29356564e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46277172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.521400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:482.45, Y:-129.36, Z:0.04 [[ 9.90652637e-01 1.36408769e-01 0.00000000e+00 4.82447334e+02] [-1.36408769e-01 9.90652637e-01 0.00000000e+00 -1.29360773e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52423299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.551400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:482.47, Y:-129.37, Z:0.04 [[ 9.90811969e-01 1.35246596e-01 0.00000000e+00 4.82473981e+02] [-1.35246596e-01 9.90811969e-01 0.00000000e+00 -1.29366003e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69889956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.581400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:482.50, Y:-129.37, Z:0.04 [[ 9.91012749e-01 1.33767453e-01 0.00000000e+00 4.82501841e+02] [-1.33767453e-01 9.91012749e-01 0.00000000e+00 -1.29372566e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75317750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.611400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:482.53, Y:-129.38, Z:0.04 [[ 9.91128326e-01 1.32908396e-01 0.00000000e+00 4.82528454e+02] [-1.32908396e-01 9.91128326e-01 0.00000000e+00 -1.29378919e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76912821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.55, Y:-129.39, Z:0.04 [[ 9.91358040e-01 1.31183983e-01 0.00000000e+00 4.82554297e+02] [-1.31183983e-01 9.91358040e-01 0.00000000e+00 -1.29385716e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62320924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.58, Y:-129.39, Z:0.04 [[ 9.91481474e-01 1.30247787e-01 0.00000000e+00 4.82581811e+02] [-1.30247787e-01 9.91481474e-01 0.00000000e+00 -1.29392355e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53808927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.701400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:482.61, Y:-129.40, Z:0.03 [[ 9.91623661e-01 1.29160808e-01 0.00000000e+00 4.82608300e+02] [-1.29160808e-01 9.91623661e-01 0.00000000e+00 -1.29399138e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32588824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.731400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:482.64, Y:-129.41, Z:0.03 [[ 9.91712104e-01 1.28479969e-01 0.00000000e+00 4.82636439e+02] [-1.28479969e-01 9.91712104e-01 0.00000000e+00 -1.29407246e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29997708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.761400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:482.66, Y:-129.42, Z:0.03 [[ 9.91722128e-01 1.28402571e-01 0.00000000e+00 4.82662045e+02] [-1.28402571e-01 9.91722128e-01 0.00000000e+00 -1.29415334e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11949898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.791400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:482.69, Y:-129.42, Z:0.03 [[ 9.91643222e-01 1.29010542e-01 0.00000000e+00 4.82688700e+02] [-1.29010542e-01 9.91643222e-01 0.00000000e+00 -1.29423681e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28254732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.821400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:482.71, Y:-129.43, Z:0.03 [[ 9.91208334e-01 1.32310384e-01 0.00000000e+00 4.82714054e+02] [-1.32310384e-01 9.91208334e-01 0.00000000e+00 -1.29433626e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22701143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.851400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:482.74, Y:-129.44, Z:0.03 [[ 9.91231431e-01 1.32137243e-01 0.00000000e+00 4.82741834e+02] [-1.32137243e-01 9.91231431e-01 0.00000000e+00 -1.29439778e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22701143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.881400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:482.77, Y:-129.45, Z:0.03 [[ 9.90878034e-01 1.34761720e-01 0.00000000e+00 4.82769176e+02] [-1.34761720e-01 9.90878034e-01 0.00000000e+00 -1.29447444e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27590511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.80, Y:-129.46, Z:0.03 [[ 9.90372188e-01 1.38430234e-01 0.00000000e+00 4.82795447e+02] [-1.38430234e-01 9.90372188e-01 0.00000000e+00 -1.29455355e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32519166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.941400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:482.82, Y:-129.46, Z:0.03 [[ 9.89549233e-01 1.44195409e-01 0.00000000e+00 4.82820854e+02] [-1.44195409e-01 9.89549233e-01 0.00000000e+00 -1.29463747e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18205840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.85, Y:-129.47, Z:0.03 [[ 9.89207696e-01 1.46520082e-01 0.00000000e+00 4.82849062e+02] [-1.46520082e-01 9.89207696e-01 0.00000000e+00 -1.29471711e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11594701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.88, Y:-129.48, Z:0.03 [[ 9.88913962e-01 1.48489646e-01 0.00000000e+00 4.82875306e+02] [-1.48489646e-01 9.88913962e-01 0.00000000e+00 -1.29478183e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11222698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.90, Y:-129.49, Z:0.03 [[ 9.88660091e-01 1.50170653e-01 0.00000000e+00 4.82901956e+02] [-1.50170653e-01 9.88660091e-01 0.00000000e+00 -1.29485021e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31091295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.93, Y:-129.49, Z:0.04 [[ 9.88272058e-01 1.52703434e-01 0.00000000e+00 4.82929573e+02] [-1.52703434e-01 9.88272058e-01 0.00000000e+00 -1.29493828e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52782618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.96, Y:-129.50, Z:0.04 [[ 9.88085770e-01 1.53904230e-01 0.00000000e+00 4.82955368e+02] [-1.53904230e-01 9.88085770e-01 0.00000000e+00 -1.29500721e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53821802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.98, Y:-129.51, Z:0.03 [[ 9.87821774e-01 1.55589659e-01 0.00000000e+00 4.82981369e+02] [-1.55589659e-01 9.87821774e-01 0.00000000e+00 -1.29507926e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44750325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.01, Y:-129.51, Z:0.03 [[ 9.87525851e-01 1.57456957e-01 0.00000000e+00 4.83007448e+02] [-1.57456957e-01 9.87525851e-01 0.00000000e+00 -1.29514803e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40114181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.03, Y:-129.52, Z:0.03 [[ 9.87145178e-01 1.59826149e-01 0.00000000e+00 4.83034088e+02] [-1.59826149e-01 9.87145178e-01 0.00000000e+00 -1.29521143e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43429097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.06, Y:-129.53, Z:0.04 [[ 9.86768244e-01 1.62137078e-01 0.00000000e+00 4.83061802e+02] [-1.62137078e-01 9.86768244e-01 0.00000000e+00 -1.29527534e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50314502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.24140051300003 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:483.09, Y:-129.53, Z:0.03 [[ 9.86359061e-01 1.64608028e-01 0.00000000e+00 4.83089661e+02] [-1.64608028e-01 9.86359061e-01 0.00000000e+00 -1.29533160e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47284417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.12, Y:-129.54, Z:0.04 [[ 9.85081973e-01 1.72085750e-01 0.00000000e+00 4.83117211e+02] [-1.72085750e-01 9.85081973e-01 0.00000000e+00 -1.29540851e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69573914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.14, Y:-129.55, Z:0.04 [[ 9.84400650e-01 1.75941353e-01 0.00000000e+00 4.83143065e+02] [-1.75941353e-01 9.84400650e-01 0.00000000e+00 -1.29547185e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72486530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.17, Y:-129.55, Z:0.04 [[ 9.83224198e-01 1.82401142e-01 0.00000000e+00 4.83170600e+02] [-1.82401142e-01 9.83224198e-01 0.00000000e+00 -1.29552880e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67834738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.20, Y:-129.56, Z:0.04 [[ 9.82826721e-01 1.84530853e-01 0.00000000e+00 4.83196604e+02] [-1.84530853e-01 9.82826721e-01 0.00000000e+00 -1.29558052e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53642005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.22, Y:-129.56, Z:0.04 [[ 9.82540071e-01 1.86051094e-01 0.00000000e+00 4.83223645e+02] [-1.86051094e-01 9.82540071e-01 0.00000000e+00 -1.29564051e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57374817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.25, Y:-129.57, Z:0.04 [[ 9.82269935e-01 1.87472065e-01 0.00000000e+00 4.83250916e+02] [-1.87472065e-01 9.82269935e-01 0.00000000e+00 -1.29570741e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59124574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.28, Y:-129.58, Z:0.04 [[ 9.81893969e-01 1.89431340e-01 0.00000000e+00 4.83277481e+02] [-1.89431340e-01 9.81893969e-01 0.00000000e+00 -1.29578303e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57696294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.30, Y:-129.59, Z:0.04 [[ 9.81511364e-01 1.91403872e-01 0.00000000e+00 4.83304189e+02] [-1.91403872e-01 9.81511364e-01 0.00000000e+00 -1.29585329e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79433096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.33, Y:-129.59, Z:0.04 [[ 9.80694496e-01 1.95546172e-01 0.00000000e+00 4.83330913e+02] [-1.95546172e-01 9.80694496e-01 0.00000000e+00 -1.29591882e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90507061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.36, Y:-129.60, Z:0.04 [[ 9.80327741e-01 1.97376596e-01 0.00000000e+00 4.83357592e+02] [-1.97376596e-01 9.80327741e-01 0.00000000e+00 -1.29597674e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93386995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.38, Y:-129.60, Z:0.04 [[ 9.79977651e-01 1.99107516e-01 0.00000000e+00 4.83383491e+02] [-1.99107516e-01 9.79977651e-01 0.00000000e+00 -1.29603462e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88872527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.41, Y:-129.61, Z:0.04 [[ 9.79602344e-01 2.00945881e-01 0.00000000e+00 4.83411257e+02] [-2.00945881e-01 9.79602344e-01 0.00000000e+00 -1.29609623e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77151989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.44, Y:-129.62, Z:0.04 [[ 9.78830711e-01 2.04671540e-01 0.00000000e+00 4.83438560e+02] [-2.04671540e-01 9.78830711e-01 0.00000000e+00 -1.29615640e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69302783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.47, Y:-129.62, Z:0.04 [[ 9.78441930e-01 2.06522128e-01 0.00000000e+00 4.83465053e+02] [-2.06522128e-01 9.78441930e-01 0.00000000e+00 -1.29621218e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67627035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.49, Y:-129.63, Z:0.04 [[ 9.78048596e-01 2.08376929e-01 0.00000000e+00 4.83491592e+02] [-2.08376929e-01 9.78048596e-01 0.00000000e+00 -1.29627119e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68234993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.52, Y:-129.63, Z:0.04 [[ 9.77706199e-01 2.09977592e-01 0.00000000e+00 4.83519031e+02] [-2.09977592e-01 9.77706199e-01 0.00000000e+00 -1.29633492e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70644702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.55, Y:-129.64, Z:0.04 [[ 9.77365755e-01 2.11556568e-01 0.00000000e+00 4.83546112e+02] [-2.11556568e-01 9.77365755e-01 0.00000000e+00 -1.29639977e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77283374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.57, Y:-129.65, Z:0.04 [[ 9.76785617e-01 2.14219185e-01 0.00000000e+00 4.83572902e+02] [-2.14219185e-01 9.76785617e-01 0.00000000e+00 -1.29646028e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82487178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.60, Y:-129.65, Z:0.04 [[ 9.76558324e-01 2.15252968e-01 0.00000000e+00 4.83600760e+02] [-2.15252968e-01 9.76558324e-01 0.00000000e+00 -1.29650974e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90973450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.841400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:483.63, Y:-129.66, Z:0.04 [[ 9.76522691e-01 2.15414562e-01 0.00000000e+00 4.83627965e+02] [-2.15414562e-01 9.76522691e-01 0.00000000e+00 -1.29655306e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88571900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.65, Y:-129.66, Z:0.04 [[ 9.76294028e-01 2.16448541e-01 0.00000000e+00 4.83654535e+02] [-2.16448541e-01 9.76294028e-01 0.00000000e+00 -1.29660689e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88683372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.901400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:483.68, Y:-129.66, Z:0.04 [[ 9.76007895e-01 2.17735136e-01 0.00000000e+00 4.83683375e+02] [-2.17735136e-01 9.76007895e-01 0.00000000e+00 -1.29664018e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58799652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.71, Y:-129.67, Z:0.04 [[ 9.75643939e-01 2.19360215e-01 0.00000000e+00 4.83710257e+02] [-2.19360215e-01 9.75643939e-01 0.00000000e+00 -1.29667305e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54469559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.74, Y:-129.67, Z:0.04 [[ 9.75322918e-01 2.20783164e-01 0.00000000e+00 4.83737914e+02] [-2.20783164e-01 9.75322918e-01 0.00000000e+00 -1.29669934e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59016579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.76, Y:-129.67, Z:0.03 [[ 9.74954379e-01 2.22404944e-01 0.00000000e+00 4.83764965e+02] [-2.22404944e-01 9.74954379e-01 0.00000000e+00 -1.29672933e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49397455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.79, Y:-129.68, Z:0.04 [[ 9.74666956e-01 2.23661183e-01 0.00000000e+00 4.83793231e+02] [-2.23661183e-01 9.74666956e-01 0.00000000e+00 -1.29676824e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50474274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.82, Y:-129.68, Z:0.03 [[ 9.74438985e-01 2.24652320e-01 0.00000000e+00 4.83821058e+02] [-2.24652320e-01 9.74438985e-01 0.00000000e+00 -1.29681017e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48774613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.85, Y:-129.68, Z:0.04 [[ 9.74217807e-01 2.25609540e-01 0.00000000e+00 4.83850566e+02] [-2.25609540e-01 9.74217807e-01 0.00000000e+00 -1.29682941e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86410502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.111400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:483.88, Y:-129.69, Z:0.04 [[ 9.74373577e-01 2.24935842e-01 0.00000000e+00 4.83877160e+02] [-2.24935842e-01 9.74373577e-01 0.00000000e+00 -1.29686006e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91522635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.90, Y:-129.69, Z:0.04 [[ 9.74450500e-01 2.24602365e-01 0.00000000e+00 4.83904655e+02] [-2.24602365e-01 9.74450500e-01 0.00000000e+00 -1.29691116e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.16379764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.93, Y:-129.70, Z:0.04 [[ 9.74538867e-01 2.24218637e-01 0.00000000e+00 4.83931485e+02] [-2.24218637e-01 9.74538867e-01 0.00000000e+00 -1.29696426e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12817530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.96, Y:-129.70, Z:0.04 [[ 9.74480640e-01 2.24471564e-01 0.00000000e+00 4.83958399e+02] [-2.24471564e-01 9.74480640e-01 0.00000000e+00 -1.29702132e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04492984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.99, Y:-129.71, Z:0.04 [[ 9.73752432e-01 2.27609758e-01 0.00000000e+00 4.83986187e+02] [-2.27609758e-01 9.73752432e-01 0.00000000e+00 -1.29707010e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84331350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.01, Y:-129.71, Z:0.04 [[ 9.73170739e-01 2.30084142e-01 0.00000000e+00 4.84012825e+02] [-2.30084142e-01 9.73170739e-01 0.00000000e+00 -1.29711883e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78914184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.04, Y:-129.72, Z:0.04 [[ 9.72597200e-01 2.32496639e-01 0.00000000e+00 4.84040469e+02] [-2.32496639e-01 9.72597200e-01 0.00000000e+00 -1.29717426e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84687138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.07, Y:-129.72, Z:0.04 [[ 9.72010773e-01 2.34936284e-01 0.00000000e+00 4.84068237e+02] [-2.34936284e-01 9.72010773e-01 0.00000000e+00 -1.29723585e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95102419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.10, Y:-129.73, Z:0.04 [[ 9.71525303e-01 2.36935826e-01 0.00000000e+00 4.84095589e+02] [-2.36935826e-01 9.71525303e-01 0.00000000e+00 -1.29729589e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02953805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.12, Y:-129.74, Z:0.04 [[ 9.70750395e-01 2.40090963e-01 0.00000000e+00 4.84122017e+02] [-2.40090963e-01 9.70750395e-01 0.00000000e+00 -1.29735551e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76966305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.15, Y:-129.74, Z:0.04 [[ 9.70605423e-01 2.40676364e-01 0.00000000e+00 4.84148904e+02] [-2.40676364e-01 9.70605423e-01 0.00000000e+00 -1.29742591e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51258711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.17, Y:-129.75, Z:0.03 [[ 9.70822233e-01 2.39800318e-01 0.00000000e+00 4.84174882e+02] [-2.39800318e-01 9.70822233e-01 0.00000000e+00 -1.29752703e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22444069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.20, Y:-129.76, Z:0.03 [[ 9.70962158e-01 2.39233126e-01 0.00000000e+00 4.84202340e+02] [-2.39233126e-01 9.70962158e-01 0.00000000e+00 -1.29760214e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31932537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.23, Y:-129.77, Z:0.03 [[ 9.71079109e-01 2.38757959e-01 0.00000000e+00 4.84229128e+02] [-2.38757959e-01 9.71079109e-01 0.00000000e+00 -1.29767260e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41121168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.25, Y:-129.77, Z:0.03 [[ 9.71164893e-01 2.38408791e-01 0.00000000e+00 4.84254921e+02] [-2.38408791e-01 9.71164893e-01 0.00000000e+00 -1.29774041e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44658243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.28, Y:-129.78, Z:0.04 [[ 9.71217471e-01 2.38194508e-01 0.00000000e+00 4.84281542e+02] [-2.38194508e-01 9.71217471e-01 0.00000000e+00 -1.29781382e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54193979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.31, Y:-129.79, Z:0.04 [[ 9.71193782e-01 2.38291080e-01 0.00000000e+00 4.84307139e+02] [-2.38291080e-01 9.71193782e-01 0.00000000e+00 -1.29788894e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61455079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.33, Y:-129.80, Z:0.04 [[ 9.71156499e-01 2.38442981e-01 0.00000000e+00 4.84333333e+02] [-2.38442981e-01 9.71156499e-01 0.00000000e+00 -1.29797834e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80693979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.36, Y:-129.81, Z:0.04 [[ 9.71182014e-01 2.38339037e-01 0.00000000e+00 4.84359542e+02] [-2.38339037e-01 9.71182014e-01 0.00000000e+00 -1.29805031e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67752164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.39, Y:-129.81, Z:0.04 [[ 9.71224716e-01 2.38164965e-01 0.00000000e+00 4.84386663e+02] [-2.38164965e-01 9.71224716e-01 0.00000000e+00 -1.29812871e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57975486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.41, Y:-129.82, Z:0.04 [[ 9.71277357e-01 2.37950196e-01 0.00000000e+00 4.84413236e+02] [-2.37950196e-01 9.71277357e-01 0.00000000e+00 -1.29820977e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50811321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.44, Y:-129.83, Z:0.04 [[ 9.71300434e-01 2.37855978e-01 0.00000000e+00 4.84439713e+02] [-2.37855978e-01 9.71300434e-01 0.00000000e+00 -1.29828871e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55652532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.47, Y:-129.83, Z:0.04 [[ 9.71346526e-01 2.37667680e-01 0.00000000e+00 4.84467558e+02] [-2.37667680e-01 9.71346526e-01 0.00000000e+00 -1.29834731e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55652532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.49, Y:-129.84, Z:0.04 [[ 9.71312524e-01 2.37806603e-01 0.00000000e+00 4.84494474e+02] [-2.37806603e-01 9.71312524e-01 0.00000000e+00 -1.29843908e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68197042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.52, Y:-129.85, Z:0.04 [[ 9.71255415e-01 2.38039744e-01 0.00000000e+00 4.84521810e+02] [-2.38039744e-01 9.71255415e-01 0.00000000e+00 -1.29851123e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77339113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.55, Y:-129.86, Z:0.04 [[ 9.71115025e-01 2.38611835e-01 0.00000000e+00 4.84548142e+02] [-2.38611835e-01 9.71115025e-01 0.00000000e+00 -1.29858463e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79901537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.58, Y:-129.87, Z:0.04 [[ 9.70918666e-01 2.39409573e-01 0.00000000e+00 4.84575312e+02] [-2.39409573e-01 9.70918666e-01 0.00000000e+00 -1.29866384e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79279035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.60, Y:-129.87, Z:0.04 [[ 9.70722695e-01 2.40202934e-01 0.00000000e+00 4.84601121e+02] [-2.40202934e-01 9.70722695e-01 0.00000000e+00 -1.29873931e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66741924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.63, Y:-129.88, Z:0.04 [[ 9.70567201e-01 2.40830457e-01 0.00000000e+00 4.84628485e+02] [-2.40830457e-01 9.70567201e-01 0.00000000e+00 -1.29881541e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56623577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.65, Y:-129.89, Z:0.04 [[ 9.69887716e-01 2.43552497e-01 0.00000000e+00 4.84654780e+02] [-2.43552497e-01 9.69887716e-01 0.00000000e+00 -1.29889957e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59244686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.68, Y:-129.90, Z:0.04 [[ 9.69393847e-01 2.45510833e-01 0.00000000e+00 4.84681864e+02] [-2.45510833e-01 9.69393847e-01 0.00000000e+00 -1.29896704e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66655802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.71, Y:-129.90, Z:0.04 [[ 9.68395168e-01 2.49420926e-01 0.00000000e+00 4.84708419e+02] [-2.49420926e-01 9.68395168e-01 0.00000000e+00 -1.29904572e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81935907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.73, Y:-129.91, Z:0.04 [[ 9.67898135e-01 2.51342795e-01 0.00000000e+00 4.84734309e+02] [-2.51342795e-01 9.67898135e-01 0.00000000e+00 -1.29911134e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.92262229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.76, Y:-129.92, Z:0.04 [[ 9.67488281e-01 2.52915849e-01 0.00000000e+00 4.84761542e+02] [-2.52915849e-01 9.67488281e-01 0.00000000e+00 -1.29917983e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04571463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.79, Y:-129.93, Z:0.04 [[ 9.67260473e-01 2.53785692e-01 0.00000000e+00 4.84789046e+02] [-2.53785692e-01 9.67260473e-01 0.00000000e+00 -1.29925296e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12884610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.81, Y:-129.93, Z:0.04 [[ 9.67188403e-01 2.54060214e-01 0.00000000e+00 4.84814882e+02] [-2.54060214e-01 9.67188403e-01 0.00000000e+00 -1.29933151e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.05668262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.84, Y:-129.94, Z:0.04 [[ 9.67343531e-01 2.53468919e-01 0.00000000e+00 4.84841697e+02] [-2.53468919e-01 9.67343531e-01 0.00000000e+00 -1.29942161e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89105447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.87, Y:-129.96, Z:0.04 [[ 9.68130144e-01 2.50447646e-01 0.00000000e+00 4.84866837e+02] [-2.50447646e-01 9.68130144e-01 0.00000000e+00 -1.29956017e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57305326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.89, Y:-129.97, Z:0.04 [[ 9.68696743e-01 2.48247094e-01 0.00000000e+00 4.84893037e+02] [-2.48247094e-01 9.68696743e-01 0.00000000e+00 -1.29965264e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62002280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.281400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:484.92, Y:-129.97, Z:0.04 [[ 9.69247937e-01 2.46086240e-01 0.00000000e+00 4.84919484e+02] [-2.46086240e-01 9.69247937e-01 0.00000000e+00 -1.29974528e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65412513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.95, Y:-129.99, Z:0.04 [[ 9.69529182e-01 2.44975847e-01 0.00000000e+00 4.84945669e+02] [-2.44975847e-01 9.69529182e-01 0.00000000e+00 -1.29985184e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95336672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.97, Y:-130.00, Z:0.04 [[ 9.69703440e-01 2.44285157e-01 0.00000000e+00 4.84971217e+02] [-2.44285157e-01 9.69703440e-01 0.00000000e+00 -1.29996320e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.09103664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.00, Y:-130.01, Z:0.04 [[ 9.69775311e-01 2.43999686e-01 0.00000000e+00 4.84997776e+02] [-2.43999686e-01 9.69775311e-01 0.00000000e+00 -1.30008045e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12625598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.02, Y:-130.02, Z:0.04 [[ 9.69369419e-01 2.45607268e-01 0.00000000e+00 4.85022879e+02] [-2.45607268e-01 9.69369419e-01 0.00000000e+00 -1.30024650e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83661288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.05, Y:-130.04, Z:0.04 [[ 9.68882726e-01 2.47520227e-01 0.00000000e+00 4.85049195e+02] [-2.47520227e-01 9.68882726e-01 0.00000000e+00 -1.30035496e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68832929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.07, Y:-130.05, Z:0.04 [[ 9.68248253e-01 2.49990640e-01 0.00000000e+00 4.85074162e+02] [-2.49990640e-01 9.68248253e-01 0.00000000e+00 -1.30046881e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59308913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.10, Y:-130.06, Z:0.03 [[ 9.67591842e-01 2.52519359e-01 0.00000000e+00 4.85099826e+02] [-2.52519359e-01 9.67591842e-01 0.00000000e+00 -1.30058682e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49406023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.13, Y:-130.07, Z:0.03 [[ 9.66986588e-01 2.54827271e-01 0.00000000e+00 4.85126028e+02] [-2.54827271e-01 9.66986588e-01 0.00000000e+00 -1.30070387e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47860349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.15, Y:-130.08, Z:0.03 [[ 9.66355740e-01 2.57209222e-01 0.00000000e+00 4.85151129e+02] [-2.57209222e-01 9.66355740e-01 0.00000000e+00 -1.30081190e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48663802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.18, Y:-130.10, Z:0.04 [[ 9.65163307e-01 2.61648220e-01 0.00000000e+00 4.85175200e+02] [-2.61648220e-01 9.65163307e-01 0.00000000e+00 -1.30096116e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67093652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.20, Y:-130.11, Z:0.04 [[ 9.64713006e-01 2.63303656e-01 0.00000000e+00 4.85202223e+02] [-2.63303656e-01 9.64713006e-01 0.00000000e+00 -1.30106515e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63103324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.641400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:485.23, Y:-130.12, Z:0.03 [[ 9.64117868e-01 2.65474549e-01 0.00000000e+00 4.85228766e+02] [-2.65474549e-01 9.64117868e-01 0.00000000e+00 -1.30116119e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44462807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.25, Y:-130.13, Z:0.03 [[ 9.62479366e-01 2.71354879e-01 0.00000000e+00 4.85254546e+02] [-2.71354879e-01 9.62479366e-01 0.00000000e+00 -1.30129170e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30953839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.28, Y:-130.14, Z:0.03 [[ 9.62009407e-01 2.73016300e-01 0.00000000e+00 4.85281753e+02] [-2.73016300e-01 9.62009407e-01 0.00000000e+00 -1.30137289e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33773832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.31, Y:-130.15, Z:0.03 [[ 9.61760410e-01 2.73892157e-01 0.00000000e+00 4.85307835e+02] [-2.73892157e-01 9.61760410e-01 0.00000000e+00 -1.30145049e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35083376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.33, Y:-130.15, Z:0.03 [[ 9.61795783e-01 2.73767915e-01 0.00000000e+00 4.85334811e+02] [-2.73767915e-01 9.61795783e-01 0.00000000e+00 -1.30153291e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48581293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.36, Y:-130.16, Z:0.04 [[ 9.62063534e-01 2.72825506e-01 0.00000000e+00 4.85361483e+02] [-2.72825506e-01 9.62063534e-01 0.00000000e+00 -1.30161616e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59193804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.39, Y:-130.17, Z:0.04 [[ 9.62603060e-01 2.70915761e-01 0.00000000e+00 4.85388479e+02] [-2.70915761e-01 9.62603060e-01 0.00000000e+00 -1.30169364e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72214110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.42, Y:-130.18, Z:0.04 [[ 9.63726996e-01 2.66890010e-01 0.00000000e+00 4.85415675e+02] [-2.66890010e-01 9.63726996e-01 0.00000000e+00 -1.30178016e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.73463656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.44, Y:-130.19, Z:0.04 [[ 9.64274688e-01 2.64904373e-01 0.00000000e+00 4.85441731e+02] [-2.64904373e-01 9.64274688e-01 0.00000000e+00 -1.30185383e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67788155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.47, Y:-130.19, Z:0.04 [[ 9.64814212e-01 2.62932570e-01 0.00000000e+00 4.85468150e+02] [-2.62932570e-01 9.64814212e-01 0.00000000e+00 -1.30193961e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69947117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.50, Y:-130.20, Z:0.04 [[ 9.65300823e-01 2.61140423e-01 0.00000000e+00 4.85495346e+02] [-2.61140423e-01 9.65300823e-01 0.00000000e+00 -1.30202709e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74440967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.52, Y:-130.21, Z:0.04 [[ 9.65571161e-01 2.60139065e-01 0.00000000e+00 4.85521646e+02] [-2.60139065e-01 9.65571161e-01 0.00000000e+00 -1.30210334e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72813999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.55, Y:-130.22, Z:0.04 [[ 9.65605672e-01 2.60010936e-01 0.00000000e+00 4.85548161e+02] [-2.60010936e-01 9.65605672e-01 0.00000000e+00 -1.30217960e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75483092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.57, Y:-130.23, Z:0.04 [[ 9.65369070e-01 2.60888020e-01 0.00000000e+00 4.85574934e+02] [-2.60888020e-01 9.65369070e-01 0.00000000e+00 -1.30225452e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70143862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.60, Y:-130.23, Z:0.04 [[ 9.64930641e-01 2.62504966e-01 0.00000000e+00 4.85600577e+02] [-2.62504966e-01 9.64930641e-01 0.00000000e+00 -1.30233334e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67133587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.63, Y:-130.24, Z:0.04 [[ 9.64432003e-01 2.64331064e-01 0.00000000e+00 4.85627891e+02] [-2.64331064e-01 9.64432003e-01 0.00000000e+00 -1.30241117e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65995794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.66, Y:-130.25, Z:0.04 [[ 9.63777067e-01 2.66709139e-01 0.00000000e+00 4.85655267e+02] [-2.66709139e-01 9.63777067e-01 0.00000000e+00 -1.30248331e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68872683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.68, Y:-130.26, Z:0.03 [[ 9.62046632e-01 2.72885100e-01 0.00000000e+00 4.85681836e+02] [-2.72885100e-01 9.62046632e-01 0.00000000e+00 -1.30255381e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42290741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.71, Y:-130.26, Z:0.03 [[ 9.61120672e-01 2.76128691e-01 0.00000000e+00 4.85709208e+02] [-2.76128691e-01 9.61120672e-01 0.00000000e+00 -1.30262308e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20166877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.74, Y:-130.27, Z:0.03 [[ 9.60358382e-01 2.78768323e-01 0.00000000e+00 4.85737508e+02] [-2.78768323e-01 9.60358382e-01 0.00000000e+00 -1.30269505e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09279663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.76, Y:-130.28, Z:0.03 [[ 9.59693142e-01 2.81049949e-01 0.00000000e+00 4.85764475e+02] [-2.81049949e-01 9.59693142e-01 0.00000000e+00 -1.30275568e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02599040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.79, Y:-130.28, Z:0.03 [[ 9.59104238e-01 2.83053106e-01 0.00000000e+00 4.85792515e+02] [-2.83053106e-01 9.59104238e-01 0.00000000e+00 -1.30280614e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94113348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.82, Y:-130.29, Z:0.03 [[ 9.58600899e-01 2.84753079e-01 0.00000000e+00 4.85820281e+02] [-2.84753079e-01 9.58600899e-01 0.00000000e+00 -1.30285257e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90957986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.85, Y:-130.29, Z:0.03 [[ 9.57740118e-01 2.87634955e-01 0.00000000e+00 4.85847859e+02] [-2.87634955e-01 9.57740118e-01 0.00000000e+00 -1.30289645e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91922367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.88, Y:-130.30, Z:0.03 [[ 9.57652499e-01 2.87926537e-01 0.00000000e+00 4.85876408e+02] [-2.87926537e-01 9.57652499e-01 0.00000000e+00 -1.30295801e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14324390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.90, Y:-130.30, Z:0.03 [[ 9.57611488e-01 2.88062905e-01 0.00000000e+00 4.85899843e+02] [-2.88062905e-01 9.57611488e-01 0.00000000e+00 -1.30300491e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26036656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.93, Y:-130.31, Z:0.03 [[ 9.58577500e-01 2.84831838e-01 0.00000000e+00 4.85930524e+02] [-2.84831838e-01 9.58577500e-01 0.00000000e+00 -1.30305283e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40315233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.96, Y:-130.31, Z:0.03 [[ 9.58833945e-01 2.83967367e-01 0.00000000e+00 4.85955241e+02] [-2.83967367e-01 9.58833945e-01 0.00000000e+00 -1.30309153e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36002540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.99, Y:-130.32, Z:0.03 [[ 9.59497834e-01 2.81716002e-01 0.00000000e+00 4.85985472e+02] [-2.81716002e-01 9.59497834e-01 0.00000000e+00 -1.30316227e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37050859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.01, Y:-130.32, Z:0.03 [[ 9.59935789e-01 2.80220059e-01 0.00000000e+00 4.86012985e+02] [-2.80220059e-01 9.59935789e-01 0.00000000e+00 -1.30323275e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44259716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.04, Y:-130.33, Z:0.04 [[ 9.60335428e-01 2.78847386e-01 0.00000000e+00 4.86039747e+02] [-2.78847386e-01 9.60335428e-01 0.00000000e+00 -1.30330217e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59703214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.07, Y:-130.34, Z:0.04 [[ 9.60677135e-01 2.77667863e-01 0.00000000e+00 4.86066515e+02] [-2.77667863e-01 9.60677135e-01 0.00000000e+00 -1.30336113e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.73825481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.09, Y:-130.34, Z:0.04 [[ 9.61140490e-01 2.76059700e-01 0.00000000e+00 4.86094059e+02] [-2.76059700e-01 9.61140490e-01 0.00000000e+00 -1.30341122e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79316724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.12, Y:-130.35, Z:0.04 [[ 9.61253337e-01 2.75666507e-01 0.00000000e+00 4.86121514e+02] [-2.75666507e-01 9.61253337e-01 0.00000000e+00 -1.30346891e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81907615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.15, Y:-130.35, Z:0.04 [[ 9.61305015e-01 2.75486238e-01 0.00000000e+00 4.86149440e+02] [-2.75486238e-01 9.61305015e-01 0.00000000e+00 -1.30352519e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81907615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.18, Y:-130.36, Z:0.04 [[ 9.61296650e-01 2.75515428e-01 0.00000000e+00 4.86176169e+02] [-2.75515428e-01 9.61296650e-01 0.00000000e+00 -1.30358715e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78099240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.20, Y:-130.36, Z:0.04 [[ 9.61266282e-01 2.75621360e-01 0.00000000e+00 4.86203686e+02] [-2.75621360e-01 9.61266282e-01 0.00000000e+00 -1.30364399e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81368876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.23, Y:-130.37, Z:0.04 [[ 9.61173458e-01 2.75944894e-01 0.00000000e+00 4.86231298e+02] [-2.75944894e-01 9.61173458e-01 0.00000000e+00 -1.30369667e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84640576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.26, Y:-130.37, Z:0.04 [[ 9.61051935e-01 2.76367832e-01 0.00000000e+00 4.86257504e+02] [-2.76367832e-01 9.61051935e-01 0.00000000e+00 -1.30374295e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82374744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.28, Y:-130.38, Z:0.04 [[ 9.60655200e-01 2.77743743e-01 0.00000000e+00 4.86282226e+02] [-2.77743743e-01 9.60655200e-01 0.00000000e+00 -1.30379601e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.85006633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.31, Y:-130.39, Z:0.04 [[ 9.60715718e-01 2.77534340e-01 0.00000000e+00 4.86312203e+02] [-2.77534340e-01 9.60715718e-01 0.00000000e+00 -1.30386730e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79740683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.34, Y:-130.39, Z:0.04 [[ 9.60694890e-01 2.77606425e-01 0.00000000e+00 4.86340126e+02] [-2.77606425e-01 9.60694890e-01 0.00000000e+00 -1.30392023e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76292373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.37, Y:-130.40, Z:0.03 [[ 9.60749395e-01 2.77417737e-01 0.00000000e+00 4.86367096e+02] [-2.77417737e-01 9.60749395e-01 0.00000000e+00 -1.30395017e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45898285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.39, Y:-130.40, Z:0.03 [[ 9.61046767e-01 2.76385803e-01 0.00000000e+00 4.86394622e+02] [-2.76385803e-01 9.61046767e-01 0.00000000e+00 -1.30399882e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38236238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.42, Y:-130.41, Z:0.03 [[ 9.61596342e-01 2.74467620e-01 0.00000000e+00 4.86421559e+02] [-2.74467620e-01 9.61596342e-01 0.00000000e+00 -1.30405375e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41325624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.45, Y:-130.41, Z:0.03 [[ 9.62224856e-01 2.72255994e-01 0.00000000e+00 4.86448724e+02] [-2.72255994e-01 9.62224856e-01 0.00000000e+00 -1.30411808e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43435769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.48, Y:-130.42, Z:0.03 [[ 9.62917186e-01 2.69797134e-01 0.00000000e+00 4.86475880e+02] [-2.69797134e-01 9.62917186e-01 0.00000000e+00 -1.30418738e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44076038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.50, Y:-130.43, Z:0.03 [[ 9.63348011e-01 2.68254747e-01 0.00000000e+00 4.86500317e+02] [-2.68254747e-01 9.63348011e-01 0.00000000e+00 -1.30425620e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34824246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.53, Y:-130.44, Z:0.03 [[ 9.64661960e-01 2.63490613e-01 0.00000000e+00 4.86530624e+02] [-2.63490613e-01 9.64661960e-01 0.00000000e+00 -1.30435983e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41433146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.56, Y:-130.44, Z:0.04 [[ 9.64917097e-01 2.62554747e-01 0.00000000e+00 4.86557939e+02] [-2.62554747e-01 9.64917097e-01 0.00000000e+00 -1.30443281e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51610866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.59, Y:-130.45, Z:0.04 [[ 9.65011004e-01 2.62209388e-01 0.00000000e+00 4.86586000e+02] [-2.62209388e-01 9.65011004e-01 0.00000000e+00 -1.30450606e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67325903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.61, Y:-130.46, Z:0.04 [[ 9.64981140e-01 2.62319272e-01 0.00000000e+00 4.86612603e+02] [-2.62319272e-01 9.64981140e-01 0.00000000e+00 -1.30457802e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77472104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.201400513 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:486.64, Y:-130.47, Z:0.04 [[ 9.64812062e-01 2.62940458e-01 0.00000000e+00 4.86638985e+02] [-2.62940458e-01 9.64812062e-01 0.00000000e+00 -1.30465140e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64106201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.67, Y:-130.47, Z:0.04 [[ 9.64540454e-01 2.63935055e-01 0.00000000e+00 4.86665841e+02] [-2.63935055e-01 9.64540454e-01 0.00000000e+00 -1.30473753e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65228313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.69, Y:-130.48, Z:0.04 [[ 9.64229927e-01 2.65067250e-01 0.00000000e+00 4.86692313e+02] [-2.65067250e-01 9.64229927e-01 0.00000000e+00 -1.30484208e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61927079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.72, Y:-130.49, Z:0.04 [[ 9.64116260e-01 2.65480388e-01 0.00000000e+00 4.86718620e+02] [-2.65480388e-01 9.64116260e-01 0.00000000e+00 -1.30492312e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50857914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.75, Y:-130.50, Z:0.03 [[ 9.63983043e-01 2.65963706e-01 0.00000000e+00 4.86745014e+02] [-2.65963706e-01 9.63983043e-01 0.00000000e+00 -1.30500920e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47990615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.77, Y:-130.51, Z:0.04 [[ 9.63909151e-01 2.66231380e-01 0.00000000e+00 4.86771427e+02] [-2.66231380e-01 9.63909151e-01 0.00000000e+00 -1.30509765e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52048425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.80, Y:-130.52, Z:0.04 [[ 9.63892999e-01 2.66289853e-01 0.00000000e+00 4.86798689e+02] [-2.66289853e-01 9.63892999e-01 0.00000000e+00 -1.30518491e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69676141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.83, Y:-130.53, Z:0.04 [[ 9.63897096e-01 2.66275022e-01 0.00000000e+00 4.86826470e+02] [-2.66275022e-01 9.63897096e-01 0.00000000e+00 -1.30526567e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89944215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.85, Y:-130.54, Z:0.04 [[ 9.63611169e-01 2.67307901e-01 0.00000000e+00 4.86853030e+02] [-2.67307901e-01 9.63611169e-01 0.00000000e+00 -1.30535332e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75965013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.88, Y:-130.54, Z:0.03 [[ 9.63385038e-01 2.68121742e-01 0.00000000e+00 4.86880888e+02] [-2.68121742e-01 9.63385038e-01 0.00000000e+00 -1.30543671e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47951140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.91, Y:-130.55, Z:0.03 [[ 9.63104842e-01 2.69126483e-01 0.00000000e+00 4.86908594e+02] [-2.69126483e-01 9.63104842e-01 0.00000000e+00 -1.30551983e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34487719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.94, Y:-130.56, Z:0.03 [[ 9.62609472e-01 2.70892978e-01 0.00000000e+00 4.86935055e+02] [-2.70892978e-01 9.62609472e-01 0.00000000e+00 -1.30559114e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32558136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.96, Y:-130.56, Z:0.03 [[ 9.62008347e-01 2.73020038e-01 0.00000000e+00 4.86961839e+02] [-2.73020038e-01 9.62008347e-01 0.00000000e+00 -1.30564195e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46751463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.99, Y:-130.57, Z:0.04 [[ 9.60596119e-01 2.77948010e-01 0.00000000e+00 4.86990193e+02] [-2.77948010e-01 9.60596119e-01 0.00000000e+00 -1.30567300e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76109136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.02, Y:-130.57, Z:0.04 [[ 9.59967405e-01 2.80111729e-01 0.00000000e+00 4.87016596e+02] [-2.80111729e-01 9.59967405e-01 0.00000000e+00 -1.30572962e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77402741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.04, Y:-130.58, Z:0.04 [[ 9.59635236e-01 2.81247602e-01 0.00000000e+00 4.87044162e+02] [-2.81247602e-01 9.59635236e-01 0.00000000e+00 -1.30580011e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66176879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.07, Y:-130.59, Z:0.03 [[ 9.59549872e-01 2.81538706e-01 0.00000000e+00 4.87072150e+02] [-2.81538706e-01 9.59549872e-01 0.00000000e+00 -1.30587758e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45054044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.10, Y:-130.60, Z:0.03 [[ 9.60150258e-01 2.79484314e-01 0.00000000e+00 4.87098615e+02] [-2.79484314e-01 9.60150258e-01 0.00000000e+00 -1.30597219e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95156148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.13, Y:-130.61, Z:0.03 [[ 9.60746530e-01 2.77427656e-01 0.00000000e+00 4.87125341e+02] [-2.77427656e-01 9.60746530e-01 0.00000000e+00 -1.30605093e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00978738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.15, Y:-130.61, Z:0.03 [[ 9.61367431e-01 2.75268346e-01 0.00000000e+00 4.87152057e+02] [-2.75268346e-01 9.61367431e-01 0.00000000e+00 -1.30613268e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19699675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.18, Y:-130.62, Z:0.04 [[ 9.61865800e-01 2.73521813e-01 0.00000000e+00 4.87179701e+02] [-2.73521813e-01 9.61865800e-01 0.00000000e+00 -1.30621388e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51283426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.21, Y:-130.63, Z:0.04 [[ 9.62160993e-01 2.72481604e-01 0.00000000e+00 4.87207669e+02] [-2.72481604e-01 9.62160993e-01 0.00000000e+00 -1.30629217e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69182071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.23, Y:-130.64, Z:0.04 [[ 9.62264446e-01 2.72116034e-01 0.00000000e+00 4.87233651e+02] [-2.72116034e-01 9.62264446e-01 0.00000000e+00 -1.30636311e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64141332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.26, Y:-130.64, Z:0.03 [[ 9.61701529e-01 2.74098832e-01 0.00000000e+00 4.87261006e+02] [-2.74098832e-01 9.61701529e-01 0.00000000e+00 -1.30644891e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36759391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.29, Y:-130.65, Z:0.03 [[ 9.61194427e-01 2.75871842e-01 0.00000000e+00 4.87287152e+02] [-2.75871842e-01 9.61194427e-01 0.00000000e+00 -1.30650923e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29440496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.32, Y:-130.66, Z:0.03 [[ 9.60579859e-01 2.78004200e-01 0.00000000e+00 4.87315624e+02] [-2.78004200e-01 9.60579859e-01 0.00000000e+00 -1.30656669e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49566880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.34, Y:-130.66, Z:0.04 [[ 9.59853300e-01 2.80502482e-01 0.00000000e+00 4.87343168e+02] [-2.80502482e-01 9.59853300e-01 0.00000000e+00 -1.30661911e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53315066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.011400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:487.37, Y:-130.67, Z:0.04 [[ 9.59186512e-01 2.82774177e-01 0.00000000e+00 4.87370772e+02] [-2.82774177e-01 9.59186512e-01 0.00000000e+00 -1.30667244e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62670404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.40, Y:-130.67, Z:0.04 [[ 9.58788488e-01 2.84120810e-01 0.00000000e+00 4.87397041e+02] [-2.84120810e-01 9.58788488e-01 0.00000000e+00 -1.30672366e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66137958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.42, Y:-130.68, Z:0.04 [[ 9.58635057e-01 2.84638063e-01 0.00000000e+00 4.87424428e+02] [-2.84638063e-01 9.58635057e-01 0.00000000e+00 -1.30677599e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55394044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.45, Y:-130.68, Z:0.04 [[ 9.58901893e-01 2.83737836e-01 0.00000000e+00 4.87451261e+02] [-2.83737836e-01 9.58901893e-01 0.00000000e+00 -1.30682492e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50683881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.48, Y:-130.69, Z:0.04 [[ 9.59416437e-01 2.81993087e-01 0.00000000e+00 4.87478188e+02] [-2.81993087e-01 9.59416437e-01 0.00000000e+00 -1.30687163e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51674121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.51, Y:-130.69, Z:0.04 [[ 9.60013150e-01 2.79954909e-01 0.00000000e+00 4.87505148e+02] [-2.79954909e-01 9.60013150e-01 0.00000000e+00 -1.30692645e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53733129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.191400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:487.53, Y:-130.70, Z:0.04 [[ 9.60697313e-01 2.77598040e-01 0.00000000e+00 4.87532282e+02] [-2.77598040e-01 9.60697313e-01 0.00000000e+00 -1.30698863e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52361087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.56, Y:-130.71, Z:0.04 [[ 9.61479356e-01 2.74877150e-01 0.00000000e+00 4.87558793e+02] [-2.74877150e-01 9.61479356e-01 0.00000000e+00 -1.30707640e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51800163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.59, Y:-130.71, Z:0.04 [[ 9.61808018e-01 2.73724927e-01 0.00000000e+00 4.87587212e+02] [-2.73724927e-01 9.61808018e-01 0.00000000e+00 -1.30714034e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56748463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.61, Y:-130.72, Z:0.04 [[ 9.61948604e-01 2.73230457e-01 0.00000000e+00 4.87614844e+02] [-2.73230457e-01 9.61948604e-01 0.00000000e+00 -1.30719851e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53429792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.64, Y:-130.73, Z:0.04 [[ 9.61928189e-01 2.73302322e-01 0.00000000e+00 4.87641947e+02] [-2.73302322e-01 9.61928189e-01 0.00000000e+00 -1.30726242e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54723787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.67, Y:-130.73, Z:0.04 [[ 9.61873289e-01 2.73495476e-01 0.00000000e+00 4.87668956e+02] [-2.73495476e-01 9.61873289e-01 0.00000000e+00 -1.30733104e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55111852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.70, Y:-130.74, Z:0.04 [[ 9.61744210e-01 2.73949035e-01 0.00000000e+00 4.87695904e+02] [-2.73949035e-01 9.61744210e-01 0.00000000e+00 -1.30740422e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67423947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.72, Y:-130.75, Z:0.04 [[ 9.61294411e-01 2.75523240e-01 0.00000000e+00 4.87722546e+02] [-2.75523240e-01 9.61294411e-01 0.00000000e+00 -1.30748454e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72385149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.75, Y:-130.75, Z:0.04 [[ 9.61146897e-01 2.76037393e-01 0.00000000e+00 4.87749589e+02] [-2.76037393e-01 9.61146897e-01 0.00000000e+00 -1.30753782e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58104716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.78, Y:-130.76, Z:0.03 [[ 9.61037737e-01 2.76417199e-01 0.00000000e+00 4.87777625e+02] [-2.76417199e-01 9.61037737e-01 0.00000000e+00 -1.30758652e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47804241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.49140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.80, Y:-130.76, Z:0.03 [[ 9.60862863e-01 2.77024472e-01 0.00000000e+00 4.87804568e+02] [-2.77024472e-01 9.60862863e-01 0.00000000e+00 -1.30763638e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32679847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.521400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:487.83, Y:-130.77, Z:0.03 [[ 9.60820911e-01 2.77169941e-01 0.00000000e+00 4.87831916e+02] [-2.77169941e-01 9.60820911e-01 0.00000000e+00 -1.30769150e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20088931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.551400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:487.86, Y:-130.77, Z:0.03 [[ 9.60839099e-01 2.77106886e-01 0.00000000e+00 4.87859880e+02] [-2.77106886e-01 9.60839099e-01 0.00000000e+00 -1.30774657e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20088931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.89, Y:-130.78, Z:0.03 [[ 9.60712398e-01 2.77545829e-01 0.00000000e+00 4.87888389e+02] [-2.77545829e-01 9.60712398e-01 0.00000000e+00 -1.30781189e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20724234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.91, Y:-130.79, Z:0.03 [[ 9.60744220e-01 2.77435658e-01 0.00000000e+00 4.87914811e+02] [-2.77435658e-01 9.60744220e-01 0.00000000e+00 -1.30786065e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12867113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.94, Y:-130.79, Z:0.03 [[ 9.60779739e-01 2.77312628e-01 0.00000000e+00 4.87942287e+02] [-2.77312628e-01 9.60779739e-01 0.00000000e+00 -1.30790643e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11421722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.97, Y:-130.79, Z:0.03 [[ 9.60849937e-01 2.77069303e-01 0.00000000e+00 4.87969690e+02] [-2.77069303e-01 9.60849937e-01 0.00000000e+00 -1.30794940e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14576197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.00, Y:-130.80, Z:0.03 [[ 9.60886616e-01 2.76942072e-01 0.00000000e+00 4.87996764e+02] [-2.76942072e-01 9.60886616e-01 0.00000000e+00 -1.30799520e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13093075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.02, Y:-130.80, Z:0.03 [[ 9.60991565e-01 2.76577680e-01 0.00000000e+00 4.88023990e+02] [-2.76577680e-01 9.60991565e-01 0.00000000e+00 -1.30804547e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18493797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.05, Y:-130.81, Z:0.03 [[ 9.61126607e-01 2.76108030e-01 0.00000000e+00 4.88051189e+02] [-2.76108030e-01 9.61126607e-01 0.00000000e+00 -1.30809452e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24033762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.08, Y:-130.81, Z:0.03 [[ 9.61414519e-01 2.75103841e-01 0.00000000e+00 4.88079551e+02] [-2.75103841e-01 9.61414519e-01 0.00000000e+00 -1.30814646e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47864411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.11, Y:-130.82, Z:0.04 [[ 9.61736028e-01 2.73977759e-01 0.00000000e+00 4.88105881e+02] [-2.73977759e-01 9.61736028e-01 0.00000000e+00 -1.30819785e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60804405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.13, Y:-130.83, Z:0.04 [[ 9.62088562e-01 2.72737233e-01 0.00000000e+00 4.88131997e+02] [-2.72737233e-01 9.62088562e-01 0.00000000e+00 -1.30825114e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65551107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.16, Y:-130.83, Z:0.04 [[ 9.62601785e-01 2.70920290e-01 0.00000000e+00 4.88159077e+02] [-2.70920290e-01 9.62601785e-01 0.00000000e+00 -1.30831450e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70612825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.19, Y:-130.84, Z:0.04 [[ 9.62635153e-01 2.70801702e-01 0.00000000e+00 4.88186213e+02] [-2.70801702e-01 9.62635153e-01 0.00000000e+00 -1.30837587e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77624864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.21, Y:-130.84, Z:0.04 [[ 9.62334637e-01 2.71867701e-01 0.00000000e+00 4.88213084e+02] [-2.71867701e-01 9.62334637e-01 0.00000000e+00 -1.30843324e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.05894323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.24, Y:-130.85, Z:0.04 [[ 9.61919916e-01 2.73331440e-01 0.00000000e+00 4.88240614e+02] [-2.73331440e-01 9.61919916e-01 0.00000000e+00 -1.30848457e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.30036794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.27, Y:-130.85, Z:0.04 [[ 9.61147447e-01 2.76035477e-01 0.00000000e+00 4.88267407e+02] [-2.76035477e-01 9.61147447e-01 0.00000000e+00 -1.30852814e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.49465346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.30, Y:-130.86, Z:0.04 [[ 9.59045806e-01 2.83251023e-01 0.00000000e+00 4.88295006e+02] [-2.83251023e-01 9.59045806e-01 0.00000000e+00 -1.30855277e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.44587497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.32, Y:-130.86, Z:0.04 [[ 9.57870875e-01 2.87199213e-01 0.00000000e+00 4.88323621e+02] [-2.87199213e-01 9.57870875e-01 0.00000000e+00 -1.30859734e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.25289579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.35, Y:-130.86, Z:0.04 [[ 9.56791037e-01 2.90776396e-01 0.00000000e+00 4.88350862e+02] [-2.90776396e-01 9.56791037e-01 0.00000000e+00 -1.30863645e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.07634142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.38, Y:-130.87, Z:0.04 [[ 9.55816796e-01 2.93963012e-01 0.00000000e+00 4.88378886e+02] [-2.93963012e-01 9.55816796e-01 0.00000000e+00 -1.30867241e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97763862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.41, Y:-130.87, Z:0.04 [[ 9.55021604e-01 2.96536229e-01 0.00000000e+00 4.88405742e+02] [-2.96536229e-01 9.55021604e-01 0.00000000e+00 -1.30870368e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86368127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.43, Y:-130.87, Z:0.04 [[ 9.54472524e-01 2.98298844e-01 0.00000000e+00 4.88433538e+02] [-2.98298844e-01 9.54472524e-01 0.00000000e+00 -1.30873051e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74458313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.46, Y:-130.87, Z:0.04 [[ 9.53627946e-01 3.00987941e-01 0.00000000e+00 4.88461525e+02] [-3.00987941e-01 9.53627946e-01 0.00000000e+00 -1.30873027e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53613511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.24140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.49, Y:-130.88, Z:0.03 [[ 9.53209054e-01 3.02311925e-01 0.00000000e+00 4.88488891e+02] [-3.02311925e-01 9.53209054e-01 0.00000000e+00 -1.30875469e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49880109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.52, Y:-130.88, Z:0.03 [[ 9.53035453e-01 3.02858755e-01 0.00000000e+00 4.88517949e+02] [-3.02858755e-01 9.53035453e-01 0.00000000e+00 -1.30878372e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42316093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.55, Y:-130.88, Z:0.03 [[ 9.52885090e-01 3.03331510e-01 0.00000000e+00 4.88545601e+02] [-3.03331510e-01 9.52885090e-01 0.00000000e+00 -1.30880588e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42757328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.57, Y:-130.88, Z:0.04 [[ 9.52909490e-01 3.03254850e-01 0.00000000e+00 4.88572410e+02] [-3.03254850e-01 9.52909490e-01 0.00000000e+00 -1.30882766e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50253704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.60, Y:-130.89, Z:0.04 [[ 9.53136925e-01 3.02539257e-01 0.00000000e+00 4.88600202e+02] [-3.02539257e-01 9.53136925e-01 0.00000000e+00 -1.30885557e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57996393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.63, Y:-130.89, Z:0.03 [[ 9.53643394e-01 3.00938994e-01 0.00000000e+00 4.88627554e+02] [-3.00938994e-01 9.53643394e-01 0.00000000e+00 -1.30888357e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44989987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.66, Y:-130.89, Z:0.03 [[ 9.54325605e-01 2.98768539e-01 0.00000000e+00 4.88655001e+02] [-2.98768539e-01 9.54325605e-01 0.00000000e+00 -1.30891382e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18812645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.68, Y:-130.89, Z:0.03 [[ 9.55218440e-01 2.95901559e-01 0.00000000e+00 4.88684004e+02] [-2.95901559e-01 9.55218440e-01 0.00000000e+00 -1.30894884e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13284285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.71, Y:-130.90, Z:0.03 [[ 9.57254758e-01 2.89246138e-01 0.00000000e+00 4.88712367e+02] [-2.89246138e-01 9.57254758e-01 0.00000000e+00 -1.30896594e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28506683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.74, Y:-130.90, Z:0.03 [[ 9.58178497e-01 2.86171220e-01 0.00000000e+00 4.88740603e+02] [-2.86171220e-01 9.58178497e-01 0.00000000e+00 -1.30900920e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49288457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.77, Y:-130.91, Z:0.04 [[ 9.58904235e-01 2.83729921e-01 0.00000000e+00 4.88768729e+02] [-2.83729921e-01 9.58904235e-01 0.00000000e+00 -1.30905228e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64664169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.80, Y:-130.91, Z:0.04 [[ 9.59326237e-01 2.82299788e-01 0.00000000e+00 4.88795188e+02] [-2.82299788e-01 9.59326237e-01 0.00000000e+00 -1.30908911e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64298743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.82, Y:-130.91, Z:0.04 [[ 9.59527964e-01 2.81613363e-01 0.00000000e+00 4.88822125e+02] [-2.81613363e-01 9.59527964e-01 0.00000000e+00 -1.30912708e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56048738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.85, Y:-130.92, Z:0.03 [[ 9.59623265e-01 2.81288446e-01 0.00000000e+00 4.88850529e+02] [-2.81288446e-01 9.59623265e-01 0.00000000e+00 -1.30916449e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41616947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.88, Y:-130.92, Z:0.03 [[ 9.60038420e-01 2.79868240e-01 0.00000000e+00 4.88878910e+02] [-2.79868240e-01 9.60038420e-01 0.00000000e+00 -1.30918882e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30586652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.91, Y:-130.92, Z:0.03 [[ 9.60461069e-01 2.78414322e-01 0.00000000e+00 4.88907590e+02] [-2.78414322e-01 9.60461069e-01 0.00000000e+00 -1.30923557e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47840456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.93, Y:-130.93, Z:0.04 [[ 9.61446646e-01 2.74991541e-01 0.00000000e+00 4.88933793e+02] [-2.74991541e-01 9.61446646e-01 0.00000000e+00 -1.30927663e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80166688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.96, Y:-130.93, Z:0.04 [[ 9.62125747e-01 2.72606029e-01 0.00000000e+00 4.88962021e+02] [-2.72606029e-01 9.62125747e-01 0.00000000e+00 -1.30932649e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.00187719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.99, Y:-130.94, Z:0.04 [[ 9.62707913e-01 2.70542927e-01 0.00000000e+00 4.88988564e+02] [-2.70542927e-01 9.62707913e-01 0.00000000e+00 -1.30937005e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.03628994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.02, Y:-130.94, Z:0.04 [[ 9.63153016e-01 2.68954024e-01 0.00000000e+00 4.89016389e+02] [-2.68954024e-01 9.63153016e-01 0.00000000e+00 -1.30941512e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01888840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.04, Y:-130.95, Z:0.04 [[ 9.63384473e-01 2.68123771e-01 0.00000000e+00 4.89043525e+02] [-2.68123771e-01 9.63384473e-01 0.00000000e+00 -1.30946049e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93656166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.07, Y:-130.95, Z:0.04 [[ 9.63397637e-01 2.68076470e-01 0.00000000e+00 4.89070777e+02] [-2.68076470e-01 9.63397637e-01 0.00000000e+00 -1.30951185e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90077473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.10, Y:-130.96, Z:0.04 [[ 9.63318246e-01 2.68361617e-01 0.00000000e+00 4.89098598e+02] [-2.68361617e-01 9.63318246e-01 0.00000000e+00 -1.30956928e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.21181590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.12, Y:-130.96, Z:0.04 [[ 9.63392980e-01 2.68093205e-01 0.00000000e+00 4.89124909e+02] [-2.68093205e-01 9.63392980e-01 0.00000000e+00 -1.30962675e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.31464691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.15, Y:-130.97, Z:0.04 [[ 9.63516572e-01 2.67648677e-01 0.00000000e+00 4.89150975e+02] [-2.67648677e-01 9.63516572e-01 0.00000000e+00 -1.30968824e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.17407829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.99140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.18, Y:-130.98, Z:0.04 [[ 9.63642281e-01 2.67195724e-01 0.00000000e+00 4.89178237e+02] [-2.67195724e-01 9.63642281e-01 0.00000000e+00 -1.30975421e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.85425101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.21, Y:-130.98, Z:0.04 [[ 9.63722161e-01 2.66907469e-01 0.00000000e+00 4.89206637e+02] [-2.66907469e-01 9.63722161e-01 0.00000000e+00 -1.30982639e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58620757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.23, Y:-130.99, Z:0.03 [[ 9.63745539e-01 2.66823042e-01 0.00000000e+00 4.89232261e+02] [-2.66823042e-01 9.63745539e-01 0.00000000e+00 -1.30989989e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48901104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.26, Y:-131.00, Z:0.04 [[ 9.63556856e-01 2.67503617e-01 0.00000000e+00 4.89257354e+02] [-2.67503617e-01 9.63556856e-01 0.00000000e+00 -1.31001187e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56067905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.28, Y:-131.01, Z:0.04 [[ 9.63374154e-01 2.68160845e-01 0.00000000e+00 4.89284604e+02] [-2.68160845e-01 9.63374154e-01 0.00000000e+00 -1.31008880e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61525142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.31, Y:-131.02, Z:0.03 [[ 9.63184936e-01 2.68839690e-01 0.00000000e+00 4.89310455e+02] [-2.68839690e-01 9.63184936e-01 0.00000000e+00 -1.31015127e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47304193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.34, Y:-131.02, Z:0.03 [[ 9.62803458e-01 2.70202706e-01 0.00000000e+00 4.89339003e+02] [-2.70202706e-01 9.62803458e-01 0.00000000e+00 -1.31021282e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32031221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.37, Y:-131.03, Z:0.03 [[ 9.62172125e-01 2.72442290e-01 0.00000000e+00 4.89366402e+02] [-2.72442290e-01 9.62172125e-01 0.00000000e+00 -1.31028090e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08162283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.39, Y:-131.03, Z:0.03 [[ 9.61303107e-01 2.75492896e-01 0.00000000e+00 4.89394425e+02] [-2.75492896e-01 9.61303107e-01 0.00000000e+00 -1.31034904e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03033327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.261400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:489.42, Y:-131.04, Z:0.03 [[ 9.60386137e-01 2.78672690e-01 0.00000000e+00 4.89422334e+02] [-2.78672690e-01 9.60386137e-01 0.00000000e+00 -1.31040240e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00244150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.45, Y:-131.05, Z:0.03 [[ 9.59278279e-01 2.82462712e-01 0.00000000e+00 4.89450805e+02] [-2.82462712e-01 9.59278279e-01 0.00000000e+00 -1.31045381e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07485243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.48, Y:-131.05, Z:0.03 [[ 9.57624590e-01 2.88019348e-01 0.00000000e+00 4.89478570e+02] [-2.88019348e-01 9.57624590e-01 0.00000000e+00 -1.31046893e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18569781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.51, Y:-131.05, Z:0.03 [[ 9.57181776e-01 2.89487559e-01 0.00000000e+00 4.89506506e+02] [-2.89487559e-01 9.57181776e-01 0.00000000e+00 -1.31050853e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29478094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.54, Y:-131.06, Z:0.03 [[ 9.57044955e-01 2.89939571e-01 0.00000000e+00 4.89535162e+02] [-2.89939571e-01 9.57044955e-01 0.00000000e+00 -1.31055122e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42859121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.56, Y:-131.06, Z:0.03 [[ 9.57218950e-01 2.89364616e-01 0.00000000e+00 4.89563444e+02] [-2.89364616e-01 9.57218950e-01 0.00000000e+00 -1.31058609e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40773301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.59, Y:-131.06, Z:0.03 [[ 9.57556962e-01 2.88244105e-01 0.00000000e+00 4.89590725e+02] [-2.88244105e-01 9.57556962e-01 0.00000000e+00 -1.31061355e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34193662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.62, Y:-131.07, Z:0.03 [[ 9.57607373e-01 2.88076586e-01 0.00000000e+00 4.89618710e+02] [-2.88076586e-01 9.57607373e-01 0.00000000e+00 -1.31066702e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34193662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.501400513 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:489.65, Y:-131.07, Z:0.03 [[ 9.58103832e-01 2.86421100e-01 0.00000000e+00 4.89646520e+02] [-2.86421100e-01 9.58103832e-01 0.00000000e+00 -1.31068498e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35107634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.67, Y:-131.07, Z:0.03 [[ 9.59078096e-01 2.83141670e-01 0.00000000e+00 4.89674215e+02] [-2.83141670e-01 9.59078096e-01 0.00000000e+00 -1.31067365e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45588417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.70, Y:-131.07, Z:0.04 [[ 9.59448465e-01 2.81884095e-01 0.00000000e+00 4.89702173e+02] [-2.81884095e-01 9.59448465e-01 0.00000000e+00 -1.31069348e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60434897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.73, Y:-131.07, Z:0.04 [[ 9.59606857e-01 2.81344417e-01 0.00000000e+00 4.89729664e+02] [-2.81344417e-01 9.59606857e-01 0.00000000e+00 -1.31071116e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79222455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.76, Y:-131.07, Z:0.04 [[ 9.59589900e-01 2.81402244e-01 0.00000000e+00 4.89757719e+02] [-2.81402244e-01 9.59589900e-01 0.00000000e+00 -1.31071651e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.00591559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.79, Y:-131.07, Z:0.04 [[ 9.59372085e-01 2.82143940e-01 0.00000000e+00 4.89785967e+02] [-2.82143940e-01 9.59372085e-01 0.00000000e+00 -1.31071485e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12209246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.81, Y:-131.07, Z:0.04 [[ 9.59100882e-01 2.83064476e-01 0.00000000e+00 4.89814352e+02] [-2.83064476e-01 9.59100882e-01 0.00000000e+00 -1.31070863e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12977022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.84, Y:-131.06, Z:0.04 [[ 9.58610005e-01 2.84722425e-01 0.00000000e+00 4.89842735e+02] [-2.84722425e-01 9.58610005e-01 0.00000000e+00 -1.31064970e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97850837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.74140051300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.87, Y:-131.06, Z:0.04 [[ 9.58585049e-01 2.84806432e-01 0.00000000e+00 4.89871563e+02] [-2.84806432e-01 9.58585049e-01 0.00000000e+00 -1.31064984e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.00589142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.90, Y:-131.06, Z:0.04 [[ 9.58816707e-01 2.84025567e-01 0.00000000e+00 4.89898847e+02] [-2.84025567e-01 9.58816707e-01 0.00000000e+00 -1.31064251e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.05964499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.93, Y:-131.06, Z:0.04 [[ 9.59362483e-01 2.82176586e-01 0.00000000e+00 4.89927083e+02] [-2.82176586e-01 9.59362483e-01 0.00000000e+00 -1.31063951e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02841119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.95, Y:-131.06, Z:0.04 [[ 9.60088814e-01 2.79695316e-01 0.00000000e+00 4.89954487e+02] [-2.79695316e-01 9.60088814e-01 0.00000000e+00 -1.31064352e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83128788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.98, Y:-131.07, Z:0.04 [[ 9.61027230e-01 2.76453727e-01 0.00000000e+00 4.89982928e+02] [-2.76453727e-01 9.61027230e-01 0.00000000e+00 -1.31065981e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66852431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.01, Y:-131.07, Z:0.04 [[ 9.62932251e-01 2.69743361e-01 0.00000000e+00 4.90010479e+02] [-2.69743361e-01 9.62932251e-01 0.00000000e+00 -1.31065741e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62182874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.04, Y:-131.07, Z:0.04 [[ 9.63791503e-01 2.66656968e-01 0.00000000e+00 4.90038030e+02] [-2.66656968e-01 9.63791503e-01 0.00000000e+00 -1.31067465e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75892161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.07, Y:-131.07, Z:0.04 [[ 9.64714794e-01 2.63297108e-01 0.00000000e+00 4.90066412e+02] [-2.63297108e-01 9.64714794e-01 0.00000000e+00 -1.31069788e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88800827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.09, Y:-131.07, Z:0.04 [[ 9.65620230e-01 2.59956864e-01 0.00000000e+00 4.90093767e+02] [-2.59956864e-01 9.65620230e-01 0.00000000e+00 -1.31073404e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.85982928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.12, Y:-131.08, Z:0.04 [[ 9.66506956e-01 2.56640417e-01 0.00000000e+00 4.90120168e+02] [-2.56640417e-01 9.66506956e-01 0.00000000e+00 -1.31078476e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75417860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.15, Y:-131.08, Z:0.04 [[ 9.67358292e-01 2.53412580e-01 0.00000000e+00 4.90146269e+02] [-2.53412580e-01 9.67358292e-01 0.00000000e+00 -1.31084968e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57128938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.17, Y:-131.09, Z:0.03 [[ 9.68996238e-01 2.47075477e-01 0.00000000e+00 4.90174304e+02] [-2.47075477e-01 9.68996238e-01 0.00000000e+00 -1.31094263e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41410211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.20, Y:-131.10, Z:0.03 [[ 9.69619135e-01 2.44619570e-01 0.00000000e+00 4.90201002e+02] [-2.44619570e-01 9.69619135e-01 0.00000000e+00 -1.31101426e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38235540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.131400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:490.23, Y:-131.11, Z:0.03 [[ 9.69980110e-01 2.43184266e-01 0.00000000e+00 4.90227752e+02] [-2.43184266e-01 9.69980110e-01 0.00000000e+00 -1.31109216e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29529080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.25, Y:-131.12, Z:0.03 [[ 9.69953207e-01 2.43291545e-01 0.00000000e+00 4.90253488e+02] [-2.43291545e-01 9.69953207e-01 0.00000000e+00 -1.31118370e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30637788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.191400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:490.28, Y:-131.13, Z:0.03 [[ 9.69764215e-01 2.44043783e-01 0.00000000e+00 4.90280596e+02] [-2.44043783e-01 9.69764215e-01 0.00000000e+00 -1.31127021e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32662740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.31, Y:-131.14, Z:0.03 [[ 9.68612856e-01 2.48574206e-01 0.00000000e+00 4.90307123e+02] [-2.48574206e-01 9.68612856e-01 0.00000000e+00 -1.31137466e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38895421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.33, Y:-131.14, Z:0.03 [[ 9.67982667e-01 2.51017045e-01 0.00000000e+00 4.90333514e+02] [-2.51017045e-01 9.67982667e-01 0.00000000e+00 -1.31143842e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29527613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.36, Y:-131.15, Z:0.03 [[ 9.67360281e-01 2.53404986e-01 0.00000000e+00 4.90360836e+02] [-2.53404986e-01 9.67360281e-01 0.00000000e+00 -1.31151299e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29860905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.39, Y:-131.16, Z:0.03 [[ 9.66834054e-01 2.55405387e-01 0.00000000e+00 4.90387754e+02] [-2.55405387e-01 9.66834054e-01 0.00000000e+00 -1.31158963e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35139316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.41, Y:-131.17, Z:0.03 [[ 9.66039384e-01 2.58394868e-01 0.00000000e+00 4.90413971e+02] [-2.58394868e-01 9.66039384e-01 0.00000000e+00 -1.31168017e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43193299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.44, Y:-131.17, Z:0.04 [[ 9.65845658e-01 2.59118052e-01 0.00000000e+00 4.90441424e+02] [-2.59118052e-01 9.65845658e-01 0.00000000e+00 -1.31173986e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54444673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.47, Y:-131.18, Z:0.04 [[ 9.65589500e-01 2.60070986e-01 0.00000000e+00 4.90467932e+02] [-2.60070986e-01 9.65589500e-01 0.00000000e+00 -1.31179299e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51625685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.50, Y:-131.18, Z:0.04 [[ 9.65355804e-01 2.60937103e-01 0.00000000e+00 4.90495833e+02] [-2.60937103e-01 9.65355804e-01 0.00000000e+00 -1.31184615e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52857695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.52, Y:-131.19, Z:0.03 [[ 9.65029908e-01 2.62139805e-01 0.00000000e+00 4.90522697e+02] [-2.62139805e-01 9.65029908e-01 0.00000000e+00 -1.31189151e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45123298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.55, Y:-131.19, Z:0.04 [[ 9.64349500e-01 2.64631898e-01 0.00000000e+00 4.90550324e+02] [-2.64631898e-01 9.64349500e-01 0.00000000e+00 -1.31192468e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70137902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.58, Y:-131.20, Z:0.04 [[ 9.64100317e-01 2.65538281e-01 0.00000000e+00 4.90577484e+02] [-2.65538281e-01 9.64100317e-01 0.00000000e+00 -1.31197040e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82258367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.60, Y:-131.20, Z:0.04 [[ 9.63958564e-01 2.66052415e-01 0.00000000e+00 4.90603529e+02] [-2.66052415e-01 9.63958564e-01 0.00000000e+00 -1.31202174e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75588525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.63, Y:-131.21, Z:0.04 [[ 9.63967687e-01 2.66019356e-01 0.00000000e+00 4.90630721e+02] [-2.66019356e-01 9.63967687e-01 0.00000000e+00 -1.31208404e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71726362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.66, Y:-131.21, Z:0.04 [[ 9.64061882e-01 2.65677788e-01 0.00000000e+00 4.90656906e+02] [-2.65677788e-01 9.64061882e-01 0.00000000e+00 -1.31214291e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70248781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.68, Y:-131.22, Z:0.04 [[ 9.64200585e-01 2.65173967e-01 0.00000000e+00 4.90683039e+02] [-2.65173967e-01 9.64200585e-01 0.00000000e+00 -1.31220081e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70222987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.71, Y:-131.23, Z:0.04 [[ 9.64481745e-01 2.64149511e-01 0.00000000e+00 4.90709023e+02] [-2.64149511e-01 9.64481745e-01 0.00000000e+00 -1.31225334e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86612640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.701400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:490.74, Y:-131.23, Z:0.04 [[ 9.64509944e-01 2.64046526e-01 0.00000000e+00 4.90736952e+02] [-2.64046526e-01 9.64509944e-01 0.00000000e+00 -1.31230620e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83186615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.76, Y:-131.24, Z:0.04 [[ 9.64323571e-01 2.64726368e-01 0.00000000e+00 4.90762852e+02] [-2.64726368e-01 9.64323571e-01 0.00000000e+00 -1.31236804e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75084019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.79, Y:-131.24, Z:0.04 [[ 9.64199728e-01 2.65177080e-01 0.00000000e+00 4.90790283e+02] [-2.65177080e-01 9.64199728e-01 0.00000000e+00 -1.31243055e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57031075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.82, Y:-131.25, Z:0.03 [[ 9.64070880e-01 2.65645135e-01 0.00000000e+00 4.90816554e+02] [-2.65645135e-01 9.64070880e-01 0.00000000e+00 -1.31249477e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37667669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.84, Y:-131.26, Z:0.03 [[ 9.63964586e-01 2.66030592e-01 0.00000000e+00 4.90842577e+02] [-2.66030592e-01 9.63964586e-01 0.00000000e+00 -1.31256250e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30989059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.87, Y:-131.27, Z:0.04 [[ 9.63644173e-01 2.67188899e-01 0.00000000e+00 4.90869307e+02] [-2.67188899e-01 9.63644173e-01 0.00000000e+00 -1.31265116e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62908794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.90, Y:-131.27, Z:0.04 [[ 9.63372712e-01 2.68166026e-01 0.00000000e+00 4.90895219e+02] [-2.68166026e-01 9.63372712e-01 0.00000000e+00 -1.31270810e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71738073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.92, Y:-131.28, Z:0.04 [[ 9.63069037e-01 2.69254582e-01 0.00000000e+00 4.90921315e+02] [-2.69254582e-01 9.63069037e-01 0.00000000e+00 -1.31276108e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67863893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.95, Y:-131.28, Z:0.04 [[ 9.62762451e-01 2.70348780e-01 0.00000000e+00 4.90948726e+02] [-2.70348780e-01 9.62762451e-01 0.00000000e+00 -1.31281380e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62142284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.98, Y:-131.29, Z:0.04 [[ 9.62437049e-01 2.71504928e-01 0.00000000e+00 4.90976290e+02] [-2.71504928e-01 9.62437049e-01 0.00000000e+00 -1.31286745e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60749018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.00, Y:-131.29, Z:0.04 [[ 9.62092896e-01 2.72721945e-01 0.00000000e+00 4.91002500e+02] [-2.72721945e-01 9.62092896e-01 0.00000000e+00 -1.31290968e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54988225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.03, Y:-131.29, Z:0.04 [[ 9.61568875e-01 2.74563833e-01 0.00000000e+00 4.91030672e+02] [-2.74563833e-01 9.61568875e-01 0.00000000e+00 -1.31293910e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65793224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.06, Y:-131.30, Z:0.04 [[ 9.61587903e-01 2.74497185e-01 0.00000000e+00 4.91058513e+02] [-2.74497185e-01 9.61587903e-01 0.00000000e+00 -1.31298770e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63601714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.09, Y:-131.30, Z:0.04 [[ 9.61981895e-01 2.73113226e-01 0.00000000e+00 4.91086430e+02] [-2.73113226e-01 9.61981895e-01 0.00000000e+00 -1.31303968e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55746452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.11, Y:-131.31, Z:0.04 [[ 9.62683907e-01 2.70628333e-01 0.00000000e+00 4.91114212e+02] [-2.70628333e-01 9.62683907e-01 0.00000000e+00 -1.31309011e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50137690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.14, Y:-131.31, Z:0.04 [[ 9.63691638e-01 2.67017654e-01 0.00000000e+00 4.91141787e+02] [-2.67017654e-01 9.63691638e-01 0.00000000e+00 -1.31313687e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53603952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.17, Y:-131.32, Z:0.04 [[ 9.64874552e-01 2.62711056e-01 0.00000000e+00 4.91169773e+02] [-2.62711056e-01 9.64874552e-01 0.00000000e+00 -1.31319312e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69172035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.2114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.20, Y:-131.33, Z:0.04 [[ 9.67103829e-01 2.54381964e-01 0.00000000e+00 4.91195983e+02] [-2.54381964e-01 9.67103829e-01 0.00000000e+00 -1.31327737e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06073807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.22, Y:-131.33, Z:0.04 [[ 9.67941664e-01 2.51175109e-01 0.00000000e+00 4.91223518e+02] [-2.51175109e-01 9.67941664e-01 0.00000000e+00 -1.31334467e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.21181215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.25, Y:-131.34, Z:0.04 [[ 9.68565133e-01 2.48760090e-01 0.00000000e+00 4.91250322e+02] [-2.48760090e-01 9.68565133e-01 0.00000000e+00 -1.31339613e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27996281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.28, Y:-131.34, Z:0.04 [[ 9.68936202e-01 2.47310809e-01 0.00000000e+00 4.91277944e+02] [-2.47310809e-01 9.68936202e-01 0.00000000e+00 -1.31344548e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24578754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.30, Y:-131.35, Z:0.04 [[ 9.69047665e-01 2.46873699e-01 0.00000000e+00 4.91304898e+02] [-2.46873699e-01 9.69047665e-01 0.00000000e+00 -1.31350552e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18497763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.33, Y:-131.36, Z:0.04 [[ 9.69064669e-01 2.46806943e-01 0.00000000e+00 4.91332925e+02] [-2.46806943e-01 9.69064669e-01 0.00000000e+00 -1.31355698e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18497763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.391400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:491.36, Y:-131.36, Z:0.04 [[ 9.69073696e-01 2.46771495e-01 0.00000000e+00 4.91359737e+02] [-2.46771495e-01 9.69073696e-01 0.00000000e+00 -1.31362547e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06211544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.39, Y:-131.37, Z:0.04 [[ 9.68445665e-01 2.49224784e-01 0.00000000e+00 4.91385817e+02] [-2.49224784e-01 9.68445665e-01 0.00000000e+00 -1.31372132e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96648825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.451400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:491.41, Y:-131.38, Z:0.04 [[ 9.68247233e-01 2.49994591e-01 0.00000000e+00 4.91413376e+02] [-2.49994591e-01 9.68247233e-01 0.00000000e+00 -1.31377557e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77213114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.44, Y:-131.38, Z:0.04 [[ 9.68111140e-01 2.50521096e-01 0.00000000e+00 4.91439517e+02] [-2.50521096e-01 9.68111140e-01 0.00000000e+00 -1.31384105e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70719769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.47, Y:-131.39, Z:0.04 [[ 9.68280425e-01 2.49866003e-01 0.00000000e+00 4.91466174e+02] [-2.49866003e-01 9.68280425e-01 0.00000000e+00 -1.31391634e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78895498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.49, Y:-131.40, Z:0.04 [[ 9.68667645e-01 2.48360611e-01 0.00000000e+00 4.91494276e+02] [-2.48360611e-01 9.68667645e-01 0.00000000e+00 -1.31400847e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06773261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.52, Y:-131.41, Z:0.04 [[ 9.69053074e-01 2.46852467e-01 0.00000000e+00 4.91519873e+02] [-2.46852467e-01 9.69053074e-01 0.00000000e+00 -1.31409368e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28474777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.55, Y:-131.42, Z:0.04 [[ 9.69149327e-01 2.46474302e-01 0.00000000e+00 4.91546240e+02] [-2.46474302e-01 9.69149327e-01 0.00000000e+00 -1.31420595e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.23016233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.57, Y:-131.43, Z:0.04 [[ 9.68860599e-01 2.47606825e-01 0.00000000e+00 4.91571758e+02] [-2.47606825e-01 9.68860599e-01 0.00000000e+00 -1.31429200e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06784942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.60, Y:-131.44, Z:0.04 [[ 9.68464017e-01 2.49153461e-01 0.00000000e+00 4.91598478e+02] [-2.49153461e-01 9.68464017e-01 0.00000000e+00 -1.31438489e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.94656063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.62, Y:-131.45, Z:0.04 [[ 9.67974724e-01 2.51047674e-01 0.00000000e+00 4.91624960e+02] [-2.51047674e-01 9.67974724e-01 0.00000000e+00 -1.31448151e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87682434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.65, Y:-131.46, Z:0.04 [[ 9.67446102e-01 2.53077143e-01 0.00000000e+00 4.91650512e+02] [-2.53077143e-01 9.67446102e-01 0.00000000e+00 -1.31456900e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90749705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.68, Y:-131.47, Z:0.04 [[ 9.66944062e-01 2.54988588e-01 0.00000000e+00 4.91676879e+02] [-2.54988588e-01 9.66944062e-01 0.00000000e+00 -1.31465677e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95164319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.70, Y:-131.48, Z:0.04 [[ 9.66196315e-01 2.57807451e-01 0.00000000e+00 4.91702284e+02] [-2.57807451e-01 9.66196315e-01 0.00000000e+00 -1.31479916e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84947756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.73, Y:-131.49, Z:0.04 [[ 9.66028983e-01 2.58433752e-01 0.00000000e+00 4.91728151e+02] [-2.58433752e-01 9.66028983e-01 0.00000000e+00 -1.31489623e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69090390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.75, Y:-131.50, Z:0.04 [[ 9.65900615e-01 2.58913118e-01 0.00000000e+00 4.91754356e+02] [-2.58913118e-01 9.65900615e-01 0.00000000e+00 -1.31504082e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63520548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.78, Y:-131.51, Z:0.04 [[ 9.65852981e-01 2.59090754e-01 0.00000000e+00 4.91781314e+02] [-2.59090754e-01 9.65852981e-01 0.00000000e+00 -1.31513668e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76474393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.81, Y:-131.52, Z:0.04 [[ 9.65781012e-01 2.59358895e-01 0.00000000e+00 4.91807924e+02] [-2.59358895e-01 9.65781012e-01 0.00000000e+00 -1.31523679e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90128757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.84, Y:-131.53, Z:0.04 [[ 9.65673202e-01 2.59760017e-01 0.00000000e+00 4.91835303e+02] [-2.59760017e-01 9.65673202e-01 0.00000000e+00 -1.31533660e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93907980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.86, Y:-131.54, Z:0.04 [[ 9.65452079e-01 2.60580667e-01 0.00000000e+00 4.91862867e+02] [-2.60580667e-01 9.65452079e-01 0.00000000e+00 -1.31542462e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84826190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.89, Y:-131.55, Z:0.04 [[ 9.65015249e-01 2.62193762e-01 0.00000000e+00 4.91890145e+02] [-2.62193762e-01 9.65015249e-01 0.00000000e+00 -1.31549975e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62357762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.92, Y:-131.56, Z:0.03 [[ 9.63610613e-01 2.67309906e-01 0.00000000e+00 4.91917443e+02] [-2.67309906e-01 9.63610613e-01 0.00000000e+00 -1.31558658e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27730938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.94, Y:-131.57, Z:0.03 [[ 9.62987420e-01 2.69546339e-01 0.00000000e+00 4.91944385e+02] [-2.69546339e-01 9.62987420e-01 0.00000000e+00 -1.31565571e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15915493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.97, Y:-131.57, Z:0.03 [[ 9.62564857e-01 2.71051466e-01 0.00000000e+00 4.91971961e+02] [-2.71051466e-01 9.62564857e-01 0.00000000e+00 -1.31572729e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34593890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.00, Y:-131.58, Z:0.03 [[ 9.62505712e-01 2.71261415e-01 0.00000000e+00 4.91999478e+02] [-2.71261415e-01 9.62505712e-01 0.00000000e+00 -1.31579548e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30861992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.03, Y:-131.59, Z:0.03 [[ 9.62791502e-01 2.70245303e-01 0.00000000e+00 4.92027125e+02] [-2.70245303e-01 9.62791502e-01 0.00000000e+00 -1.31586289e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28312367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.05, Y:-131.59, Z:0.03 [[ 9.63260442e-01 2.68569024e-01 0.00000000e+00 4.92054259e+02] [-2.68569024e-01 9.63260442e-01 0.00000000e+00 -1.31592952e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14488953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.08, Y:-131.60, Z:0.03 [[ 9.64205672e-01 2.65155469e-01 0.00000000e+00 4.92082466e+02] [-2.65155469e-01 9.64205672e-01 0.00000000e+00 -1.31602211e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12554126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.11, Y:-131.61, Z:0.03 [[ 9.64523907e-01 2.63995516e-01 0.00000000e+00 4.92110104e+02] [-2.63995516e-01 9.64523907e-01 0.00000000e+00 -1.31608703e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13536520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.14, Y:-131.61, Z:0.03 [[ 9.64715289e-01 2.63295292e-01 0.00000000e+00 4.92138979e+02] [-2.63295292e-01 9.64715289e-01 0.00000000e+00 -1.31614807e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20964566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.17, Y:-131.62, Z:0.03 [[ 9.64737378e-01 2.63214344e-01 0.00000000e+00 4.92167574e+02] [-2.63214344e-01 9.64737378e-01 0.00000000e+00 -1.31620668e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23025692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.20, Y:-131.63, Z:0.03 [[ 9.64568463e-01 2.63832675e-01 0.00000000e+00 4.92195766e+02] [-2.63832675e-01 9.64568463e-01 0.00000000e+00 -1.31625852e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14972888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.22, Y:-131.63, Z:0.03 [[ 9.64589043e-01 2.63757423e-01 0.00000000e+00 4.92222947e+02] [-2.63757423e-01 9.64589043e-01 0.00000000e+00 -1.31630551e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10309297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.25, Y:-131.63, Z:0.03 [[ 9.64756847e-01 2.63142976e-01 0.00000000e+00 4.92250595e+02] [-2.63142976e-01 9.64756847e-01 0.00000000e+00 -1.31634719e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97839619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.28, Y:-131.64, Z:0.03 [[ 9.65002778e-01 2.62239658e-01 0.00000000e+00 4.92280198e+02] [-2.62239658e-01 9.65002778e-01 0.00000000e+00 -1.31639367e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19305423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.31, Y:-131.64, Z:0.03 [[ 9.65395306e-01 2.60790917e-01 0.00000000e+00 4.92308164e+02] [-2.60790917e-01 9.65395306e-01 0.00000000e+00 -1.31644002e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21545374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.34, Y:-131.65, Z:0.03 [[ 9.65841519e-01 2.59133478e-01 0.00000000e+00 4.92336118e+02] [-2.59133478e-01 9.65841519e-01 0.00000000e+00 -1.31649030e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48341532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.36, Y:-131.65, Z:0.04 [[ 9.66528562e-01 2.56559035e-01 0.00000000e+00 4.92364601e+02] [-2.56559035e-01 9.66528562e-01 0.00000000e+00 -1.31654548e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80952795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.39, Y:-131.66, Z:0.04 [[ 9.66584306e-01 2.56348939e-01 0.00000000e+00 4.92391512e+02] [-2.56348939e-01 9.66584306e-01 0.00000000e+00 -1.31659543e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76365595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.42, Y:-131.67, Z:0.04 [[ 9.66501924e-01 2.56659369e-01 0.00000000e+00 4.92421094e+02] [-2.56659369e-01 9.66501924e-01 0.00000000e+00 -1.31665204e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68133719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.45, Y:-131.67, Z:0.04 [[ 9.66198550e-01 2.57799072e-01 0.00000000e+00 4.92449348e+02] [-2.57799072e-01 9.66198550e-01 0.00000000e+00 -1.31671293e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60245199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.48, Y:-131.68, Z:0.03 [[ 9.65912135e-01 2.58870138e-01 0.00000000e+00 4.92477233e+02] [-2.58870138e-01 9.65912135e-01 0.00000000e+00 -1.31677350e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49531654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.50, Y:-131.68, Z:0.04 [[ 9.65519847e-01 2.60329457e-01 0.00000000e+00 4.92504980e+02] [-2.60329457e-01 9.65519847e-01 0.00000000e+00 -1.31683577e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55398316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.53, Y:-131.69, Z:0.03 [[ 9.64695950e-01 2.63366142e-01 0.00000000e+00 4.92533508e+02] [-2.63366142e-01 9.64695950e-01 0.00000000e+00 -1.31689479e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48130771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.7114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.56, Y:-131.70, Z:0.03 [[ 9.64341425e-01 2.64661324e-01 0.00000000e+00 4.92562726e+02] [-2.64661324e-01 9.64341425e-01 0.00000000e+00 -1.31695194e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49948164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.59, Y:-131.70, Z:0.03 [[ 9.64045988e-01 2.65735456e-01 0.00000000e+00 4.92590939e+02] [-2.65735456e-01 9.64045988e-01 0.00000000e+00 -1.31700480e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46920010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.62, Y:-131.71, Z:0.03 [[ 9.63795381e-01 2.66642952e-01 0.00000000e+00 4.92620440e+02] [-2.66642952e-01 9.63795381e-01 0.00000000e+00 -1.31705357e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43914344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.65, Y:-131.71, Z:0.03 [[ 9.63561298e-01 2.67487617e-01 0.00000000e+00 4.92648032e+02] [-2.67487617e-01 9.63561298e-01 0.00000000e+00 -1.31709344e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36332107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.68, Y:-131.71, Z:0.03 [[ 9.63202754e-01 2.68775846e-01 0.00000000e+00 4.92677104e+02] [-2.68775846e-01 9.63202754e-01 0.00000000e+00 -1.31713275e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31937705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.71, Y:-131.72, Z:0.03 [[ 9.63003578e-01 2.69488606e-01 0.00000000e+00 4.92705424e+02] [-2.69488606e-01 9.63003578e-01 0.00000000e+00 -1.31718474e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24047077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.73, Y:-131.72, Z:0.03 [[ 9.62811126e-01 2.70175380e-01 0.00000000e+00 4.92733370e+02] [-2.70175380e-01 9.62811126e-01 0.00000000e+00 -1.31723261e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17274012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.76, Y:-131.73, Z:0.03 [[ 9.62665395e-01 2.70694176e-01 0.00000000e+00 4.92760500e+02] [-2.70694176e-01 9.62665395e-01 0.00000000e+00 -1.31726987e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02644487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.951400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:492.79, Y:-131.73, Z:0.03 [[ 9.62482003e-01 2.71345524e-01 0.00000000e+00 4.92789235e+02] [-2.71345524e-01 9.62482003e-01 0.00000000e+00 -1.31730368e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00595602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.82, Y:-131.73, Z:0.03 [[ 9.62214589e-01 2.72292278e-01 0.00000000e+00 4.92817254e+02] [-2.72292278e-01 9.62214589e-01 0.00000000e+00 -1.31733582e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99736428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.84, Y:-131.74, Z:0.03 [[ 9.61487588e-01 2.74848355e-01 0.00000000e+00 4.92844946e+02] [-2.74848355e-01 9.61487588e-01 0.00000000e+00 -1.31735283e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04126056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.87, Y:-131.74, Z:0.03 [[ 9.61318973e-01 2.75437528e-01 0.00000000e+00 4.92873872e+02] [-2.75437528e-01 9.61318973e-01 0.00000000e+00 -1.31738276e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16557013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.90, Y:-131.74, Z:0.03 [[ 9.61227622e-01 2.75756158e-01 0.00000000e+00 4.92900262e+02] [-2.75756158e-01 9.61227622e-01 0.00000000e+00 -1.31740759e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00541826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.101400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:492.93, Y:-131.74, Z:0.03 [[ 9.61529772e-01 2.74700740e-01 0.00000000e+00 4.92927923e+02] [-2.74700740e-01 9.61529772e-01 0.00000000e+00 -1.31743613e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02110202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.96, Y:-131.75, Z:0.03 [[ 9.62618664e-01 2.70860310e-01 0.00000000e+00 4.92956016e+02] [-2.70860310e-01 9.62618664e-01 0.00000000e+00 -1.31747575e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25850872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.98, Y:-131.75, Z:0.03 [[ 9.63324917e-01 2.68337668e-01 0.00000000e+00 4.92983950e+02] [-2.68337668e-01 9.63324917e-01 0.00000000e+00 -1.31752581e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38904730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.01, Y:-131.76, Z:0.03 [[ 9.63968927e-01 2.66014862e-01 0.00000000e+00 4.93012297e+02] [-2.66014862e-01 9.63968927e-01 0.00000000e+00 -1.31756849e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43416271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.04, Y:-131.76, Z:0.03 [[ 9.64455994e-01 2.64243517e-01 0.00000000e+00 4.93039733e+02] [-2.64243517e-01 9.64455994e-01 0.00000000e+00 -1.31760133e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37918204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.07, Y:-131.76, Z:0.03 [[ 9.64657947e-01 2.63505306e-01 0.00000000e+00 4.93067688e+02] [-2.63505306e-01 9.64657947e-01 0.00000000e+00 -1.31763340e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28371289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.10, Y:-131.77, Z:0.03 [[ 9.64675175e-01 2.63442227e-01 0.00000000e+00 4.93095739e+02] [-2.63442227e-01 9.64675175e-01 0.00000000e+00 -1.31768389e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28371289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.12, Y:-131.77, Z:0.03 [[ 9.64541712e-01 2.63930457e-01 0.00000000e+00 4.93124621e+02] [-2.63930457e-01 9.64541712e-01 0.00000000e+00 -1.31772385e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21764349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.15, Y:-131.78, Z:0.03 [[ 9.63872240e-01 2.66364984e-01 0.00000000e+00 4.93152263e+02] [-2.66364984e-01 9.63872240e-01 0.00000000e+00 -1.31775148e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12501546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.18, Y:-131.78, Z:0.03 [[ 9.63471350e-01 2.67811420e-01 0.00000000e+00 4.93179265e+02] [-2.67811420e-01 9.63471350e-01 0.00000000e+00 -1.31778025e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07716841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.21, Y:-131.78, Z:0.03 [[ 9.63051932e-01 2.69315756e-01 0.00000000e+00 4.93207875e+02] [-2.69315756e-01 9.63051932e-01 0.00000000e+00 -1.31780876e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20188847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.24, Y:-131.78, Z:0.03 [[ 9.62810275e-01 2.70178411e-01 0.00000000e+00 4.93235362e+02] [-2.70178411e-01 9.62810275e-01 0.00000000e+00 -1.31783477e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27012871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.4614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.26, Y:-131.79, Z:0.03 [[ 9.62907923e-01 2.69830191e-01 0.00000000e+00 4.93263828e+02] [-2.69830191e-01 9.62907923e-01 0.00000000e+00 -1.31786150e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41526636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.29, Y:-131.79, Z:0.03 [[ 9.63254623e-01 2.68589893e-01 0.00000000e+00 4.93290667e+02] [-2.68589893e-01 9.63254623e-01 0.00000000e+00 -1.31789937e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41655232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.32, Y:-131.79, Z:0.03 [[ 9.63658534e-01 2.67137098e-01 0.00000000e+00 4.93317983e+02] [-2.67137098e-01 9.63658534e-01 0.00000000e+00 -1.31793768e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47955404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.35, Y:-131.80, Z:0.04 [[ 9.64021755e-01 2.65823355e-01 0.00000000e+00 4.93346500e+02] [-2.65823355e-01 9.64021755e-01 0.00000000e+00 -1.31797655e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60333203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.38, Y:-131.80, Z:0.04 [[ 9.64482532e-01 2.64146637e-01 0.00000000e+00 4.93375422e+02] [-2.64146637e-01 9.64482532e-01 0.00000000e+00 -1.31799398e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71904166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.40, Y:-131.80, Z:0.04 [[ 9.64658849e-01 2.63502000e-01 0.00000000e+00 4.93402661e+02] [-2.63502000e-01 9.64658849e-01 0.00000000e+00 -1.31801897e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55771343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.641400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:493.43, Y:-131.80, Z:0.03 [[ 9.64856118e-01 2.62778751e-01 0.00000000e+00 4.93431318e+02] [-2.62778751e-01 9.64856118e-01 0.00000000e+00 -1.31804599e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47235224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.46, Y:-131.81, Z:0.03 [[ 9.64983304e-01 2.62311309e-01 0.00000000e+00 4.93458474e+02] [-2.62311309e-01 9.64983304e-01 0.00000000e+00 -1.31807322e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49377250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.49, Y:-131.81, Z:0.04 [[ 9.65096050e-01 2.61896189e-01 0.00000000e+00 4.93486335e+02] [-2.61896189e-01 9.65096050e-01 0.00000000e+00 -1.31810221e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63824321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.52, Y:-131.81, Z:0.04 [[ 9.65247311e-01 2.61338151e-01 0.00000000e+00 4.93515473e+02] [-2.61338151e-01 9.65247311e-01 0.00000000e+00 -1.31813647e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84849342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.54, Y:-131.82, Z:0.04 [[ 9.65411459e-01 2.60731117e-01 0.00000000e+00 4.93543523e+02] [-2.60731117e-01 9.65411459e-01 0.00000000e+00 -1.31816601e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93259403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.57, Y:-131.82, Z:0.04 [[ 9.65571277e-01 2.60138633e-01 0.00000000e+00 4.93572929e+02] [-2.60138633e-01 9.65571277e-01 0.00000000e+00 -1.31817819e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59796847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.60, Y:-131.82, Z:0.03 [[ 9.65531792e-01 2.60285149e-01 0.00000000e+00 4.93600475e+02] [-2.60285149e-01 9.65531792e-01 0.00000000e+00 -1.31821235e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43311532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.63, Y:-131.82, Z:0.03 [[ 9.65472897e-01 2.60503523e-01 0.00000000e+00 4.93628742e+02] [-2.60503523e-01 9.65472897e-01 0.00000000e+00 -1.31824415e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46209418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.66, Y:-131.82, Z:0.04 [[ 9.65187648e-01 2.61558413e-01 0.00000000e+00 4.93656741e+02] [-2.61558413e-01 9.65187648e-01 0.00000000e+00 -1.31824750e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61271626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.68, Y:-131.83, Z:0.04 [[ 9.65039089e-01 2.62106003e-01 0.00000000e+00 4.93684785e+02] [-2.62106003e-01 9.65039089e-01 0.00000000e+00 -1.31827258e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63915225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.71, Y:-131.83, Z:0.04 [[ 9.64818816e-01 2.62915676e-01 0.00000000e+00 4.93712681e+02] [-2.62915676e-01 9.64818816e-01 0.00000000e+00 -1.31830546e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60029818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.74, Y:-131.83, Z:0.03 [[ 9.64686445e-01 2.63400955e-01 0.00000000e+00 4.93740871e+02] [-2.63400955e-01 9.64686445e-01 0.00000000e+00 -1.31834186e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46112297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.77, Y:-131.84, Z:0.03 [[ 9.64608725e-01 2.63685433e-01 0.00000000e+00 4.93768450e+02] [-2.63685433e-01 9.64608725e-01 0.00000000e+00 -1.31837806e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32535473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.80, Y:-131.84, Z:0.03 [[ 9.64565469e-01 2.63843619e-01 0.00000000e+00 4.93796004e+02] [-2.63843619e-01 9.64565469e-01 0.00000000e+00 -1.31841091e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27858762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.82, Y:-131.84, Z:0.03 [[ 9.64528756e-01 2.63977800e-01 0.00000000e+00 4.93822899e+02] [-2.63977800e-01 9.64528756e-01 0.00000000e+00 -1.31842996e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07301182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.85, Y:-131.85, Z:0.03 [[ 9.64702328e-01 2.63342777e-01 0.00000000e+00 4.93851682e+02] [-2.63342777e-01 9.64702328e-01 0.00000000e+00 -1.31846852e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11320633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.88, Y:-131.85, Z:0.03 [[ 9.64991264e-01 2.62282023e-01 0.00000000e+00 4.93879627e+02] [-2.62282023e-01 9.64991264e-01 0.00000000e+00 -1.31850026e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09286731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.91, Y:-131.85, Z:0.03 [[ 9.65360222e-01 2.60920758e-01 0.00000000e+00 4.93907387e+02] [-2.60920758e-01 9.65360222e-01 0.00000000e+00 -1.31852967e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27448843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.94, Y:-131.86, Z:0.04 [[ 9.65658128e-01 2.59816049e-01 0.00000000e+00 4.93935105e+02] [-2.59816049e-01 9.65658128e-01 0.00000000e+00 -1.31856750e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51878764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.2114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.96, Y:-131.86, Z:0.04 [[ 9.65973073e-01 2.58642653e-01 0.00000000e+00 4.93963390e+02] [-2.58642653e-01 9.65973073e-01 0.00000000e+00 -1.31861281e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70228221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.99, Y:-131.87, Z:0.04 [[ 9.66632201e-01 2.56168279e-01 0.00000000e+00 4.93989648e+02] [-2.56168279e-01 9.66632201e-01 0.00000000e+00 -1.31865933e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66758628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.02, Y:-131.87, Z:0.04 [[ 9.66948493e-01 2.54971787e-01 0.00000000e+00 4.94017659e+02] [-2.54971787e-01 9.66948493e-01 0.00000000e+00 -1.31869757e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59974807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.04, Y:-131.87, Z:0.04 [[ 9.67271781e-01 2.53742588e-01 0.00000000e+00 4.94044899e+02] [-2.53742588e-01 9.67271781e-01 0.00000000e+00 -1.31873021e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59836766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.07, Y:-131.88, Z:0.04 [[ 9.67561440e-01 2.52635825e-01 0.00000000e+00 4.94072170e+02] [-2.52635825e-01 9.67561440e-01 0.00000000e+00 -1.31877381e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67104303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.10, Y:-131.88, Z:0.04 [[ 9.67803634e-01 2.51706428e-01 0.00000000e+00 4.94098649e+02] [-2.51706428e-01 9.67803634e-01 0.00000000e+00 -1.31882334e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75570925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.13, Y:-131.89, Z:0.04 [[ 9.67989969e-01 2.50988883e-01 0.00000000e+00 4.94125058e+02] [-2.50988883e-01 9.67989969e-01 0.00000000e+00 -1.31886731e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78982960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.15, Y:-131.89, Z:0.04 [[ 9.68281231e-01 2.49862877e-01 0.00000000e+00 4.94152923e+02] [-2.49862877e-01 9.68281231e-01 0.00000000e+00 -1.31889843e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67720437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.18, Y:-131.89, Z:0.04 [[ 9.68386762e-01 2.49453561e-01 0.00000000e+00 4.94180884e+02] [-2.49453561e-01 9.68386762e-01 0.00000000e+00 -1.31894517e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57369073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.21, Y:-131.90, Z:0.04 [[ 9.68384574e-01 2.49462057e-01 0.00000000e+00 4.94208825e+02] [-2.49462057e-01 9.68384574e-01 0.00000000e+00 -1.31900012e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52304175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.24, Y:-131.91, Z:0.04 [[ 9.68233038e-01 2.50049563e-01 0.00000000e+00 4.94236241e+02] [-2.50049563e-01 9.68233038e-01 0.00000000e+00 -1.31905263e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63608832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.26, Y:-131.91, Z:0.04 [[ 9.68033733e-01 2.50820040e-01 0.00000000e+00 4.94263110e+02] [-2.50820040e-01 9.68033733e-01 0.00000000e+00 -1.31909484e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68599698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.29, Y:-131.91, Z:0.04 [[ 9.67415546e-01 2.53193922e-01 0.00000000e+00 4.94290769e+02] [-2.53193922e-01 9.67415546e-01 0.00000000e+00 -1.31911777e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67409786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.32, Y:-131.91, Z:0.03 [[ 9.66984838e-01 2.54833914e-01 0.00000000e+00 4.94317339e+02] [-2.54833914e-01 9.66984838e-01 0.00000000e+00 -1.31914667e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44162054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.35, Y:-131.92, Z:0.03 [[ 9.66460221e-01 2.56816355e-01 0.00000000e+00 4.94345883e+02] [-2.56816355e-01 9.66460221e-01 0.00000000e+00 -1.31917862e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28924987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.37, Y:-131.92, Z:0.03 [[ 9.66051217e-01 2.58350628e-01 0.00000000e+00 4.94374755e+02] [-2.58350628e-01 9.66051217e-01 0.00000000e+00 -1.31920799e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26765416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.40, Y:-131.92, Z:0.03 [[ 9.65687038e-01 2.59708576e-01 0.00000000e+00 4.94402232e+02] [-2.59708576e-01 9.65687038e-01 0.00000000e+00 -1.31923100e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21104466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.43, Y:-131.92, Z:0.03 [[ 9.65577529e-01 2.60115427e-01 0.00000000e+00 4.94430529e+02] [-2.60115427e-01 9.65577529e-01 0.00000000e+00 -1.31921827e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33335254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.46, Y:-131.92, Z:0.04 [[ 9.65776274e-01 2.59376538e-01 0.00000000e+00 4.94458836e+02] [-2.59376538e-01 9.65776274e-01 0.00000000e+00 -1.31924521e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51878764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.49, Y:-131.93, Z:0.04 [[ 9.66081831e-01 2.58236125e-01 0.00000000e+00 4.94485748e+02] [-2.58236125e-01 9.66081831e-01 0.00000000e+00 -1.31926910e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50389579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.51, Y:-131.93, Z:0.03 [[ 9.66453637e-01 2.56841131e-01 0.00000000e+00 4.94512606e+02] [-2.56841131e-01 9.66453637e-01 0.00000000e+00 -1.31929681e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39571953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.54, Y:-131.93, Z:0.03 [[ 9.66790985e-01 2.55568371e-01 0.00000000e+00 4.94540180e+02] [-2.55568371e-01 9.66790985e-01 0.00000000e+00 -1.31932349e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27719802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.57, Y:-131.93, Z:0.03 [[ 9.67024493e-01 2.54683391e-01 0.00000000e+00 4.94567975e+02] [-2.54683391e-01 9.67024493e-01 0.00000000e+00 -1.31934893e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11312512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.901400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:494.60, Y:-131.93, Z:0.03 [[ 9.67464062e-01 2.53008475e-01 0.00000000e+00 4.94597346e+02] [-2.53008475e-01 9.67464062e-01 0.00000000e+00 -1.31934503e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28619851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.63, Y:-131.94, Z:0.04 [[ 9.67677765e-01 2.52189897e-01 0.00000000e+00 4.94625418e+02] [-2.52189897e-01 9.67677765e-01 0.00000000e+00 -1.31937248e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54197642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.9614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.65, Y:-131.94, Z:0.04 [[ 9.67915616e-01 2.51275467e-01 0.00000000e+00 4.94654267e+02] [-2.51275467e-01 9.67915616e-01 0.00000000e+00 -1.31940168e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84073958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.991400513 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:494.68, Y:-131.94, Z:0.04 [[ 9.68109713e-01 2.50526613e-01 0.00000000e+00 4.94682387e+02] [-2.50526613e-01 9.68109713e-01 0.00000000e+00 -1.31942689e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93606567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.71, Y:-131.95, Z:0.04 [[ 9.68075894e-01 2.50657262e-01 0.00000000e+00 4.94709258e+02] [-2.50657262e-01 9.68075894e-01 0.00000000e+00 -1.31945638e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.94236780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.74, Y:-131.95, Z:0.04 [[ 9.67995700e-01 2.50966782e-01 0.00000000e+00 4.94737413e+02] [-2.50966782e-01 9.67995700e-01 0.00000000e+00 -1.31948377e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97104934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.77, Y:-131.95, Z:0.04 [[ 9.67768376e-01 2.51841955e-01 0.00000000e+00 4.94765301e+02] [-2.51841955e-01 9.67768376e-01 0.00000000e+00 -1.31947544e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04557146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.79, Y:-131.95, Z:0.04 [[ 9.67568250e-01 2.52609741e-01 0.00000000e+00 4.94792536e+02] [-2.52609741e-01 9.67568250e-01 0.00000000e+00 -1.31949174e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99184216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.141400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:494.82, Y:-131.95, Z:0.04 [[ 9.67363774e-01 2.53391653e-01 0.00000000e+00 4.94820569e+02] [-2.53391653e-01 9.67363774e-01 0.00000000e+00 -1.31951041e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93709377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.171400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:494.85, Y:-131.96, Z:0.04 [[ 9.67410740e-01 2.53212284e-01 0.00000000e+00 4.94848629e+02] [-2.53212284e-01 9.67410740e-01 0.00000000e+00 -1.31955916e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93709377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.201400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:494.88, Y:-131.96, Z:0.04 [[ 9.67210451e-01 2.53976264e-01 0.00000000e+00 4.94875552e+02] [-2.53976264e-01 9.67210451e-01 0.00000000e+00 -1.31957926e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87213619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.90, Y:-131.96, Z:0.04 [[ 9.67036694e-01 2.54637061e-01 0.00000000e+00 4.94903761e+02] [-2.54637061e-01 9.67036694e-01 0.00000000e+00 -1.31959837e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93882578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.93, Y:-131.96, Z:0.04 [[ 9.66602256e-01 2.56281249e-01 0.00000000e+00 4.94932136e+02] [-2.56281249e-01 9.66602256e-01 0.00000000e+00 -1.31956717e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95534195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.96, Y:-131.96, Z:0.04 [[ 9.66404672e-01 2.57025310e-01 0.00000000e+00 4.94958925e+02] [-2.57025310e-01 9.66404672e-01 0.00000000e+00 -1.31957994e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90904370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.99, Y:-131.96, Z:0.04 [[ 9.66382715e-01 2.57107852e-01 0.00000000e+00 4.94986681e+02] [-2.57107852e-01 9.66382715e-01 0.00000000e+00 -1.31960110e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89284643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.01, Y:-131.96, Z:0.04 [[ 9.66425717e-01 2.56946167e-01 0.00000000e+00 4.95014788e+02] [-2.56946167e-01 9.66425717e-01 0.00000000e+00 -1.31962406e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84495805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.04, Y:-131.96, Z:0.04 [[ 9.66478039e-01 2.56749294e-01 0.00000000e+00 4.95042680e+02] [-2.56749294e-01 9.66478039e-01 0.00000000e+00 -1.31964298e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86442627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.07, Y:-131.97, Z:0.04 [[ 9.66473358e-01 2.56766914e-01 0.00000000e+00 4.95069969e+02] [-2.56766914e-01 9.66473358e-01 0.00000000e+00 -1.31965291e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81559615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.10, Y:-131.96, Z:0.04 [[ 9.66454271e-01 2.56838745e-01 0.00000000e+00 4.95098457e+02] [-2.56838745e-01 9.66454271e-01 0.00000000e+00 -1.31961996e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93213290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.13, Y:-131.96, Z:0.04 [[ 9.66369053e-01 2.57159198e-01 0.00000000e+00 4.95125278e+02] [-2.57159198e-01 9.66369053e-01 0.00000000e+00 -1.31962548e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86186006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.15, Y:-131.96, Z:0.04 [[ 9.66223505e-01 2.57705526e-01 0.00000000e+00 4.95152131e+02] [-2.57705526e-01 9.66223505e-01 0.00000000e+00 -1.31962887e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.73313046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.18, Y:-131.96, Z:0.04 [[ 9.66108728e-01 2.58135480e-01 0.00000000e+00 4.95180747e+02] [-2.58135480e-01 9.66108728e-01 0.00000000e+00 -1.31963516e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57446926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.21, Y:-131.96, Z:0.03 [[ 9.66180466e-01 2.57866840e-01 0.00000000e+00 4.95209373e+02] [-2.57866840e-01 9.66180466e-01 0.00000000e+00 -1.31964166e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42207638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.24, Y:-131.97, Z:0.03 [[ 9.66398092e-01 2.57050051e-01 0.00000000e+00 4.95237639e+02] [-2.57050051e-01 9.66398092e-01 0.00000000e+00 -1.31965596e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37807419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.27, Y:-131.97, Z:0.03 [[ 9.67028430e-01 2.54668444e-01 0.00000000e+00 4.95266063e+02] [-2.54668444e-01 9.67028430e-01 0.00000000e+00 -1.31967255e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39358802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.29, Y:-131.97, Z:0.04 [[ 9.67370672e-01 2.53365315e-01 0.00000000e+00 4.95294070e+02] [-2.53365315e-01 9.67370672e-01 0.00000000e+00 -1.31970770e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54322527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.32, Y:-131.97, Z:0.04 [[ 9.67666036e-01 2.52234895e-01 0.00000000e+00 4.95321706e+02] [-2.52234895e-01 9.67666036e-01 0.00000000e+00 -1.31973422e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63412227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.7114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.35, Y:-131.98, Z:0.04 [[ 9.67842213e-01 2.51558047e-01 0.00000000e+00 4.95349111e+02] [-2.51558047e-01 9.67842213e-01 0.00000000e+00 -1.31975724e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74474425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.38, Y:-131.98, Z:0.04 [[ 9.67885534e-01 2.51391314e-01 0.00000000e+00 4.95377074e+02] [-2.51391314e-01 9.67885534e-01 0.00000000e+00 -1.31978390e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78933888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.41, Y:-131.98, Z:0.04 [[ 9.67485339e-01 2.52927102e-01 0.00000000e+00 4.95405090e+02] [-2.52927102e-01 9.67485339e-01 0.00000000e+00 -1.31980862e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72215071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.43, Y:-131.98, Z:0.04 [[ 9.67054355e-01 2.54569978e-01 0.00000000e+00 4.95431720e+02] [-2.54569978e-01 9.67054355e-01 0.00000000e+00 -1.31983971e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61419110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.46, Y:-131.99, Z:0.03 [[ 9.66571067e-01 2.56398856e-01 0.00000000e+00 4.95459123e+02] [-2.56398856e-01 9.66571067e-01 0.00000000e+00 -1.31986981e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48401762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.49, Y:-131.99, Z:0.03 [[ 9.66144386e-01 2.58001987e-01 0.00000000e+00 4.95486976e+02] [-2.58001987e-01 9.66144386e-01 0.00000000e+00 -1.31990059e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35854215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.51, Y:-131.99, Z:0.03 [[ 9.65911673e-01 2.58871860e-01 0.00000000e+00 4.95514869e+02] [-2.58871860e-01 9.65911673e-01 0.00000000e+00 -1.31993921e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36778512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.54, Y:-132.00, Z:0.03 [[ 9.65861244e-01 2.59059950e-01 0.00000000e+00 4.95542388e+02] [-2.59059950e-01 9.65861244e-01 0.00000000e+00 -1.31998115e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37003615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.57, Y:-132.00, Z:0.04 [[ 9.66164443e-01 2.57926866e-01 0.00000000e+00 4.95571190e+02] [-2.57926866e-01 9.66164443e-01 0.00000000e+00 -1.32000660e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64302534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.60, Y:-132.00, Z:0.04 [[ 9.66407881e-01 2.57013243e-01 0.00000000e+00 4.95599379e+02] [-2.57013243e-01 9.66407881e-01 0.00000000e+00 -1.32004176e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.92053531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.63, Y:-132.01, Z:0.04 [[ 9.66638489e-01 2.56144552e-01 0.00000000e+00 4.95627517e+02] [-2.56144552e-01 9.66638489e-01 0.00000000e+00 -1.32008076e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.09384933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.65, Y:-132.01, Z:0.04 [[ 9.66854224e-01 2.55329021e-01 0.00000000e+00 4.95653910e+02] [-2.55329021e-01 9.66854224e-01 0.00000000e+00 -1.32012656e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11871882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.68, Y:-132.02, Z:0.04 [[ 9.67145727e-01 2.54222625e-01 0.00000000e+00 4.95681192e+02] [-2.54222625e-01 9.67145727e-01 0.00000000e+00 -1.32017166e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06543923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.71, Y:-132.02, Z:0.04 [[ 9.67411687e-01 2.53208666e-01 0.00000000e+00 4.95707704e+02] [-2.53208666e-01 9.67411687e-01 0.00000000e+00 -1.32021208e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.00724828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.73, Y:-132.02, Z:0.04 [[ 9.67965332e-01 2.51083882e-01 0.00000000e+00 4.95734187e+02] [-2.51083882e-01 9.67965332e-01 0.00000000e+00 -1.32024956e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76207672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.76, Y:-132.03, Z:0.04 [[ 9.68266997e-01 2.49918031e-01 0.00000000e+00 4.95761665e+02] [-2.49918031e-01 9.68266997e-01 0.00000000e+00 -1.32029817e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58892750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.79, Y:-132.03, Z:0.04 [[ 9.68591652e-01 2.48656815e-01 0.00000000e+00 4.95789179e+02] [-2.48656815e-01 9.68591652e-01 0.00000000e+00 -1.32034207e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50523558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.82, Y:-132.04, Z:0.04 [[ 9.68797907e-01 2.47852004e-01 0.00000000e+00 4.95815776e+02] [-2.47852004e-01 9.68797907e-01 0.00000000e+00 -1.32038237e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52704185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.84, Y:-132.04, Z:0.04 [[ 9.68935038e-01 2.47315368e-01 0.00000000e+00 4.95843162e+02] [-2.47315368e-01 9.68935038e-01 0.00000000e+00 -1.32042688e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61212871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.87, Y:-132.05, Z:0.04 [[ 9.68951763e-01 2.47249833e-01 0.00000000e+00 4.95870599e+02] [-2.47249833e-01 9.68951763e-01 0.00000000e+00 -1.32047690e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72528989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.90, Y:-132.05, Z:0.04 [[ 9.68513092e-01 2.48962628e-01 0.00000000e+00 4.95898453e+02] [-2.48962628e-01 9.68513092e-01 0.00000000e+00 -1.32052785e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79824500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.93, Y:-132.06, Z:0.04 [[ 9.68284671e-01 2.49849548e-01 0.00000000e+00 4.95925895e+02] [-2.49849548e-01 9.68284671e-01 0.00000000e+00 -1.32056800e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76600663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.95, Y:-132.06, Z:0.04 [[ 9.67982262e-01 2.51018606e-01 0.00000000e+00 4.95952636e+02] [-2.51018606e-01 9.67982262e-01 0.00000000e+00 -1.32060871e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54698777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.98, Y:-132.07, Z:0.03 [[ 9.67675203e-01 2.52199726e-01 0.00000000e+00 4.95980165e+02] [-2.52199726e-01 9.67675203e-01 0.00000000e+00 -1.32065409e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37443442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.01, Y:-132.07, Z:0.03 [[ 9.67380083e-01 2.53329380e-01 0.00000000e+00 4.96007596e+02] [-2.53329380e-01 9.67380083e-01 0.00000000e+00 -1.32070105e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23546588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.4614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.04, Y:-132.07, Z:0.03 [[ 9.67222501e-01 2.53930373e-01 0.00000000e+00 4.96036028e+02] [-2.53930373e-01 9.67222501e-01 0.00000000e+00 -1.32073951e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20668547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.06, Y:-132.08, Z:0.03 [[ 9.67126838e-01 2.54294472e-01 0.00000000e+00 4.96063412e+02] [-2.54294472e-01 9.67126838e-01 0.00000000e+00 -1.32077059e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17772739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.09, Y:-132.08, Z:0.03 [[ 9.67127085e-01 2.54293534e-01 0.00000000e+00 4.96091147e+02] [-2.54293534e-01 9.67127085e-01 0.00000000e+00 -1.32078975e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41922861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.12, Y:-132.08, Z:0.04 [[ 9.67441636e-01 2.53094212e-01 0.00000000e+00 4.96119699e+02] [-2.53094212e-01 9.67441636e-01 0.00000000e+00 -1.32083775e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67480067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.15, Y:-132.09, Z:0.04 [[ 9.67872509e-01 2.51441459e-01 0.00000000e+00 4.96146818e+02] [-2.51441459e-01 9.67872509e-01 0.00000000e+00 -1.32088692e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79185974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.17, Y:-132.09, Z:0.04 [[ 9.68470023e-01 2.49130115e-01 0.00000000e+00 4.96174335e+02] [-2.49130115e-01 9.68470023e-01 0.00000000e+00 -1.32093298e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79567170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.20, Y:-132.10, Z:0.04 [[ 9.69173674e-01 2.46378548e-01 0.00000000e+00 4.96200842e+02] [-2.46378548e-01 9.69173674e-01 0.00000000e+00 -1.32097491e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75664406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.23, Y:-132.10, Z:0.04 [[ 9.69898214e-01 2.43510687e-01 0.00000000e+00 4.96227252e+02] [-2.43510687e-01 9.69898214e-01 0.00000000e+00 -1.32101632e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67273844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.25, Y:-132.11, Z:0.04 [[ 9.71284521e-01 2.37920952e-01 0.00000000e+00 4.96253394e+02] [-2.37920952e-01 9.71284521e-01 0.00000000e+00 -1.32108330e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51736109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.28, Y:-132.12, Z:0.04 [[ 9.72036957e-01 2.34827926e-01 0.00000000e+00 4.96280813e+02] [-2.34827926e-01 9.72036957e-01 0.00000000e+00 -1.32115500e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61558778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.31, Y:-132.12, Z:0.04 [[ 9.72747537e-01 2.31866836e-01 0.00000000e+00 4.96308324e+02] [-2.31866836e-01 9.72747537e-01 0.00000000e+00 -1.32122504e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75952383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.34, Y:-132.13, Z:0.04 [[ 9.73346099e-01 2.29341170e-01 0.00000000e+00 4.96335212e+02] [-2.29341170e-01 9.73346099e-01 0.00000000e+00 -1.32128912e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86276218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.36, Y:-132.14, Z:0.04 [[ 9.73754456e-01 2.27601096e-01 0.00000000e+00 4.96362785e+02] [-2.27601096e-01 9.73754456e-01 0.00000000e+00 -1.32135550e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88426505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.39, Y:-132.14, Z:0.04 [[ 9.74026930e-01 2.26432197e-01 0.00000000e+00 4.96389095e+02] [-2.26432197e-01 9.74026930e-01 0.00000000e+00 -1.32142563e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86654912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.42, Y:-132.15, Z:0.04 [[ 9.74349712e-01 2.25039193e-01 0.00000000e+00 4.96415671e+02] [-2.25039193e-01 9.74349712e-01 0.00000000e+00 -1.32152593e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88219217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.44, Y:-132.16, Z:0.04 [[ 9.74447732e-01 2.24614375e-01 0.00000000e+00 4.96442889e+02] [-2.24614375e-01 9.74447732e-01 0.00000000e+00 -1.32158826e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80629415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.47, Y:-132.16, Z:0.04 [[ 9.74448008e-01 2.24613176e-01 0.00000000e+00 4.96468775e+02] [-2.24613176e-01 9.74448008e-01 0.00000000e+00 -1.32164572e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71496252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.50, Y:-132.17, Z:0.04 [[ 9.74413674e-01 2.24762079e-01 0.00000000e+00 4.96495608e+02] [-2.24762079e-01 9.74413674e-01 0.00000000e+00 -1.32171008e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61826884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.52, Y:-132.18, Z:0.03 [[ 9.74341163e-01 2.25076205e-01 0.00000000e+00 4.96522561e+02] [-2.25076205e-01 9.74341163e-01 0.00000000e+00 -1.32177547e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41231706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.55, Y:-132.18, Z:0.03 [[ 9.74281622e-01 2.25333798e-01 0.00000000e+00 4.96549893e+02] [-2.25333798e-01 9.74281622e-01 0.00000000e+00 -1.32183595e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32135419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.58, Y:-132.19, Z:0.03 [[ 9.74303304e-01 2.25240030e-01 0.00000000e+00 4.96576778e+02] [-2.25240030e-01 9.74303304e-01 0.00000000e+00 -1.32190281e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24827580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.60, Y:-132.20, Z:0.03 [[ 9.74510557e-01 2.24341645e-01 0.00000000e+00 4.96603580e+02] [-2.24341645e-01 9.74510557e-01 0.00000000e+00 -1.32196578e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22676249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.63, Y:-132.20, Z:0.03 [[ 9.74552762e-01 2.24158234e-01 0.00000000e+00 4.96631674e+02] [-2.24158234e-01 9.74552762e-01 0.00000000e+00 -1.32201185e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22676249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.66, Y:-132.21, Z:0.03 [[ 9.74833227e-01 2.22935369e-01 0.00000000e+00 4.96658553e+02] [-2.22935369e-01 9.74833227e-01 0.00000000e+00 -1.32208371e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24957188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.69, Y:-132.22, Z:0.03 [[ 9.75187109e-01 2.21382256e-01 0.00000000e+00 4.96686638e+02] [-2.21382256e-01 9.75187109e-01 0.00000000e+00 -1.32216370e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42663606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.2114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.71, Y:-132.22, Z:0.03 [[ 9.75529533e-01 2.19868437e-01 0.00000000e+00 4.96713550e+02] [-2.19868437e-01 9.75529533e-01 0.00000000e+00 -1.32223941e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47181777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.74, Y:-132.23, Z:0.03 [[ 9.75837540e-01 2.18497360e-01 0.00000000e+00 4.96740359e+02] [-2.18497360e-01 9.75837540e-01 0.00000000e+00 -1.32230967e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36698410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.77, Y:-132.24, Z:0.03 [[ 9.76298659e-01 2.16427652e-01 0.00000000e+00 4.96767280e+02] [-2.16427652e-01 9.76298659e-01 0.00000000e+00 -1.32242267e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25801165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.79, Y:-132.25, Z:0.03 [[ 9.76454658e-01 2.15722742e-01 0.00000000e+00 4.96794244e+02] [-2.15722742e-01 9.76454658e-01 0.00000000e+00 -1.32250653e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41619243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.331400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:496.82, Y:-132.26, Z:0.04 [[ 9.76541091e-01 2.15331136e-01 0.00000000e+00 4.96821181e+02] [-2.15331136e-01 9.76541091e-01 0.00000000e+00 -1.32258849e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62504420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.85, Y:-132.27, Z:0.04 [[ 9.76543547e-01 2.15319994e-01 0.00000000e+00 4.96847810e+02] [-2.15319994e-01 9.76543547e-01 0.00000000e+00 -1.32266890e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81413082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.391400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:496.88, Y:-132.27, Z:0.04 [[ 9.76467550e-01 2.15664378e-01 0.00000000e+00 4.96875155e+02] [-2.15664378e-01 9.76467550e-01 0.00000000e+00 -1.32274324e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.92277787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.90, Y:-132.28, Z:0.04 [[ 9.76239146e-01 2.16695938e-01 0.00000000e+00 4.96902635e+02] [-2.16695938e-01 9.76239146e-01 0.00000000e+00 -1.32282236e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.92953048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.93, Y:-132.29, Z:0.04 [[ 9.75908931e-01 2.18178274e-01 0.00000000e+00 4.96929166e+02] [-2.18178274e-01 9.75908931e-01 0.00000000e+00 -1.32290148e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75726560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.481400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:496.95, Y:-132.30, Z:0.04 [[ 9.75476342e-01 2.20104309e-01 0.00000000e+00 4.96954893e+02] [-2.20104309e-01 9.75476342e-01 0.00000000e+00 -1.32297963e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61804071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.98, Y:-132.31, Z:0.04 [[ 9.74594421e-01 2.23977038e-01 0.00000000e+00 4.96982550e+02] [-2.23977038e-01 9.74594421e-01 0.00000000e+00 -1.32309773e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65534237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.01, Y:-132.32, Z:0.04 [[ 9.74173844e-01 2.25799295e-01 0.00000000e+00 4.97008872e+02] [-2.25799295e-01 9.74173844e-01 0.00000000e+00 -1.32317397e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74122100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.04, Y:-132.32, Z:0.04 [[ 9.73798071e-01 2.27414417e-01 0.00000000e+00 4.97036392e+02] [-2.27414417e-01 9.73798071e-01 0.00000000e+00 -1.32324811e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90910648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.06, Y:-132.33, Z:0.04 [[ 9.73351153e-01 2.29319719e-01 0.00000000e+00 4.97062307e+02] [-2.29319719e-01 9.73351153e-01 0.00000000e+00 -1.32331476e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.00014104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.09, Y:-132.34, Z:0.04 [[ 9.72848986e-01 2.31440813e-01 0.00000000e+00 4.97088725e+02] [-2.31440813e-01 9.72848986e-01 0.00000000e+00 -1.32337576e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.98406975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.12, Y:-132.34, Z:0.04 [[ 9.72296699e-01 2.33750141e-01 0.00000000e+00 4.97115126e+02] [-2.33750141e-01 9.72296699e-01 0.00000000e+00 -1.32343273e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86267991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.14, Y:-132.35, Z:0.04 [[ 9.71237504e-01 2.38112810e-01 0.00000000e+00 4.97141993e+02] [-2.38112810e-01 9.71237504e-01 0.00000000e+00 -1.32349886e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74838241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.17, Y:-132.36, Z:0.04 [[ 9.70861999e-01 2.39639270e-01 0.00000000e+00 4.97169379e+02] [-2.39639270e-01 9.70861999e-01 0.00000000e+00 -1.32355588e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77563668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.20, Y:-132.36, Z:0.04 [[ 9.70600073e-01 2.40697938e-01 0.00000000e+00 4.97195831e+02] [-2.40697938e-01 9.70600073e-01 0.00000000e+00 -1.32361254e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79776642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.22, Y:-132.37, Z:0.04 [[ 9.70570563e-01 2.40816908e-01 0.00000000e+00 4.97223232e+02] [-2.40816908e-01 9.70570563e-01 0.00000000e+00 -1.32366824e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86805662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.25, Y:-132.37, Z:0.04 [[ 9.70585843e-01 2.40755314e-01 0.00000000e+00 4.97250341e+02] [-2.40755314e-01 9.70585843e-01 0.00000000e+00 -1.32372575e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90430699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.28, Y:-132.38, Z:0.04 [[ 9.70594872e-01 2.40718913e-01 0.00000000e+00 4.97276806e+02] [-2.40718913e-01 9.70594872e-01 0.00000000e+00 -1.32378119e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80588174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.30, Y:-132.38, Z:0.03 [[ 9.70501931e-01 2.41093345e-01 0.00000000e+00 4.97304757e+02] [-2.41093345e-01 9.70501931e-01 0.00000000e+00 -1.32384565e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45488953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.33, Y:-132.39, Z:0.03 [[ 9.70546646e-01 2.40913278e-01 0.00000000e+00 4.97332880e+02] [-2.40913278e-01 9.70546646e-01 0.00000000e+00 -1.32389080e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45488953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.36, Y:-132.39, Z:0.03 [[ 9.70233973e-01 2.42169442e-01 0.00000000e+00 4.97360708e+02] [-2.42169442e-01 9.70233973e-01 0.00000000e+00 -1.32394785e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19033540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.9614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.39, Y:-132.40, Z:0.03 [[ 9.69976032e-01 2.43200531e-01 0.00000000e+00 4.97388483e+02] [-2.43200531e-01 9.69976032e-01 0.00000000e+00 -1.32399451e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15534820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.42, Y:-132.40, Z:0.03 [[ 9.69555402e-01 2.44872055e-01 0.00000000e+00 4.97415099e+02] [-2.44872055e-01 9.69555402e-01 0.00000000e+00 -1.32404010e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05437619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.44, Y:-132.41, Z:0.03 [[ 9.69052002e-01 2.46856674e-01 0.00000000e+00 4.97442957e+02] [-2.46856674e-01 9.69052002e-01 0.00000000e+00 -1.32408584e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10060711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.47, Y:-132.41, Z:0.03 [[ 9.68536076e-01 2.48873201e-01 0.00000000e+00 4.97470319e+02] [-2.48873201e-01 9.68536076e-01 0.00000000e+00 -1.32412370e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09249036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.50, Y:-132.42, Z:0.03 [[ 9.68055946e-01 2.50734292e-01 0.00000000e+00 4.97497660e+02] [-2.50734292e-01 9.68055946e-01 0.00000000e+00 -1.32415490e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95069848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.53, Y:-132.42, Z:0.03 [[ 9.67376448e-01 2.53343260e-01 0.00000000e+00 4.97525469e+02] [-2.53343260e-01 9.67376448e-01 0.00000000e+00 -1.32416858e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22599095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.55, Y:-132.42, Z:0.03 [[ 9.67243503e-01 2.53850362e-01 0.00000000e+00 4.97553790e+02] [-2.53850362e-01 9.67243503e-01 0.00000000e+00 -1.32420291e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48073983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.58, Y:-132.42, Z:0.04 [[ 9.67293125e-01 2.53661211e-01 0.00000000e+00 4.97581925e+02] [-2.53661211e-01 9.67293125e-01 0.00000000e+00 -1.32423644e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67142948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.61, Y:-132.43, Z:0.04 [[ 9.67430830e-01 2.53135515e-01 0.00000000e+00 4.97609781e+02] [-2.53135515e-01 9.67430830e-01 0.00000000e+00 -1.32426543e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64957033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.64, Y:-132.43, Z:0.03 [[ 9.67633255e-01 2.52360622e-01 0.00000000e+00 4.97637556e+02] [-2.52360622e-01 9.67633255e-01 0.00000000e+00 -1.32429697e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48743519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.67, Y:-132.43, Z:0.03 [[ 9.67980914e-01 2.51023805e-01 0.00000000e+00 4.97665779e+02] [-2.51023805e-01 9.67980914e-01 0.00000000e+00 -1.32433337e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30569877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.69, Y:-132.44, Z:0.03 [[ 9.69020143e-01 2.46981704e-01 0.00000000e+00 4.97692572e+02] [-2.46981704e-01 9.69020143e-01 0.00000000e+00 -1.32438648e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20580281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.72, Y:-132.44, Z:0.03 [[ 9.69701913e-01 2.44291218e-01 0.00000000e+00 4.97720963e+02] [-2.44291218e-01 9.69701913e-01 0.00000000e+00 -1.32444387e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36603640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.75, Y:-132.45, Z:0.04 [[ 9.70346574e-01 2.41717866e-01 0.00000000e+00 4.97748952e+02] [-2.41717866e-01 9.70346574e-01 0.00000000e+00 -1.32449816e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56339879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.78, Y:-132.46, Z:0.04 [[ 9.70933796e-01 2.39348205e-01 0.00000000e+00 4.97776829e+02] [-2.39348205e-01 9.70933796e-01 0.00000000e+00 -1.32455510e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.73782427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.80, Y:-132.46, Z:0.04 [[ 9.71436504e-01 2.37299641e-01 0.00000000e+00 4.97804151e+02] [-2.37299641e-01 9.71436504e-01 0.00000000e+00 -1.32461534e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80119782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.83, Y:-132.47, Z:0.04 [[ 9.71856625e-01 2.35573133e-01 0.00000000e+00 4.97830525e+02] [-2.35573133e-01 9.71856625e-01 0.00000000e+00 -1.32468258e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78230152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.86, Y:-132.48, Z:0.04 [[ 9.72358096e-01 2.33494610e-01 0.00000000e+00 4.97857042e+02] [-2.33494610e-01 9.72358096e-01 0.00000000e+00 -1.32478178e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60587104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.88, Y:-132.48, Z:0.04 [[ 9.72465622e-01 2.33046376e-01 0.00000000e+00 4.97884694e+02] [-2.33046376e-01 9.72465622e-01 0.00000000e+00 -1.32484882e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58008041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.91, Y:-132.49, Z:0.04 [[ 9.72390575e-01 2.33359314e-01 0.00000000e+00 4.97912063e+02] [-2.33359314e-01 9.72390575e-01 0.00000000e+00 -1.32490841e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61752299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.94, Y:-132.50, Z:0.04 [[ 9.72224149e-01 2.34051714e-01 0.00000000e+00 4.97938455e+02] [-2.34051714e-01 9.72224149e-01 0.00000000e+00 -1.32496430e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55319061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.591400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:497.97, Y:-132.50, Z:0.04 [[ 9.72025556e-01 2.34875113e-01 0.00000000e+00 4.97966163e+02] [-2.34875113e-01 9.72025556e-01 0.00000000e+00 -1.32502696e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60396972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.99, Y:-132.51, Z:0.04 [[ 9.71915256e-01 2.35331117e-01 0.00000000e+00 4.97993071e+02] [-2.35331117e-01 9.71915256e-01 0.00000000e+00 -1.32509825e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60976436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.02, Y:-132.52, Z:0.04 [[ 9.71933638e-01 2.35255187e-01 0.00000000e+00 4.98020749e+02] [-2.35255187e-01 9.71933638e-01 0.00000000e+00 -1.32516398e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56873691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.05, Y:-132.52, Z:0.04 [[ 9.72044659e-01 2.34796039e-01 0.00000000e+00 4.98047192e+02] [-2.34796039e-01 9.72044659e-01 0.00000000e+00 -1.32522554e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56201155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.7114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.07, Y:-132.53, Z:0.04 [[ 9.72519237e-01 2.32822538e-01 0.00000000e+00 4.98073451e+02] [-2.32822538e-01 9.72519237e-01 0.00000000e+00 -1.32531236e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55297093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.10, Y:-132.54, Z:0.04 [[ 9.72923435e-01 2.31127650e-01 0.00000000e+00 4.98101539e+02] [-2.31127650e-01 9.72923435e-01 0.00000000e+00 -1.32539137e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64578112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.13, Y:-132.55, Z:0.04 [[ 9.73399311e-01 2.29115213e-01 0.00000000e+00 4.98129685e+02] [-2.29115213e-01 9.73399311e-01 0.00000000e+00 -1.32547143e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77280412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.16, Y:-132.55, Z:0.04 [[ 9.73945849e-01 2.26780695e-01 0.00000000e+00 4.98156977e+02] [-2.26780695e-01 9.73945849e-01 0.00000000e+00 -1.32554161e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84916831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.18, Y:-132.56, Z:0.04 [[ 9.74431111e-01 2.24686470e-01 0.00000000e+00 4.98183554e+02] [-2.24686470e-01 9.74431111e-01 0.00000000e+00 -1.32560214e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82030503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.21, Y:-132.57, Z:0.04 [[ 9.74805074e-01 2.23058439e-01 0.00000000e+00 4.98210675e+02] [-2.23058439e-01 9.74805074e-01 0.00000000e+00 -1.32565933e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79198530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.24, Y:-132.57, Z:0.04 [[ 9.75280443e-01 2.20970716e-01 0.00000000e+00 4.98238449e+02] [-2.20970716e-01 9.75280443e-01 0.00000000e+00 -1.32572710e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62002264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.26, Y:-132.58, Z:0.04 [[ 9.75539343e-01 2.19824910e-01 0.00000000e+00 4.98264478e+02] [-2.19824910e-01 9.75539343e-01 0.00000000e+00 -1.32578287e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62421547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.29, Y:-132.58, Z:0.04 [[ 9.75858009e-01 2.18405923e-01 0.00000000e+00 4.98292826e+02] [-2.18405923e-01 9.75858009e-01 0.00000000e+00 -1.32584663e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86386462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.32, Y:-132.59, Z:0.04 [[ 9.76344900e-01 2.16218954e-01 0.00000000e+00 4.98319129e+02] [-2.16218954e-01 9.76344900e-01 0.00000000e+00 -1.32590548e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96077781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.35, Y:-132.59, Z:0.04 [[ 9.76359510e-01 2.16152972e-01 0.00000000e+00 4.98347279e+02] [-2.16152972e-01 9.76359510e-01 0.00000000e+00 -1.32594982e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96077781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.37, Y:-132.60, Z:0.04 [[ 9.76996147e-01 2.13256957e-01 0.00000000e+00 4.98374791e+02] [-2.13256957e-01 9.76996147e-01 0.00000000e+00 -1.32600892e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97869945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.40, Y:-132.61, Z:0.04 [[ 9.78424272e-01 2.06605769e-01 0.00000000e+00 4.98402024e+02] [-2.06605769e-01 9.78424272e-01 0.00000000e+00 -1.32608067e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88379218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.43, Y:-132.61, Z:0.04 [[ 9.79028523e-01 2.03723222e-01 0.00000000e+00 4.98428412e+02] [-2.03723222e-01 9.79028523e-01 0.00000000e+00 -1.32613844e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89379149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.46, Y:-132.62, Z:0.04 [[ 9.79539412e-01 2.01252428e-01 0.00000000e+00 4.98456827e+02] [-2.01252428e-01 9.79539412e-01 0.00000000e+00 -1.32620080e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90330240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.49, Y:-132.63, Z:0.04 [[ 9.80032977e-01 1.98835017e-01 0.00000000e+00 4.98485404e+02] [-1.98835017e-01 9.80032977e-01 0.00000000e+00 -1.32625786e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84741936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.51, Y:-132.63, Z:0.04 [[ 9.80490123e-01 1.96568354e-01 0.00000000e+00 4.98512921e+02] [-1.96568354e-01 9.80490123e-01 0.00000000e+00 -1.32631338e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77262760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.54, Y:-132.64, Z:0.04 [[ 9.81019781e-01 1.93907681e-01 0.00000000e+00 4.98541443e+02] [-1.93907681e-01 9.81019781e-01 0.00000000e+00 -1.32637309e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81201023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.57, Y:-132.64, Z:0.04 [[ 9.81608756e-01 1.90903773e-01 0.00000000e+00 4.98570030e+02] [-1.90903773e-01 9.81608756e-01 0.00000000e+00 -1.32643447e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88605472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.60, Y:-132.65, Z:0.04 [[ 9.82217100e-01 1.87748685e-01 0.00000000e+00 4.98597481e+02] [-1.87748685e-01 9.82217100e-01 0.00000000e+00 -1.32649721e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91688859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.63, Y:-132.66, Z:0.04 [[ 9.83407558e-01 1.81409966e-01 0.00000000e+00 4.98625442e+02] [-1.81409966e-01 9.83407558e-01 0.00000000e+00 -1.32658538e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11821674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.65, Y:-132.66, Z:0.04 [[ 9.83944057e-01 1.78477149e-01 0.00000000e+00 4.98654276e+02] [-1.78477149e-01 9.83944057e-01 0.00000000e+00 -1.32664880e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.13658650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.68, Y:-132.67, Z:0.04 [[ 9.84386223e-01 1.76022055e-01 0.00000000e+00 4.98682366e+02] [-1.76022055e-01 9.84386223e-01 0.00000000e+00 -1.32670845e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93470601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.401400513 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:498.71, Y:-132.68, Z:0.04 [[ 9.84766471e-01 1.73882137e-01 0.00000000e+00 4.98709893e+02] [-1.73882137e-01 9.84766471e-01 0.00000000e+00 -1.32677411e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68522063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.74, Y:-132.69, Z:0.04 [[ 9.85098662e-01 1.71990192e-01 0.00000000e+00 4.98738769e+02] [-1.71990192e-01 9.85098662e-01 0.00000000e+00 -1.32685390e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76737191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.77, Y:-132.69, Z:0.04 [[ 9.85427027e-01 1.70098720e-01 0.00000000e+00 4.98766100e+02] [-1.70098720e-01 9.85427027e-01 0.00000000e+00 -1.32693348e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88675919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.79, Y:-132.70, Z:0.04 [[ 9.86043222e-01 1.66489534e-01 0.00000000e+00 4.98794927e+02] [-1.66489534e-01 9.86043222e-01 0.00000000e+00 -1.32703171e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.34863151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.82, Y:-132.71, Z:0.04 [[ 9.86280846e-01 1.65076022e-01 0.00000000e+00 4.98823326e+02] [-1.65076022e-01 9.86280846e-01 0.00000000e+00 -1.32710115e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.43623802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.85, Y:-132.72, Z:0.04 [[ 9.86430555e-01 1.64179050e-01 0.00000000e+00 4.98852100e+02] [-1.64179050e-01 9.86430555e-01 0.00000000e+00 -1.32717448e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.40029725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.88, Y:-132.73, Z:0.04 [[ 9.86558809e-01 1.63406597e-01 0.00000000e+00 4.98882506e+02] [-1.63406597e-01 9.86558809e-01 0.00000000e+00 -1.32725427e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.23524537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.91, Y:-132.73, Z:0.04 [[ 9.86583085e-01 1.63259968e-01 0.00000000e+00 4.98913397e+02] [-1.63259968e-01 9.86583085e-01 0.00000000e+00 -1.32733241e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.16393124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.641400513 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:498.94, Y:-132.74, Z:0.04 [[ 9.86499971e-01 1.63761433e-01 0.00000000e+00 4.98942925e+02] [-1.63761433e-01 9.86499971e-01 0.00000000e+00 -1.32740006e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02288606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.97, Y:-132.75, Z:0.04 [[ 9.86451655e-01 1.64052223e-01 0.00000000e+00 4.98974596e+02] [-1.64052223e-01 9.86451655e-01 0.00000000e+00 -1.32747114e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.13399396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.00, Y:-132.75, Z:0.04 [[ 9.86322741e-01 1.64825516e-01 0.00000000e+00 4.99004584e+02] [-1.64825516e-01 9.86322741e-01 0.00000000e+00 -1.32754256e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18300669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.03, Y:-132.76, Z:0.04 [[ 9.85918522e-01 1.67226395e-01 0.00000000e+00 4.99034255e+02] [-1.67226395e-01 9.85918522e-01 0.00000000e+00 -1.32763110e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.34241861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.07, Y:-132.77, Z:0.04 [[ 9.85700940e-01 1.68504175e-01 0.00000000e+00 4.99065066e+02] [-1.68504175e-01 9.85700940e-01 0.00000000e+00 -1.32768844e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.42586228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.10, Y:-132.77, Z:0.05 [[ 9.85414052e-01 1.70173872e-01 0.00000000e+00 4.99095266e+02] [-1.70173872e-01 9.85414052e-01 0.00000000e+00 -1.32773304e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.52768165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.13, Y:-132.78, Z:0.05 [[ 9.85069228e-01 1.72158692e-01 0.00000000e+00 4.99125220e+02] [-1.72158692e-01 9.85069228e-01 0.00000000e+00 -1.32777599e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.63611487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.16, Y:-132.78, Z:0.05 [[ 9.84730368e-01 1.74086477e-01 0.00000000e+00 4.99156375e+02] [-1.74086477e-01 9.84730368e-01 0.00000000e+00 -1.32782236e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.66479493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.19, Y:-132.79, Z:0.05 [[ 9.84467477e-01 1.75567045e-01 0.00000000e+00 4.99187448e+02] [-1.75567045e-01 9.84467477e-01 0.00000000e+00 -1.32787302e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.57501255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.22, Y:-132.79, Z:0.04 [[ 9.84330349e-01 1.76334241e-01 0.00000000e+00 4.99217274e+02] [-1.76334241e-01 9.84330349e-01 0.00000000e+00 -1.32791200e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.09881273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.25, Y:-132.80, Z:0.04 [[ 9.84379160e-01 1.76061549e-01 0.00000000e+00 4.99248686e+02] [-1.76061549e-01 9.84379160e-01 0.00000000e+00 -1.32795564e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.07647810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.28, Y:-132.80, Z:0.04 [[ 9.84444285e-01 1.75697042e-01 0.00000000e+00 4.99278829e+02] [-1.75697042e-01 9.84444285e-01 0.00000000e+00 -1.32800451e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.05594553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.31, Y:-132.81, Z:0.04 [[ 9.84514645e-01 1.75302348e-01 0.00000000e+00 4.99308684e+02] [-1.75302348e-01 9.84514645e-01 0.00000000e+00 -1.32805793e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.17267673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.34, Y:-132.81, Z:0.04 [[ 9.84512706e-01 1.75313237e-01 0.00000000e+00 4.99338500e+02] [-1.75313237e-01 9.84512706e-01 0.00000000e+00 -1.32811474e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27783671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.37, Y:-132.82, Z:0.04 [[ 9.84458654e-01 1.75616510e-01 0.00000000e+00 4.99369742e+02] [-1.75616510e-01 9.84458654e-01 0.00000000e+00 -1.32816810e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.38653250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.40, Y:-132.82, Z:0.04 [[ 9.84033906e-01 1.77981102e-01 0.00000000e+00 4.99399234e+02] [-1.77981102e-01 9.84033906e-01 0.00000000e+00 -1.32821449e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39372241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.43, Y:-132.83, Z:0.04 [[ 9.83661973e-01 1.80025340e-01 0.00000000e+00 4.99429741e+02] [-1.80025340e-01 9.83661973e-01 0.00000000e+00 -1.32826484e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.40162758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.46, Y:-132.83, Z:0.04 [[ 9.83234225e-01 1.82347085e-01 0.00000000e+00 4.99460618e+02] [-1.82347085e-01 9.83234225e-01 0.00000000e+00 -1.32832159e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.38195185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.49, Y:-132.84, Z:0.04 [[ 9.82763273e-01 1.84868465e-01 0.00000000e+00 4.99490703e+02] [-1.84868465e-01 9.82763273e-01 0.00000000e+00 -1.32837915e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.35875389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.2114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.52, Y:-132.84, Z:0.04 [[ 9.82319637e-01 1.87211459e-01 0.00000000e+00 4.99521124e+02] [-1.87211459e-01 9.82319637e-01 0.00000000e+00 -1.32843492e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.35051134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.55, Y:-132.85, Z:0.04 [[ 9.81442232e-01 1.91758039e-01 0.00000000e+00 4.99551846e+02] [-1.91758039e-01 9.81442232e-01 0.00000000e+00 -1.32850024e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27746191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.58, Y:-132.86, Z:0.04 [[ 9.81437569e-01 1.91781900e-01 0.00000000e+00 4.99583262e+02] [-1.91781900e-01 9.81437569e-01 0.00000000e+00 -1.32855157e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27746191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.61, Y:-132.86, Z:0.04 [[ 9.80956896e-01 1.94225562e-01 0.00000000e+00 4.99613151e+02] [-1.94225562e-01 9.80956896e-01 0.00000000e+00 -1.32861427e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22440048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.64, Y:-132.87, Z:0.04 [[ 9.80101184e-01 1.98498539e-01 0.00000000e+00 4.99641514e+02] [-1.98498539e-01 9.80101184e-01 0.00000000e+00 -1.32868310e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.20303621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.67, Y:-132.87, Z:0.04 [[ 9.79642627e-01 2.00749406e-01 0.00000000e+00 4.99671253e+02] [-2.00749406e-01 9.79642627e-01 0.00000000e+00 -1.32873977e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.35595320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.70, Y:-132.88, Z:0.04 [[ 9.79199444e-01 2.02900098e-01 0.00000000e+00 4.99700616e+02] [-2.02900098e-01 9.79199444e-01 0.00000000e+00 -1.32879488e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.42165364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.421400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:499.73, Y:-132.89, Z:0.04 [[ 9.78886093e-01 2.04406498e-01 0.00000000e+00 4.99730947e+02] [-2.04406498e-01 9.78886093e-01 0.00000000e+00 -1.32885432e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.42222267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.76, Y:-132.89, Z:0.04 [[ 9.78659953e-01 2.05486486e-01 0.00000000e+00 4.99760186e+02] [-2.05486486e-01 9.78659953e-01 0.00000000e+00 -1.32891901e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.34190795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.79, Y:-132.90, Z:0.04 [[ 9.78490075e-01 2.06293902e-01 0.00000000e+00 4.99790548e+02] [-2.06293902e-01 9.78490075e-01 0.00000000e+00 -1.32897956e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.23113034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.82, Y:-132.90, Z:0.04 [[ 9.78211490e-01 2.07610888e-01 0.00000000e+00 4.99820744e+02] [-2.07610888e-01 9.78211490e-01 0.00000000e+00 -1.32904917e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.07841943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.85, Y:-132.91, Z:0.04 [[ 9.78206785e-01 2.07633055e-01 0.00000000e+00 4.99850043e+02] [-2.07633055e-01 9.78206785e-01 0.00000000e+00 -1.32911664e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90304680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.88, Y:-132.92, Z:0.04 [[ 9.78370776e-01 2.06858948e-01 0.00000000e+00 4.99880457e+02] [-2.06858948e-01 9.78370776e-01 0.00000000e+00 -1.32918892e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84817879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.91, Y:-132.93, Z:0.04 [[ 9.78545249e-01 2.06032024e-01 0.00000000e+00 4.99910960e+02] [-2.06032024e-01 9.78545249e-01 0.00000000e+00 -1.32926019e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83674126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.94, Y:-132.93, Z:0.04 [[ 9.78780595e-01 2.04911069e-01 0.00000000e+00 4.99940377e+02] [-2.04911069e-01 9.78780595e-01 0.00000000e+00 -1.32932234e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84148069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.97, Y:-132.94, Z:0.04 [[ 9.78975769e-01 2.03976576e-01 0.00000000e+00 4.99971611e+02] [-2.03976576e-01 9.78975769e-01 0.00000000e+00 -1.32939133e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84778698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.00, Y:-132.95, Z:0.04 [[ 9.79333042e-01 2.02254278e-01 0.00000000e+00 5.00002495e+02] [-2.02254278e-01 9.79333042e-01 0.00000000e+00 -1.32949727e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70735173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.04, Y:-132.96, Z:0.04 [[ 9.79509879e-01 2.01396119e-01 0.00000000e+00 5.00035086e+02] [-2.01396119e-01 9.79509879e-01 0.00000000e+00 -1.32957871e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79867627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.07, Y:-132.97, Z:0.04 [[ 9.79683794e-01 2.00548407e-01 0.00000000e+00 5.00066618e+02] [-2.00548407e-01 9.79683794e-01 0.00000000e+00 -1.32965220e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95235337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.10, Y:-132.97, Z:0.04 [[ 9.79834208e-01 1.99812222e-01 0.00000000e+00 5.00099035e+02] [-1.99812222e-01 9.79834208e-01 0.00000000e+00 -1.32972713e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.16432367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.13, Y:-132.98, Z:0.04 [[ 9.79968916e-01 1.99150504e-01 0.00000000e+00 5.00131604e+02] [-1.99150504e-01 9.79968916e-01 0.00000000e+00 -1.32980621e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.32267444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.16, Y:-132.99, Z:0.04 [[ 9.80100268e-01 1.98503058e-01 0.00000000e+00 5.00163017e+02] [-1.98503058e-01 9.80100268e-01 0.00000000e+00 -1.32988744e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.38340884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.19, Y:-133.00, Z:0.04 [[ 9.80254283e-01 1.97741097e-01 0.00000000e+00 5.00194394e+02] [-1.97741097e-01 9.80254283e-01 0.00000000e+00 -1.32998921e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.31912698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.23, Y:-133.00, Z:0.04 [[ 9.80218301e-01 1.97919382e-01 0.00000000e+00 5.00227419e+02] [-1.97919382e-01 9.80218301e-01 0.00000000e+00 -1.33004497e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.31912698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.26, Y:-133.01, Z:0.04 [[ 9.80094921e-01 1.98529459e-01 0.00000000e+00 5.00259342e+02] [-1.98529459e-01 9.80094921e-01 0.00000000e+00 -1.33012181e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.33051512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.29, Y:-133.02, Z:0.04 [[ 9.79890807e-01 1.99534476e-01 0.00000000e+00 5.00291143e+02] [-1.99534476e-01 9.79890807e-01 0.00000000e+00 -1.33020511e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.40863371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.32, Y:-133.03, Z:0.04 [[ 9.79625536e-01 2.00832789e-01 0.00000000e+00 5.00322355e+02] [-2.00832789e-01 9.79625536e-01 0.00000000e+00 -1.33029539e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.49097703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.021400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:500.35, Y:-133.04, Z:0.05 [[ 9.79363757e-01 2.02105495e-01 0.00000000e+00 5.00353270e+02] [-2.02105495e-01 9.79363757e-01 0.00000000e+00 -1.33038430e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.54748331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.051400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:500.39, Y:-133.05, Z:0.05 [[ 9.79077589e-01 2.03487286e-01 0.00000000e+00 5.00385599e+02] [-2.03487286e-01 9.79077589e-01 0.00000000e+00 -1.33047132e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.56226169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.081400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:500.42, Y:-133.06, Z:0.04 [[ 9.78815640e-01 2.04743601e-01 0.00000000e+00 5.00416458e+02] [-2.04743601e-01 9.78815640e-01 0.00000000e+00 -1.33055323e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.37851579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.45, Y:-133.07, Z:0.04 [[ 9.78379632e-01 2.06817058e-01 0.00000000e+00 5.00446389e+02] [-2.06817058e-01 9.78379632e-01 0.00000000e+00 -1.33066915e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01898694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.48, Y:-133.08, Z:0.04 [[ 9.77973544e-01 2.08728883e-01 0.00000000e+00 5.00477294e+02] [-2.08728883e-01 9.77973544e-01 0.00000000e+00 -1.33076393e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93509173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.51, Y:-133.09, Z:0.04 [[ 9.77445568e-01 2.11187502e-01 0.00000000e+00 5.00509009e+02] [-2.11187502e-01 9.77445568e-01 0.00000000e+00 -1.33086136e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02557887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.54, Y:-133.10, Z:0.04 [[ 9.76833824e-01 2.13999253e-01 0.00000000e+00 5.00541054e+02] [-2.13999253e-01 9.76833824e-01 0.00000000e+00 -1.33095404e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.16912581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.57, Y:-133.10, Z:0.04 [[ 9.76209544e-01 2.16829256e-01 0.00000000e+00 5.00572352e+02] [-2.16829256e-01 9.76209544e-01 0.00000000e+00 -1.33103666e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28835518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.60, Y:-133.11, Z:0.04 [[ 9.75586231e-01 2.19616724e-01 0.00000000e+00 5.00604325e+02] [-2.19616724e-01 9.75586231e-01 0.00000000e+00 -1.33111607e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.49116531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.64, Y:-133.12, Z:0.05 [[ 9.74908702e-01 2.22605082e-01 0.00000000e+00 5.00635231e+02] [-2.22605082e-01 9.74908702e-01 0.00000000e+00 -1.33119523e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.55639560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.67, Y:-133.13, Z:0.04 [[ 9.73715746e-01 2.27766648e-01 0.00000000e+00 5.00666750e+02] [-2.27766648e-01 9.73715746e-01 0.00000000e+00 -1.33131343e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.42123894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.70, Y:-133.14, Z:0.04 [[ 9.73162774e-01 2.30117831e-01 0.00000000e+00 5.00699247e+02] [-2.30117831e-01 9.73162774e-01 0.00000000e+00 -1.33139577e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.30448045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.73, Y:-133.15, Z:0.04 [[ 9.72653111e-01 2.32262621e-01 0.00000000e+00 5.00730033e+02] [-2.32262621e-01 9.72653111e-01 0.00000000e+00 -1.33146685e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.13729103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.76, Y:-133.15, Z:0.04 [[ 9.72203193e-01 2.34138744e-01 0.00000000e+00 5.00762655e+02] [-2.34138744e-01 9.72203193e-01 0.00000000e+00 -1.33153376e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.92512606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.79, Y:-133.16, Z:0.04 [[ 9.71789744e-01 2.35848878e-01 0.00000000e+00 5.00793968e+02] [-2.35848878e-01 9.71789744e-01 0.00000000e+00 -1.33159976e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67875637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.83, Y:-133.17, Z:0.04 [[ 9.71455488e-01 2.37221912e-01 0.00000000e+00 5.00825926e+02] [-2.37221912e-01 9.71455488e-01 0.00000000e+00 -1.33167092e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68876404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.86, Y:-133.18, Z:0.04 [[ 9.71430361e-01 2.37324786e-01 0.00000000e+00 5.00856428e+02] [-2.37324786e-01 9.71430361e-01 0.00000000e+00 -1.33177283e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63196907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.89, Y:-133.18, Z:0.03 [[ 9.71663084e-01 2.36370156e-01 0.00000000e+00 5.00887658e+02] [-2.36370156e-01 9.71663084e-01 0.00000000e+00 -1.33183995e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44852154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.561400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:500.92, Y:-133.19, Z:0.03 [[ 9.71826435e-01 2.35697647e-01 0.00000000e+00 5.00918615e+02] [-2.35697647e-01 9.71826435e-01 0.00000000e+00 -1.33189848e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18004295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.95, Y:-133.20, Z:0.03 [[ 9.71930056e-01 2.35269987e-01 0.00000000e+00 5.00950263e+02] [-2.35269987e-01 9.71930056e-01 0.00000000e+00 -1.33195838e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17794614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.98, Y:-133.20, Z:0.03 [[ 9.71891025e-01 2.35431171e-01 0.00000000e+00 5.00981572e+02] [-2.35431171e-01 9.71891025e-01 0.00000000e+00 -1.33202231e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04005882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.01, Y:-133.21, Z:0.03 [[ 9.71832287e-01 2.35673514e-01 0.00000000e+00 5.01013458e+02] [-2.35673514e-01 9.71832287e-01 0.00000000e+00 -1.33208820e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19434464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.05, Y:-133.22, Z:0.03 [[ 9.71626855e-01 2.36519036e-01 0.00000000e+00 5.01045254e+02] [-2.36519036e-01 9.71626855e-01 0.00000000e+00 -1.33216681e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41137833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.7114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.08, Y:-133.22, Z:0.03 [[ 9.71420491e-01 2.37365183e-01 0.00000000e+00 5.01077082e+02] [-2.37365183e-01 9.71420491e-01 0.00000000e+00 -1.33222380e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30577252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.11, Y:-133.23, Z:0.03 [[ 9.71176837e-01 2.38360131e-01 0.00000000e+00 5.01109444e+02] [-2.38360131e-01 9.71176837e-01 0.00000000e+00 -1.33227552e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27271731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.14, Y:-133.23, Z:0.03 [[ 9.70905530e-01 2.39462841e-01 0.00000000e+00 5.01142107e+02] [-2.39462841e-01 9.70905530e-01 0.00000000e+00 -1.33233202e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23112200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.17, Y:-133.24, Z:0.03 [[ 9.70749898e-01 2.40092974e-01 0.00000000e+00 5.01173242e+02] [-2.40092974e-01 9.70749898e-01 0.00000000e+00 -1.33239392e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16229593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.20, Y:-133.25, Z:0.03 [[ 9.71032679e-01 2.38946724e-01 0.00000000e+00 5.01203469e+02] [-2.38946724e-01 9.71032679e-01 0.00000000e+00 -1.33247643e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44279374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.23, Y:-133.25, Z:0.04 [[ 9.71297663e-01 2.37867293e-01 0.00000000e+00 5.01234548e+02] [-2.37867293e-01 9.71297663e-01 0.00000000e+00 -1.33254619e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76131639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.27, Y:-133.26, Z:0.04 [[ 9.71574418e-01 2.36734345e-01 0.00000000e+00 5.01265616e+02] [-2.36734345e-01 9.71574418e-01 0.00000000e+00 -1.33262087e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88558769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.30, Y:-133.27, Z:0.04 [[ 9.71926238e-01 2.35285759e-01 0.00000000e+00 5.01296469e+02] [-2.35285759e-01 9.71926238e-01 0.00000000e+00 -1.33270023e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81176137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.33, Y:-133.28, Z:0.04 [[ 9.72250657e-01 2.33941574e-01 0.00000000e+00 5.01328226e+02] [-2.33941574e-01 9.72250657e-01 0.00000000e+00 -1.33278263e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.73344390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.36, Y:-133.29, Z:0.04 [[ 9.72534019e-01 2.32760784e-01 0.00000000e+00 5.01359671e+02] [-2.32760784e-01 9.72534019e-01 0.00000000e+00 -1.33286146e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67412631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.39, Y:-133.30, Z:0.04 [[ 9.72900862e-01 2.31222649e-01 0.00000000e+00 5.01391302e+02] [-2.31222649e-01 9.72900862e-01 0.00000000e+00 -1.33295957e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93801816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.42, Y:-133.30, Z:0.04 [[ 9.72947122e-01 2.31027917e-01 0.00000000e+00 5.01423606e+02] [-2.31027917e-01 9.72947122e-01 0.00000000e+00 -1.33303983e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08787782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.45, Y:-133.31, Z:0.04 [[ 9.72912347e-01 2.31174319e-01 0.00000000e+00 5.01454584e+02] [-2.31174319e-01 9.72912347e-01 0.00000000e+00 -1.33311765e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15563300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.49, Y:-133.32, Z:0.04 [[ 9.72830311e-01 2.31519299e-01 0.00000000e+00 5.01486885e+02] [-2.31519299e-01 9.72830311e-01 0.00000000e+00 -1.33319568e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.26081017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.52, Y:-133.33, Z:0.04 [[ 9.72737715e-01 2.31908037e-01 0.00000000e+00 5.01517635e+02] [-2.31908037e-01 9.72737715e-01 0.00000000e+00 -1.33326550e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.33234124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.55, Y:-133.33, Z:0.04 [[ 9.72599228e-01 2.32488156e-01 0.00000000e+00 5.01549421e+02] [-2.32488156e-01 9.72599228e-01 0.00000000e+00 -1.33333495e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.38336635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.58, Y:-133.34, Z:0.04 [[ 9.72425619e-01 2.33213241e-01 0.00000000e+00 5.01581745e+02] [-2.33213241e-01 9.72425619e-01 0.00000000e+00 -1.33339504e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24832886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.61, Y:-133.34, Z:0.04 [[ 9.72447975e-01 2.33120004e-01 0.00000000e+00 5.01614790e+02] [-2.33120004e-01 9.72447975e-01 0.00000000e+00 -1.33344652e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97618236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.65, Y:-133.35, Z:0.04 [[ 9.72652053e-01 2.32267054e-01 0.00000000e+00 5.01646623e+02] [-2.32267054e-01 9.72652053e-01 0.00000000e+00 -1.33350257e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64752477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.68, Y:-133.36, Z:0.03 [[ 9.73042118e-01 2.30627485e-01 0.00000000e+00 5.01678498e+02] [-2.30627485e-01 9.73042118e-01 0.00000000e+00 -1.33356371e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40664680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.71, Y:-133.36, Z:0.03 [[ 9.73596766e-01 2.28274697e-01 0.00000000e+00 5.01709653e+02] [-2.28274697e-01 9.73596766e-01 0.00000000e+00 -1.33363267e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22236737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.74, Y:-133.37, Z:0.03 [[ 9.74666074e-01 2.23665028e-01 0.00000000e+00 5.01739729e+02] [-2.23665028e-01 9.74666074e-01 0.00000000e+00 -1.33372252e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84290362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.77, Y:-133.38, Z:0.03 [[ 9.74953460e-01 2.22408973e-01 0.00000000e+00 5.01772006e+02] [-2.22408973e-01 9.74953460e-01 0.00000000e+00 -1.33378642e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87018963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.80, Y:-133.38, Z:0.03 [[ 9.74904860e-01 2.22621907e-01 0.00000000e+00 5.01803217e+02] [-2.22621907e-01 9.74904860e-01 0.00000000e+00 -1.33383757e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00048262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.83, Y:-133.39, Z:0.03 [[ 9.74600240e-01 2.23951719e-01 0.00000000e+00 5.01834715e+02] [-2.23951719e-01 9.74600240e-01 0.00000000e+00 -1.33388372e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13608069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.87, Y:-133.39, Z:0.03 [[ 9.74178387e-01 2.25779696e-01 0.00000000e+00 5.01867752e+02] [-2.25779696e-01 9.74178387e-01 0.00000000e+00 -1.33393129e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29997969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.491400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:501.90, Y:-133.40, Z:0.03 [[ 9.73667433e-01 2.27973089e-01 0.00000000e+00 5.01899172e+02] [-2.27973089e-01 9.73667433e-01 0.00000000e+00 -1.33398011e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29879835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.93, Y:-133.40, Z:0.03 [[ 9.72735183e-01 2.31918656e-01 0.00000000e+00 5.01930865e+02] [-2.31918656e-01 9.72735183e-01 0.00000000e+00 -1.33403315e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43008476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.96, Y:-133.41, Z:0.04 [[ 9.72304807e-01 2.33716415e-01 0.00000000e+00 5.01963029e+02] [-2.33716415e-01 9.72304807e-01 0.00000000e+00 -1.33409045e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63891787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.99, Y:-133.41, Z:0.04 [[ 9.72007007e-01 2.34951865e-01 0.00000000e+00 5.01994390e+02] [-2.34951865e-01 9.72007007e-01 0.00000000e+00 -1.33414029e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74597734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.03, Y:-133.42, Z:0.04 [[ 9.71741063e-01 2.36049375e-01 0.00000000e+00 5.02026134e+02] [-2.36049375e-01 9.71741063e-01 0.00000000e+00 -1.33417879e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66722860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.06, Y:-133.42, Z:0.04 [[ 9.71478883e-01 2.37126086e-01 0.00000000e+00 5.02057695e+02] [-2.37126086e-01 9.71478883e-01 0.00000000e+00 -1.33421361e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52026215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.09, Y:-133.43, Z:0.03 [[ 9.71355168e-01 2.37632356e-01 0.00000000e+00 5.02090201e+02] [-2.37632356e-01 9.71355168e-01 0.00000000e+00 -1.33425041e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37241501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.12, Y:-133.43, Z:0.03 [[ 9.71403423e-01 2.37435021e-01 0.00000000e+00 5.02122055e+02] [-2.37435021e-01 9.71403423e-01 0.00000000e+00 -1.33429655e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32170632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.15, Y:-133.44, Z:0.03 [[ 9.71659630e-01 2.36384356e-01 0.00000000e+00 5.02153491e+02] [-2.36384356e-01 9.71659630e-01 0.00000000e+00 -1.33435284e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35661026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.19, Y:-133.44, Z:0.04 [[ 9.72061851e-01 2.34724857e-01 0.00000000e+00 5.02185520e+02] [-2.34724857e-01 9.72061851e-01 0.00000000e+00 -1.33441119e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67675858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.22, Y:-133.45, Z:0.04 [[ 9.72019663e-01 2.34899500e-01 0.00000000e+00 5.02218473e+02] [-2.34899500e-01 9.72019663e-01 0.00000000e+00 -1.33447006e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67675858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.821400513 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:502.25, Y:-133.45, Z:0.04 [[ 9.72488390e-01 2.32951348e-01 0.00000000e+00 5.02250237e+02] [-2.32951348e-01 9.72488390e-01 0.00000000e+00 -1.33452048e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84026519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.851400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:502.28, Y:-133.46, Z:0.04 [[ 9.72952976e-01 2.31003261e-01 0.00000000e+00 5.02283101e+02] [-2.31003261e-01 9.72952976e-01 0.00000000e+00 -1.33456705e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.09752498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.32, Y:-133.46, Z:0.04 [[ 9.73316627e-01 2.29466213e-01 0.00000000e+00 5.02315012e+02] [-2.29466213e-01 9.73316627e-01 0.00000000e+00 -1.33461438e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24058303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.911400513 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:502.35, Y:-133.47, Z:0.05 [[ 9.73993722e-01 2.26574996e-01 0.00000000e+00 5.02346642e+02] [-2.26574996e-01 9.73993722e-01 0.00000000e+00 -1.33465328e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.51429928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.38, Y:-133.47, Z:0.05 [[ 9.74221717e-01 2.25592657e-01 0.00000000e+00 5.02379390e+02] [-2.25592657e-01 9.74221717e-01 0.00000000e+00 -1.33471721e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.60036864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.41, Y:-133.48, Z:0.05 [[ 9.74433719e-01 2.24675161e-01 0.00000000e+00 5.02411134e+02] [-2.24675161e-01 9.74433719e-01 0.00000000e+00 -1.33478163e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.59862306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.001400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:502.44, Y:-133.48, Z:0.04 [[ 9.74566238e-01 2.24099637e-01 0.00000000e+00 5.02442479e+02] [-2.24099637e-01 9.74566238e-01 0.00000000e+00 -1.33484389e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.49849850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.47, Y:-133.49, Z:0.04 [[ 9.74571117e-01 2.24078420e-01 0.00000000e+00 5.02474445e+02] [-2.24078420e-01 9.74571117e-01 0.00000000e+00 -1.33490637e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.33589395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.51, Y:-133.50, Z:0.04 [[ 9.74442339e-01 2.24637771e-01 0.00000000e+00 5.02505654e+02] [-2.24637771e-01 9.74442339e-01 0.00000000e+00 -1.33496443e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.20021420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.54, Y:-133.50, Z:0.04 [[ 9.73767659e-01 2.27544601e-01 0.00000000e+00 5.02537337e+02] [-2.27544601e-01 9.73767659e-01 0.00000000e+00 -1.33502545e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22198203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.57, Y:-133.51, Z:0.04 [[ 9.73167575e-01 2.30097526e-01 0.00000000e+00 5.02569436e+02] [-2.30097526e-01 9.73167575e-01 0.00000000e+00 -1.33508521e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.31242196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.60, Y:-133.51, Z:0.04 [[ 9.72394992e-01 2.33340910e-01 0.00000000e+00 5.02600886e+02] [-2.33340910e-01 9.72394992e-01 0.00000000e+00 -1.33514200e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.33548322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.63, Y:-133.52, Z:0.04 [[ 9.71535485e-01 2.36894070e-01 0.00000000e+00 5.02633666e+02] [-2.36894070e-01 9.71535485e-01 0.00000000e+00 -1.33519879e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24816621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.2114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.67, Y:-133.52, Z:0.04 [[ 9.70721847e-01 2.40206359e-01 0.00000000e+00 5.02665947e+02] [-2.40206359e-01 9.70721847e-01 0.00000000e+00 -1.33524944e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.09567907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.70, Y:-133.53, Z:0.04 [[ 9.70022094e-01 2.43016744e-01 0.00000000e+00 5.02697413e+02] [-2.43016744e-01 9.70022094e-01 0.00000000e+00 -1.33529677e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87810229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.73, Y:-133.53, Z:0.04 [[ 9.69144475e-01 2.46493382e-01 0.00000000e+00 5.02728887e+02] [-2.46493382e-01 9.69144475e-01 0.00000000e+00 -1.33534511e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71671701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.76, Y:-133.54, Z:0.04 [[ 9.68963448e-01 2.47204036e-01 0.00000000e+00 5.02761534e+02] [-2.47204036e-01 9.68963448e-01 0.00000000e+00 -1.33541187e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79585377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.331400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:502.79, Y:-133.55, Z:0.04 [[ 9.69004648e-01 2.47042492e-01 0.00000000e+00 5.02794291e+02] [-2.47042492e-01 9.69004648e-01 0.00000000e+00 -1.33548251e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69964030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.83, Y:-133.56, Z:0.03 [[ 9.69042287e-01 2.46894806e-01 0.00000000e+00 5.02825453e+02] [-2.46894806e-01 9.69042287e-01 0.00000000e+00 -1.33555130e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37379194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.86, Y:-133.56, Z:0.03 [[ 9.69127779e-01 2.46559014e-01 0.00000000e+00 5.02855740e+02] [-2.46559014e-01 9.69127779e-01 0.00000000e+00 -1.33561064e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13602156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.89, Y:-133.57, Z:0.03 [[ 9.69208077e-01 2.46243178e-01 0.00000000e+00 5.02887190e+02] [-2.46243178e-01 9.69208077e-01 0.00000000e+00 -1.33567029e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93935099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.92, Y:-133.57, Z:0.03 [[ 9.69161195e-01 2.46427634e-01 0.00000000e+00 5.02918441e+02] [-2.46427634e-01 9.69161195e-01 0.00000000e+00 -1.33574366e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12612164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.95, Y:-133.58, Z:0.04 [[ 9.69004669e-01 2.47042407e-01 0.00000000e+00 5.02950084e+02] [-2.47042407e-01 9.69004669e-01 0.00000000e+00 -1.33581450e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53197556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.98, Y:-133.59, Z:0.04 [[ 9.68765473e-01 2.47978746e-01 0.00000000e+00 5.02980984e+02] [-2.47978746e-01 9.68765473e-01 0.00000000e+00 -1.33588114e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74247939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.01, Y:-133.59, Z:0.04 [[ 9.68512127e-01 2.48966385e-01 0.00000000e+00 5.03013784e+02] [-2.48966385e-01 9.68512127e-01 0.00000000e+00 -1.33594706e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74265986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.04, Y:-133.60, Z:0.04 [[ 9.68364087e-01 2.49541569e-01 0.00000000e+00 5.03044554e+02] [-2.49541569e-01 9.68364087e-01 0.00000000e+00 -1.33600402e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56450121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.08, Y:-133.61, Z:0.03 [[ 9.68280819e-01 2.49864473e-01 0.00000000e+00 5.03075155e+02] [-2.49864473e-01 9.68280819e-01 0.00000000e+00 -1.33605906e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40339377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.11, Y:-133.61, Z:0.03 [[ 9.68160425e-01 2.50330566e-01 0.00000000e+00 5.03108065e+02] [-2.50330566e-01 9.68160425e-01 0.00000000e+00 -1.33610579e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49567707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.661400513 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:503.14, Y:-133.62, Z:0.03 [[ 9.68303231e-01 2.49777607e-01 0.00000000e+00 5.03140030e+02] [-2.49777607e-01 9.68303231e-01 0.00000000e+00 -1.33615549e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46249104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.17, Y:-133.62, Z:0.03 [[ 9.68619680e-01 2.48547612e-01 0.00000000e+00 5.03171536e+02] [-2.48547612e-01 9.68619680e-01 0.00000000e+00 -1.33621509e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41066515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.20, Y:-133.63, Z:0.03 [[ 9.69073142e-01 2.46773671e-01 0.00000000e+00 5.03203879e+02] [-2.46773671e-01 9.69073142e-01 0.00000000e+00 -1.33627137e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47512818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.24, Y:-133.63, Z:0.03 [[ 9.69576136e-01 2.44789944e-01 0.00000000e+00 5.03235164e+02] [-2.44789944e-01 9.69576136e-01 0.00000000e+00 -1.33631993e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45574771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.27, Y:-133.63, Z:0.04 [[ 9.70491900e-01 2.41133723e-01 0.00000000e+00 5.03265961e+02] [-2.41133723e-01 9.70491900e-01 0.00000000e+00 -1.33634570e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71988664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.811400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:503.30, Y:-133.64, Z:0.04 [[ 9.70826266e-01 2.39783987e-01 0.00000000e+00 5.03298627e+02] [-2.39783987e-01 9.70826266e-01 0.00000000e+00 -1.33639269e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76397773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.33, Y:-133.64, Z:0.04 [[ 9.71014195e-01 2.39021827e-01 0.00000000e+00 5.03331075e+02] [-2.39021827e-01 9.71014195e-01 0.00000000e+00 -1.33644897e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91016992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.36, Y:-133.65, Z:0.04 [[ 9.71161572e-01 2.38422317e-01 0.00000000e+00 5.03363247e+02] [-2.38422317e-01 9.71161572e-01 0.00000000e+00 -1.33650307e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.05015100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.40, Y:-133.66, Z:0.04 [[ 9.71258662e-01 2.38026491e-01 0.00000000e+00 5.03395121e+02] [-2.38026491e-01 9.71258662e-01 0.00000000e+00 -1.33655828e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.05155728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.43, Y:-133.66, Z:0.04 [[ 9.71412026e-01 2.37399821e-01 0.00000000e+00 5.03427630e+02] [-2.37399821e-01 9.71412026e-01 0.00000000e+00 -1.33661051e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.21437579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.46, Y:-133.67, Z:0.04 [[ 9.71623665e-01 2.36532142e-01 0.00000000e+00 5.03459708e+02] [-2.36532142e-01 9.71623665e-01 0.00000000e+00 -1.33666580e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.30213722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.49, Y:-133.67, Z:0.04 [[ 9.71923036e-01 2.35298984e-01 0.00000000e+00 5.03490779e+02] [-2.35298984e-01 9.71923036e-01 0.00000000e+00 -1.33671815e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.34038527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.52, Y:-133.68, Z:0.04 [[ 9.72578296e-01 2.32575706e-01 0.00000000e+00 5.03523776e+02] [-2.32575706e-01 9.72578296e-01 0.00000000e+00 -1.33676623e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39202336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.56, Y:-133.68, Z:0.04 [[ 9.72939159e-01 2.31061450e-01 0.00000000e+00 5.03555362e+02] [-2.31061450e-01 9.72939159e-01 0.00000000e+00 -1.33682017e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27839649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.59, Y:-133.69, Z:0.04 [[ 9.73416605e-01 2.29041730e-01 0.00000000e+00 5.03588104e+02] [-2.29041730e-01 9.73416605e-01 0.00000000e+00 -1.33688214e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.25644328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.111400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:503.62, Y:-133.69, Z:0.04 [[ 9.73978486e-01 2.26640485e-01 0.00000000e+00 5.03620805e+02] [-2.26640485e-01 9.73978486e-01 0.00000000e+00 -1.33694658e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.21563129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.65, Y:-133.70, Z:0.04 [[ 9.74570700e-01 2.24080231e-01 0.00000000e+00 5.03651611e+02] [-2.24080231e-01 9.74570700e-01 0.00000000e+00 -1.33701651e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.26220035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.68, Y:-133.71, Z:0.04 [[ 9.76105811e-01 2.17295759e-01 0.00000000e+00 5.03683391e+02] [-2.17295759e-01 9.76105811e-01 0.00000000e+00 -1.33711127e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.32141958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.71, Y:-133.72, Z:0.04 [[ 9.76680480e-01 2.14698022e-01 0.00000000e+00 5.03714448e+02] [-2.14698022e-01 9.76680480e-01 0.00000000e+00 -1.33719873e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.20132212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.231400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:503.75, Y:-133.73, Z:0.04 [[ 9.77101903e-01 2.12771875e-01 0.00000000e+00 5.03746760e+02] [-2.12771875e-01 9.77101903e-01 0.00000000e+00 -1.33728323e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14805476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.78, Y:-133.74, Z:0.04 [[ 9.77336327e-01 2.11692474e-01 0.00000000e+00 5.03778785e+02] [-2.11692474e-01 9.77336327e-01 0.00000000e+00 -1.33736198e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15909180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.81, Y:-133.74, Z:0.04 [[ 9.77432837e-01 2.11246418e-01 0.00000000e+00 5.03809483e+02] [-2.11246418e-01 9.77432837e-01 0.00000000e+00 -1.33743430e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.19029607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.84, Y:-133.75, Z:0.04 [[ 9.77413710e-01 2.11334898e-01 0.00000000e+00 5.03840905e+02] [-2.11334898e-01 9.77413710e-01 0.00000000e+00 -1.33750225e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.30290079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.87, Y:-133.76, Z:0.05 [[ 9.77250517e-01 2.12088254e-01 0.00000000e+00 5.03872558e+02] [-2.12088254e-01 9.77250517e-01 0.00000000e+00 -1.33758303e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.70470171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.90, Y:-133.77, Z:0.05 [[ 9.77151344e-01 2.12544703e-01 0.00000000e+00 5.03904552e+02] [-2.12544703e-01 9.77151344e-01 0.00000000e+00 -1.33765298e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.89902207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.94, Y:-133.77, Z:0.05 [[ 9.76975988e-01 2.13349286e-01 0.00000000e+00 5.03936806e+02] [-2.13349286e-01 9.76975988e-01 0.00000000e+00 -1.33771707e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.90875760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.97, Y:-133.78, Z:0.05 [[ 9.76796359e-01 2.14170197e-01 0.00000000e+00 5.03968165e+02] [-2.14170197e-01 9.76796359e-01 0.00000000e+00 -1.33777096e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.76325600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.00, Y:-133.78, Z:0.05 [[ 9.76594767e-01 2.15087566e-01 0.00000000e+00 5.04000321e+02] [-2.15087566e-01 9.76594767e-01 0.00000000e+00 -1.33783154e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.60471601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.03, Y:-133.79, Z:0.04 [[ 9.76461953e-01 2.15689716e-01 0.00000000e+00 5.04031668e+02] [-2.15689716e-01 9.76461953e-01 0.00000000e+00 -1.33789852e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.46640095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.531400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:504.06, Y:-133.80, Z:0.04 [[ 9.76541121e-01 2.15331000e-01 0.00000000e+00 5.04063747e+02] [-2.15331000e-01 9.76541121e-01 0.00000000e+00 -1.33795521e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27714259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.10, Y:-133.80, Z:0.04 [[ 9.76538954e-01 2.15340825e-01 0.00000000e+00 5.04095961e+02] [-2.15340825e-01 9.76538954e-01 0.00000000e+00 -1.33800148e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24046134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.13, Y:-133.81, Z:0.04 [[ 9.76508424e-01 2.15479228e-01 0.00000000e+00 5.04128818e+02] [-2.15479228e-01 9.76508424e-01 0.00000000e+00 -1.33805268e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.13162466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.16, Y:-133.81, Z:0.04 [[ 9.76492772e-01 2.15550147e-01 0.00000000e+00 5.04160336e+02] [-2.15550147e-01 9.76492772e-01 0.00000000e+00 -1.33811441e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96736491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.19, Y:-133.82, Z:0.04 [[ 9.76464992e-01 2.15675961e-01 0.00000000e+00 5.04192670e+02] [-2.15675961e-01 9.76464992e-01 0.00000000e+00 -1.33817972e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11391263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.22, Y:-133.82, Z:0.04 [[ 9.76248311e-01 2.16654647e-01 0.00000000e+00 5.04223638e+02] [-2.16654647e-01 9.76248311e-01 0.00000000e+00 -1.33823845e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.25189883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.7114005130001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:504.26, Y:-133.83, Z:0.04 [[ 9.76127279e-01 2.17199300e-01 0.00000000e+00 5.04255905e+02] [-2.17199300e-01 9.76127279e-01 0.00000000e+00 -1.33829448e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.23907489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.741400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:504.29, Y:-133.84, Z:0.04 [[ 9.76087997e-01 2.17375761e-01 0.00000000e+00 5.04288790e+02] [-2.17375761e-01 9.76087997e-01 0.00000000e+00 -1.33835695e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.23907489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.32, Y:-133.84, Z:0.04 [[ 9.75844469e-01 2.18466412e-01 0.00000000e+00 5.04321065e+02] [-2.18466412e-01 9.75844469e-01 0.00000000e+00 -1.33841747e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24499885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.35, Y:-133.85, Z:0.04 [[ 9.75551302e-01 2.19771829e-01 0.00000000e+00 5.04352331e+02] [-2.19771829e-01 9.75551302e-01 0.00000000e+00 -1.33847766e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.25448076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.38, Y:-133.85, Z:0.04 [[ 9.75166301e-01 2.21473895e-01 0.00000000e+00 5.04384590e+02] [-2.21473895e-01 9.75166301e-01 0.00000000e+00 -1.33854403e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27474469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.42, Y:-133.86, Z:0.04 [[ 9.74809272e-01 2.23040091e-01 0.00000000e+00 5.04416344e+02] [-2.23040091e-01 9.74809272e-01 0.00000000e+00 -1.33861354e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39587661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.45, Y:-133.87, Z:0.05 [[ 9.74240896e-01 2.25509813e-01 0.00000000e+00 5.04447755e+02] [-2.25509813e-01 9.74240896e-01 0.00000000e+00 -1.33869948e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.52503830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.48, Y:-133.88, Z:0.04 [[ 9.73977759e-01 2.26643606e-01 0.00000000e+00 5.04478544e+02] [-2.26643606e-01 9.73977759e-01 0.00000000e+00 -1.33877877e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.48863441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.51, Y:-133.89, Z:0.04 [[ 9.73745709e-01 2.27638515e-01 0.00000000e+00 5.04510207e+02] [-2.27638515e-01 9.73745709e-01 0.00000000e+00 -1.33886110e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.35391651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.54, Y:-133.89, Z:0.04 [[ 9.73505455e-01 2.28663792e-01 0.00000000e+00 5.04541729e+02] [-2.28663792e-01 9.73505455e-01 0.00000000e+00 -1.33894486e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.23190528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.57, Y:-133.90, Z:0.04 [[ 9.73296169e-01 2.29552975e-01 0.00000000e+00 5.04572960e+02] [-2.29552975e-01 9.73296169e-01 0.00000000e+00 -1.33903025e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.16661752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.60, Y:-133.91, Z:0.04 [[ 9.73074466e-01 2.30490962e-01 0.00000000e+00 5.04604191e+02] [-2.30490962e-01 9.73074466e-01 0.00000000e+00 -1.33911628e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.19635358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.64, Y:-133.92, Z:0.04 [[ 9.72827550e-01 2.31530902e-01 0.00000000e+00 5.04636277e+02] [-2.31530902e-01 9.72827550e-01 0.00000000e+00 -1.33920454e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39249771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.67, Y:-133.93, Z:0.04 [[ 9.72185335e-01 2.34212882e-01 0.00000000e+00 5.04666633e+02] [-2.34212882e-01 9.72185335e-01 0.00000000e+00 -1.33931142e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.41943589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.70, Y:-133.94, Z:0.04 [[ 9.71796362e-01 2.35821609e-01 0.00000000e+00 5.04699054e+02] [-2.35821609e-01 9.71796362e-01 0.00000000e+00 -1.33939374e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.31998843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.73, Y:-133.95, Z:0.04 [[ 9.71390737e-01 2.37486916e-01 0.00000000e+00 5.04729654e+02] [-2.37486916e-01 9.71390737e-01 0.00000000e+00 -1.33947082e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12450400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.76, Y:-133.96, Z:0.04 [[ 9.70961180e-01 2.39237094e-01 0.00000000e+00 5.04762191e+02] [-2.39237094e-01 9.70961180e-01 0.00000000e+00 -1.33955027e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96784614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.79, Y:-133.96, Z:0.04 [[ 9.70584165e-01 2.40762077e-01 0.00000000e+00 5.04792839e+02] [-2.40762077e-01 9.70584165e-01 0.00000000e+00 -1.33962457e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80675249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.82, Y:-133.97, Z:0.04 [[ 9.70256307e-01 2.42079943e-01 0.00000000e+00 5.04824240e+02] [-2.42079943e-01 9.70256307e-01 0.00000000e+00 -1.33969670e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79251196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.85, Y:-133.98, Z:0.04 [[ 9.69767271e-01 2.44031639e-01 0.00000000e+00 5.04854983e+02] [-2.44031639e-01 9.69767271e-01 0.00000000e+00 -1.33976384e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.09819732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.89, Y:-133.98, Z:0.04 [[ 9.69479948e-01 2.45170616e-01 0.00000000e+00 5.04887776e+02] [-2.45170616e-01 9.69479948e-01 0.00000000e+00 -1.33982624e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14390615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.92, Y:-133.99, Z:0.04 [[ 9.69262175e-01 2.46030154e-01 0.00000000e+00 5.04919273e+02] [-2.46030154e-01 9.69262175e-01 0.00000000e+00 -1.33988554e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.03243794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.95, Y:-133.99, Z:0.04 [[ 9.69125329e-01 2.46568644e-01 0.00000000e+00 5.04951857e+02] [-2.46568644e-01 9.69125329e-01 0.00000000e+00 -1.33994083e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.05743398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.401400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:504.98, Y:-134.00, Z:0.04 [[ 9.69017591e-01 2.46991718e-01 0.00000000e+00 5.04983952e+02] [-2.46991718e-01 9.69017591e-01 0.00000000e+00 -1.33999148e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01073486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.02, Y:-134.00, Z:0.04 [[ 9.68890516e-01 2.47489732e-01 0.00000000e+00 5.05015565e+02] [-2.47489732e-01 9.68890516e-01 0.00000000e+00 -1.34004072e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96260405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.05, Y:-134.01, Z:0.04 [[ 9.68682297e-01 2.48303458e-01 0.00000000e+00 5.05048011e+02] [-2.48303458e-01 9.68682297e-01 0.00000000e+00 -1.34008226e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96342191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.08, Y:-134.01, Z:0.04 [[ 9.68711867e-01 2.48188073e-01 0.00000000e+00 5.05079382e+02] [-2.48188073e-01 9.68711867e-01 0.00000000e+00 -1.34012557e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96847214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.11, Y:-134.02, Z:0.04 [[ 9.68834462e-01 2.47709074e-01 0.00000000e+00 5.05112430e+02] [-2.47709074e-01 9.68834462e-01 0.00000000e+00 -1.34017150e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95725929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.14, Y:-134.02, Z:0.04 [[ 9.69068508e-01 2.46791871e-01 0.00000000e+00 5.05144436e+02] [-2.46791871e-01 9.69068508e-01 0.00000000e+00 -1.34021984e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90818924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.18, Y:-134.03, Z:0.04 [[ 9.69445448e-01 2.45306998e-01 0.00000000e+00 5.05176022e+02] [-2.45306998e-01 9.69445448e-01 0.00000000e+00 -1.34027761e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90077103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.21, Y:-134.04, Z:0.04 [[ 9.70636383e-01 2.40551475e-01 0.00000000e+00 5.05208032e+02] [-2.40551475e-01 9.70636383e-01 0.00000000e+00 -1.34036983e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.20679747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.24, Y:-134.05, Z:0.04 [[ 9.71355832e-01 2.37629643e-01 0.00000000e+00 5.05240034e+02] [-2.37629643e-01 9.71355832e-01 0.00000000e+00 -1.34045585e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.29429759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.27, Y:-134.05, Z:0.04 [[ 9.72028496e-01 2.34862944e-01 0.00000000e+00 5.05270420e+02] [-2.34862944e-01 9.72028496e-01 0.00000000e+00 -1.34054367e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.31506946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.30, Y:-134.06, Z:0.04 [[ 9.72504571e-01 2.32883790e-01 0.00000000e+00 5.05301977e+02] [-2.32883790e-01 9.72504571e-01 0.00000000e+00 -1.34063670e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39172050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.731400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:505.33, Y:-134.07, Z:0.04 [[ 9.72795652e-01 2.31664886e-01 0.00000000e+00 5.05334075e+02] [-2.31664886e-01 9.72795652e-01 0.00000000e+00 -1.34073212e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.41611643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.37, Y:-134.08, Z:0.05 [[ 9.72855854e-01 2.31411943e-01 0.00000000e+00 5.05365170e+02] [-2.31411943e-01 9.72855854e-01 0.00000000e+00 -1.34082293e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.54054171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.40, Y:-134.09, Z:0.05 [[ 9.72353988e-01 2.33511717e-01 0.00000000e+00 5.05395480e+02] [-2.33511717e-01 9.72353988e-01 0.00000000e+00 -1.34092367e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.62304581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.43, Y:-134.10, Z:0.05 [[ 9.71887948e-01 2.35443870e-01 0.00000000e+00 5.05427577e+02] [-2.35443870e-01 9.71887948e-01 0.00000000e+00 -1.34099748e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.63006705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.46, Y:-134.11, Z:0.05 [[ 9.71367157e-01 2.37583345e-01 0.00000000e+00 5.05459950e+02] [-2.37583345e-01 9.71367157e-01 0.00000000e+00 -1.34107712e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.73853078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.49, Y:-134.12, Z:0.05 [[ 9.70868748e-01 2.39611923e-01 0.00000000e+00 5.05492370e+02] [-2.39611923e-01 9.70868748e-01 0.00000000e+00 -1.34116157e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.88563775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.52, Y:-134.12, Z:0.05 [[ 9.70315992e-01 2.41840601e-01 0.00000000e+00 5.05523949e+02] [-2.41840601e-01 9.70315992e-01 0.00000000e+00 -1.34124324e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.98174997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.56, Y:-134.13, Z:0.05 [[ 9.69716514e-01 2.44233253e-01 0.00000000e+00 5.05555428e+02] [-2.44233253e-01 9.69716514e-01 0.00000000e+00 -1.34132187e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.96000797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.59, Y:-134.14, Z:0.05 [[ 9.68886827e-01 2.47504176e-01 0.00000000e+00 5.05587593e+02] [-2.47504176e-01 9.68886827e-01 0.00000000e+00 -1.34140521e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.74670302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.62, Y:-134.15, Z:0.05 [[ 9.68633051e-01 2.48495497e-01 0.00000000e+00 5.05619092e+02] [-2.48495497e-01 9.68633051e-01 0.00000000e+00 -1.34147692e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.73230269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.65, Y:-134.15, Z:0.05 [[ 9.68481894e-01 2.49083965e-01 0.00000000e+00 5.05650101e+02] [-2.49083965e-01 9.68481894e-01 0.00000000e+00 -1.34154871e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.79898449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.68, Y:-134.16, Z:0.05 [[ 9.68239539e-01 2.50024390e-01 0.00000000e+00 5.05682061e+02] [-2.50024390e-01 9.68239539e-01 0.00000000e+00 -1.34163013e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.91383662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.71, Y:-134.17, Z:0.05 [[ 9.68093801e-01 2.50588095e-01 0.00000000e+00 5.05713482e+02] [-2.50588095e-01 9.68093801e-01 0.00000000e+00 -1.34169550e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.77820385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.75, Y:-134.18, Z:0.04 [[ 9.67897871e-01 2.51343813e-01 0.00000000e+00 5.05745568e+02] [-2.51343813e-01 9.67897871e-01 0.00000000e+00 -1.34176046e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.49573035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.78, Y:-134.18, Z:0.04 [[ 9.67713426e-01 2.52053022e-01 0.00000000e+00 5.05776753e+02] [-2.52053022e-01 9.67713426e-01 0.00000000e+00 -1.34182404e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12833388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.81, Y:-134.19, Z:0.04 [[ 9.67561869e-01 2.52634180e-01 0.00000000e+00 5.05808465e+02] [-2.52634180e-01 9.67561869e-01 0.00000000e+00 -1.34189762e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97175156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.2114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.84, Y:-134.20, Z:0.04 [[ 9.67462594e-01 2.53014091e-01 0.00000000e+00 5.05840218e+02] [-2.53014091e-01 9.67462594e-01 0.00000000e+00 -1.34197120e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95433854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.87, Y:-134.20, Z:0.04 [[ 9.67347985e-01 2.53451919e-01 0.00000000e+00 5.05871735e+02] [-2.53451919e-01 9.67347985e-01 0.00000000e+00 -1.34203904e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14147991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.90, Y:-134.21, Z:0.04 [[ 9.67238764e-01 2.53868417e-01 0.00000000e+00 5.05904261e+02] [-2.53868417e-01 9.67238764e-01 0.00000000e+00 -1.34210077e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28842774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.94, Y:-134.22, Z:0.04 [[ 9.67162317e-01 2.54159504e-01 0.00000000e+00 5.05935207e+02] [-2.54159504e-01 9.67162317e-01 0.00000000e+00 -1.34216189e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.32425782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.97, Y:-134.22, Z:0.04 [[ 9.67145407e-01 2.54223843e-01 0.00000000e+00 5.05966438e+02] [-2.54223843e-01 9.67145407e-01 0.00000000e+00 -1.34221988e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.29745042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.00, Y:-134.23, Z:0.04 [[ 9.67106993e-01 2.54369935e-01 0.00000000e+00 5.05999131e+02] [-2.54369935e-01 9.67106993e-01 0.00000000e+00 -1.34226852e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.26695064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.03, Y:-134.23, Z:0.04 [[ 9.66999002e-01 2.54780160e-01 0.00000000e+00 5.06031378e+02] [-2.54780160e-01 9.66999002e-01 0.00000000e+00 -1.34230617e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.25233253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.421400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:506.06, Y:-134.23, Z:0.04 [[ 9.66985770e-01 2.54830375e-01 0.00000000e+00 5.06064596e+02] [-2.54830375e-01 9.66985770e-01 0.00000000e+00 -1.34234390e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22351940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.10, Y:-134.24, Z:0.04 [[ 9.66948165e-01 2.54973032e-01 0.00000000e+00 5.06097053e+02] [-2.54973032e-01 9.66948165e-01 0.00000000e+00 -1.34238890e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27363634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.13, Y:-134.24, Z:0.04 [[ 9.67328435e-01 2.53526526e-01 0.00000000e+00 5.06129047e+02] [-2.53526526e-01 9.67328435e-01 0.00000000e+00 -1.34243330e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.30041026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.16, Y:-134.25, Z:0.04 [[ 9.67629171e-01 2.52376282e-01 0.00000000e+00 5.06161654e+02] [-2.52376282e-01 9.67629171e-01 0.00000000e+00 -1.34247508e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36982417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.19, Y:-134.25, Z:0.04 [[ 9.67827415e-01 2.51614973e-01 0.00000000e+00 5.06193947e+02] [-2.51614973e-01 9.67827415e-01 0.00000000e+00 -1.34251317e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.37110800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.23, Y:-134.26, Z:0.04 [[ 9.67867583e-01 2.51460418e-01 0.00000000e+00 5.06226736e+02] [-2.51460418e-01 9.67867583e-01 0.00000000e+00 -1.34255592e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36556258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.26, Y:-134.26, Z:0.04 [[ 9.67702701e-01 2.52094193e-01 0.00000000e+00 5.06258894e+02] [-2.52094193e-01 9.67702701e-01 0.00000000e+00 -1.34260998e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.38347136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.29, Y:-134.27, Z:0.04 [[ 9.67656536e-01 2.52271340e-01 0.00000000e+00 5.06291707e+02] [-2.52271340e-01 9.67656536e-01 0.00000000e+00 -1.34267573e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.38347136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.32, Y:-134.27, Z:0.05 [[ 9.67404584e-01 2.53235802e-01 0.00000000e+00 5.06322992e+02] [-2.53235802e-01 9.67404584e-01 0.00000000e+00 -1.34273793e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.51342758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.35, Y:-134.28, Z:0.05 [[ 9.66731857e-01 2.55791940e-01 0.00000000e+00 5.06354955e+02] [-2.55791940e-01 9.66731857e-01 0.00000000e+00 -1.34280000e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.89910524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.39, Y:-134.29, Z:0.05 [[ 9.66375291e-01 2.57135756e-01 0.00000000e+00 5.06385920e+02] [-2.57135756e-01 9.66375291e-01 0.00000000e+00 -1.34286469e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.08883750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.42, Y:-134.29, Z:0.05 [[ 9.66035146e-01 2.58410712e-01 0.00000000e+00 5.06416497e+02] [-2.58410712e-01 9.66035146e-01 0.00000000e+00 -1.34294436e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.14821241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.45, Y:-134.31, Z:0.05 [[ 9.65334003e-01 2.61017743e-01 0.00000000e+00 5.06446601e+02] [-2.61017743e-01 9.65334003e-01 0.00000000e+00 -1.34307039e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.92447792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.48, Y:-134.32, Z:0.05 [[ 9.64956821e-01 2.62408716e-01 0.00000000e+00 5.06478474e+02] [-2.62408716e-01 9.64956821e-01 0.00000000e+00 -1.34316348e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.79632636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.51, Y:-134.33, Z:0.05 [[ 9.64566523e-01 2.63839767e-01 0.00000000e+00 5.06510844e+02] [-2.63839767e-01 9.64566523e-01 0.00000000e+00 -1.34325054e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.80375081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.54, Y:-134.33, Z:0.05 [[ 9.64120961e-01 2.65463317e-01 0.00000000e+00 5.06542685e+02] [-2.65463317e-01 9.64120961e-01 0.00000000e+00 -1.34333512e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.85338115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.57, Y:-134.34, Z:0.05 [[ 9.63548093e-01 2.67535179e-01 0.00000000e+00 5.06573683e+02] [-2.67535179e-01 9.63548093e-01 0.00000000e+00 -1.34342339e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.88352860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.60, Y:-134.35, Z:0.05 [[ 9.62836381e-01 2.70085363e-01 0.00000000e+00 5.06604805e+02] [-2.70085363e-01 9.62836381e-01 0.00000000e+00 -1.34351340e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.79746277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.64, Y:-134.36, Z:0.04 [[ 9.61169888e-01 2.75957328e-01 0.00000000e+00 5.06636416e+02] [-2.75957328e-01 9.61169888e-01 0.00000000e+00 -1.34360039e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.47728588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.67, Y:-134.37, Z:0.04 [[ 9.60165069e-01 2.79433426e-01 0.00000000e+00 5.06668820e+02] [-2.79433426e-01 9.60165069e-01 0.00000000e+00 -1.34366263e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.38995774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.70, Y:-134.37, Z:0.04 [[ 9.59112199e-01 2.83026130e-01 0.00000000e+00 5.06700301e+02] [-2.83026130e-01 9.59112199e-01 0.00000000e+00 -1.34371680e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.32387614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.73, Y:-134.38, Z:0.04 [[ 9.58176403e-01 2.86178232e-01 0.00000000e+00 5.06731405e+02] [-2.86178232e-01 9.58176403e-01 0.00000000e+00 -1.34377261e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.35099206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.76, Y:-134.38, Z:0.04 [[ 9.57573936e-01 2.88187710e-01 0.00000000e+00 5.06763522e+02] [-2.88187710e-01 9.57573936e-01 0.00000000e+00 -1.34383047e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36560111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.111400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:506.80, Y:-134.39, Z:0.04 [[ 9.57747285e-01 2.87611089e-01 0.00000000e+00 5.06796353e+02] [-2.87611089e-01 9.57747285e-01 0.00000000e+00 -1.34385335e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.21580245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.83, Y:-134.39, Z:0.04 [[ 9.58172447e-01 2.86191478e-01 0.00000000e+00 5.06829645e+02] [-2.86191478e-01 9.58172447e-01 0.00000000e+00 -1.34389123e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.17438663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.86, Y:-134.39, Z:0.04 [[ 9.58831846e-01 2.83974456e-01 0.00000000e+00 5.06861581e+02] [-2.83974456e-01 9.58831846e-01 0.00000000e+00 -1.34392578e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.20567237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.89, Y:-134.40, Z:0.04 [[ 9.59494313e-01 2.81727994e-01 0.00000000e+00 5.06894854e+02] [-2.81727994e-01 9.59494313e-01 0.00000000e+00 -1.34396790e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.33573149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.93, Y:-134.40, Z:0.04 [[ 9.60030873e-01 2.79894129e-01 0.00000000e+00 5.06927547e+02] [-2.79894129e-01 9.60030873e-01 0.00000000e+00 -1.34400431e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.40174975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.96, Y:-134.40, Z:0.04 [[ 9.61075184e-01 2.76286971e-01 0.00000000e+00 5.06959670e+02] [-2.76286971e-01 9.61075184e-01 0.00000000e+00 -1.34400944e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24777783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.99, Y:-134.40, Z:0.04 [[ 9.61505542e-01 2.74785538e-01 0.00000000e+00 5.06992806e+02] [-2.74785538e-01 9.61505542e-01 0.00000000e+00 -1.34404684e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18629246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.03, Y:-134.41, Z:0.04 [[ 9.61931141e-01 2.73291931e-01 0.00000000e+00 5.07025352e+02] [-2.73291931e-01 9.61931141e-01 0.00000000e+00 -1.34408100e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15557340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.06, Y:-134.41, Z:0.04 [[ 9.62315249e-01 2.71936319e-01 0.00000000e+00 5.07057255e+02] [-2.71936319e-01 9.62315249e-01 0.00000000e+00 -1.34411696e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18389621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.09, Y:-134.42, Z:0.04 [[ 9.62883062e-01 2.69918894e-01 0.00000000e+00 5.07089889e+02] [-2.69918894e-01 9.62883062e-01 0.00000000e+00 -1.34415868e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.38986898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.12, Y:-134.42, Z:0.05 [[ 9.64511649e-01 2.64040297e-01 0.00000000e+00 5.07122004e+02] [-2.64040297e-01 9.64511649e-01 0.00000000e+00 -1.34420299e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.66305888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.15, Y:-134.43, Z:0.05 [[ 9.65476327e-01 2.60490810e-01 0.00000000e+00 5.07153238e+02] [-2.60490810e-01 9.65476327e-01 0.00000000e+00 -1.34426218e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.71017047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.19, Y:-134.43, Z:0.05 [[ 9.66415141e-01 2.56985943e-01 0.00000000e+00 5.07185057e+02] [-2.56985943e-01 9.66415141e-01 0.00000000e+00 -1.34432890e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.73588325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.22, Y:-134.44, Z:0.05 [[ 9.67141295e-01 2.54239486e-01 0.00000000e+00 5.07216391e+02] [-2.54239486e-01 9.67141295e-01 0.00000000e+00 -1.34439812e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.63494720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.25, Y:-134.45, Z:0.04 [[ 9.68033225e-01 2.50822001e-01 0.00000000e+00 5.07248113e+02] [-2.50822001e-01 9.68033225e-01 0.00000000e+00 -1.34447762e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.46490862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.28, Y:-134.45, Z:0.05 [[ 9.68164801e-01 2.50313638e-01 0.00000000e+00 5.07279635e+02] [-2.50313638e-01 9.68164801e-01 0.00000000e+00 -1.34454957e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.51658518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.31, Y:-134.46, Z:0.05 [[ 9.68137313e-01 2.50419933e-01 0.00000000e+00 5.07311443e+02] [-2.50419933e-01 9.68137313e-01 0.00000000e+00 -1.34462204e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.62267328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.34, Y:-134.47, Z:0.05 [[ 9.67928943e-01 2.51224124e-01 0.00000000e+00 5.07343099e+02] [-2.51224124e-01 9.67928943e-01 0.00000000e+00 -1.34469852e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.68815278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.37, Y:-134.48, Z:0.05 [[ 9.67651541e-01 2.52290498e-01 0.00000000e+00 5.07373759e+02] [-2.52290498e-01 9.67651541e-01 0.00000000e+00 -1.34478331e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.67099435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.41, Y:-134.49, Z:0.05 [[ 9.67329942e-01 2.53520774e-01 0.00000000e+00 5.07405192e+02] [-2.53520774e-01 9.67329942e-01 0.00000000e+00 -1.34487520e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.64532661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.7114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.44, Y:-134.50, Z:0.04 [[ 9.66523689e-01 2.56577392e-01 0.00000000e+00 5.07436698e+02] [-2.56577392e-01 9.66523689e-01 0.00000000e+00 -1.34499349e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.45803003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.47, Y:-134.51, Z:0.04 [[ 9.66012046e-01 2.58497055e-01 0.00000000e+00 5.07468319e+02] [-2.58497055e-01 9.66012046e-01 0.00000000e+00 -1.34508796e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39914049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.50, Y:-134.52, Z:0.04 [[ 9.65430837e-01 2.60659354e-01 0.00000000e+00 5.07500419e+02] [-2.60659354e-01 9.65430837e-01 0.00000000e+00 -1.34518196e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.44970645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.53, Y:-134.53, Z:0.05 [[ 9.64710417e-01 2.63313142e-01 0.00000000e+00 5.07531301e+02] [-2.63313142e-01 9.64710417e-01 0.00000000e+00 -1.34526326e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.51407133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.56, Y:-134.53, Z:0.05 [[ 9.63951126e-01 2.66079362e-01 0.00000000e+00 5.07562596e+02] [-2.66079362e-01 9.63951126e-01 0.00000000e+00 -1.34533346e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.61178450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.59, Y:-134.54, Z:0.05 [[ 9.63144316e-01 2.68985180e-01 0.00000000e+00 5.07594995e+02] [-2.68985180e-01 9.63144316e-01 0.00000000e+00 -1.34540081e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.67339301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.63, Y:-134.55, Z:0.04 [[ 9.61648718e-01 2.74284056e-01 0.00000000e+00 5.07627676e+02] [-2.74284056e-01 9.61648718e-01 0.00000000e+00 -1.34546880e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.49152882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.66, Y:-134.55, Z:0.04 [[ 9.60950391e-01 2.76720701e-01 0.00000000e+00 5.07659675e+02] [-2.76720701e-01 9.60950391e-01 0.00000000e+00 -1.34553535e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39060168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.69, Y:-134.56, Z:0.04 [[ 9.60380549e-01 2.78691945e-01 0.00000000e+00 5.07691211e+02] [-2.78691945e-01 9.60380549e-01 0.00000000e+00 -1.34559633e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.32383543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.72, Y:-134.57, Z:0.04 [[ 9.60072304e-01 2.79751980e-01 0.00000000e+00 5.07723119e+02] [-2.79751980e-01 9.60072304e-01 0.00000000e+00 -1.34565478e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.19396276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.76, Y:-134.57, Z:0.04 [[ 9.59968350e-01 2.80108490e-01 0.00000000e+00 5.07755772e+02] [-2.80108490e-01 9.59968350e-01 0.00000000e+00 -1.34572185e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.19315608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.79, Y:-134.58, Z:0.04 [[ 9.60292189e-01 2.78996256e-01 0.00000000e+00 5.07788105e+02] [-2.78996256e-01 9.60292189e-01 0.00000000e+00 -1.34580702e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.21576072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.82, Y:-134.59, Z:0.04 [[ 9.60576065e-01 2.78017308e-01 0.00000000e+00 5.07818712e+02] [-2.78017308e-01 9.60576065e-01 0.00000000e+00 -1.34588585e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28440428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.85, Y:-134.60, Z:0.04 [[ 9.60981381e-01 2.76613062e-01 0.00000000e+00 5.07851033e+02] [-2.76613062e-01 9.60981381e-01 0.00000000e+00 -1.34596924e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.34780094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.88, Y:-134.61, Z:0.04 [[ 9.61539240e-01 2.74667600e-01 0.00000000e+00 5.07883267e+02] [-2.74667600e-01 9.61539240e-01 0.00000000e+00 -1.34605512e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36088280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.91, Y:-134.61, Z:0.04 [[ 9.62146862e-01 2.72531494e-01 0.00000000e+00 5.07914438e+02] [-2.72531494e-01 9.62146862e-01 0.00000000e+00 -1.34614667e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.37683983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.95, Y:-134.62, Z:0.04 [[ 9.62811933e-01 2.70172502e-01 0.00000000e+00 5.07945017e+02] [-2.70172502e-01 9.62811933e-01 0.00000000e+00 -1.34623786e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.35111994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.98, Y:-134.64, Z:0.04 [[ 9.63381694e-01 2.68133757e-01 0.00000000e+00 5.07975225e+02] [-2.68133757e-01 9.63381694e-01 0.00000000e+00 -1.34636270e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36792144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.01, Y:-134.65, Z:0.05 [[ 9.63039739e-01 2.69359353e-01 0.00000000e+00 5.08007487e+02] [-2.69359353e-01 9.63039739e-01 0.00000000e+00 -1.34645055e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.50913172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.04, Y:-134.65, Z:0.05 [[ 9.62344008e-01 2.71834526e-01 0.00000000e+00 5.08038734e+02] [-2.71834526e-01 9.62344008e-01 0.00000000e+00 -1.34651985e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.55854667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.07, Y:-134.66, Z:0.05 [[ 9.61487937e-01 2.74847134e-01 0.00000000e+00 5.08071152e+02] [-2.74847134e-01 9.61487937e-01 0.00000000e+00 -1.34658504e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.64600761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.10, Y:-134.66, Z:0.05 [[ 9.59875094e-01 2.80427894e-01 0.00000000e+00 5.08103083e+02] [-2.80427894e-01 9.59875094e-01 0.00000000e+00 -1.34663967e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.66039553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.14, Y:-134.67, Z:0.05 [[ 9.59219482e-01 2.82662317e-01 0.00000000e+00 5.08135606e+02] [-2.82662317e-01 9.59219482e-01 0.00000000e+00 -1.34670580e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.58697087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.17, Y:-134.68, Z:0.04 [[ 9.58941440e-01 2.83604151e-01 0.00000000e+00 5.08167122e+02] [-2.83604151e-01 9.58941440e-01 0.00000000e+00 -1.34677121e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.49698277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.20, Y:-134.68, Z:0.04 [[ 9.58957558e-01 2.83549646e-01 0.00000000e+00 5.08199437e+02] [-2.83549646e-01 9.58957558e-01 0.00000000e+00 -1.34684238e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.49882861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.23, Y:-134.69, Z:0.05 [[ 9.59358220e-01 2.82191080e-01 0.00000000e+00 5.08231132e+02] [-2.82191080e-01 9.59358220e-01 0.00000000e+00 -1.34691619e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.62753350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.26, Y:-134.70, Z:0.05 [[ 9.60093118e-01 2.79680539e-01 0.00000000e+00 5.08263051e+02] [-2.79680539e-01 9.60093118e-01 0.00000000e+00 -1.34699193e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.76093314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.30, Y:-134.71, Z:0.05 [[ 9.60041797e-01 2.79856657e-01 0.00000000e+00 5.08295790e+02] [-2.79856657e-01 9.60041797e-01 0.00000000e+00 -1.34706101e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.76093314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.33, Y:-134.71, Z:0.05 [[ 9.61792853e-01 2.73778208e-01 0.00000000e+00 5.08326293e+02] [-2.73778208e-01 9.61792853e-01 0.00000000e+00 -1.34714098e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.86557691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.36, Y:-134.72, Z:0.05 [[ 9.62538718e-01 2.71144270e-01 0.00000000e+00 5.08357405e+02] [-2.71144270e-01 9.62538718e-01 0.00000000e+00 -1.34721683e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.89015728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.39, Y:-134.73, Z:0.05 [[ 9.63060687e-01 2.69284446e-01 0.00000000e+00 5.08388931e+02] [-2.69284446e-01 9.63060687e-01 0.00000000e+00 -1.34730218e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.80472234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.42, Y:-134.74, Z:0.05 [[ 9.63386183e-01 2.68117628e-01 0.00000000e+00 5.08420892e+02] [-2.68117628e-01 9.63386183e-01 0.00000000e+00 -1.34739873e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.70580068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.45, Y:-134.75, Z:0.05 [[ 9.63469594e-01 2.67817741e-01 0.00000000e+00 5.08452740e+02] [-2.67817741e-01 9.63469594e-01 0.00000000e+00 -1.34749440e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.55988427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.48, Y:-134.76, Z:0.04 [[ 9.62940535e-01 2.69713785e-01 0.00000000e+00 5.08484551e+02] [-2.69713785e-01 9.62940535e-01 0.00000000e+00 -1.34758430e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.34084149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.52, Y:-134.76, Z:0.04 [[ 9.62405476e-01 2.71616826e-01 0.00000000e+00 5.08516236e+02] [-2.71616826e-01 9.62405476e-01 0.00000000e+00 -1.34764651e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.23620077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.55, Y:-134.77, Z:0.04 [[ 9.61850993e-01 2.73573880e-01 0.00000000e+00 5.08548046e+02] [-2.73573880e-01 9.61850993e-01 0.00000000e+00 -1.34770887e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11550125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.58, Y:-134.78, Z:0.04 [[ 9.61390266e-01 2.75188584e-01 0.00000000e+00 5.08580224e+02] [-2.75188584e-01 9.61390266e-01 0.00000000e+00 -1.34777700e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08890544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.61, Y:-134.79, Z:0.04 [[ 9.61242553e-01 2.75704106e-01 0.00000000e+00 5.08612566e+02] [-2.75704106e-01 9.61242553e-01 0.00000000e+00 -1.34785731e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18381078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.64, Y:-134.79, Z:0.04 [[ 9.61513862e-01 2.74756426e-01 0.00000000e+00 5.08644518e+02] [-2.74756426e-01 9.61513862e-01 0.00000000e+00 -1.34793158e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.23581973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.68, Y:-134.80, Z:0.04 [[ 9.61895274e-01 2.73418145e-01 0.00000000e+00 5.08675957e+02] [-2.73418145e-01 9.61895274e-01 0.00000000e+00 -1.34801266e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.21123864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.71, Y:-134.81, Z:0.04 [[ 9.62174776e-01 2.72432927e-01 0.00000000e+00 5.08707943e+02] [-2.72432927e-01 9.62174776e-01 0.00000000e+00 -1.34809809e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18337958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.74, Y:-134.82, Z:0.04 [[ 9.62367764e-01 2.71750412e-01 0.00000000e+00 5.08739320e+02] [-2.71750412e-01 9.62367764e-01 0.00000000e+00 -1.34818255e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.13315935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.77, Y:-134.83, Z:0.04 [[ 9.62418806e-01 2.71569588e-01 0.00000000e+00 5.08771323e+02] [-2.71569588e-01 9.62418806e-01 0.00000000e+00 -1.34826368e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10617845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.80, Y:-134.83, Z:0.04 [[ 9.62102250e-01 2.72688946e-01 0.00000000e+00 5.08803319e+02] [-2.72688946e-01 9.62102250e-01 0.00000000e+00 -1.34833938e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08663833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.83, Y:-134.84, Z:0.04 [[ 9.61619180e-01 2.74387595e-01 0.00000000e+00 5.08834780e+02] [-2.74387595e-01 9.61619180e-01 0.00000000e+00 -1.34841158e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11766482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.87, Y:-134.85, Z:0.04 [[ 9.61029475e-01 2.76445923e-01 0.00000000e+00 5.08866427e+02] [-2.76445923e-01 9.61029475e-01 0.00000000e+00 -1.34848659e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18695091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.90, Y:-134.86, Z:0.04 [[ 9.60380525e-01 2.78692030e-01 0.00000000e+00 5.08897258e+02] [-2.78692030e-01 9.60380525e-01 0.00000000e+00 -1.34856062e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.21913402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.93, Y:-134.86, Z:0.04 [[ 9.59856985e-01 2.80489873e-01 0.00000000e+00 5.08929385e+02] [-2.80489873e-01 9.59856985e-01 0.00000000e+00 -1.34863538e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.26653567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.96, Y:-134.87, Z:0.04 [[ 9.59004617e-01 2.83390445e-01 0.00000000e+00 5.08961291e+02] [-2.83390445e-01 9.59004617e-01 0.00000000e+00 -1.34871568e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28266223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.99, Y:-134.88, Z:0.04 [[ 9.58691100e-01 2.84449249e-01 0.00000000e+00 5.08993700e+02] [-2.84449249e-01 9.58691100e-01 0.00000000e+00 -1.34878893e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24320605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.2114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.02, Y:-134.89, Z:0.04 [[ 9.58549411e-01 2.84926352e-01 0.00000000e+00 5.09024791e+02] [-2.84926352e-01 9.58549411e-01 0.00000000e+00 -1.34885611e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.21696469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.06, Y:-134.89, Z:0.04 [[ 9.58513276e-01 2.85047889e-01 0.00000000e+00 5.09057005e+02] [-2.85047889e-01 9.58513276e-01 0.00000000e+00 -1.34892051e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.19901930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.09, Y:-134.90, Z:0.04 [[ 9.58589664e-01 2.84790897e-01 0.00000000e+00 5.09088273e+02] [-2.84790897e-01 9.58589664e-01 0.00000000e+00 -1.34898200e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.16578048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.12, Y:-134.90, Z:0.04 [[ 9.58722536e-01 2.84343276e-01 0.00000000e+00 5.09119965e+02] [-2.84343276e-01 9.58722536e-01 0.00000000e+00 -1.34903730e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06142007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.15, Y:-134.91, Z:0.04 [[ 9.58763505e-01 2.84205106e-01 0.00000000e+00 5.09152288e+02] [-2.84205106e-01 9.58763505e-01 0.00000000e+00 -1.34910046e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08245990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.18, Y:-134.92, Z:0.04 [[ 9.58731164e-01 2.84314185e-01 0.00000000e+00 5.09183671e+02] [-2.84314185e-01 9.58731164e-01 0.00000000e+00 -1.34916467e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.20431255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.22, Y:-134.92, Z:0.04 [[ 9.58739794e-01 2.84285080e-01 0.00000000e+00 5.09216245e+02] [-2.84285080e-01 9.58739794e-01 0.00000000e+00 -1.34922720e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.33059105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.25, Y:-134.93, Z:0.04 [[ 9.58808520e-01 2.84053203e-01 0.00000000e+00 5.09247430e+02] [-2.84053203e-01 9.58808520e-01 0.00000000e+00 -1.34928883e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.47365504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.28, Y:-134.93, Z:0.04 [[ 9.58735708e-01 2.84298862e-01 0.00000000e+00 5.09280195e+02] [-2.84298862e-01 9.58735708e-01 0.00000000e+00 -1.34934938e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.32449083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.31, Y:-134.94, Z:0.04 [[ 9.58509147e-01 2.85061773e-01 0.00000000e+00 5.09312227e+02] [-2.85061773e-01 9.58509147e-01 0.00000000e+00 -1.34941314e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18487151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.34, Y:-134.95, Z:0.04 [[ 9.58060898e-01 2.86564681e-01 0.00000000e+00 5.09343524e+02] [-2.86564681e-01 9.58060898e-01 0.00000000e+00 -1.34946901e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12710438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.38, Y:-134.95, Z:0.04 [[ 9.57457091e-01 2.88575671e-01 0.00000000e+00 5.09376116e+02] [-2.88575671e-01 9.57457091e-01 0.00000000e+00 -1.34952048e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08550451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.41, Y:-134.96, Z:0.04 [[ 9.56786486e-01 2.90791368e-01 0.00000000e+00 5.09408564e+02] [-2.90791368e-01 9.56786486e-01 0.00000000e+00 -1.34956403e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06297832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.44, Y:-134.96, Z:0.04 [[ 9.56163718e-01 2.92832622e-01 0.00000000e+00 5.09440217e+02] [-2.92832622e-01 9.56163718e-01 0.00000000e+00 -1.34960159e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.09776438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.47, Y:-134.96, Z:0.04 [[ 9.55073970e-01 2.96367529e-01 0.00000000e+00 5.09472670e+02] [-2.96367529e-01 9.55073970e-01 0.00000000e+00 -1.34962393e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.31761577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.51, Y:-134.97, Z:0.04 [[ 9.54711021e-01 2.97534648e-01 0.00000000e+00 5.09505427e+02] [-2.97534648e-01 9.54711021e-01 0.00000000e+00 -1.34967542e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22076529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.54, Y:-134.97, Z:0.04 [[ 9.54546464e-01 2.98062155e-01 0.00000000e+00 5.09538054e+02] [-2.98062155e-01 9.54546464e-01 0.00000000e+00 -1.34972619e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99661673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.57, Y:-134.98, Z:0.04 [[ 9.54572060e-01 2.97980171e-01 0.00000000e+00 5.09570264e+02] [-2.97980171e-01 9.54572060e-01 0.00000000e+00 -1.34977210e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79565813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.60, Y:-134.98, Z:0.04 [[ 9.54653381e-01 2.97719535e-01 0.00000000e+00 5.09602296e+02] [-2.97719535e-01 9.54653381e-01 0.00000000e+00 -1.34982224e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70784406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.63, Y:-134.99, Z:0.04 [[ 9.54864774e-01 2.97040845e-01 0.00000000e+00 5.09634700e+02] [-2.97040845e-01 9.54864774e-01 0.00000000e+00 -1.34987444e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93283101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.67, Y:-134.99, Z:0.04 [[ 9.55265969e-01 2.95748084e-01 0.00000000e+00 5.09667665e+02] [-2.95748084e-01 9.55265969e-01 0.00000000e+00 -1.34991399e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.19797036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.70, Y:-135.00, Z:0.04 [[ 9.55423334e-01 2.95239316e-01 0.00000000e+00 5.09699956e+02] [-2.95239316e-01 9.55423334e-01 0.00000000e+00 -1.34997107e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18794721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.73, Y:-135.00, Z:0.04 [[ 9.55662494e-01 2.94464255e-01 0.00000000e+00 5.09731331e+02] [-2.94464255e-01 9.55662494e-01 0.00000000e+00 -1.35002683e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.05230613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.76, Y:-135.01, Z:0.04 [[ 9.55935260e-01 2.93577552e-01 0.00000000e+00 5.09763481e+02] [-2.93577552e-01 9.55935260e-01 0.00000000e+00 -1.35008688e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95821589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.80, Y:-135.01, Z:0.04 [[ 9.56148974e-01 2.92880759e-01 0.00000000e+00 5.09795546e+02] [-2.92880759e-01 9.56148974e-01 0.00000000e+00 -1.35014857e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80422128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.83, Y:-135.02, Z:0.04 [[ 9.56347696e-01 2.92231216e-01 0.00000000e+00 5.09826736e+02] [-2.92231216e-01 9.56347696e-01 0.00000000e+00 -1.35021374e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55899783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.86, Y:-135.03, Z:0.04 [[ 9.56206562e-01 2.92692689e-01 0.00000000e+00 5.09859412e+02] [-2.92692689e-01 9.56206562e-01 0.00000000e+00 -1.35028515e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52984469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.89, Y:-135.04, Z:0.04 [[ 9.56154812e-01 2.92861701e-01 0.00000000e+00 5.09892098e+02] [-2.92861701e-01 9.56154812e-01 0.00000000e+00 -1.35035698e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52984469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.92, Y:-135.04, Z:0.04 [[ 9.55784205e-01 2.94068961e-01 0.00000000e+00 5.09924848e+02] [-2.94068961e-01 9.55784205e-01 0.00000000e+00 -1.35042315e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52612317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.96, Y:-135.05, Z:0.03 [[ 9.54585479e-01 2.97937179e-01 0.00000000e+00 5.09956681e+02] [-2.97937179e-01 9.54585479e-01 0.00000000e+00 -1.35045887e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42697898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.99, Y:-135.05, Z:0.03 [[ 9.53958222e-01 2.99939513e-01 0.00000000e+00 5.09987831e+02] [-2.99939513e-01 9.53958222e-01 0.00000000e+00 -1.35050799e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45082604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.02, Y:-135.06, Z:0.04 [[ 9.53439233e-01 3.01585194e-01 0.00000000e+00 5.10020271e+02] [-3.01585194e-01 9.53439233e-01 0.00000000e+00 -1.35056294e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57537306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.171400513 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:510.05, Y:-135.06, Z:0.04 [[ 9.53007213e-01 3.02947606e-01 0.00000000e+00 5.10052845e+02] [-3.02947606e-01 9.53007213e-01 0.00000000e+00 -1.35061882e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53005430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.08, Y:-135.07, Z:0.03 [[ 9.52740978e-01 3.03783851e-01 0.00000000e+00 5.10084119e+02] [-3.03783851e-01 9.52740978e-01 0.00000000e+00 -1.35067102e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44609547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.12, Y:-135.07, Z:0.03 [[ 9.52640859e-01 3.04097671e-01 0.00000000e+00 5.10116120e+02] [-3.04097671e-01 9.52640859e-01 0.00000000e+00 -1.35069596e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42292400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.15, Y:-135.07, Z:0.03 [[ 9.52779339e-01 3.03663517e-01 0.00000000e+00 5.10147757e+02] [-3.03663517e-01 9.52779339e-01 0.00000000e+00 -1.35073188e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45372074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.18, Y:-135.08, Z:0.04 [[ 9.52971725e-01 3.03059220e-01 0.00000000e+00 5.10181014e+02] [-3.03059220e-01 9.52971725e-01 0.00000000e+00 -1.35077507e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57922369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.21, Y:-135.08, Z:0.04 [[ 9.53175757e-01 3.02416891e-01 0.00000000e+00 5.10212433e+02] [-3.02416891e-01 9.53175757e-01 0.00000000e+00 -1.35082252e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.73778063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.25, Y:-135.09, Z:0.04 [[ 9.53361875e-01 3.01829646e-01 0.00000000e+00 5.10245413e+02] [-3.01829646e-01 9.53361875e-01 0.00000000e+00 -1.35087923e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.98080558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.28, Y:-135.09, Z:0.04 [[ 9.53520907e-01 3.01326866e-01 0.00000000e+00 5.10277441e+02] [-3.01326866e-01 9.53520907e-01 0.00000000e+00 -1.35093121e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12179326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.31, Y:-135.10, Z:0.04 [[ 9.53468332e-01 3.01493183e-01 0.00000000e+00 5.10310116e+02] [-3.01493183e-01 9.53468332e-01 0.00000000e+00 -1.35100379e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12179326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.34, Y:-135.10, Z:0.04 [[ 9.53769592e-01 3.00538791e-01 0.00000000e+00 5.10342253e+02] [-3.00538791e-01 9.53769592e-01 0.00000000e+00 -1.35101122e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96967684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.38, Y:-135.11, Z:0.04 [[ 9.53871828e-01 3.00214150e-01 0.00000000e+00 5.10375236e+02] [-3.00214150e-01 9.53871828e-01 0.00000000e+00 -1.35105002e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89852618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.41, Y:-135.11, Z:0.04 [[ 9.53857535e-01 3.00259561e-01 0.00000000e+00 5.10408319e+02] [-3.00259561e-01 9.53857535e-01 0.00000000e+00 -1.35109677e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79312539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.44, Y:-135.11, Z:0.04 [[ 9.53814241e-01 3.00397061e-01 0.00000000e+00 5.10439629e+02] [-3.00397061e-01 9.53814241e-01 0.00000000e+00 -1.35114896e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76214841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.47, Y:-135.12, Z:0.04 [[ 9.53771238e-01 3.00533568e-01 0.00000000e+00 5.10472019e+02] [-3.00533568e-01 9.53771238e-01 0.00000000e+00 -1.35120275e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01931363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.591400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:510.50, Y:-135.13, Z:0.04 [[ 9.53761972e-01 3.00562975e-01 0.00000000e+00 5.10503935e+02] [-3.00562975e-01 9.53761972e-01 0.00000000e+00 -1.35125601e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24065897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.54, Y:-135.13, Z:0.05 [[ 9.54424572e-01 2.98452235e-01 0.00000000e+00 5.10537083e+02] [-2.98452235e-01 9.54424572e-01 0.00000000e+00 -1.35127977e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.58327688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.57, Y:-135.13, Z:0.04 [[ 9.54793277e-01 2.97270581e-01 0.00000000e+00 5.10569591e+02] [-2.97270581e-01 9.54793277e-01 0.00000000e+00 -1.35133080e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.48374462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.60, Y:-135.14, Z:0.04 [[ 9.55165218e-01 2.96073312e-01 0.00000000e+00 5.10601886e+02] [-2.96073312e-01 9.55165218e-01 0.00000000e+00 -1.35138410e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36778951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.7114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.63, Y:-135.14, Z:0.04 [[ 9.55414997e-01 2.95266294e-01 0.00000000e+00 5.10634428e+02] [-2.95266294e-01 9.55414997e-01 0.00000000e+00 -1.35143419e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.29237897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.67, Y:-135.15, Z:0.04 [[ 9.55608564e-01 2.94639223e-01 0.00000000e+00 5.10666116e+02] [-2.94639223e-01 9.55608564e-01 0.00000000e+00 -1.35147614e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24355813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.70, Y:-135.15, Z:0.04 [[ 9.56065245e-01 2.93153965e-01 0.00000000e+00 5.10698575e+02] [-2.93153965e-01 9.56065245e-01 0.00000000e+00 -1.35148594e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.21400186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.73, Y:-135.15, Z:0.04 [[ 9.56403753e-01 2.92047703e-01 0.00000000e+00 5.10731526e+02] [-2.92047703e-01 9.56403753e-01 0.00000000e+00 -1.35154170e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14078547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.76, Y:-135.16, Z:0.04 [[ 9.56764530e-01 2.90863600e-01 0.00000000e+00 5.10763536e+02] [-2.90863600e-01 9.56764530e-01 0.00000000e+00 -1.35161018e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06192433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.79, Y:-135.17, Z:0.04 [[ 9.57120552e-01 2.89689918e-01 0.00000000e+00 5.10794792e+02] [-2.89689918e-01 9.57120552e-01 0.00000000e+00 -1.35167861e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91099916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.83, Y:-135.17, Z:0.04 [[ 9.57387680e-01 2.88805868e-01 0.00000000e+00 5.10826829e+02] [-2.88805868e-01 9.57387680e-01 0.00000000e+00 -1.35173954e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77131182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.86, Y:-135.18, Z:0.04 [[ 9.57460064e-01 2.88565807e-01 0.00000000e+00 5.10858082e+02] [-2.88565807e-01 9.57460064e-01 0.00000000e+00 -1.35179292e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68921686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.89, Y:-135.18, Z:0.04 [[ 9.57336173e-01 2.88976558e-01 0.00000000e+00 5.10890944e+02] [-2.88976558e-01 9.57336173e-01 0.00000000e+00 -1.35184794e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77854672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.92, Y:-135.19, Z:0.04 [[ 9.57090389e-01 2.89789556e-01 0.00000000e+00 5.10922783e+02] [-2.89789556e-01 9.57090389e-01 0.00000000e+00 -1.35190730e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84938249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.96, Y:-135.20, Z:0.04 [[ 9.56701180e-01 2.91071902e-01 0.00000000e+00 5.10955588e+02] [-2.91071902e-01 9.56701180e-01 0.00000000e+00 -1.35195633e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90909007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.99, Y:-135.20, Z:0.04 [[ 9.56519183e-01 2.91669424e-01 0.00000000e+00 5.10987879e+02] [-2.91669424e-01 9.56519183e-01 0.00000000e+00 -1.35200501e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83772751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.02, Y:-135.20, Z:0.04 [[ 9.56334020e-01 2.92275968e-01 0.00000000e+00 5.11019666e+02] [-2.92275968e-01 9.56334020e-01 0.00000000e+00 -1.35204974e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79679960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.05, Y:-135.21, Z:0.04 [[ 9.56252293e-01 2.92543249e-01 0.00000000e+00 5.11052505e+02] [-2.92543249e-01 9.56252293e-01 0.00000000e+00 -1.35210267e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83413849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.09, Y:-135.22, Z:0.04 [[ 9.56283007e-01 2.92442832e-01 0.00000000e+00 5.11085028e+02] [-2.92442832e-01 9.56283007e-01 0.00000000e+00 -1.35216740e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.98522466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.12, Y:-135.22, Z:0.04 [[ 9.56767496e-01 2.90853843e-01 0.00000000e+00 5.11116445e+02] [-2.90853843e-01 9.56767496e-01 0.00000000e+00 -1.35221349e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.03795767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.15, Y:-135.23, Z:0.04 [[ 9.57090140e-01 2.89790380e-01 0.00000000e+00 5.11148033e+02] [-2.89790380e-01 9.57090140e-01 0.00000000e+00 -1.35226581e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.03642651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.18, Y:-135.23, Z:0.04 [[ 9.57377996e-01 2.88837969e-01 0.00000000e+00 5.11180496e+02] [-2.88837969e-01 9.57377996e-01 0.00000000e+00 -1.35232285e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02418788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.21, Y:-135.24, Z:0.04 [[ 9.57325891e-01 2.89010620e-01 0.00000000e+00 5.11213143e+02] [-2.89010620e-01 9.57325891e-01 0.00000000e+00 -1.35239708e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02418788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.24, Y:-135.25, Z:0.04 [[ 9.57658405e-01 2.87906894e-01 0.00000000e+00 5.11244422e+02] [-2.87906894e-01 9.57658405e-01 0.00000000e+00 -1.35246260e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95578415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.28, Y:-135.25, Z:0.04 [[ 9.57623191e-01 2.88024000e-01 0.00000000e+00 5.11276279e+02] [-2.88024000e-01 9.57623191e-01 0.00000000e+00 -1.35253294e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90546956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.31, Y:-135.26, Z:0.04 [[ 9.57542340e-01 2.88292677e-01 0.00000000e+00 5.11307443e+02] [-2.88292677e-01 9.57542340e-01 0.00000000e+00 -1.35258531e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89474665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.34, Y:-135.26, Z:0.04 [[ 9.57306878e-01 2.89073591e-01 0.00000000e+00 5.11340426e+02] [-2.89073591e-01 9.57306878e-01 0.00000000e+00 -1.35263087e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97522238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.37, Y:-135.27, Z:0.04 [[ 9.57143504e-01 2.89614076e-01 0.00000000e+00 5.11372489e+02] [-2.89614076e-01 9.57143504e-01 0.00000000e+00 -1.35267351e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.00276845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.41, Y:-135.27, Z:0.04 [[ 9.56990780e-01 2.90118331e-01 0.00000000e+00 5.11405569e+02] [-2.90118331e-01 9.56990780e-01 0.00000000e+00 -1.35271078e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.98367384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.44, Y:-135.28, Z:0.04 [[ 9.57005002e-01 2.90071417e-01 0.00000000e+00 5.11438007e+02] [-2.90071417e-01 9.57005002e-01 0.00000000e+00 -1.35276133e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88045551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.47, Y:-135.28, Z:0.04 [[ 9.57076312e-01 2.89836047e-01 0.00000000e+00 5.11469767e+02] [-2.89836047e-01 9.57076312e-01 0.00000000e+00 -1.35280560e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61938034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.50, Y:-135.29, Z:0.04 [[ 9.57215232e-01 2.89376916e-01 0.00000000e+00 5.11502831e+02] [-2.89376916e-01 9.57215232e-01 0.00000000e+00 -1.35285344e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63966356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.53, Y:-135.29, Z:0.04 [[ 9.57431186e-01 2.88661608e-01 0.00000000e+00 5.11534316e+02] [-2.88661608e-01 9.57431186e-01 0.00000000e+00 -1.35289920e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60042653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.57, Y:-135.29, Z:0.04 [[ 9.57595773e-01 2.88115142e-01 0.00000000e+00 5.11566437e+02] [-2.88115142e-01 9.57595773e-01 0.00000000e+00 -1.35294940e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69010833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.60, Y:-135.30, Z:0.04 [[ 9.57755517e-01 2.87583674e-01 0.00000000e+00 5.11599497e+02] [-2.87583674e-01 9.57755517e-01 0.00000000e+00 -1.35299948e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84136480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.63, Y:-135.30, Z:0.04 [[ 9.57984155e-01 2.86821125e-01 0.00000000e+00 5.11630966e+02] [-2.86821125e-01 9.57984155e-01 0.00000000e+00 -1.35304359e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87017084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.66, Y:-135.31, Z:0.04 [[ 9.58189273e-01 2.86135136e-01 0.00000000e+00 5.11661976e+02] [-2.86135136e-01 9.58189273e-01 0.00000000e+00 -1.35308241e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82081202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.69, Y:-135.31, Z:0.04 [[ 9.58609148e-01 2.84725307e-01 0.00000000e+00 5.11692942e+02] [-2.84725307e-01 9.58609148e-01 0.00000000e+00 -1.35309635e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02690891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.72, Y:-135.31, Z:0.04 [[ 9.58667996e-01 2.84527106e-01 0.00000000e+00 5.11724639e+02] [-2.84527106e-01 9.58667996e-01 0.00000000e+00 -1.35314626e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06118870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.75, Y:-135.32, Z:0.04 [[ 9.58738051e-01 2.84290960e-01 0.00000000e+00 5.11754369e+02] [-2.84290960e-01 9.58738051e-01 0.00000000e+00 -1.35319474e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.94975690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.79, Y:-135.32, Z:0.04 [[ 9.58813570e-01 2.84036157e-01 0.00000000e+00 5.11785608e+02] [-2.84036157e-01 9.58813570e-01 0.00000000e+00 -1.35324810e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82328086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.82, Y:-135.33, Z:0.04 [[ 9.58975361e-01 2.83489430e-01 0.00000000e+00 5.11815684e+02] [-2.83489430e-01 9.58975361e-01 0.00000000e+00 -1.35330029e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66159241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.85, Y:-135.34, Z:0.04 [[ 9.59140072e-01 2.82931658e-01 0.00000000e+00 5.11845583e+02] [-2.82931658e-01 9.59140072e-01 0.00000000e+00 -1.35335118e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57710044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.88, Y:-135.34, Z:0.04 [[ 9.59237885e-01 2.82599860e-01 0.00000000e+00 5.11875334e+02] [-2.82599860e-01 9.59237885e-01 0.00000000e+00 -1.35339848e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63588494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.91, Y:-135.34, Z:0.04 [[ 9.59273348e-01 2.82479458e-01 0.00000000e+00 5.11905038e+02] [-2.82479458e-01 9.59273348e-01 0.00000000e+00 -1.35344375e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66147648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.93, Y:-135.35, Z:0.04 [[ 9.58867859e-01 2.83852829e-01 0.00000000e+00 5.11934455e+02] [-2.83852829e-01 9.58867859e-01 0.00000000e+00 -1.35348310e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74563340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.96, Y:-135.35, Z:0.04 [[ 9.58614102e-01 2.84708627e-01 0.00000000e+00 5.11963250e+02] [-2.84708627e-01 9.58614102e-01 0.00000000e+00 -1.35353313e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79049405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.99, Y:-135.36, Z:0.04 [[ 9.58262064e-01 2.85891266e-01 0.00000000e+00 5.11992242e+02] [-2.85891266e-01 9.58262064e-01 0.00000000e+00 -1.35357375e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86380908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.02, Y:-135.36, Z:0.04 [[ 9.57833813e-01 2.87322792e-01 0.00000000e+00 5.12021629e+02] [-2.87322792e-01 9.57833813e-01 0.00000000e+00 -1.35360329e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.92463549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.05, Y:-135.36, Z:0.04 [[ 9.57324593e-01 2.89014920e-01 0.00000000e+00 5.12049258e+02] [-2.89014920e-01 9.57324593e-01 0.00000000e+00 -1.35362778e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93971378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.08, Y:-135.36, Z:0.04 [[ 9.56529381e-01 2.91635976e-01 0.00000000e+00 5.12078315e+02] [-2.91635976e-01 9.56529381e-01 0.00000000e+00 -1.35363461e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90437104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.11, Y:-135.37, Z:0.04 [[ 9.56281250e-01 2.92448579e-01 0.00000000e+00 5.12105804e+02] [-2.92448579e-01 9.56281250e-01 0.00000000e+00 -1.35367707e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.94496787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.13, Y:-135.37, Z:0.04 [[ 9.56142301e-01 2.92902546e-01 0.00000000e+00 5.12134671e+02] [-2.92902546e-01 9.56142301e-01 0.00000000e+00 -1.35371808e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.09851442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.16, Y:-135.38, Z:0.04 [[ 9.56077764e-01 2.93113134e-01 0.00000000e+00 5.12162669e+02] [-2.93113134e-01 9.56077764e-01 0.00000000e+00 -1.35375590e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.30818941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.2114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.19, Y:-135.38, Z:0.05 [[ 9.56021099e-01 2.93297900e-01 0.00000000e+00 5.12191020e+02] [-2.93297900e-01 9.56021099e-01 0.00000000e+00 -1.35379293e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.51167906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.22, Y:-135.38, Z:0.05 [[ 9.55931651e-01 2.93589302e-01 0.00000000e+00 5.12219105e+02] [-2.93589302e-01 9.55931651e-01 0.00000000e+00 -1.35383112e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.51191480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.271400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:512.25, Y:-135.39, Z:0.04 [[ 9.55814845e-01 2.93969356e-01 0.00000000e+00 5.12247463e+02] [-2.93969356e-01 9.55814845e-01 0.00000000e+00 -1.35387161e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.35481403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.28, Y:-135.39, Z:0.04 [[ 9.55654725e-01 2.94489467e-01 0.00000000e+00 5.12276185e+02] [-2.94489467e-01 9.55654725e-01 0.00000000e+00 -1.35390871e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24264053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.30, Y:-135.40, Z:0.04 [[ 9.55668268e-01 2.94445516e-01 0.00000000e+00 5.12304820e+02] [-2.94445516e-01 9.55668268e-01 0.00000000e+00 -1.35397239e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24264053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.33, Y:-135.40, Z:0.04 [[ 9.55271811e-01 2.95729214e-01 0.00000000e+00 5.12333138e+02] [-2.95729214e-01 9.55271811e-01 0.00000000e+00 -1.35397898e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01018703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.36, Y:-135.40, Z:0.04 [[ 9.54980757e-01 2.96667751e-01 0.00000000e+00 5.12360939e+02] [-2.96667751e-01 9.54980757e-01 0.00000000e+00 -1.35401956e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93303492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.39, Y:-135.41, Z:0.04 [[ 9.54687326e-01 2.97610668e-01 0.00000000e+00 5.12388728e+02] [-2.97610668e-01 9.54687326e-01 0.00000000e+00 -1.35406233e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88290771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.42, Y:-135.41, Z:0.04 [[ 9.54370050e-01 2.98626536e-01 0.00000000e+00 5.12415897e+02] [-2.98626536e-01 9.54370050e-01 0.00000000e+00 -1.35410835e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96535368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.44, Y:-135.42, Z:0.04 [[ 9.54199451e-01 2.99171200e-01 0.00000000e+00 5.12443268e+02] [-2.99171200e-01 9.54199451e-01 0.00000000e+00 -1.35415339e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01361347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.47, Y:-135.42, Z:0.04 [[ 9.54191669e-01 2.99196022e-01 0.00000000e+00 5.12471682e+02] [-2.99196022e-01 9.54191669e-01 0.00000000e+00 -1.35420162e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.13853186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.50, Y:-135.43, Z:0.04 [[ 9.54163685e-01 2.99285253e-01 0.00000000e+00 5.12499662e+02] [-2.99285253e-01 9.54163685e-01 0.00000000e+00 -1.35425082e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15437450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.53, Y:-135.43, Z:0.04 [[ 9.54219590e-01 2.99106962e-01 0.00000000e+00 5.12526923e+02] [-2.99106962e-01 9.54219590e-01 0.00000000e+00 -1.35428062e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11180724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.55, Y:-135.43, Z:0.04 [[ 9.54376304e-01 2.98606548e-01 0.00000000e+00 5.12554753e+02] [-2.98606548e-01 9.54376304e-01 0.00000000e+00 -1.35432434e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97314970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.58, Y:-135.44, Z:0.04 [[ 9.54556369e-01 2.98030431e-01 0.00000000e+00 5.12583043e+02] [-2.98030431e-01 9.54556369e-01 0.00000000e+00 -1.35437364e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79233033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.61, Y:-135.44, Z:0.04 [[ 9.54776394e-01 2.97324802e-01 0.00000000e+00 5.12611328e+02] [-2.97324802e-01 9.54776394e-01 0.00000000e+00 -1.35442893e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60793119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.691400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:512.64, Y:-135.45, Z:0.04 [[ 9.54952137e-01 2.96759864e-01 0.00000000e+00 5.12639641e+02] [-2.96759864e-01 9.54952137e-01 0.00000000e+00 -1.35449218e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52768942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.67, Y:-135.46, Z:0.04 [[ 9.55126521e-01 2.96198126e-01 0.00000000e+00 5.12667253e+02] [-2.96198126e-01 9.55126521e-01 0.00000000e+00 -1.35455694e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70115731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.69, Y:-135.46, Z:0.04 [[ 9.55351335e-01 2.95472209e-01 0.00000000e+00 5.12694115e+02] [-2.95472209e-01 9.55351335e-01 0.00000000e+00 -1.35461817e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80264558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.781400513 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:512.72, Y:-135.47, Z:0.04 [[ 9.55774292e-01 2.94101179e-01 0.00000000e+00 5.12722894e+02] [-2.94101179e-01 9.55774292e-01 0.00000000e+00 -1.35467380e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.17402799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.75, Y:-135.47, Z:0.04 [[ 9.55947896e-01 2.93536402e-01 0.00000000e+00 5.12751111e+02] [-2.93536402e-01 9.55947896e-01 0.00000000e+00 -1.35473293e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.26166174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.78, Y:-135.48, Z:0.04 [[ 9.56246615e-01 2.92561808e-01 0.00000000e+00 5.12778545e+02] [-2.92561808e-01 9.56246615e-01 0.00000000e+00 -1.35479625e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27149708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.81, Y:-135.49, Z:0.04 [[ 9.56605760e-01 2.91385345e-01 0.00000000e+00 5.12805756e+02] [-2.91385345e-01 9.56605760e-01 0.00000000e+00 -1.35486354e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27408061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.83, Y:-135.49, Z:0.04 [[ 9.57075966e-01 2.89837186e-01 0.00000000e+00 5.12833451e+02] [-2.89837186e-01 9.57075966e-01 0.00000000e+00 -1.35492905e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24744770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.86, Y:-135.50, Z:0.04 [[ 9.57613162e-01 2.88057343e-01 0.00000000e+00 5.12860514e+02] [-2.88057343e-01 9.57613162e-01 0.00000000e+00 -1.35498869e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27330876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.89, Y:-135.50, Z:0.04 [[ 9.58566918e-01 2.84867448e-01 0.00000000e+00 5.12886783e+02] [-2.84867448e-01 9.58566918e-01 0.00000000e+00 -1.35504174e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28795359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.91, Y:-135.51, Z:0.04 [[ 9.58962718e-01 2.83532194e-01 0.00000000e+00 5.12913121e+02] [-2.83532194e-01 9.58962718e-01 0.00000000e+00 -1.35510270e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.30764850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.94, Y:-135.52, Z:0.04 [[ 9.59192257e-01 2.82754688e-01 0.00000000e+00 5.12939001e+02] [-2.82754688e-01 9.59192257e-01 0.00000000e+00 -1.35515991e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.44650547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.97, Y:-135.52, Z:0.05 [[ 9.59292430e-01 2.82414647e-01 0.00000000e+00 5.12966698e+02] [-2.82414647e-01 9.59292430e-01 0.00000000e+00 -1.35521765e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.52928247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.99, Y:-135.53, Z:0.05 [[ 9.59338315e-01 2.82258742e-01 0.00000000e+00 5.12993833e+02] [-2.82258742e-01 9.59338315e-01 0.00000000e+00 -1.35527710e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.51237246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.02, Y:-135.53, Z:0.04 [[ 9.59317285e-01 2.82330208e-01 0.00000000e+00 5.13021169e+02] [-2.82330208e-01 9.59317285e-01 0.00000000e+00 -1.35534338e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.35403285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.05, Y:-135.54, Z:0.04 [[ 9.59257893e-01 2.82531936e-01 0.00000000e+00 5.13048252e+02] [-2.82531936e-01 9.59257893e-01 0.00000000e+00 -1.35540897e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11090760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.08, Y:-135.55, Z:0.04 [[ 9.59134100e-01 2.82951902e-01 0.00000000e+00 5.13076482e+02] [-2.82951902e-01 9.59134100e-01 0.00000000e+00 -1.35547388e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96193166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.10, Y:-135.55, Z:0.04 [[ 9.58753615e-01 2.84238466e-01 0.00000000e+00 5.13104892e+02] [-2.84238466e-01 9.58753615e-01 0.00000000e+00 -1.35552301e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68094952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.13, Y:-135.56, Z:0.03 [[ 9.58622927e-01 2.84678915e-01 0.00000000e+00 5.13131597e+02] [-2.84678915e-01 9.58622927e-01 0.00000000e+00 -1.35558711e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43853982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.16, Y:-135.57, Z:0.03 [[ 9.58637553e-01 2.84629656e-01 0.00000000e+00 5.13159086e+02] [-2.84629656e-01 9.58637553e-01 0.00000000e+00 -1.35566565e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37470256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.19, Y:-135.57, Z:0.03 [[ 9.58665140e-01 2.84536726e-01 0.00000000e+00 5.13186216e+02] [-2.84536726e-01 9.58665140e-01 0.00000000e+00 -1.35574703e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34241554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.21, Y:-135.58, Z:0.04 [[ 9.58797665e-01 2.84089841e-01 0.00000000e+00 5.13212699e+02] [-2.84089841e-01 9.58797665e-01 0.00000000e+00 -1.35582071e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57173872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.24, Y:-135.59, Z:0.04 [[ 9.58836968e-01 2.83957161e-01 0.00000000e+00 5.13240675e+02] [-2.83957161e-01 9.58836968e-01 0.00000000e+00 -1.35588928e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.85710071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.27, Y:-135.60, Z:0.04 [[ 9.58567473e-01 2.84865581e-01 0.00000000e+00 5.13268091e+02] [-2.84865581e-01 9.58567473e-01 0.00000000e+00 -1.35596256e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.05902609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.29, Y:-135.60, Z:0.04 [[ 9.58354475e-01 2.85581339e-01 0.00000000e+00 5.13294510e+02] [-2.85581339e-01 9.58354475e-01 0.00000000e+00 -1.35603164e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.98025346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.32, Y:-135.61, Z:0.04 [[ 9.58057427e-01 2.86576285e-01 0.00000000e+00 5.13321722e+02] [-2.86576285e-01 9.58057427e-01 0.00000000e+00 -1.35609656e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90581968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.35, Y:-135.62, Z:0.04 [[ 9.57632126e-01 2.87994291e-01 0.00000000e+00 5.13348988e+02] [-2.87994291e-01 9.57632126e-01 0.00000000e+00 -1.35615753e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82696160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.38, Y:-135.62, Z:0.04 [[ 9.57156392e-01 2.89571478e-01 0.00000000e+00 5.13375479e+02] [-2.89571478e-01 9.57156392e-01 0.00000000e+00 -1.35621161e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78290429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.40, Y:-135.63, Z:0.04 [[ 9.56745027e-01 2.90927745e-01 0.00000000e+00 5.13402639e+02] [-2.90927745e-01 9.56745027e-01 0.00000000e+00 -1.35626762e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80487273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.43, Y:-135.63, Z:0.04 [[ 9.56419335e-01 2.91996671e-01 0.00000000e+00 5.13429549e+02] [-2.91996671e-01 9.56419335e-01 0.00000000e+00 -1.35633104e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96091496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.46, Y:-135.64, Z:0.04 [[ 9.56492789e-01 2.91755968e-01 0.00000000e+00 5.13456654e+02] [-2.91755968e-01 9.56492789e-01 0.00000000e+00 -1.35639522e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04697889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.48, Y:-135.65, Z:0.04 [[ 9.56626572e-01 2.91317012e-01 0.00000000e+00 5.13483261e+02] [-2.91317012e-01 9.56626572e-01 0.00000000e+00 -1.35645959e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02925984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.51, Y:-135.65, Z:0.04 [[ 9.56613620e-01 2.91359541e-01 0.00000000e+00 5.13511633e+02] [-2.91359541e-01 9.56613620e-01 0.00000000e+00 -1.35652943e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12099045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.54, Y:-135.66, Z:0.04 [[ 9.56455952e-01 2.91876707e-01 0.00000000e+00 5.13538980e+02] [-2.91876707e-01 9.56455952e-01 0.00000000e+00 -1.35659315e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15155965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.7114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.57, Y:-135.67, Z:0.04 [[ 9.56132237e-01 2.92935396e-01 0.00000000e+00 5.13567134e+02] [-2.92935396e-01 9.56132237e-01 0.00000000e+00 -1.35665876e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28514197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.59, Y:-135.67, Z:0.04 [[ 9.55327371e-01 2.95549682e-01 0.00000000e+00 5.13593420e+02] [-2.95549682e-01 9.55327371e-01 0.00000000e+00 -1.35671605e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.34361824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.62, Y:-135.68, Z:0.04 [[ 9.54802122e-01 2.97242171e-01 0.00000000e+00 5.13621344e+02] [-2.97242171e-01 9.54802122e-01 0.00000000e+00 -1.35676493e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36975258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.65, Y:-135.68, Z:0.04 [[ 9.54162864e-01 2.99287869e-01 0.00000000e+00 5.13649066e+02] [-2.99287869e-01 9.54162864e-01 0.00000000e+00 -1.35681411e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.31530175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.68, Y:-135.69, Z:0.04 [[ 9.53521312e-01 3.01325585e-01 0.00000000e+00 5.13676690e+02] [-3.01325585e-01 9.53521312e-01 0.00000000e+00 -1.35686934e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.31080833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.70, Y:-135.69, Z:0.04 [[ 9.52969689e-01 3.03065622e-01 0.00000000e+00 5.13702727e+02] [-3.03065622e-01 9.52969689e-01 0.00000000e+00 -1.35692768e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.26746033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.73, Y:-135.70, Z:0.04 [[ 9.52507644e-01 3.04514677e-01 0.00000000e+00 5.13730045e+02] [-3.04514677e-01 9.52507644e-01 0.00000000e+00 -1.35698498e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.25525307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.76, Y:-135.70, Z:0.04 [[ 9.51781698e-01 3.06776139e-01 0.00000000e+00 5.13758623e+02] [-3.06776139e-01 9.51781698e-01 0.00000000e+00 -1.35700995e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28813899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.79, Y:-135.70, Z:0.04 [[ 9.51636051e-01 3.07227647e-01 0.00000000e+00 5.13785568e+02] [-3.07227647e-01 9.51636051e-01 0.00000000e+00 -1.35704182e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.13497961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.981400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:513.81, Y:-135.71, Z:0.04 [[ 9.51685619e-01 3.07074066e-01 0.00000000e+00 5.13813667e+02] [-3.07074066e-01 9.51685619e-01 0.00000000e+00 -1.35707500e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.98741903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.84, Y:-135.71, Z:0.04 [[ 9.51722933e-01 3.06958398e-01 0.00000000e+00 5.13841356e+02] [-3.06958398e-01 9.51722933e-01 0.00000000e+00 -1.35711246e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93806376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.87, Y:-135.71, Z:0.04 [[ 9.51928085e-01 3.06321599e-01 0.00000000e+00 5.13868617e+02] [-3.06321599e-01 9.51928085e-01 0.00000000e+00 -1.35714983e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.94544485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.90, Y:-135.72, Z:0.04 [[ 9.52867278e-01 3.03387458e-01 0.00000000e+00 5.13896168e+02] [-3.03387458e-01 9.52867278e-01 0.00000000e+00 -1.35718049e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93618522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.92, Y:-135.72, Z:0.04 [[ 9.52887552e-01 3.03323775e-01 0.00000000e+00 5.13924021e+02] [-3.03323775e-01 9.52887552e-01 0.00000000e+00 -1.35724093e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93618522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.95, Y:-135.73, Z:0.04 [[ 9.53472328e-01 3.01480545e-01 0.00000000e+00 5.13951616e+02] [-3.01480545e-01 9.53472328e-01 0.00000000e+00 -1.35729033e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87359586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.98, Y:-135.73, Z:0.04 [[ 9.53896469e-01 3.00135845e-01 0.00000000e+00 5.13979194e+02] [-3.00135845e-01 9.53896469e-01 0.00000000e+00 -1.35732186e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87358005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.01, Y:-135.74, Z:0.04 [[ 9.53630176e-01 3.00980875e-01 0.00000000e+00 5.14005705e+02] [-3.00980875e-01 9.53630176e-01 0.00000000e+00 -1.35736017e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90137541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.03, Y:-135.74, Z:0.04 [[ 9.53219507e-01 3.02278962e-01 0.00000000e+00 5.14033297e+02] [-3.02278962e-01 9.53219507e-01 0.00000000e+00 -1.35739666e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91466392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.06, Y:-135.75, Z:0.04 [[ 9.53239946e-01 3.02214501e-01 0.00000000e+00 5.14061150e+02] [-3.02214501e-01 9.53239946e-01 0.00000000e+00 -1.35745701e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91466392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.09, Y:-135.75, Z:0.04 [[ 9.52761339e-01 3.03719987e-01 0.00000000e+00 5.14088258e+02] [-3.03719987e-01 9.52761339e-01 0.00000000e+00 -1.35748973e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84578159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.12, Y:-135.75, Z:0.04 [[ 9.52241840e-01 3.05344850e-01 0.00000000e+00 5.14117247e+02] [-3.05344850e-01 9.52241840e-01 0.00000000e+00 -1.35752693e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75684304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.15, Y:-135.76, Z:0.04 [[ 9.51907480e-01 3.06385624e-01 0.00000000e+00 5.14145635e+02] [-3.06385624e-01 9.51907480e-01 0.00000000e+00 -1.35756207e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67801291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.17, Y:-135.76, Z:0.04 [[ 9.52030309e-01 3.06003743e-01 0.00000000e+00 5.14174231e+02] [-3.06003743e-01 9.52030309e-01 0.00000000e+00 -1.35757310e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83881169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.20, Y:-135.76, Z:0.04 [[ 9.52464065e-01 3.04650954e-01 0.00000000e+00 5.14203330e+02] [-3.04650954e-01 9.52464065e-01 0.00000000e+00 -1.35761227e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08148459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.431400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:514.23, Y:-135.77, Z:0.04 [[ 9.53049352e-01 3.02815014e-01 0.00000000e+00 5.14232394e+02] [-3.02815014e-01 9.53049352e-01 0.00000000e+00 -1.35765466e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15741458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.26, Y:-135.77, Z:0.04 [[ 9.53573805e-01 3.01159424e-01 0.00000000e+00 5.14260463e+02] [-3.01159424e-01 9.53573805e-01 0.00000000e+00 -1.35770033e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15214902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.29, Y:-135.77, Z:0.04 [[ 9.54173084e-01 2.99255286e-01 0.00000000e+00 5.14287255e+02] [-2.99255286e-01 9.54173084e-01 0.00000000e+00 -1.35773951e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93674435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.32, Y:-135.78, Z:0.04 [[ 9.54867168e-01 2.97033149e-01 0.00000000e+00 5.14315341e+02] [-2.97033149e-01 9.54867168e-01 0.00000000e+00 -1.35777566e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72741357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.34, Y:-135.78, Z:0.04 [[ 9.56240757e-01 2.92580955e-01 0.00000000e+00 5.14344398e+02] [-2.92580955e-01 9.56240757e-01 0.00000000e+00 -1.35779317e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.92010662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.37, Y:-135.78, Z:0.04 [[ 9.56863449e-01 2.90538019e-01 0.00000000e+00 5.14372072e+02] [-2.90538019e-01 9.56863449e-01 0.00000000e+00 -1.35784800e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15193872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.40, Y:-135.79, Z:0.04 [[ 9.57389577e-01 2.88799580e-01 0.00000000e+00 5.14399644e+02] [-2.88799580e-01 9.57389577e-01 0.00000000e+00 -1.35791408e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.30728958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.43, Y:-135.80, Z:0.04 [[ 9.57704432e-01 2.87753751e-01 0.00000000e+00 5.14425491e+02] [-2.87753751e-01 9.57704432e-01 0.00000000e+00 -1.35797504e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.32211818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.45, Y:-135.80, Z:0.04 [[ 9.57790974e-01 2.87465564e-01 0.00000000e+00 5.14453054e+02] [-2.87465564e-01 9.57790974e-01 0.00000000e+00 -1.35803246e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27476886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.48, Y:-135.81, Z:0.04 [[ 9.57771157e-01 2.87531582e-01 0.00000000e+00 5.14479873e+02] [-2.87531582e-01 9.57771157e-01 0.00000000e+00 -1.35807813e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.21350925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.51, Y:-135.81, Z:0.04 [[ 9.57561006e-01 2.88230671e-01 0.00000000e+00 5.14508015e+02] [-2.88230671e-01 9.57561006e-01 0.00000000e+00 -1.35812497e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.21071913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.54, Y:-135.82, Z:0.04 [[ 9.56855745e-01 2.90563391e-01 0.00000000e+00 5.14536733e+02] [-2.90563391e-01 9.56855745e-01 0.00000000e+00 -1.35817521e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.29656918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.56, Y:-135.82, Z:0.04 [[ 9.56577431e-01 2.91478333e-01 0.00000000e+00 5.14564397e+02] [-2.91478333e-01 9.56577431e-01 0.00000000e+00 -1.35822967e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.34581712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.59, Y:-135.83, Z:0.04 [[ 9.56375419e-01 2.92140477e-01 0.00000000e+00 5.14591210e+02] [-2.92140477e-01 9.56375419e-01 0.00000000e+00 -1.35827792e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27267724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.62, Y:-135.83, Z:0.04 [[ 9.56240297e-01 2.92582457e-01 0.00000000e+00 5.14618543e+02] [-2.92582457e-01 9.56240297e-01 0.00000000e+00 -1.35832721e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.16687276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.65, Y:-135.84, Z:0.04 [[ 9.56113361e-01 2.92996998e-01 0.00000000e+00 5.14645815e+02] [-2.92996998e-01 9.56113361e-01 0.00000000e+00 -1.35838221e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.07756559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.67, Y:-135.84, Z:0.04 [[ 9.56098330e-01 2.93046044e-01 0.00000000e+00 5.14672252e+02] [-2.93046044e-01 9.56098330e-01 0.00000000e+00 -1.35844380e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06888553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.70, Y:-135.85, Z:0.04 [[ 9.56149629e-01 2.92878620e-01 0.00000000e+00 5.14699103e+02] [-2.92878620e-01 9.56149629e-01 0.00000000e+00 -1.35851653e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.32684164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.73, Y:-135.86, Z:0.05 [[ 9.56024048e-01 2.93288287e-01 0.00000000e+00 5.14726134e+02] [-2.93288287e-01 9.56024048e-01 0.00000000e+00 -1.35858774e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.52557700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.001400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:514.75, Y:-135.87, Z:0.05 [[ 9.55928235e-01 2.93600426e-01 0.00000000e+00 5.14751732e+02] [-2.93600426e-01 9.55928235e-01 0.00000000e+00 -1.35866146e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.64725115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.78, Y:-135.87, Z:0.05 [[ 9.55904409e-01 2.93677988e-01 0.00000000e+00 5.14778842e+02] [-2.93677988e-01 9.55904409e-01 0.00000000e+00 -1.35874821e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.70980733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.81, Y:-135.89, Z:0.05 [[ 9.56298296e-01 2.92392835e-01 0.00000000e+00 5.14805367e+02] [-2.92392835e-01 9.56298296e-01 0.00000000e+00 -1.35886210e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.50624860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.091400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:514.83, Y:-135.89, Z:0.04 [[ 9.56570790e-01 2.91500126e-01 0.00000000e+00 5.14831125e+02] [-2.91500126e-01 9.56570790e-01 0.00000000e+00 -1.35894198e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36092134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.86, Y:-135.90, Z:0.04 [[ 9.56855274e-01 2.90564941e-01 0.00000000e+00 5.14858095e+02] [-2.90564941e-01 9.56855274e-01 0.00000000e+00 -1.35902322e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.33140072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.88, Y:-135.91, Z:0.04 [[ 9.57126331e-01 2.89670824e-01 0.00000000e+00 5.14884872e+02] [-2.89670824e-01 9.57126331e-01 0.00000000e+00 -1.35911229e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24545889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.91, Y:-135.92, Z:0.04 [[ 9.57360072e-01 2.88897373e-01 0.00000000e+00 5.14910259e+02] [-2.88897373e-01 9.57360072e-01 0.00000000e+00 -1.35920753e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11833150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.2114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.94, Y:-135.93, Z:0.04 [[ 9.57467484e-01 2.88541189e-01 0.00000000e+00 5.14936501e+02] [-2.88541189e-01 9.57467484e-01 0.00000000e+00 -1.35930642e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15728978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.241400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:514.96, Y:-135.94, Z:0.04 [[ 9.57328472e-01 2.89002071e-01 0.00000000e+00 5.14961250e+02] [-2.89002071e-01 9.57328472e-01 0.00000000e+00 -1.35942416e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.20952357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.99, Y:-135.95, Z:0.04 [[ 9.57055726e-01 2.89904014e-01 0.00000000e+00 5.14986719e+02] [-2.89904014e-01 9.57055726e-01 0.00000000e+00 -1.35950620e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.19785187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.01, Y:-135.96, Z:0.04 [[ 9.56644575e-01 2.91257887e-01 0.00000000e+00 5.15013800e+02] [-2.91257887e-01 9.56644575e-01 0.00000000e+00 -1.35958760e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12454470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.04, Y:-135.97, Z:0.04 [[ 9.56074741e-01 2.93122995e-01 0.00000000e+00 5.15039834e+02] [-2.93122995e-01 9.56074741e-01 0.00000000e+00 -1.35966587e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.98603976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.361400513 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:515.07, Y:-135.97, Z:0.04 [[ 9.55492493e-01 2.95015416e-01 0.00000000e+00 5.15068195e+02] [-2.95015416e-01 9.55492493e-01 0.00000000e+00 -1.35974227e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84379717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.09, Y:-135.98, Z:0.04 [[ 9.54243928e-01 2.99029308e-01 0.00000000e+00 5.15094710e+02] [-2.99029308e-01 9.54243928e-01 0.00000000e+00 -1.35981082e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74104933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.12, Y:-135.99, Z:0.04 [[ 9.53843095e-01 3.00305427e-01 0.00000000e+00 5.15123161e+02] [-3.00305427e-01 9.53843095e-01 0.00000000e+00 -1.35986296e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88303174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.15, Y:-135.99, Z:0.04 [[ 9.53697190e-01 3.00768467e-01 0.00000000e+00 5.15151139e+02] [-3.00768467e-01 9.53697190e-01 0.00000000e+00 -1.35990421e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.98388313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.18, Y:-135.99, Z:0.04 [[ 9.53661061e-01 3.00883001e-01 0.00000000e+00 5.15178700e+02] [-3.00883001e-01 9.53661061e-01 0.00000000e+00 -1.35994418e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.05083225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.21, Y:-136.00, Z:0.04 [[ 9.53793723e-01 3.00462202e-01 0.00000000e+00 5.15205430e+02] [-3.00462202e-01 9.53793723e-01 0.00000000e+00 -1.35998424e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01398076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.23, Y:-136.00, Z:0.04 [[ 9.54150232e-01 2.99328139e-01 0.00000000e+00 5.15232728e+02] [-2.99328139e-01 9.54150232e-01 0.00000000e+00 -1.36002856e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.00962639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.26, Y:-136.01, Z:0.04 [[ 9.55482956e-01 2.95046304e-01 0.00000000e+00 5.15261630e+02] [-2.95046304e-01 9.55482956e-01 0.00000000e+00 -1.36007022e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.85275067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.29, Y:-136.01, Z:0.04 [[ 9.56541971e-01 2.91594680e-01 0.00000000e+00 5.15288440e+02] [-2.91594680e-01 9.56541971e-01 0.00000000e+00 -1.36011953e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80720922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.32, Y:-136.02, Z:0.04 [[ 9.57611406e-01 2.88063180e-01 0.00000000e+00 5.15315859e+02] [-2.88063180e-01 9.57611406e-01 0.00000000e+00 -1.36017981e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.92906296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.34, Y:-136.02, Z:0.04 [[ 9.58657114e-01 2.84563769e-01 0.00000000e+00 5.15343094e+02] [-2.84563769e-01 9.58657114e-01 0.00000000e+00 -1.36024831e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97743750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.37, Y:-136.03, Z:0.04 [[ 9.59657208e-01 2.81172621e-01 0.00000000e+00 5.15370570e+02] [-2.81172621e-01 9.59657208e-01 0.00000000e+00 -1.36032166e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10071835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.40, Y:-136.04, Z:0.04 [[ 9.60484473e-01 2.78333570e-01 0.00000000e+00 5.15397265e+02] [-2.78333570e-01 9.60484473e-01 0.00000000e+00 -1.36039453e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14791401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.42, Y:-136.05, Z:0.04 [[ 9.61567219e-01 2.74569634e-01 0.00000000e+00 5.15423876e+02] [-2.74569634e-01 9.61567219e-01 0.00000000e+00 -1.36048766e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11195330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.45, Y:-136.06, Z:0.04 [[ 9.61794175e-01 2.73773566e-01 0.00000000e+00 5.15450233e+02] [-2.73773566e-01 9.61794175e-01 0.00000000e+00 -1.36056668e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.09400660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.48, Y:-136.06, Z:0.04 [[ 9.61757482e-01 2.73902437e-01 0.00000000e+00 5.15475707e+02] [-2.73902437e-01 9.61757482e-01 0.00000000e+00 -1.36064655e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04929317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.50, Y:-136.07, Z:0.04 [[ 9.61457901e-01 2.74952186e-01 0.00000000e+00 5.15502756e+02] [-2.74952186e-01 9.61457901e-01 0.00000000e+00 -1.36073375e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08948440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.53, Y:-136.08, Z:0.04 [[ 9.60986500e-01 2.76595275e-01 0.00000000e+00 5.15530044e+02] [-2.76595275e-01 9.60986500e-01 0.00000000e+00 -1.36081874e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10150817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.56, Y:-136.09, Z:0.04 [[ 9.60558068e-01 2.78079483e-01 0.00000000e+00 5.15556335e+02] [-2.78079483e-01 9.60558068e-01 0.00000000e+00 -1.36089738e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97241094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.58, Y:-136.10, Z:0.04 [[ 9.60160158e-01 2.79450301e-01 0.00000000e+00 5.15583079e+02] [-2.79450301e-01 9.60160158e-01 0.00000000e+00 -1.36097559e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88511272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.61, Y:-136.11, Z:0.04 [[ 9.59411013e-01 2.82011537e-01 0.00000000e+00 5.15609105e+02] [-2.82011537e-01 9.59411013e-01 0.00000000e+00 -1.36107330e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97218526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.64, Y:-136.11, Z:0.04 [[ 9.59160486e-01 2.82862444e-01 0.00000000e+00 5.15636315e+02] [-2.82862444e-01 9.59160486e-01 0.00000000e+00 -1.36114963e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11866199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.66, Y:-136.12, Z:0.04 [[ 9.58902018e-01 2.83737413e-01 0.00000000e+00 5.15663690e+02] [-2.83737413e-01 9.58902018e-01 0.00000000e+00 -1.36122155e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.19004201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.69, Y:-136.13, Z:0.04 [[ 9.58708751e-01 2.84389751e-01 0.00000000e+00 5.15692175e+02] [-2.84389751e-01 9.58708751e-01 0.00000000e+00 -1.36129210e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18336426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.72, Y:-136.14, Z:0.04 [[ 9.58637379e-01 2.84630245e-01 0.00000000e+00 5.15719622e+02] [-2.84630245e-01 9.58637379e-01 0.00000000e+00 -1.36136653e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12356462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.75, Y:-136.15, Z:0.04 [[ 9.58555368e-01 2.84906311e-01 0.00000000e+00 5.15746703e+02] [-2.84906311e-01 9.58555368e-01 0.00000000e+00 -1.36145075e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12696396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.78, Y:-136.15, Z:0.04 [[ 9.58568451e-01 2.84862292e-01 0.00000000e+00 5.15775390e+02] [-2.84862292e-01 9.58568451e-01 0.00000000e+00 -1.36151206e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12696396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.80, Y:-136.16, Z:0.04 [[ 9.58607619e-01 2.84730455e-01 0.00000000e+00 5.15801427e+02] [-2.84730455e-01 9.58607619e-01 0.00000000e+00 -1.36163285e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.09389477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.83, Y:-136.17, Z:0.04 [[ 9.58733146e-01 2.84307501e-01 0.00000000e+00 5.15829048e+02] [-2.84307501e-01 9.58733146e-01 0.00000000e+00 -1.36171920e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10697786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.86, Y:-136.18, Z:0.04 [[ 9.58746117e-01 2.84263755e-01 0.00000000e+00 5.15857737e+02] [-2.84263755e-01 9.58746117e-01 0.00000000e+00 -1.36178047e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10697786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.88, Y:-136.19, Z:0.04 [[ 9.58846803e-01 2.83923950e-01 0.00000000e+00 5.15883753e+02] [-2.83923950e-01 9.58846803e-01 0.00000000e+00 -1.36189307e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10660930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.91, Y:-136.20, Z:0.04 [[ 9.58616402e-01 2.84700885e-01 0.00000000e+00 5.15910678e+02] [-2.84700885e-01 9.58616402e-01 0.00000000e+00 -1.36199136e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14501594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.94, Y:-136.21, Z:0.04 [[ 9.58263515e-01 2.85886405e-01 0.00000000e+00 5.15939077e+02] [-2.85886405e-01 9.58263515e-01 0.00000000e+00 -1.36209274e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.16444891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.97, Y:-136.22, Z:0.04 [[ 9.57866306e-01 2.87214449e-01 0.00000000e+00 5.15966490e+02] [-2.87214449e-01 9.57866306e-01 0.00000000e+00 -1.36218582e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15453669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.99, Y:-136.23, Z:0.04 [[ 9.57412054e-01 2.88725058e-01 0.00000000e+00 5.15994728e+02] [-2.88725058e-01 9.57412054e-01 0.00000000e+00 -1.36227467e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.16968098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.02, Y:-136.24, Z:0.04 [[ 9.56942432e-01 2.90277767e-01 0.00000000e+00 5.16022643e+02] [-2.90277767e-01 9.56942432e-01 0.00000000e+00 -1.36236340e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14427396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.05, Y:-136.25, Z:0.04 [[ 9.56597644e-01 2.91411989e-01 0.00000000e+00 5.16052101e+02] [-2.91411989e-01 9.56597644e-01 0.00000000e+00 -1.36245987e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11977975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.08, Y:-136.26, Z:0.04 [[ 9.56349722e-01 2.92224586e-01 0.00000000e+00 5.16080469e+02] [-2.92224586e-01 9.56349722e-01 0.00000000e+00 -1.36256284e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.07402635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.11, Y:-136.27, Z:0.04 [[ 9.56217775e-01 2.92656054e-01 0.00000000e+00 5.16109496e+02] [-2.92656054e-01 9.56217775e-01 0.00000000e+00 -1.36267152e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.03890340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.531400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:516.14, Y:-136.28, Z:0.04 [[ 9.56164384e-01 2.92830448e-01 0.00000000e+00 5.16137253e+02] [-2.92830448e-01 9.56164384e-01 0.00000000e+00 -1.36281187e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95560151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.17, Y:-136.29, Z:0.04 [[ 9.55937102e-01 2.93571555e-01 0.00000000e+00 5.16166958e+02] [-2.93571555e-01 9.55937102e-01 0.00000000e+00 -1.36292303e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.92020505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.20, Y:-136.30, Z:0.04 [[ 9.55545755e-01 2.94842858e-01 0.00000000e+00 5.16198473e+02] [-2.94842858e-01 9.55545755e-01 0.00000000e+00 -1.36304076e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84766290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.23, Y:-136.31, Z:0.04 [[ 9.55107834e-01 2.96258376e-01 0.00000000e+00 5.16228935e+02] [-2.96258376e-01 9.55107834e-01 0.00000000e+00 -1.36314889e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67950390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.26, Y:-136.33, Z:0.04 [[ 9.54596794e-01 2.97900924e-01 0.00000000e+00 5.16260966e+02] [-2.97900924e-01 9.54596794e-01 0.00000000e+00 -1.36325009e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64793311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.29, Y:-136.33, Z:0.04 [[ 9.53418878e-01 3.01649538e-01 0.00000000e+00 5.16292578e+02] [-3.01649538e-01 9.53418878e-01 0.00000000e+00 -1.36334261e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68040631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.7114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.32, Y:-136.34, Z:0.04 [[ 9.52770642e-01 3.03690803e-01 0.00000000e+00 5.16323974e+02] [-3.03690803e-01 9.52770642e-01 0.00000000e+00 -1.36342102e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70763685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.36, Y:-136.35, Z:0.04 [[ 9.52206611e-01 3.05454693e-01 0.00000000e+00 5.16355569e+02] [-3.05454693e-01 9.52206611e-01 0.00000000e+00 -1.36350456e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80264770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.39, Y:-136.36, Z:0.04 [[ 9.51797215e-01 3.06727994e-01 0.00000000e+00 5.16386249e+02] [-3.06727994e-01 9.51797215e-01 0.00000000e+00 -1.36358111e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79525200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.42, Y:-136.36, Z:0.04 [[ 9.51835982e-01 3.06607672e-01 0.00000000e+00 5.16417690e+02] [-3.06607672e-01 9.51835982e-01 0.00000000e+00 -1.36364806e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76310237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.45, Y:-136.37, Z:0.04 [[ 9.52212773e-01 3.05435484e-01 0.00000000e+00 5.16450151e+02] [-3.05435484e-01 9.52212773e-01 0.00000000e+00 -1.36370896e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68586028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.48, Y:-136.38, Z:0.03 [[ 9.53714074e-01 3.00714923e-01 0.00000000e+00 5.16482160e+02] [-3.00714923e-01 9.53714074e-01 0.00000000e+00 -1.36376643e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45215602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.51, Y:-136.38, Z:0.03 [[ 9.54696768e-01 2.97580379e-01 0.00000000e+00 5.16513787e+02] [-2.97580379e-01 9.54696768e-01 0.00000000e+00 -1.36384554e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41783540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.54, Y:-136.39, Z:0.03 [[ 9.55712677e-01 2.94301340e-01 0.00000000e+00 5.16544456e+02] [-2.94301340e-01 9.55712677e-01 0.00000000e+00 -1.36392996e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48627161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.58, Y:-136.40, Z:0.04 [[ 9.56823476e-01 2.90669633e-01 0.00000000e+00 5.16576229e+02] [-2.90669633e-01 9.56823476e-01 0.00000000e+00 -1.36400921e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58360618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.61, Y:-136.41, Z:0.04 [[ 9.57961543e-01 2.86896639e-01 0.00000000e+00 5.16607373e+02] [-2.86896639e-01 9.57961543e-01 0.00000000e+00 -1.36408067e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65681642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.011400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:516.64, Y:-136.42, Z:0.04 [[ 9.58991696e-01 2.83434168e-01 0.00000000e+00 5.16639797e+02] [-2.83434168e-01 9.58991696e-01 0.00000000e+00 -1.36415793e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.73684586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.67, Y:-136.43, Z:0.04 [[ 9.60743669e-01 2.77437564e-01 0.00000000e+00 5.16669958e+02] [-2.77437564e-01 9.60743669e-01 0.00000000e+00 -1.36429086e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83111264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.70, Y:-136.44, Z:0.04 [[ 9.61235619e-01 2.75728282e-01 0.00000000e+00 5.16700111e+02] [-2.75728282e-01 9.61235619e-01 0.00000000e+00 -1.36439279e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76033909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.73, Y:-136.45, Z:0.04 [[ 9.61386556e-01 2.75201543e-01 0.00000000e+00 5.16732317e+02] [-2.75201543e-01 9.61386556e-01 0.00000000e+00 -1.36448414e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65219463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.76, Y:-136.46, Z:0.03 [[ 9.61173055e-01 2.75946295e-01 0.00000000e+00 5.16764020e+02] [-2.75946295e-01 9.61173055e-01 0.00000000e+00 -1.36456351e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49361545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.80, Y:-136.46, Z:0.03 [[ 9.60651629e-01 2.77756093e-01 0.00000000e+00 5.16795140e+02] [-2.77756093e-01 9.60651629e-01 0.00000000e+00 -1.36464099e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36542542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.83, Y:-136.47, Z:0.03 [[ 9.60100582e-01 2.79654916e-01 0.00000000e+00 5.16826055e+02] [-2.79654916e-01 9.60100582e-01 0.00000000e+00 -1.36472389e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39411787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.86, Y:-136.48, Z:0.04 [[ 9.59482525e-01 2.81768141e-01 0.00000000e+00 5.16857995e+02] [-2.81768141e-01 9.59482525e-01 0.00000000e+00 -1.36482645e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69102629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.89, Y:-136.49, Z:0.04 [[ 9.59359830e-01 2.82185606e-01 0.00000000e+00 5.16890258e+02] [-2.82185606e-01 9.59359830e-01 0.00000000e+00 -1.36490761e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77305540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.92, Y:-136.50, Z:0.04 [[ 9.59231779e-01 2.82620583e-01 0.00000000e+00 5.16920952e+02] [-2.82620583e-01 9.59231779e-01 0.00000000e+00 -1.36499055e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63503430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.95, Y:-136.51, Z:0.04 [[ 9.59090534e-01 2.83099535e-01 0.00000000e+00 5.16952892e+02] [-2.83099535e-01 9.59090534e-01 0.00000000e+00 -1.36508106e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50097959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.98, Y:-136.52, Z:0.03 [[ 9.58962686e-01 2.83532304e-01 0.00000000e+00 5.16983667e+02] [-2.83532304e-01 9.58962686e-01 0.00000000e+00 -1.36517178e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36034811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.02, Y:-136.53, Z:0.04 [[ 9.58819385e-01 2.84016525e-01 0.00000000e+00 5.17015340e+02] [-2.84016525e-01 9.58819385e-01 0.00000000e+00 -1.36525956e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50923498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.05, Y:-136.53, Z:0.04 [[ 9.58698445e-01 2.84424493e-01 0.00000000e+00 5.17046936e+02] [-2.84424493e-01 9.58698445e-01 0.00000000e+00 -1.36532400e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51232539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.08, Y:-136.54, Z:0.03 [[ 9.58546623e-01 2.84935732e-01 0.00000000e+00 5.17078870e+02] [-2.84935732e-01 9.58546623e-01 0.00000000e+00 -1.36539355e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43957046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.11, Y:-136.55, Z:0.03 [[ 9.58454253e-01 2.85246287e-01 0.00000000e+00 5.17111025e+02] [-2.85246287e-01 9.58454253e-01 0.00000000e+00 -1.36547105e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39223810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.14, Y:-136.55, Z:0.03 [[ 9.58560972e-01 2.84887458e-01 0.00000000e+00 5.17141883e+02] [-2.84887458e-01 9.58560972e-01 0.00000000e+00 -1.36554477e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47828692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.17, Y:-136.56, Z:0.04 [[ 9.58887685e-01 2.83785847e-01 0.00000000e+00 5.17173639e+02] [-2.83785847e-01 9.58887685e-01 0.00000000e+00 -1.36561723e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69445928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.551400513 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:517.21, Y:-136.57, Z:0.04 [[ 9.59504975e-01 2.81691680e-01 0.00000000e+00 5.17205464e+02] [-2.81691680e-01 9.59504975e-01 0.00000000e+00 -1.36568997e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82430203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.24, Y:-136.58, Z:0.04 [[ 9.60172973e-01 2.79406266e-01 0.00000000e+00 5.17236794e+02] [-2.79406266e-01 9.60172973e-01 0.00000000e+00 -1.36578520e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01324027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.27, Y:-136.59, Z:0.04 [[ 9.61729672e-01 2.74000070e-01 0.00000000e+00 5.17266106e+02] [-2.74000070e-01 9.61729672e-01 0.00000000e+00 -1.36593152e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.29040941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.30, Y:-136.60, Z:0.04 [[ 9.62276356e-01 2.72073913e-01 0.00000000e+00 5.17297344e+02] [-2.72073913e-01 9.62276356e-01 0.00000000e+00 -1.36603875e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.30316362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.33, Y:-136.61, Z:0.04 [[ 9.62559610e-01 2.71070097e-01 0.00000000e+00 5.17328620e+02] [-2.71070097e-01 9.62559610e-01 0.00000000e+00 -1.36613707e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.29987937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.36, Y:-136.62, Z:0.04 [[ 9.62527618e-01 2.71183673e-01 0.00000000e+00 5.17359688e+02] [-2.71183673e-01 9.62527618e-01 0.00000000e+00 -1.36623164e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.29488393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.731400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:517.39, Y:-136.63, Z:0.04 [[ 9.62256882e-01 2.72142781e-01 0.00000000e+00 5.17391693e+02] [-2.72142781e-01 9.62256882e-01 0.00000000e+00 -1.36632732e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.33665226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.42, Y:-136.65, Z:0.04 [[ 9.60991595e-01 2.76577574e-01 0.00000000e+00 5.17421420e+02] [-2.76577574e-01 9.60991595e-01 0.00000000e+00 -1.36645389e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.30871729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.45, Y:-136.65, Z:0.04 [[ 9.60117043e-01 2.79598397e-01 0.00000000e+00 5.17453101e+02] [-2.79598397e-01 9.60117043e-01 0.00000000e+00 -1.36654870e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14555869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.48, Y:-136.66, Z:0.04 [[ 9.59166827e-01 2.82840942e-01 0.00000000e+00 5.17484167e+02] [-2.82840942e-01 9.59166827e-01 0.00000000e+00 -1.36663645e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.94734838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.52, Y:-136.67, Z:0.04 [[ 9.58187213e-01 2.86142037e-01 0.00000000e+00 5.17515945e+02] [-2.86142037e-01 9.58187213e-01 0.00000000e+00 -1.36672785e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74492743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.55, Y:-136.68, Z:0.04 [[ 9.57181006e-01 2.89490106e-01 0.00000000e+00 5.17546649e+02] [-2.89490106e-01 9.57181006e-01 0.00000000e+00 -1.36682047e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63189553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.58, Y:-136.69, Z:0.04 [[ 9.56213490e-01 2.92670055e-01 0.00000000e+00 5.17578571e+02] [-2.92670055e-01 9.56213490e-01 0.00000000e+00 -1.36692150e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57978882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.61, Y:-136.70, Z:0.04 [[ 9.55363930e-01 2.95431485e-01 0.00000000e+00 5.17609620e+02] [-2.95431485e-01 9.55363930e-01 0.00000000e+00 -1.36701357e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52381419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.64, Y:-136.71, Z:0.04 [[ 9.54684240e-01 2.97620567e-01 0.00000000e+00 5.17640727e+02] [-2.97620567e-01 9.54684240e-01 0.00000000e+00 -1.36709695e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59522718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.67, Y:-136.72, Z:0.04 [[ 9.53913749e-01 3.00080921e-01 0.00000000e+00 5.17672060e+02] [-3.00080921e-01 9.53913749e-01 0.00000000e+00 -1.36717668e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64179655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.70, Y:-136.73, Z:0.04 [[ 9.53862736e-01 3.00243035e-01 0.00000000e+00 5.17704690e+02] [-3.00243035e-01 9.53862736e-01 0.00000000e+00 -1.36725137e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64179655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.74, Y:-136.73, Z:0.04 [[ 9.52493807e-01 3.04557955e-01 0.00000000e+00 5.17736285e+02] [-3.04557955e-01 9.52493807e-01 0.00000000e+00 -1.36734160e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74543380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.77, Y:-136.74, Z:0.04 [[ 9.51820728e-01 3.06655020e-01 0.00000000e+00 5.17767869e+02] [-3.06655020e-01 9.51820728e-01 0.00000000e+00 -1.36742240e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64249563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.80, Y:-136.75, Z:0.03 [[ 9.51205922e-01 3.08556792e-01 0.00000000e+00 5.17799369e+02] [-3.08556792e-01 9.51205922e-01 0.00000000e+00 -1.36749715e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43472981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.151400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:517.83, Y:-136.76, Z:0.03 [[ 9.50684274e-01 3.10160299e-01 0.00000000e+00 5.17831195e+02] [-3.10160299e-01 9.50684274e-01 0.00000000e+00 -1.36756392e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30373286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.86, Y:-136.76, Z:0.03 [[ 9.50174887e-01 3.11717315e-01 0.00000000e+00 5.17862955e+02] [-3.11717315e-01 9.50174887e-01 0.00000000e+00 -1.36763936e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31178586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.2114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.89, Y:-136.77, Z:0.03 [[ 9.49898797e-01 3.12557634e-01 0.00000000e+00 5.17894909e+02] [-3.12557634e-01 9.49898797e-01 0.00000000e+00 -1.36771462e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30560450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.93, Y:-136.78, Z:0.03 [[ 9.50041741e-01 3.12122876e-01 0.00000000e+00 5.17925720e+02] [-3.12122876e-01 9.50041741e-01 0.00000000e+00 -1.36779630e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35498168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.96, Y:-136.79, Z:0.03 [[ 9.50287498e-01 3.11373846e-01 0.00000000e+00 5.17958021e+02] [-3.11373846e-01 9.50287498e-01 0.00000000e+00 -1.36787036e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41292776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.99, Y:-136.79, Z:0.03 [[ 9.50468202e-01 3.10821809e-01 0.00000000e+00 5.17990377e+02] [-3.10821809e-01 9.50468202e-01 0.00000000e+00 -1.36794264e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46743478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.02, Y:-136.80, Z:0.03 [[ 9.50703095e-01 3.10102605e-01 0.00000000e+00 5.18022988e+02] [-3.10102605e-01 9.50703095e-01 0.00000000e+00 -1.36801460e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45435982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.05, Y:-136.81, Z:0.03 [[ 9.50878637e-01 3.09563916e-01 0.00000000e+00 5.18054268e+02] [-3.09563916e-01 9.50878637e-01 0.00000000e+00 -1.36808543e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37559447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.09, Y:-136.82, Z:0.03 [[ 9.51122610e-01 3.08813505e-01 0.00000000e+00 5.18086569e+02] [-3.08813505e-01 9.51122610e-01 0.00000000e+00 -1.36815819e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34119202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.12, Y:-136.82, Z:0.03 [[ 9.51640825e-01 3.07212857e-01 0.00000000e+00 5.18117770e+02] [-3.07212857e-01 9.51640825e-01 0.00000000e+00 -1.36821507e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31376892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.15, Y:-136.83, Z:0.03 [[ 9.51854445e-01 3.06550346e-01 0.00000000e+00 5.18148856e+02] [-3.06550346e-01 9.51854445e-01 0.00000000e+00 -1.36827983e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24175978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.18, Y:-136.84, Z:0.03 [[ 9.52036192e-01 3.05985439e-01 0.00000000e+00 5.18181258e+02] [-3.05985439e-01 9.52036192e-01 0.00000000e+00 -1.36835465e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28737516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.21, Y:-136.84, Z:0.03 [[ 9.52326347e-01 3.05081185e-01 0.00000000e+00 5.18213237e+02] [-3.05081185e-01 9.52326347e-01 0.00000000e+00 -1.36843067e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38194899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.25, Y:-136.85, Z:0.03 [[ 9.52762644e-01 3.03715893e-01 0.00000000e+00 5.18245121e+02] [-3.03715893e-01 9.52762644e-01 0.00000000e+00 -1.36850539e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49424290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.28, Y:-136.86, Z:0.04 [[ 9.54074552e-01 2.99569273e-01 0.00000000e+00 5.18277321e+02] [-2.99569273e-01 9.54074552e-01 0.00000000e+00 -1.36858616e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50809106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.31, Y:-136.87, Z:0.04 [[ 9.54816637e-01 2.97195542e-01 0.00000000e+00 5.18309112e+02] [-2.97195542e-01 9.54816637e-01 0.00000000e+00 -1.36867346e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50970190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.34, Y:-136.88, Z:0.04 [[ 9.55564125e-01 2.94783316e-01 0.00000000e+00 5.18339420e+02] [-2.94783316e-01 9.55564125e-01 0.00000000e+00 -1.36876904e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54330932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.37, Y:-136.89, Z:0.04 [[ 9.56201478e-01 2.92709298e-01 0.00000000e+00 5.18370661e+02] [-2.92709298e-01 9.56201478e-01 0.00000000e+00 -1.36886964e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69103906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.691400513 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:518.40, Y:-136.90, Z:0.04 [[ 9.56950747e-01 2.90250353e-01 0.00000000e+00 5.18401642e+02] [-2.90250353e-01 9.56950747e-01 0.00000000e+00 -1.36897039e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64845460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.43, Y:-136.91, Z:0.04 [[ 9.56919264e-01 2.90354134e-01 0.00000000e+00 5.18433101e+02] [-2.90354134e-01 9.56919264e-01 0.00000000e+00 -1.36906819e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68431252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.46, Y:-136.92, Z:0.04 [[ 9.56840626e-01 2.90613172e-01 0.00000000e+00 5.18464715e+02] [-2.90613172e-01 9.56840626e-01 0.00000000e+00 -1.36916713e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63376044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.50, Y:-136.93, Z:0.04 [[ 9.56850747e-01 2.90579847e-01 0.00000000e+00 5.18496183e+02] [-2.90579847e-01 9.56850747e-01 0.00000000e+00 -1.36926365e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58346013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.53, Y:-136.94, Z:0.03 [[ 9.56977540e-01 2.90162002e-01 0.00000000e+00 5.18527950e+02] [-2.90162002e-01 9.56977540e-01 0.00000000e+00 -1.36935691e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47720825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.841400513 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:518.56, Y:-136.94, Z:0.03 [[ 9.57190991e-01 2.89457089e-01 0.00000000e+00 5.18559246e+02] [-2.89457089e-01 9.57190991e-01 0.00000000e+00 -1.36943942e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35966980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.59, Y:-136.96, Z:0.03 [[ 9.57583461e-01 2.88156061e-01 0.00000000e+00 5.18589574e+02] [-2.88156061e-01 9.57583461e-01 0.00000000e+00 -1.36958077e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49301333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.62, Y:-136.97, Z:0.04 [[ 9.57632584e-01 2.87992767e-01 0.00000000e+00 5.18620211e+02] [-2.87992767e-01 9.57632584e-01 0.00000000e+00 -1.36969584e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57858861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.65, Y:-136.98, Z:0.04 [[ 9.57605520e-01 2.88082746e-01 0.00000000e+00 5.18650710e+02] [-2.88082746e-01 9.57605520e-01 0.00000000e+00 -1.36980440e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65660024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.68, Y:-136.99, Z:0.04 [[ 9.57501233e-01 2.88429175e-01 0.00000000e+00 5.18682505e+02] [-2.88429175e-01 9.57501233e-01 0.00000000e+00 -1.36990547e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62139790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.71, Y:-137.00, Z:0.04 [[ 9.57293624e-01 2.89117482e-01 0.00000000e+00 5.18714045e+02] [-2.89117482e-01 9.57293624e-01 0.00000000e+00 -1.36999670e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50351906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.75, Y:-137.01, Z:0.03 [[ 9.56888166e-01 2.90456602e-01 0.00000000e+00 5.18745098e+02] [-2.90456602e-01 9.56888166e-01 0.00000000e+00 -1.37008674e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34769175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.78, Y:-137.02, Z:0.03 [[ 9.56163148e-01 2.92834482e-01 0.00000000e+00 5.18776880e+02] [-2.92834482e-01 9.56163148e-01 0.00000000e+00 -1.37018180e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46744947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.81, Y:-137.03, Z:0.04 [[ 9.55168388e-01 2.96063086e-01 0.00000000e+00 5.18807415e+02] [-2.96063086e-01 9.55168388e-01 0.00000000e+00 -1.37027349e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50025480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.84, Y:-137.04, Z:0.04 [[ 9.53996890e-01 2.99816500e-01 0.00000000e+00 5.18839050e+02] [-2.99816500e-01 9.53996890e-01 0.00000000e+00 -1.37036708e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51234300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.87, Y:-137.05, Z:0.03 [[ 9.51664562e-01 3.07139321e-01 0.00000000e+00 5.18869099e+02] [-3.07139321e-01 9.51664562e-01 0.00000000e+00 -1.37046773e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31509181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.90, Y:-137.05, Z:0.03 [[ 9.50624272e-01 3.10344154e-01 0.00000000e+00 5.18900039e+02] [-3.10344154e-01 9.50624272e-01 0.00000000e+00 -1.37054858e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14949629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.93, Y:-137.06, Z:0.03 [[ 9.49794330e-01 3.12874946e-01 0.00000000e+00 5.18932317e+02] [-3.12874946e-01 9.49794330e-01 0.00000000e+00 -1.37062706e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04067402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.96, Y:-137.07, Z:0.03 [[ 9.49052268e-01 3.15118696e-01 0.00000000e+00 5.18963523e+02] [-3.15118696e-01 9.49052268e-01 0.00000000e+00 -1.37069481e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93056182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.00, Y:-137.08, Z:0.03 [[ 9.48393925e-01 3.17094565e-01 0.00000000e+00 5.18995849e+02] [-3.17094565e-01 9.48393925e-01 0.00000000e+00 -1.37076206e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97936488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.03, Y:-137.08, Z:0.03 [[ 9.47862969e-01 3.18678194e-01 0.00000000e+00 5.19028668e+02] [-3.18678194e-01 9.47862969e-01 0.00000000e+00 -1.37082721e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09260566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.06, Y:-137.09, Z:0.03 [[ 9.47377924e-01 3.20117274e-01 0.00000000e+00 5.19061972e+02] [-3.20117274e-01 9.47377924e-01 0.00000000e+00 -1.37087116e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13249972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.09, Y:-137.09, Z:0.03 [[ 9.47448901e-01 3.19907144e-01 0.00000000e+00 5.19093055e+02] [-3.19907144e-01 9.47448901e-01 0.00000000e+00 -1.37092701e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05612624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.12, Y:-137.10, Z:0.03 [[ 9.47825299e-01 3.18790216e-01 0.00000000e+00 5.19124388e+02] [-3.18790216e-01 9.47825299e-01 0.00000000e+00 -1.37099131e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11153020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.16, Y:-137.11, Z:0.03 [[ 9.48458837e-01 3.16900355e-01 0.00000000e+00 5.19156547e+02] [-3.16900355e-01 9.48458837e-01 0.00000000e+00 -1.37106384e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23105196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.19, Y:-137.11, Z:0.03 [[ 9.49156213e-01 3.14805470e-01 0.00000000e+00 5.19188260e+02] [-3.14805470e-01 9.49156213e-01 0.00000000e+00 -1.37114067e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38788131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.22, Y:-137.12, Z:0.04 [[ 9.50922215e-01 3.09430025e-01 0.00000000e+00 5.19220097e+02] [-3.09430025e-01 9.50922215e-01 0.00000000e+00 -1.37122257e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58501099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.25, Y:-137.13, Z:0.04 [[ 9.51850686e-01 3.06562019e-01 0.00000000e+00 5.19251077e+02] [-3.06562019e-01 9.51850686e-01 0.00000000e+00 -1.37130157e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59177148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.28, Y:-137.14, Z:0.04 [[ 9.52797254e-01 3.03607299e-01 0.00000000e+00 5.19282536e+02] [-3.03607299e-01 9.52797254e-01 0.00000000e+00 -1.37138407e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53547835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.31, Y:-137.15, Z:0.03 [[ 9.53660387e-01 3.00885138e-01 0.00000000e+00 5.19312810e+02] [-3.00885138e-01 9.53660387e-01 0.00000000e+00 -1.37147135e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47385781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.34, Y:-137.16, Z:0.03 [[ 9.54400304e-01 2.98529830e-01 0.00000000e+00 5.19343553e+02] [-2.98529830e-01 9.54400304e-01 0.00000000e+00 -1.37156269e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44319739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.38, Y:-137.17, Z:0.04 [[ 9.54861210e-01 2.97052302e-01 0.00000000e+00 5.19375384e+02] [-2.97052302e-01 9.54861210e-01 0.00000000e+00 -1.37165712e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52131147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.41, Y:-137.18, Z:0.04 [[ 9.55155090e-01 2.96105985e-01 0.00000000e+00 5.19406375e+02] [-2.96105985e-01 9.55155090e-01 0.00000000e+00 -1.37175365e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65677320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.44, Y:-137.18, Z:0.04 [[ 9.55104366e-01 2.96269556e-01 0.00000000e+00 5.19436964e+02] [-2.96269556e-01 9.55104366e-01 0.00000000e+00 -1.37183497e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69130177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.7114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.47, Y:-137.19, Z:0.04 [[ 9.55122525e-01 2.96211010e-01 0.00000000e+00 5.19468157e+02] [-2.96211010e-01 9.55122525e-01 0.00000000e+00 -1.37191738e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66433451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.50, Y:-137.20, Z:0.04 [[ 9.55113742e-01 2.96239328e-01 0.00000000e+00 5.19500326e+02] [-2.96239328e-01 9.55113742e-01 0.00000000e+00 -1.37200244e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68501428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.53, Y:-137.21, Z:0.04 [[ 9.55040630e-01 2.96474950e-01 0.00000000e+00 5.19532045e+02] [-2.96474950e-01 9.55040630e-01 0.00000000e+00 -1.37208585e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69415675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.56, Y:-137.22, Z:0.04 [[ 9.54703632e-01 2.97558357e-01 0.00000000e+00 5.19563426e+02] [-2.97558357e-01 9.54703632e-01 0.00000000e+00 -1.37216243e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74124757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.60, Y:-137.22, Z:0.04 [[ 9.53603637e-01 3.01064950e-01 0.00000000e+00 5.19596345e+02] [-3.01064950e-01 9.53603637e-01 0.00000000e+00 -1.37222354e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66012351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.63, Y:-137.23, Z:0.04 [[ 9.52900879e-01 3.03281908e-01 0.00000000e+00 5.19628779e+02] [-3.03281908e-01 9.52900879e-01 0.00000000e+00 -1.37228731e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50182941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.66, Y:-137.23, Z:0.03 [[ 9.52233621e-01 3.05370480e-01 0.00000000e+00 5.19660998e+02] [-3.05370480e-01 9.52233621e-01 0.00000000e+00 -1.37234917e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33717152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.69, Y:-137.24, Z:0.03 [[ 9.51549202e-01 3.07496532e-01 0.00000000e+00 5.19692930e+02] [-3.07496532e-01 9.51549202e-01 0.00000000e+00 -1.37241931e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26791397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.73, Y:-137.25, Z:0.03 [[ 9.51494473e-01 3.07665837e-01 0.00000000e+00 5.19725471e+02] [-3.07665837e-01 9.51494473e-01 0.00000000e+00 -1.37249730e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26791397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.76, Y:-137.26, Z:0.03 [[ 9.51100550e-01 3.08881438e-01 0.00000000e+00 5.19756679e+02] [-3.08881438e-01 9.51100550e-01 0.00000000e+00 -1.37256608e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30815931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.79, Y:-137.26, Z:0.03 [[ 9.50981610e-01 3.09247436e-01 0.00000000e+00 5.19789134e+02] [-3.09247436e-01 9.50981610e-01 0.00000000e+00 -1.37262252e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35714225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.82, Y:-137.27, Z:0.03 [[ 9.51240377e-01 3.08450556e-01 0.00000000e+00 5.19821164e+02] [-3.08450556e-01 9.51240377e-01 0.00000000e+00 -1.37268318e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31886063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.85, Y:-137.27, Z:0.03 [[ 9.51567387e-01 3.07440252e-01 0.00000000e+00 5.19853054e+02] [-3.07440252e-01 9.51567387e-01 0.00000000e+00 -1.37274065e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10622655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.89, Y:-137.28, Z:0.03 [[ 9.52028752e-01 3.06008588e-01 0.00000000e+00 5.19885107e+02] [-3.06008588e-01 9.52028752e-01 0.00000000e+00 -1.37280380e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93610249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.92, Y:-137.29, Z:0.03 [[ 9.52836166e-01 3.03485158e-01 0.00000000e+00 5.19917534e+02] [-3.03485158e-01 9.52836166e-01 0.00000000e+00 -1.37285089e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77746980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.95, Y:-137.29, Z:0.03 [[ 9.53083241e-01 3.02708333e-01 0.00000000e+00 5.19949528e+02] [-3.02708333e-01 9.53083241e-01 0.00000000e+00 -1.37290834e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87322291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.98, Y:-137.30, Z:0.03 [[ 9.53229599e-01 3.02247136e-01 0.00000000e+00 5.19980617e+02] [-3.02247136e-01 9.53229599e-01 0.00000000e+00 -1.37296460e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03148998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.01, Y:-137.30, Z:0.03 [[ 9.53361742e-01 3.01830067e-01 0.00000000e+00 5.20012534e+02] [-3.01830067e-01 9.53361742e-01 0.00000000e+00 -1.37302712e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24271251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.04, Y:-137.31, Z:0.03 [[ 9.53501813e-01 3.01387281e-01 0.00000000e+00 5.20044409e+02] [-3.01387281e-01 9.53501813e-01 0.00000000e+00 -1.37309212e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34468831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.08, Y:-137.31, Z:0.03 [[ 9.53683638e-01 3.00811434e-01 0.00000000e+00 5.20076175e+02] [-3.00811434e-01 9.53683638e-01 0.00000000e+00 -1.37314720e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32399075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.11, Y:-137.32, Z:0.03 [[ 9.53798357e-01 3.00447488e-01 0.00000000e+00 5.20106277e+02] [-3.00447488e-01 9.53798357e-01 0.00000000e+00 -1.37316069e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38615977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.14, Y:-137.32, Z:0.03 [[ 9.53925939e-01 3.00042168e-01 0.00000000e+00 5.20139541e+02] [-3.00042168e-01 9.53925939e-01 0.00000000e+00 -1.37322052e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41075055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.17, Y:-137.33, Z:0.03 [[ 9.53915818e-01 3.00074343e-01 0.00000000e+00 5.20171044e+02] [-3.00074343e-01 9.53915818e-01 0.00000000e+00 -1.37328494e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48370005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.20, Y:-137.34, Z:0.04 [[ 9.53951041e-01 2.99962351e-01 0.00000000e+00 5.20203349e+02] [-2.99962351e-01 9.53951041e-01 0.00000000e+00 -1.37335838e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55969359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.24, Y:-137.34, Z:0.04 [[ 9.53960788e-01 2.99931350e-01 0.00000000e+00 5.20235701e+02] [-2.99931350e-01 9.53960788e-01 0.00000000e+00 -1.37342999e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59837972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.27, Y:-137.35, Z:0.04 [[ 9.53943147e-01 2.99987454e-01 0.00000000e+00 5.20268323e+02] [-2.99987454e-01 9.53943147e-01 0.00000000e+00 -1.37349584e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62599307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.30, Y:-137.35, Z:0.04 [[ 9.53463597e-01 3.01508157e-01 0.00000000e+00 5.20300287e+02] [-3.01508157e-01 9.53463597e-01 0.00000000e+00 -1.37354641e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70307413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.33, Y:-137.36, Z:0.04 [[ 9.52993205e-01 3.02991668e-01 0.00000000e+00 5.20332691e+02] [-3.02991668e-01 9.52993205e-01 0.00000000e+00 -1.37361939e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69491301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.36, Y:-137.37, Z:0.04 [[ 9.52440437e-01 3.04724815e-01 0.00000000e+00 5.20364844e+02] [-3.04724815e-01 9.52440437e-01 0.00000000e+00 -1.37369711e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65943039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.40, Y:-137.38, Z:0.04 [[ 9.51843394e-01 3.06584661e-01 0.00000000e+00 5.20396373e+02] [-3.06584661e-01 9.51843394e-01 0.00000000e+00 -1.37376660e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66002427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.43, Y:-137.38, Z:0.04 [[ 9.51163655e-01 3.08687059e-01 0.00000000e+00 5.20428475e+02] [-3.08687059e-01 9.51163655e-01 0.00000000e+00 -1.37383478e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62695849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.46, Y:-137.39, Z:0.04 [[ 9.49891397e-01 3.12580123e-01 0.00000000e+00 5.20461065e+02] [-3.12580123e-01 9.49891397e-01 0.00000000e+00 -1.37389457e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63191717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.49, Y:-137.40, Z:0.04 [[ 9.49353050e-01 3.14211373e-01 0.00000000e+00 5.20492088e+02] [-3.14211373e-01 9.49353050e-01 0.00000000e+00 -1.37396662e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65546014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.701400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:520.52, Y:-137.40, Z:0.04 [[ 9.49071193e-01 3.15061693e-01 0.00000000e+00 5.20524519e+02] [-3.15061693e-01 9.49071193e-01 0.00000000e+00 -1.37403153e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50577532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.56, Y:-137.41, Z:0.03 [[ 9.48784604e-01 3.15923684e-01 0.00000000e+00 5.20556830e+02] [-3.15923684e-01 9.48784604e-01 0.00000000e+00 -1.37410373e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46375534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.59, Y:-137.42, Z:0.03 [[ 9.48806612e-01 3.15857584e-01 0.00000000e+00 5.20589557e+02] [-3.15857584e-01 9.48806612e-01 0.00000000e+00 -1.37416309e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40703639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.62, Y:-137.42, Z:0.03 [[ 9.48953996e-01 3.15414510e-01 0.00000000e+00 5.20620865e+02] [-3.15414510e-01 9.48953996e-01 0.00000000e+00 -1.37421939e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45221091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.65, Y:-137.43, Z:0.03 [[ 9.49538998e-01 3.13648992e-01 0.00000000e+00 5.20653392e+02] [-3.13648992e-01 9.49538998e-01 0.00000000e+00 -1.37426929e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30533238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.69, Y:-137.43, Z:0.03 [[ 9.49823021e-01 3.12787834e-01 0.00000000e+00 5.20685370e+02] [-3.12787834e-01 9.49823021e-01 0.00000000e+00 -1.37433804e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21825567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.72, Y:-137.44, Z:0.03 [[ 9.49992659e-01 3.12272233e-01 0.00000000e+00 5.20717666e+02] [-3.12272233e-01 9.49992659e-01 0.00000000e+00 -1.37440813e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13034416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.75, Y:-137.45, Z:0.03 [[ 9.50215323e-01 3.11594029e-01 0.00000000e+00 5.20748560e+02] [-3.11594029e-01 9.50215323e-01 0.00000000e+00 -1.37447566e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07891368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.78, Y:-137.45, Z:0.03 [[ 9.50452450e-01 3.10869974e-01 0.00000000e+00 5.20779812e+02] [-3.10869974e-01 9.50452450e-01 0.00000000e+00 -1.37454586e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01453237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.971400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:520.81, Y:-137.46, Z:0.03 [[ 9.50798131e-01 3.09811094e-01 0.00000000e+00 5.20812477e+02] [-3.09811094e-01 9.50798131e-01 0.00000000e+00 -1.37461691e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92659947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.84, Y:-137.47, Z:0.03 [[ 9.51333068e-01 3.08164557e-01 0.00000000e+00 5.20843420e+02] [-3.08164557e-01 9.51333068e-01 0.00000000e+00 -1.37468773e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91164192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.87, Y:-137.47, Z:0.03 [[ 9.51545378e-01 3.07508364e-01 0.00000000e+00 5.20874706e+02] [-3.07508364e-01 9.51545378e-01 0.00000000e+00 -1.37474486e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95814768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.91, Y:-137.48, Z:0.03 [[ 9.51543901e-01 3.07512933e-01 0.00000000e+00 5.20907042e+02] [-3.07512933e-01 9.51543901e-01 0.00000000e+00 -1.37479860e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06636263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.94, Y:-137.48, Z:0.03 [[ 9.51279399e-01 3.08330188e-01 0.00000000e+00 5.20937259e+02] [-3.08330188e-01 9.51279399e-01 0.00000000e+00 -1.37484837e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16169797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.97, Y:-137.49, Z:0.03 [[ 9.51203765e-01 3.08563443e-01 0.00000000e+00 5.20971017e+02] [-3.08563443e-01 9.51203765e-01 0.00000000e+00 -1.37491166e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17216261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.00, Y:-137.49, Z:0.03 [[ 9.50804904e-01 3.09790308e-01 0.00000000e+00 5.21001173e+02] [-3.09790308e-01 9.50804904e-01 0.00000000e+00 -1.37494497e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97742071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.04, Y:-137.50, Z:0.03 [[ 9.50930350e-01 3.09405025e-01 0.00000000e+00 5.21035447e+02] [-3.09405025e-01 9.50930350e-01 0.00000000e+00 -1.37499427e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78186796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.2114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.07, Y:-137.50, Z:0.03 [[ 9.51009910e-01 3.09160396e-01 0.00000000e+00 5.21067207e+02] [-3.09160396e-01 9.51009910e-01 0.00000000e+00 -1.37503455e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77814340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.10, Y:-137.51, Z:0.03 [[ 9.51254662e-01 3.08406498e-01 0.00000000e+00 5.21098608e+02] [-3.08406498e-01 9.51254662e-01 0.00000000e+00 -1.37507973e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04415414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.13, Y:-137.51, Z:0.04 [[ 9.52999078e-01 3.02973196e-01 0.00000000e+00 5.21131595e+02] [-3.02973196e-01 9.52999078e-01 0.00000000e+00 -1.37512381e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50831492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.16, Y:-137.52, Z:0.04 [[ 9.54124475e-01 2.99410231e-01 0.00000000e+00 5.21162612e+02] [-2.99410231e-01 9.54124475e-01 0.00000000e+00 -1.37518949e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57704583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.19, Y:-137.53, Z:0.03 [[ 9.55315327e-01 2.95588609e-01 0.00000000e+00 5.21194216e+02] [-2.95588609e-01 9.55315327e-01 0.00000000e+00 -1.37526519e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49890378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.23, Y:-137.54, Z:0.03 [[ 9.56460657e-01 2.91861288e-01 0.00000000e+00 5.21225638e+02] [-2.91861288e-01 9.56460657e-01 0.00000000e+00 -1.37535164e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32317936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.26, Y:-137.54, Z:0.03 [[ 9.57529527e-01 2.88335230e-01 0.00000000e+00 5.21256081e+02] [-2.88335230e-01 9.57529527e-01 0.00000000e+00 -1.37544510e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24110209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.29, Y:-137.55, Z:0.03 [[ 9.58472551e-01 2.85184799e-01 0.00000000e+00 5.21287959e+02] [-2.85184799e-01 9.58472551e-01 0.00000000e+00 -1.37554936e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19498489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.32, Y:-137.57, Z:0.03 [[ 9.59608000e-01 2.81340515e-01 0.00000000e+00 5.21319098e+02] [-2.81340515e-01 9.59608000e-01 0.00000000e+00 -1.37566725e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37126624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.481400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:521.35, Y:-137.58, Z:0.03 [[ 9.59596470e-01 2.81379842e-01 0.00000000e+00 5.21350971e+02] [-2.81379842e-01 9.59596470e-01 0.00000000e+00 -1.37575833e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25672759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.38, Y:-137.59, Z:0.03 [[ 9.59035006e-01 2.83287586e-01 0.00000000e+00 5.21381303e+02] [-2.83287586e-01 9.59035006e-01 0.00000000e+00 -1.37585839e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22765391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.41, Y:-137.60, Z:0.03 [[ 9.58167856e-01 2.86206847e-01 0.00000000e+00 5.21413066e+02] [-2.86206847e-01 9.58167856e-01 0.00000000e+00 -1.37595830e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07594065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.44, Y:-137.61, Z:0.03 [[ 9.56052363e-01 2.93195974e-01 0.00000000e+00 5.21443619e+02] [-2.93195974e-01 9.56052363e-01 0.00000000e+00 -1.37606256e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88821781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.47, Y:-137.62, Z:0.03 [[ 9.55183240e-01 2.96015164e-01 0.00000000e+00 5.21474995e+02] [-2.96015164e-01 9.55183240e-01 0.00000000e+00 -1.37615263e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87839975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.51, Y:-137.62, Z:0.03 [[ 9.54501376e-01 2.98206511e-01 0.00000000e+00 5.21506825e+02] [-2.98206511e-01 9.54501376e-01 0.00000000e+00 -1.37624829e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93482396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.661400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:521.54, Y:-137.63, Z:0.03 [[ 9.54086081e-01 2.99532552e-01 0.00000000e+00 5.21538354e+02] [-2.99532552e-01 9.54086081e-01 0.00000000e+00 -1.37634496e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89579603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.57, Y:-137.65, Z:0.03 [[ 9.53719420e-01 3.00697968e-01 0.00000000e+00 5.21568845e+02] [-3.00697968e-01 9.53719420e-01 0.00000000e+00 -1.37645189e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85314304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.60, Y:-137.66, Z:0.03 [[ 9.53503441e-01 3.01382129e-01 0.00000000e+00 5.21599547e+02] [-3.01382129e-01 9.53503441e-01 0.00000000e+00 -1.37655262e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77747255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.63, Y:-137.67, Z:0.03 [[ 9.53120406e-01 3.02591295e-01 0.00000000e+00 5.21629686e+02] [-3.02591295e-01 9.53120406e-01 0.00000000e+00 -1.37666824e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55458058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.66, Y:-137.68, Z:0.03 [[ 9.52877976e-01 3.03353859e-01 0.00000000e+00 5.21660931e+02] [-3.03353859e-01 9.52877976e-01 0.00000000e+00 -1.37677102e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57156355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.69, Y:-137.69, Z:0.02 [[ 9.52439535e-01 3.04727637e-01 0.00000000e+00 5.21691609e+02] [-3.04727637e-01 9.52439535e-01 0.00000000e+00 -1.37687121e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47458102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.72, Y:-137.70, Z:0.02 [[ 9.51857278e-01 3.06541552e-01 0.00000000e+00 5.21721852e+02] [-3.06541552e-01 9.51857278e-01 0.00000000e+00 -1.37696169e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35648036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.75, Y:-137.70, Z:0.02 [[ 9.51804243e-01 3.06706183e-01 0.00000000e+00 5.21754315e+02] [-3.06706183e-01 9.51804243e-01 0.00000000e+00 -1.37704323e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35648036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.79, Y:-137.71, Z:0.02 [[ 9.51044882e-01 3.09052799e-01 0.00000000e+00 5.21786336e+02] [-3.09052799e-01 9.51044882e-01 0.00000000e+00 -1.37712823e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24651264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.82, Y:-137.72, Z:0.02 [[ 9.49129322e-01 3.14886535e-01 0.00000000e+00 5.21818586e+02] [-3.14886535e-01 9.49129322e-01 0.00000000e+00 -1.37721257e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14929011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.85, Y:-137.73, Z:0.02 [[ 9.48176222e-01 3.17744948e-01 0.00000000e+00 5.21849542e+02] [-3.17744948e-01 9.48176222e-01 0.00000000e+00 -1.37728340e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16428597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.88, Y:-137.73, Z:0.02 [[ 9.47494869e-01 3.19770970e-01 0.00000000e+00 5.21882139e+02] [-3.19770970e-01 9.47494869e-01 0.00000000e+00 -1.37734832e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26423863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.91, Y:-137.74, Z:0.02 [[ 9.47101780e-01 3.20933354e-01 0.00000000e+00 5.21913800e+02] [-3.20933354e-01 9.47101780e-01 0.00000000e+00 -1.37740944e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26286253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.95, Y:-137.75, Z:0.02 [[ 9.46991393e-01 3.21258933e-01 0.00000000e+00 5.21945955e+02] [-3.21258933e-01 9.46991393e-01 0.00000000e+00 -1.37747507e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29462981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.98, Y:-137.75, Z:0.02 [[ 9.47189714e-01 3.20673737e-01 0.00000000e+00 5.21977306e+02] [-3.20673737e-01 9.47189714e-01 0.00000000e+00 -1.37754690e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31353714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.01, Y:-137.76, Z:0.03 [[ 9.48174961e-01 3.17748710e-01 0.00000000e+00 5.22009708e+02] [-3.17748710e-01 9.48174961e-01 0.00000000e+00 -1.37762650e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57733429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.04, Y:-137.77, Z:0.03 [[ 9.48782121e-01 3.15931144e-01 0.00000000e+00 5.22042033e+02] [-3.15931144e-01 9.48782121e-01 0.00000000e+00 -1.37770732e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57370131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.07, Y:-137.78, Z:0.02 [[ 9.49380644e-01 3.14127989e-01 0.00000000e+00 5.22073489e+02] [-3.14127989e-01 9.49380644e-01 0.00000000e+00 -1.37778685e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46797396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.11, Y:-137.79, Z:0.02 [[ 9.49924767e-01 3.12478697e-01 0.00000000e+00 5.22105757e+02] [-3.12478697e-01 9.49924767e-01 0.00000000e+00 -1.37786999e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44247202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.14, Y:-137.80, Z:0.02 [[ 9.50267201e-01 3.11435782e-01 0.00000000e+00 5.22137060e+02] [-3.11435782e-01 9.50267201e-01 0.00000000e+00 -1.37795130e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35936178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.17, Y:-137.80, Z:0.02 [[ 9.50416232e-01 3.10980684e-01 0.00000000e+00 5.22168303e+02] [-3.10980684e-01 9.50416232e-01 0.00000000e+00 -1.37803439e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31817805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.20, Y:-137.81, Z:0.03 [[ 9.50431318e-01 3.10934574e-01 0.00000000e+00 5.22200575e+02] [-3.10934574e-01 9.50431318e-01 0.00000000e+00 -1.37812279e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63726184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.23, Y:-137.82, Z:0.03 [[ 9.50338156e-01 3.11219198e-01 0.00000000e+00 5.22231578e+02] [-3.11219198e-01 9.50338156e-01 0.00000000e+00 -1.37820755e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71899666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.26, Y:-137.83, Z:0.03 [[ 9.50320894e-01 3.11271903e-01 0.00000000e+00 5.22263290e+02] [-3.11271903e-01 9.50320894e-01 0.00000000e+00 -1.37830262e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77215645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.29, Y:-137.84, Z:0.03 [[ 9.50324248e-01 3.11261665e-01 0.00000000e+00 5.22294399e+02] [-3.11261665e-01 9.50324248e-01 0.00000000e+00 -1.37840113e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68117914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.33, Y:-137.85, Z:0.03 [[ 9.50435569e-01 3.10921581e-01 0.00000000e+00 5.22325486e+02] [-3.10921581e-01 9.50435569e-01 0.00000000e+00 -1.37852249e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62953744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.35, Y:-137.86, Z:0.03 [[ 9.50224227e-01 3.11566877e-01 0.00000000e+00 5.22352418e+02] [-3.11566877e-01 9.50224227e-01 0.00000000e+00 -1.37860761e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58394168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.39, Y:-137.87, Z:0.03 [[ 9.50472958e-01 3.10807264e-01 0.00000000e+00 5.22386431e+02] [-3.10807264e-01 9.50472958e-01 0.00000000e+00 -1.37871609e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58459723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.501400513 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:522.42, Y:-137.88, Z:0.02 [[ 9.50512124e-01 3.10687466e-01 0.00000000e+00 5.22417638e+02] [-3.10687466e-01 9.50512124e-01 0.00000000e+00 -1.37880206e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43614134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.45, Y:-137.89, Z:0.03 [[ 9.50379352e-01 3.11093374e-01 0.00000000e+00 5.22449274e+02] [-3.11093374e-01 9.50379352e-01 0.00000000e+00 -1.37890163e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52653783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.48, Y:-137.90, Z:0.02 [[ 9.49424230e-01 3.13996229e-01 0.00000000e+00 5.22476733e+02] [-3.13996229e-01 9.49424230e-01 0.00000000e+00 -1.37898456e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48715352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.51, Y:-137.91, Z:0.02 [[ 9.48720259e-01 3.16116862e-01 0.00000000e+00 5.22507060e+02] [-3.16116862e-01 9.48720259e-01 0.00000000e+00 -1.37907693e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35414243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.54, Y:-137.92, Z:0.02 [[ 9.48397159e-01 3.17084892e-01 0.00000000e+00 5.22540529e+02] [-3.17084892e-01 9.48397159e-01 0.00000000e+00 -1.37917427e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31574190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.57, Y:-137.93, Z:0.02 [[ 9.47845730e-01 3.18729466e-01 0.00000000e+00 5.22571368e+02] [-3.18729466e-01 9.47845730e-01 0.00000000e+00 -1.37925156e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19336814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.60, Y:-137.93, Z:0.02 [[ 9.47857394e-01 3.18694776e-01 0.00000000e+00 5.22603615e+02] [-3.18694776e-01 9.47857394e-01 0.00000000e+00 -1.37933846e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30788821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.7114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.63, Y:-137.94, Z:0.02 [[ 9.48087817e-01 3.18008634e-01 0.00000000e+00 5.22634888e+02] [-3.18008634e-01 9.48087817e-01 0.00000000e+00 -1.37943047e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48922829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.741400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:522.67, Y:-137.95, Z:0.03 [[ 9.48534141e-01 3.16674885e-01 0.00000000e+00 5.22666712e+02] [-3.16674885e-01 9.48534141e-01 0.00000000e+00 -1.37952024e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50445767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.69, Y:-137.96, Z:0.03 [[ 9.48740975e-01 3.16054682e-01 0.00000000e+00 5.22694132e+02] [-3.16054682e-01 9.48740975e-01 0.00000000e+00 -1.37961013e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65549118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.73, Y:-137.97, Z:0.03 [[ 9.49587698e-01 3.13501521e-01 0.00000000e+00 5.22727446e+02] [-3.13501521e-01 9.49587698e-01 0.00000000e+00 -1.37970110e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60073816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.76, Y:-137.98, Z:0.03 [[ 9.50037306e-01 3.12136377e-01 0.00000000e+00 5.22759776e+02] [-3.12136377e-01 9.50037306e-01 0.00000000e+00 -1.37978626e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59959980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.79, Y:-137.99, Z:0.03 [[ 9.50163646e-01 3.11751577e-01 0.00000000e+00 5.22790885e+02] [-3.11751577e-01 9.50163646e-01 0.00000000e+00 -1.37987055e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55887739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.82, Y:-138.00, Z:0.02 [[ 9.49964278e-01 3.12358561e-01 0.00000000e+00 5.22823223e+02] [-3.12358561e-01 9.49964278e-01 0.00000000e+00 -1.37995092e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47200724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.86, Y:-138.00, Z:0.02 [[ 9.49681071e-01 3.13218555e-01 0.00000000e+00 5.22855352e+02] [-3.13218555e-01 9.49681071e-01 0.00000000e+00 -1.38002869e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40410513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.89, Y:-138.01, Z:0.02 [[ 9.49457864e-01 3.13894511e-01 0.00000000e+00 5.22886752e+02] [-3.13894511e-01 9.49457864e-01 0.00000000e+00 -1.38010274e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38858357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.92, Y:-138.02, Z:0.02 [[ 9.49438993e-01 3.13951586e-01 0.00000000e+00 5.22918051e+02] [-3.13951586e-01 9.49438993e-01 0.00000000e+00 -1.38016369e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40637841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.011400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:522.95, Y:-138.02, Z:0.02 [[ 9.49671470e-01 3.13247664e-01 0.00000000e+00 5.22950897e+02] [-3.13247664e-01 9.49671470e-01 0.00000000e+00 -1.38022949e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29501807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.98, Y:-138.03, Z:0.02 [[ 9.49823663e-01 3.12785883e-01 0.00000000e+00 5.22982667e+02] [-3.12785883e-01 9.49823663e-01 0.00000000e+00 -1.38030531e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28054279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.01, Y:-138.04, Z:0.02 [[ 9.49924497e-01 3.12479518e-01 0.00000000e+00 5.23014238e+02] [-3.12479518e-01 9.49924497e-01 0.00000000e+00 -1.38037724e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22629088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.05, Y:-138.05, Z:0.02 [[ 9.49929826e-01 3.12463318e-01 0.00000000e+00 5.23046534e+02] [-3.12463318e-01 9.49929826e-01 0.00000000e+00 -1.38045008e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27010376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.08, Y:-138.05, Z:0.02 [[ 9.49766200e-01 3.12960325e-01 0.00000000e+00 5.23079001e+02] [-3.12960325e-01 9.49766200e-01 0.00000000e+00 -1.38052573e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27239229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.11, Y:-138.06, Z:0.02 [[ 9.49510044e-01 3.13736636e-01 0.00000000e+00 5.23111391e+02] [-3.13736636e-01 9.49510044e-01 0.00000000e+00 -1.38058576e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34480621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.14, Y:-138.07, Z:0.02 [[ 9.49536738e-01 3.13655836e-01 0.00000000e+00 5.23142984e+02] [-3.13655836e-01 9.49536738e-01 0.00000000e+00 -1.38065298e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39919086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.17, Y:-138.07, Z:0.02 [[ 9.49661737e-01 3.13277170e-01 0.00000000e+00 5.23174815e+02] [-3.13277170e-01 9.49661737e-01 0.00000000e+00 -1.38072235e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47944476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.251400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:523.21, Y:-138.08, Z:0.02 [[ 9.49921168e-01 3.12489639e-01 0.00000000e+00 5.23205873e+02] [-3.12489639e-01 9.49921168e-01 0.00000000e+00 -1.38079317e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30725887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.24, Y:-138.09, Z:0.02 [[ 9.50145843e-01 3.11805831e-01 0.00000000e+00 5.23237251e+02] [-3.11805831e-01 9.50145843e-01 0.00000000e+00 -1.38087959e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32254107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.27, Y:-138.10, Z:0.02 [[ 9.50768462e-01 3.09902133e-01 0.00000000e+00 5.23269204e+02] [-3.09902133e-01 9.50768462e-01 0.00000000e+00 -1.38096868e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40980822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.341400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:523.30, Y:-138.10, Z:0.02 [[ 9.50987222e-01 3.09230179e-01 0.00000000e+00 5.23301521e+02] [-3.09230179e-01 9.50987222e-01 0.00000000e+00 -1.38104588e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46227585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.33, Y:-138.11, Z:0.03 [[ 9.50784810e-01 3.09851974e-01 0.00000000e+00 5.23333671e+02] [-3.09851974e-01 9.50784810e-01 0.00000000e+00 -1.38113668e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58645601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.36, Y:-138.12, Z:0.03 [[ 9.50329375e-01 3.11246009e-01 0.00000000e+00 5.23364044e+02] [-3.11246009e-01 9.50329375e-01 0.00000000e+00 -1.38122165e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52733497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.39, Y:-138.13, Z:0.03 [[ 9.49889244e-01 3.12586666e-01 0.00000000e+00 5.23394858e+02] [-3.12586666e-01 9.49889244e-01 0.00000000e+00 -1.38130269e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51158857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.43, Y:-138.14, Z:0.03 [[ 9.49439711e-01 3.13949414e-01 0.00000000e+00 5.23427216e+02] [-3.13949414e-01 9.49439711e-01 0.00000000e+00 -1.38138258e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51591551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.491400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:523.46, Y:-138.15, Z:0.02 [[ 9.49125966e-01 3.14896651e-01 0.00000000e+00 5.23459036e+02] [-3.14896651e-01 9.49125966e-01 0.00000000e+00 -1.38146184e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47927096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.49, Y:-138.16, Z:0.03 [[ 9.48772909e-01 3.15958806e-01 0.00000000e+00 5.23490072e+02] [-3.15958806e-01 9.48772909e-01 0.00000000e+00 -1.38155584e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58906128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.52, Y:-138.16, Z:0.03 [[ 9.48806796e-01 3.15857030e-01 0.00000000e+00 5.23521334e+02] [-3.15857030e-01 9.48806796e-01 0.00000000e+00 -1.38164677e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68697131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.55, Y:-138.17, Z:0.03 [[ 9.49266308e-01 3.14473331e-01 0.00000000e+00 5.23553152e+02] [-3.14473331e-01 9.49266308e-01 0.00000000e+00 -1.38173361e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02927545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.58, Y:-138.18, Z:0.03 [[ 9.49354708e-01 3.14206363e-01 0.00000000e+00 5.23584291e+02] [-3.14206363e-01 9.49354708e-01 0.00000000e+00 -1.38181514e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12627323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.62, Y:-138.19, Z:0.03 [[ 9.49215608e-01 3.14626334e-01 0.00000000e+00 5.23615988e+02] [-3.14626334e-01 9.49215608e-01 0.00000000e+00 -1.38190768e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12754736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.65, Y:-138.20, Z:0.03 [[ 9.49011281e-01 3.15242111e-01 0.00000000e+00 5.23647147e+02] [-3.15242111e-01 9.49011281e-01 0.00000000e+00 -1.38200282e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10079171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.68, Y:-138.21, Z:0.03 [[ 9.48721832e-01 3.16112139e-01 0.00000000e+00 5.23678289e+02] [-3.16112139e-01 9.48721832e-01 0.00000000e+00 -1.38209250e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03260926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.71, Y:-138.22, Z:0.03 [[ 9.48313038e-01 3.17336387e-01 0.00000000e+00 5.23710547e+02] [-3.17336387e-01 9.48313038e-01 0.00000000e+00 -1.38217409e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02738067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.74, Y:-138.23, Z:0.03 [[ 9.48257082e-01 3.17503554e-01 0.00000000e+00 5.23742923e+02] [-3.17503554e-01 9.48257082e-01 0.00000000e+00 -1.38225888e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02738067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.78, Y:-138.23, Z:0.03 [[ 9.47300846e-01 3.20345294e-01 0.00000000e+00 5.23776217e+02] [-3.20345294e-01 9.47300846e-01 0.00000000e+00 -1.38230584e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02934471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.81, Y:-138.24, Z:0.03 [[ 9.46743083e-01 3.21989961e-01 0.00000000e+00 5.23808449e+02] [-3.21989961e-01 9.46743083e-01 0.00000000e+00 -1.38237261e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05447579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.84, Y:-138.24, Z:0.03 [[ 9.46303944e-01 3.23278278e-01 0.00000000e+00 5.23839192e+02] [-3.23278278e-01 9.46303944e-01 0.00000000e+00 -1.38244426e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98994200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.87, Y:-138.25, Z:0.03 [[ 9.46464938e-01 3.22806631e-01 0.00000000e+00 5.23870186e+02] [-3.22806631e-01 9.46464938e-01 0.00000000e+00 -1.38250767e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65947207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.90, Y:-138.26, Z:0.03 [[ 9.46766242e-01 3.21921860e-01 0.00000000e+00 5.23900452e+02] [-3.21921860e-01 9.46766242e-01 0.00000000e+00 -1.38257106e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56141151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.93, Y:-138.26, Z:0.03 [[ 9.47335389e-01 3.20243126e-01 0.00000000e+00 5.23932746e+02] [-3.20243126e-01 9.47335389e-01 0.00000000e+00 -1.38264905e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60003653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.96, Y:-138.27, Z:0.03 [[ 9.47820822e-01 3.18803529e-01 0.00000000e+00 5.23964504e+02] [-3.18803529e-01 9.47820822e-01 0.00000000e+00 -1.38273342e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72153115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.99, Y:-138.28, Z:0.03 [[ 9.48309523e-01 3.17346889e-01 0.00000000e+00 5.23994889e+02] [-3.17346889e-01 9.48309523e-01 0.00000000e+00 -1.38282422e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80278019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.03, Y:-138.29, Z:0.03 [[ 9.48722309e-01 3.16110710e-01 0.00000000e+00 5.24025872e+02] [-3.16110710e-01 9.48722309e-01 0.00000000e+00 -1.38291968e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90668453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.06, Y:-138.30, Z:0.03 [[ 9.48910714e-01 3.15544697e-01 0.00000000e+00 5.24056465e+02] [-3.15544697e-01 9.48910714e-01 0.00000000e+00 -1.38301261e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65621534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.09, Y:-138.31, Z:0.03 [[ 9.48715736e-01 3.16130436e-01 0.00000000e+00 5.24088562e+02] [-3.16130436e-01 9.48715736e-01 0.00000000e+00 -1.38310577e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54258083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.12, Y:-138.32, Z:0.02 [[ 9.48366637e-01 3.17176168e-01 0.00000000e+00 5.24119026e+02] [-3.17176168e-01 9.48366637e-01 0.00000000e+00 -1.38320205e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47351501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.15, Y:-138.33, Z:0.03 [[ 9.48011743e-01 3.18235345e-01 0.00000000e+00 5.24150181e+02] [-3.18235345e-01 9.48011743e-01 0.00000000e+00 -1.38329646e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57598523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.18, Y:-138.34, Z:0.03 [[ 9.47554409e-01 3.19594496e-01 0.00000000e+00 5.24181612e+02] [-3.19594496e-01 9.47554409e-01 0.00000000e+00 -1.38338753e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63581552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.2114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.21, Y:-138.35, Z:0.03 [[ 9.47400499e-01 3.20050456e-01 0.00000000e+00 5.24211975e+02] [-3.20050456e-01 9.47400499e-01 0.00000000e+00 -1.38348328e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59895610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.24, Y:-138.36, Z:0.03 [[ 9.47823274e-01 3.18796237e-01 0.00000000e+00 5.24243490e+02] [-3.18796237e-01 9.47823274e-01 0.00000000e+00 -1.38358080e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65998350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.27, Y:-138.37, Z:0.03 [[ 9.48599114e-01 3.16480206e-01 0.00000000e+00 5.24274477e+02] [-3.16480206e-01 9.48599114e-01 0.00000000e+00 -1.38367762e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65344122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.31, Y:-138.38, Z:0.03 [[ 9.49682718e-01 3.13213562e-01 0.00000000e+00 5.24305043e+02] [-3.13213562e-01 9.49682718e-01 0.00000000e+00 -1.38376941e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67846540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.34, Y:-138.39, Z:0.03 [[ 9.50882079e-01 3.09553342e-01 0.00000000e+00 5.24335843e+02] [-3.09553342e-01 9.50882079e-01 0.00000000e+00 -1.38385942e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80077491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.37, Y:-138.40, Z:0.03 [[ 9.53428275e-01 3.01619833e-01 0.00000000e+00 5.24366659e+02] [-3.01619833e-01 9.53428275e-01 0.00000000e+00 -1.38396342e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07133289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.40, Y:-138.41, Z:0.03 [[ 9.54536632e-01 2.98093641e-01 0.00000000e+00 5.24398078e+02] [-2.98093641e-01 9.54536632e-01 0.00000000e+00 -1.38406126e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19297152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.43, Y:-138.41, Z:0.03 [[ 9.55459332e-01 2.95122798e-01 0.00000000e+00 5.24429164e+02] [-2.95122798e-01 9.55459332e-01 0.00000000e+00 -1.38414915e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26871416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.46, Y:-138.42, Z:0.03 [[ 9.56275949e-01 2.92465910e-01 0.00000000e+00 5.24461336e+02] [-2.92465910e-01 9.56275949e-01 0.00000000e+00 -1.38423562e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29674949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.49, Y:-138.43, Z:0.03 [[ 9.57675771e-01 2.87849124e-01 0.00000000e+00 5.24492377e+02] [-2.87849124e-01 9.57675771e-01 0.00000000e+00 -1.38431849e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22723983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.52, Y:-138.44, Z:0.03 [[ 9.58158643e-01 2.86237689e-01 0.00000000e+00 5.24524243e+02] [-2.86237689e-01 9.58158643e-01 0.00000000e+00 -1.38440610e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33332587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.55, Y:-138.45, Z:0.03 [[ 9.58446572e-01 2.85272096e-01 0.00000000e+00 5.24554923e+02] [-2.85272096e-01 9.58446572e-01 0.00000000e+00 -1.38449090e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45304685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.59, Y:-138.46, Z:0.04 [[ 9.58744666e-01 2.84268649e-01 0.00000000e+00 5.24587319e+02] [-2.84268649e-01 9.58744666e-01 0.00000000e+00 -1.38457386e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61019811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.62, Y:-138.46, Z:0.04 [[ 9.59011163e-01 2.83368293e-01 0.00000000e+00 5.24618197e+02] [-2.83368293e-01 9.59011163e-01 0.00000000e+00 -1.38464634e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66878625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.65, Y:-138.47, Z:0.04 [[ 9.59616890e-01 2.81310191e-01 0.00000000e+00 5.24651086e+02] [-2.81310191e-01 9.59616890e-01 0.00000000e+00 -1.38470307e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60654184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.68, Y:-138.48, Z:0.04 [[ 9.59954310e-01 2.80156603e-01 0.00000000e+00 5.24683161e+02] [-2.80156603e-01 9.59954310e-01 0.00000000e+00 -1.38477757e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60267361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.71, Y:-138.49, Z:0.04 [[ 9.60316676e-01 2.78911961e-01 0.00000000e+00 5.24714309e+02] [-2.78911961e-01 9.60316676e-01 0.00000000e+00 -1.38485050e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64749115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.75, Y:-138.49, Z:0.04 [[ 9.60784904e-01 2.77294732e-01 0.00000000e+00 5.24746934e+02] [-2.77294732e-01 9.60784904e-01 0.00000000e+00 -1.38492360e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64516583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.78, Y:-138.50, Z:0.04 [[ 9.61341181e-01 2.75360006e-01 0.00000000e+00 5.24778081e+02] [-2.75360006e-01 9.61341181e-01 0.00000000e+00 -1.38499161e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51572721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.81, Y:-138.51, Z:0.03 [[ 9.62086647e-01 2.72743988e-01 0.00000000e+00 5.24810742e+02] [-2.72743988e-01 9.62086647e-01 0.00000000e+00 -1.38506264e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43807347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.811400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:524.84, Y:-138.51, Z:0.03 [[ 9.63877089e-01 2.66347436e-01 0.00000000e+00 5.24842375e+02] [-2.66347436e-01 9.63877089e-01 0.00000000e+00 -1.38511389e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36778954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.87, Y:-138.52, Z:0.03 [[ 9.64793081e-01 2.63010096e-01 0.00000000e+00 5.24874506e+02] [-2.63010096e-01 9.64793081e-01 0.00000000e+00 -1.38518369e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48855798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.91, Y:-138.52, Z:0.03 [[ 9.65698733e-01 2.59665085e-01 0.00000000e+00 5.24905625e+02] [-2.59665085e-01 9.65698733e-01 0.00000000e+00 -1.38524972e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39605322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.901400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:524.94, Y:-138.53, Z:0.03 [[ 9.66691978e-01 2.55942610e-01 0.00000000e+00 5.24938208e+02] [-2.55942610e-01 9.66691978e-01 0.00000000e+00 -1.38531912e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27216692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.97, Y:-138.54, Z:0.03 [[ 9.68153283e-01 2.50358186e-01 0.00000000e+00 5.24971065e+02] [-2.50358186e-01 9.68153283e-01 0.00000000e+00 -1.38537619e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20206489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.00, Y:-138.54, Z:0.03 [[ 9.68718288e-01 2.48163007e-01 0.00000000e+00 5.25002197e+02] [-2.48163007e-01 9.68718288e-01 0.00000000e+00 -1.38543710e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23762969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.991400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:525.03, Y:-138.55, Z:0.03 [[ 9.69268649e-01 2.46004646e-01 0.00000000e+00 5.25034499e+02] [-2.46004646e-01 9.69268649e-01 0.00000000e+00 -1.38549393e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38432442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.07, Y:-138.56, Z:0.03 [[ 9.69583696e-01 2.44759998e-01 0.00000000e+00 5.25067030e+02] [-2.44759998e-01 9.69583696e-01 0.00000000e+00 -1.38555682e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46615132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.10, Y:-138.56, Z:0.04 [[ 9.69983223e-01 2.43171849e-01 0.00000000e+00 5.25098989e+02] [-2.43171849e-01 9.69983223e-01 0.00000000e+00 -1.38562305e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53920201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.081400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:525.13, Y:-138.57, Z:0.04 [[ 9.71070191e-01 2.38794230e-01 0.00000000e+00 5.25131033e+02] [-2.38794230e-01 9.71070191e-01 0.00000000e+00 -1.38568507e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54793619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.16, Y:-138.58, Z:0.04 [[ 9.71410364e-01 2.37406624e-01 0.00000000e+00 5.25162840e+02] [-2.37406624e-01 9.71410364e-01 0.00000000e+00 -1.38576337e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57424507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.20, Y:-138.58, Z:0.04 [[ 9.71637820e-01 2.36473989e-01 0.00000000e+00 5.25195508e+02] [-2.36473989e-01 9.71637820e-01 0.00000000e+00 -1.38583265e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62268161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.23, Y:-138.59, Z:0.04 [[ 9.71609276e-01 2.36591241e-01 0.00000000e+00 5.25228474e+02] [-2.36591241e-01 9.71609276e-01 0.00000000e+00 -1.38589253e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57843699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.26, Y:-138.59, Z:0.03 [[ 9.71008446e-01 2.39045180e-01 0.00000000e+00 5.25261197e+02] [-2.39045180e-01 9.71008446e-01 0.00000000e+00 -1.38591575e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40961718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.231400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:525.29, Y:-138.60, Z:0.03 [[ 9.70698429e-01 2.40300977e-01 0.00000000e+00 5.25293564e+02] [-2.40300977e-01 9.70698429e-01 0.00000000e+00 -1.38596967e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49722502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.33, Y:-138.60, Z:0.03 [[ 9.70357304e-01 2.41674787e-01 0.00000000e+00 5.25325273e+02] [-2.41674787e-01 9.70357304e-01 0.00000000e+00 -1.38603587e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49062262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.36, Y:-138.61, Z:0.04 [[ 9.70222994e-01 2.42213423e-01 0.00000000e+00 5.25357635e+02] [-2.42213423e-01 9.70222994e-01 0.00000000e+00 -1.38610173e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51962098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.39, Y:-138.62, Z:0.03 [[ 9.70160568e-01 2.42463344e-01 0.00000000e+00 5.25389206e+02] [-2.42463344e-01 9.70160568e-01 0.00000000e+00 -1.38616607e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42943247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.42, Y:-138.62, Z:0.03 [[ 9.70403966e-01 2.41487357e-01 0.00000000e+00 5.25420644e+02] [-2.41487357e-01 9.70403966e-01 0.00000000e+00 -1.38621891e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19913547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.45, Y:-138.63, Z:0.03 [[ 9.70563916e-01 2.40843694e-01 0.00000000e+00 5.25451351e+02] [-2.40843694e-01 9.70563916e-01 0.00000000e+00 -1.38629367e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13777282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.48, Y:-138.64, Z:0.03 [[ 9.70828719e-01 2.39774057e-01 0.00000000e+00 5.25483732e+02] [-2.39774057e-01 9.70828719e-01 0.00000000e+00 -1.38637552e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18455409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.52, Y:-138.65, Z:0.03 [[ 9.71165813e-01 2.38405043e-01 0.00000000e+00 5.25515951e+02] [-2.38405043e-01 9.71165813e-01 0.00000000e+00 -1.38645616e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22272717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.55, Y:-138.65, Z:0.03 [[ 9.71457914e-01 2.37211975e-01 0.00000000e+00 5.25546977e+02] [-2.37211975e-01 9.71457914e-01 0.00000000e+00 -1.38652846e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16882590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.58, Y:-138.66, Z:0.03 [[ 9.71648341e-01 2.36430754e-01 0.00000000e+00 5.25579313e+02] [-2.36430754e-01 9.71648341e-01 0.00000000e+00 -1.38660360e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16656754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.61, Y:-138.67, Z:0.03 [[ 9.71857293e-01 2.35570375e-01 0.00000000e+00 5.25610305e+02] [-2.35570375e-01 9.71857293e-01 0.00000000e+00 -1.38668297e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99471476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.561400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:525.64, Y:-138.68, Z:0.03 [[ 9.71939348e-01 2.35231596e-01 0.00000000e+00 5.25642194e+02] [-2.35231596e-01 9.71939348e-01 0.00000000e+00 -1.38676859e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07440670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.67, Y:-138.69, Z:0.03 [[ 9.71910239e-01 2.35351837e-01 0.00000000e+00 5.25674079e+02] [-2.35351837e-01 9.71910239e-01 0.00000000e+00 -1.38685419e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06949987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.70, Y:-138.69, Z:0.03 [[ 9.71882420e-01 2.35466690e-01 0.00000000e+00 5.25704742e+02] [-2.35466690e-01 9.71882420e-01 0.00000000e+00 -1.38692728e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02717102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.74, Y:-138.70, Z:0.03 [[ 9.71838075e-01 2.35649649e-01 0.00000000e+00 5.25737019e+02] [-2.35649649e-01 9.71838075e-01 0.00000000e+00 -1.38701602e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02717102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.681400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:525.77, Y:-138.71, Z:0.03 [[ 9.71829048e-01 2.35686873e-01 0.00000000e+00 5.25769050e+02] [-2.35686873e-01 9.71829048e-01 0.00000000e+00 -1.38708703e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08804364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.7114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.80, Y:-138.72, Z:0.03 [[ 9.71615797e-01 2.36564457e-01 0.00000000e+00 5.25799606e+02] [-2.36564457e-01 9.71615797e-01 0.00000000e+00 -1.38717299e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93077901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.83, Y:-138.72, Z:0.03 [[ 9.71411325e-01 2.37402691e-01 0.00000000e+00 5.25830448e+02] [-2.37402691e-01 9.71411325e-01 0.00000000e+00 -1.38724520e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77108858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.86, Y:-138.73, Z:0.03 [[ 9.71278935e-01 2.37943754e-01 0.00000000e+00 5.25863073e+02] [-2.37943754e-01 9.71278935e-01 0.00000000e+00 -1.38731387e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93533879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.89, Y:-138.74, Z:0.03 [[ 9.71123543e-01 2.38577167e-01 0.00000000e+00 5.25894505e+02] [-2.38577167e-01 9.71123543e-01 0.00000000e+00 -1.38737127e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15504892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.93, Y:-138.74, Z:0.03 [[ 9.71027810e-01 2.38966509e-01 0.00000000e+00 5.25926760e+02] [-2.38966509e-01 9.71027810e-01 0.00000000e+00 -1.38742838e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36935963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.96, Y:-138.75, Z:0.04 [[ 9.70964894e-01 2.39222019e-01 0.00000000e+00 5.25959748e+02] [-2.39222019e-01 9.70964894e-01 0.00000000e+00 -1.38748468e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54523061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.99, Y:-138.75, Z:0.04 [[ 9.70920316e-01 2.39402884e-01 0.00000000e+00 5.25991510e+02] [-2.39402884e-01 9.70920316e-01 0.00000000e+00 -1.38753477e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56138582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.03, Y:-138.75, Z:0.04 [[ 9.70994095e-01 2.39103467e-01 0.00000000e+00 5.26025613e+02] [-2.39103467e-01 9.70994095e-01 0.00000000e+00 -1.38754821e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60826643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.06, Y:-138.76, Z:0.04 [[ 9.71172956e-01 2.38375943e-01 0.00000000e+00 5.26058188e+02] [-2.38375943e-01 9.71172956e-01 0.00000000e+00 -1.38760113e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52666062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.09, Y:-138.77, Z:0.03 [[ 9.71509732e-01 2.36999665e-01 0.00000000e+00 5.26091025e+02] [-2.36999665e-01 9.71509732e-01 0.00000000e+00 -1.38765578e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44745889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.12, Y:-138.77, Z:0.03 [[ 9.71809551e-01 2.35767250e-01 0.00000000e+00 5.26122826e+02] [-2.35767250e-01 9.71809551e-01 0.00000000e+00 -1.38770854e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33936767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.16, Y:-138.78, Z:0.03 [[ 9.72116963e-01 2.34496505e-01 0.00000000e+00 5.26156160e+02] [-2.34496505e-01 9.72116963e-01 0.00000000e+00 -1.38775676e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32068659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.19, Y:-138.78, Z:0.03 [[ 9.72307546e-01 2.33705020e-01 0.00000000e+00 5.26188926e+02] [-2.33705020e-01 9.72307546e-01 0.00000000e+00 -1.38780500e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29037753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.22, Y:-138.78, Z:0.03 [[ 9.72532893e-01 2.32765486e-01 0.00000000e+00 5.26223004e+02] [-2.32765486e-01 9.72532893e-01 0.00000000e+00 -1.38780788e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41184600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.26, Y:-138.79, Z:0.04 [[ 9.72525529e-01 2.32796254e-01 0.00000000e+00 5.26256148e+02] [-2.32796254e-01 9.72525529e-01 0.00000000e+00 -1.38785087e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58776924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.29, Y:-138.79, Z:0.04 [[ 9.72539269e-01 2.32738844e-01 0.00000000e+00 5.26289041e+02] [-2.32738844e-01 9.72539269e-01 0.00000000e+00 -1.38789217e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69804352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.32, Y:-138.79, Z:0.04 [[ 9.72523803e-01 2.32803465e-01 0.00000000e+00 5.26321100e+02] [-2.32803465e-01 9.72523803e-01 0.00000000e+00 -1.38792656e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70059313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.35, Y:-138.80, Z:0.04 [[ 9.72556975e-01 2.32664844e-01 0.00000000e+00 5.26353667e+02] [-2.32664844e-01 9.72556975e-01 0.00000000e+00 -1.38796213e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55750878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.251400513 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:526.39, Y:-138.80, Z:0.04 [[ 9.72745461e-01 2.31875546e-01 0.00000000e+00 5.26385712e+02] [-2.31875546e-01 9.72745461e-01 0.00000000e+00 -1.38799150e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50226201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.42, Y:-138.80, Z:0.03 [[ 9.72865009e-01 2.31373452e-01 0.00000000e+00 5.26417682e+02] [-2.31373452e-01 9.72865009e-01 0.00000000e+00 -1.38803644e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28113272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.45, Y:-138.81, Z:0.03 [[ 9.73125118e-01 2.30277017e-01 0.00000000e+00 5.26450192e+02] [-2.30277017e-01 9.73125118e-01 0.00000000e+00 -1.38808230e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18718936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.48, Y:-138.81, Z:0.03 [[ 9.73808897e-01 2.27368056e-01 0.00000000e+00 5.26481538e+02] [-2.27368056e-01 9.73808897e-01 0.00000000e+00 -1.38808373e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98247131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.51, Y:-138.81, Z:0.03 [[ 9.74238328e-01 2.25520910e-01 0.00000000e+00 5.26512577e+02] [-2.25520910e-01 9.74238328e-01 0.00000000e+00 -1.38814012e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13673552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.54, Y:-138.82, Z:0.03 [[ 9.74774799e-01 2.23190706e-01 0.00000000e+00 5.26542634e+02] [-2.23190706e-01 9.74774799e-01 0.00000000e+00 -1.38819988e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04484564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.57, Y:-138.83, Z:0.03 [[ 9.75404139e-01 2.20424061e-01 0.00000000e+00 5.26573596e+02] [-2.20424061e-01 9.75404139e-01 0.00000000e+00 -1.38826501e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12583531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4614005130001 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:526.61, Y:-138.83, Z:0.03 [[ 9.76124572e-01 2.17211465e-01 0.00000000e+00 5.26605631e+02] [-2.17211465e-01 9.76124572e-01 0.00000000e+00 -1.38832781e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21860608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.491400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:526.64, Y:-138.84, Z:0.03 [[ 9.76792497e-01 2.14187808e-01 0.00000000e+00 5.26636554e+02] [-2.14187808e-01 9.76792497e-01 0.00000000e+00 -1.38839163e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97630633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.67, Y:-138.84, Z:0.03 [[ 9.77897072e-01 2.09086865e-01 0.00000000e+00 5.26667761e+02] [-2.09086865e-01 9.77897072e-01 0.00000000e+00 -1.38844898e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90094681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.70, Y:-138.85, Z:0.03 [[ 9.78266522e-01 2.07351424e-01 0.00000000e+00 5.26697956e+02] [-2.07351424e-01 9.78266522e-01 0.00000000e+00 -1.38852287e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84892125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.73, Y:-138.86, Z:0.03 [[ 9.78487249e-01 2.06307301e-01 0.00000000e+00 5.26727482e+02] [-2.06307301e-01 9.78487249e-01 0.00000000e+00 -1.38859996e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81908648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.76, Y:-138.87, Z:0.03 [[ 9.78606253e-01 2.05742074e-01 0.00000000e+00 5.26757491e+02] [-2.05742074e-01 9.78606253e-01 0.00000000e+00 -1.38867687e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88367191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.79, Y:-138.88, Z:0.03 [[ 9.78588403e-01 2.05826958e-01 0.00000000e+00 5.26786411e+02] [-2.05826958e-01 9.78588403e-01 0.00000000e+00 -1.38875287e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91745620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.82, Y:-138.88, Z:0.03 [[ 9.78401492e-01 2.06713621e-01 0.00000000e+00 5.26817025e+02] [-2.06713621e-01 9.78401492e-01 0.00000000e+00 -1.38883721e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08497821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.85, Y:-138.89, Z:0.03 [[ 9.78153826e-01 2.07882400e-01 0.00000000e+00 5.26847395e+02] [-2.07882400e-01 9.78153826e-01 0.00000000e+00 -1.38892018e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13676536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.88, Y:-138.90, Z:0.03 [[ 9.77836963e-01 2.09367796e-01 0.00000000e+00 5.26877164e+02] [-2.09367796e-01 9.77836963e-01 0.00000000e+00 -1.38900237e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10505503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.91, Y:-138.91, Z:0.03 [[ 9.77448169e-01 2.11175463e-01 0.00000000e+00 5.26905772e+02] [-2.11175463e-01 9.77448169e-01 0.00000000e+00 -1.38908843e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23523333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.791400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:526.93, Y:-138.92, Z:0.04 [[ 9.77293523e-01 2.11889993e-01 0.00000000e+00 5.26934935e+02] [-2.11889993e-01 9.77293523e-01 0.00000000e+00 -1.38916764e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52111081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.821400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:526.96, Y:-138.92, Z:0.04 [[ 9.77036427e-01 2.13072336e-01 0.00000000e+00 5.26964063e+02] [-2.13072336e-01 9.77036427e-01 0.00000000e+00 -1.38924607e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64985795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.99, Y:-138.93, Z:0.04 [[ 9.76749782e-01 2.14382515e-01 0.00000000e+00 5.26992169e+02] [-2.14382515e-01 9.76749782e-01 0.00000000e+00 -1.38932499e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.73304010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.02, Y:-138.94, Z:0.04 [[ 9.76561915e-01 2.15236676e-01 0.00000000e+00 5.27021105e+02] [-2.15236676e-01 9.76561915e-01 0.00000000e+00 -1.38940595e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79922023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.05, Y:-138.95, Z:0.04 [[ 9.76419195e-01 2.15883201e-01 0.00000000e+00 5.27049858e+02] [-2.15883201e-01 9.76419195e-01 0.00000000e+00 -1.38948818e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77970775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.08, Y:-138.96, Z:0.04 [[ 9.76301607e-01 2.16414353e-01 0.00000000e+00 5.27079556e+02] [-2.16414353e-01 9.76301607e-01 0.00000000e+00 -1.38956680e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.85965584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.11, Y:-138.96, Z:0.04 [[ 9.75971152e-01 2.17899771e-01 0.00000000e+00 5.27108045e+02] [-2.17899771e-01 9.75971152e-01 0.00000000e+00 -1.38962636e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65787959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.14, Y:-138.97, Z:0.04 [[ 9.75838257e-01 2.18494155e-01 0.00000000e+00 5.27137252e+02] [-2.18494155e-01 9.75838257e-01 0.00000000e+00 -1.38970132e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58021555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.17, Y:-138.98, Z:0.04 [[ 9.75770359e-01 2.18797180e-01 0.00000000e+00 5.27165442e+02] [-2.18797180e-01 9.75770359e-01 0.00000000e+00 -1.38977126e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52986105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.20, Y:-138.98, Z:0.04 [[ 9.75736872e-01 2.18946469e-01 0.00000000e+00 5.27195385e+02] [-2.18946469e-01 9.75736872e-01 0.00000000e+00 -1.38983984e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63856634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.22, Y:-138.99, Z:0.04 [[ 9.75783859e-01 2.18736967e-01 0.00000000e+00 5.27224797e+02] [-2.18736967e-01 9.75783859e-01 0.00000000e+00 -1.38989160e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77216665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.25, Y:-138.99, Z:0.04 [[ 9.75849823e-01 2.18442494e-01 0.00000000e+00 5.27253793e+02] [-2.18442494e-01 9.75849823e-01 0.00000000e+00 -1.38993680e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82669006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.28, Y:-138.99, Z:0.04 [[ 9.75948077e-01 2.18003100e-01 0.00000000e+00 5.27282499e+02] [-2.18003100e-01 9.75948077e-01 0.00000000e+00 -1.38994424e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65017084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.181400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:527.31, Y:-139.00, Z:0.04 [[ 9.75974941e-01 2.17882799e-01 0.00000000e+00 5.27310909e+02] [-2.17882799e-01 9.75974941e-01 0.00000000e+00 -1.38998419e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58510739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.2114005130001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:527.34, Y:-139.00, Z:0.03 [[ 9.76025980e-01 2.17654053e-01 0.00000000e+00 5.27339821e+02] [-2.17654053e-01 9.76025980e-01 0.00000000e+00 -1.39001874e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45074143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.241400513 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:527.37, Y:-139.00, Z:0.03 [[ 9.76117581e-01 2.17242878e-01 0.00000000e+00 5.27368890e+02] [-2.17242878e-01 9.76117581e-01 0.00000000e+00 -1.39004735e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47466823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.40, Y:-139.01, Z:0.04 [[ 9.76288065e-01 2.16475437e-01 0.00000000e+00 5.27396475e+02] [-2.16475437e-01 9.76288065e-01 0.00000000e+00 -1.39007515e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53725877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.43, Y:-139.01, Z:0.04 [[ 9.76581137e-01 2.15149444e-01 0.00000000e+00 5.27425674e+02] [-2.15149444e-01 9.76581137e-01 0.00000000e+00 -1.39010461e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75499339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.331400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:527.45, Y:-139.01, Z:0.04 [[ 9.76974955e-01 2.13354017e-01 0.00000000e+00 5.27454119e+02] [-2.13354017e-01 9.76974955e-01 0.00000000e+00 -1.39013472e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60933573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.48, Y:-139.02, Z:0.03 [[ 9.77502555e-01 2.10923576e-01 0.00000000e+00 5.27483281e+02] [-2.10923576e-01 9.77502555e-01 0.00000000e+00 -1.39017698e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43994798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.51, Y:-139.02, Z:0.03 [[ 9.78159452e-01 2.07855927e-01 0.00000000e+00 5.27511111e+02] [-2.07855927e-01 9.78159452e-01 0.00000000e+00 -1.39021686e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30698607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.54, Y:-139.02, Z:0.03 [[ 9.79673852e-01 2.00596966e-01 0.00000000e+00 5.27540357e+02] [-2.00596966e-01 9.79673852e-01 0.00000000e+00 -1.39023309e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32888574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.57, Y:-139.03, Z:0.03 [[ 9.80414113e-01 1.96947116e-01 0.00000000e+00 5.27569055e+02] [-1.96947116e-01 9.80414113e-01 0.00000000e+00 -1.39028791e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43601069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.60, Y:-139.03, Z:0.03 [[ 9.80963121e-01 1.94194117e-01 0.00000000e+00 5.27596492e+02] [-1.94194117e-01 9.80963121e-01 0.00000000e+00 -1.39033735e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44327055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.63, Y:-139.04, Z:0.04 [[ 9.81265489e-01 1.92660426e-01 0.00000000e+00 5.27625351e+02] [-1.92660426e-01 9.81265489e-01 0.00000000e+00 -1.39038792e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52817180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.65, Y:-139.04, Z:0.03 [[ 9.81256561e-01 1.92705896e-01 0.00000000e+00 5.27653923e+02] [-1.92705896e-01 9.81256561e-01 0.00000000e+00 -1.39043695e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45899905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.68, Y:-139.05, Z:0.03 [[ 9.81265575e-01 1.92659990e-01 0.00000000e+00 5.27682236e+02] [-1.92659990e-01 9.81265575e-01 0.00000000e+00 -1.39051356e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45899905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.71, Y:-139.05, Z:0.03 [[ 9.80790778e-01 1.95062684e-01 0.00000000e+00 5.27710546e+02] [-1.95062684e-01 9.80790778e-01 0.00000000e+00 -1.39052824e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47969492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.74, Y:-139.06, Z:0.04 [[ 9.80509867e-01 1.96469847e-01 0.00000000e+00 5.27737924e+02] [-1.96469847e-01 9.80509867e-01 0.00000000e+00 -1.39056666e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66951971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.77, Y:-139.06, Z:0.04 [[ 9.80264614e-01 1.97689873e-01 0.00000000e+00 5.27766991e+02] [-1.97689873e-01 9.80264614e-01 0.00000000e+00 -1.39060407e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81633014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.80, Y:-139.06, Z:0.04 [[ 9.80110804e-01 1.98451032e-01 0.00000000e+00 5.27795422e+02] [-1.98451032e-01 9.80110804e-01 0.00000000e+00 -1.39064038e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87686240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.82, Y:-139.07, Z:0.04 [[ 9.80063758e-01 1.98683242e-01 0.00000000e+00 5.27822772e+02] [-1.98683242e-01 9.80063758e-01 0.00000000e+00 -1.39068137e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82002879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.751400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:527.85, Y:-139.07, Z:0.04 [[ 9.80189789e-01 1.98060538e-01 0.00000000e+00 5.27851108e+02] [-1.98060538e-01 9.80189789e-01 0.00000000e+00 -1.39072830e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69981320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.88, Y:-139.08, Z:0.04 [[ 9.80508907e-01 1.96474636e-01 0.00000000e+00 5.27878259e+02] [-1.96474636e-01 9.80508907e-01 0.00000000e+00 -1.39075262e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51441534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.91, Y:-139.08, Z:0.03 [[ 9.80731313e-01 1.95361439e-01 0.00000000e+00 5.27906925e+02] [-1.95361439e-01 9.80731313e-01 0.00000000e+00 -1.39080160e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39971571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.93, Y:-139.09, Z:0.03 [[ 9.80918602e-01 1.94418866e-01 0.00000000e+00 5.27934907e+02] [-1.94418866e-01 9.80918602e-01 0.00000000e+00 -1.39085521e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30299069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.96, Y:-139.09, Z:0.03 [[ 9.81037725e-01 1.93816877e-01 0.00000000e+00 5.27962297e+02] [-1.93816877e-01 9.81037725e-01 0.00000000e+00 -1.39091337e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01758810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.99, Y:-139.10, Z:0.03 [[ 9.81151600e-01 1.93239589e-01 0.00000000e+00 5.27990860e+02] [-1.93239589e-01 9.81151600e-01 0.00000000e+00 -1.39097091e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04743928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.02, Y:-139.10, Z:0.03 [[ 9.81186282e-01 1.93063409e-01 0.00000000e+00 5.28017764e+02] [-1.93063409e-01 9.81186282e-01 0.00000000e+00 -1.39101711e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03304527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.05, Y:-139.10, Z:0.03 [[ 9.81317920e-01 1.92393192e-01 0.00000000e+00 5.28047322e+02] [-1.92393192e-01 9.81317920e-01 0.00000000e+00 -1.39104094e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33650447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.08, Y:-139.11, Z:0.03 [[ 9.81490044e-01 1.91513166e-01 0.00000000e+00 5.28075204e+02] [-1.91513166e-01 9.81490044e-01 0.00000000e+00 -1.39109995e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40356659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.021400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:528.10, Y:-139.12, Z:0.03 [[ 9.81866896e-01 1.89571619e-01 0.00000000e+00 5.28102694e+02] [-1.89571619e-01 9.81866896e-01 0.00000000e+00 -1.39115962e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31724171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.13, Y:-139.12, Z:0.03 [[ 9.82173428e-01 1.87977015e-01 0.00000000e+00 5.28129207e+02] [-1.87977015e-01 9.82173428e-01 0.00000000e+00 -1.39122769e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35709543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.16, Y:-139.13, Z:0.03 [[ 9.82464564e-01 1.86449404e-01 0.00000000e+00 5.28156778e+02] [-1.86449404e-01 9.82464564e-01 0.00000000e+00 -1.39128256e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40216435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.18, Y:-139.13, Z:0.03 [[ 9.82597670e-01 1.85746650e-01 0.00000000e+00 5.28184855e+02] [-1.85746650e-01 9.82597670e-01 0.00000000e+00 -1.39133628e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41895529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.21, Y:-139.14, Z:0.03 [[ 9.82635928e-01 1.85544152e-01 0.00000000e+00 5.28212119e+02] [-1.85544152e-01 9.82635928e-01 0.00000000e+00 -1.39138998e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11513096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.24, Y:-139.14, Z:0.03 [[ 9.82671068e-01 1.85357955e-01 0.00000000e+00 5.28239636e+02] [-1.85357955e-01 9.82671068e-01 0.00000000e+00 -1.39144770e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26027953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.27, Y:-139.15, Z:0.03 [[ 9.82641246e-01 1.85515987e-01 0.00000000e+00 5.28266990e+02] [-1.85515987e-01 9.82641246e-01 0.00000000e+00 -1.39150586e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41143033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.30, Y:-139.15, Z:0.04 [[ 9.82669227e-01 1.85367717e-01 0.00000000e+00 5.28295490e+02] [-1.85367717e-01 9.82669227e-01 0.00000000e+00 -1.39154212e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93722874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.32, Y:-139.16, Z:0.04 [[ 9.82783156e-01 1.84762733e-01 0.00000000e+00 5.28323802e+02] [-1.84762733e-01 9.82783156e-01 0.00000000e+00 -1.39159439e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08169702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.35, Y:-139.16, Z:0.04 [[ 9.82961227e-01 1.83813022e-01 0.00000000e+00 5.28350574e+02] [-1.83813022e-01 9.82961227e-01 0.00000000e+00 -1.39164458e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04551751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.38, Y:-139.17, Z:0.04 [[ 9.83215919e-01 1.82445765e-01 0.00000000e+00 5.28377160e+02] [-1.82445765e-01 9.83215919e-01 0.00000000e+00 -1.39170244e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.94867460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.41, Y:-139.18, Z:0.04 [[ 9.83530925e-01 1.80739924e-01 0.00000000e+00 5.28405152e+02] [-1.80739924e-01 9.83530925e-01 0.00000000e+00 -1.39176886e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.92124795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.43, Y:-139.18, Z:0.04 [[ 9.84148214e-01 1.77347944e-01 0.00000000e+00 5.28433763e+02] [-1.77347944e-01 9.84148214e-01 0.00000000e+00 -1.39182347e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02188062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.46, Y:-139.19, Z:0.04 [[ 9.84323034e-01 1.76375066e-01 0.00000000e+00 5.28461328e+02] [-1.76375066e-01 9.84323034e-01 0.00000000e+00 -1.39187943e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.09696834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.49, Y:-139.19, Z:0.04 [[ 9.84348552e-01 1.76232597e-01 0.00000000e+00 5.28488433e+02] [-1.76232597e-01 9.84348552e-01 0.00000000e+00 -1.39193848e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11330143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.52, Y:-139.20, Z:0.04 [[ 9.84275774e-01 1.76638616e-01 0.00000000e+00 5.28515886e+02] [-1.76638616e-01 9.84275774e-01 0.00000000e+00 -1.39200325e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06875086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.54, Y:-139.21, Z:0.04 [[ 9.84136845e-01 1.77411024e-01 0.00000000e+00 5.28543344e+02] [-1.77411024e-01 9.84136845e-01 0.00000000e+00 -1.39207292e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90059874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.57, Y:-139.21, Z:0.04 [[ 9.83964449e-01 1.78364690e-01 0.00000000e+00 5.28571749e+02] [-1.78364690e-01 9.83964449e-01 0.00000000e+00 -1.39213641e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76947458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.60, Y:-139.22, Z:0.04 [[ 9.83628427e-01 1.80208540e-01 0.00000000e+00 5.28600531e+02] [-1.80208540e-01 9.83628427e-01 0.00000000e+00 -1.39218148e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61034829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.63, Y:-139.22, Z:0.04 [[ 9.83465587e-01 1.81095112e-01 0.00000000e+00 5.28626564e+02] [-1.81095112e-01 9.83465587e-01 0.00000000e+00 -1.39224033e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57069060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.66, Y:-139.23, Z:0.04 [[ 9.83271070e-01 1.82148301e-01 0.00000000e+00 5.28655119e+02] [-1.82148301e-01 9.83271070e-01 0.00000000e+00 -1.39230695e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68161246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.68, Y:-139.24, Z:0.04 [[ 9.83119921e-01 1.82962347e-01 0.00000000e+00 5.28681367e+02] [-1.82962347e-01 9.83119921e-01 0.00000000e+00 -1.39235928e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70936759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.71, Y:-139.24, Z:0.04 [[ 9.83033025e-01 1.83428656e-01 0.00000000e+00 5.28708888e+02] [-1.83428656e-01 9.83033025e-01 0.00000000e+00 -1.39240595e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74811057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.7114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.74, Y:-139.25, Z:0.04 [[ 9.83013960e-01 1.83530800e-01 0.00000000e+00 5.28737534e+02] [-1.83530800e-01 9.83013960e-01 0.00000000e+00 -1.39245361e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68172867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.77, Y:-139.25, Z:0.04 [[ 9.83089802e-01 1.83124114e-01 0.00000000e+00 5.28765742e+02] [-1.83124114e-01 9.83089802e-01 0.00000000e+00 -1.39250626e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58573423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.79, Y:-139.25, Z:0.03 [[ 9.83421987e-01 1.81331728e-01 0.00000000e+00 5.28792518e+02] [-1.81331728e-01 9.83421987e-01 0.00000000e+00 -1.39253409e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46246567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.82, Y:-139.26, Z:0.04 [[ 9.83591554e-01 1.80409688e-01 0.00000000e+00 5.28820757e+02] [-1.80409688e-01 9.83591554e-01 0.00000000e+00 -1.39258903e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54246701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.831400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:528.85, Y:-139.26, Z:0.04 [[ 9.83786100e-01 1.79345779e-01 0.00000000e+00 5.28847862e+02] [-1.79345779e-01 9.83786100e-01 0.00000000e+00 -1.39264442e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55078977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.87, Y:-139.27, Z:0.04 [[ 9.83913961e-01 1.78642988e-01 0.00000000e+00 5.28874655e+02] [-1.78642988e-01 9.83913961e-01 0.00000000e+00 -1.39270659e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53474669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.90, Y:-139.28, Z:0.03 [[ 9.83915574e-01 1.78634106e-01 0.00000000e+00 5.28899735e+02] [-1.78634106e-01 9.83915574e-01 0.00000000e+00 -1.39276298e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17540880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.93, Y:-139.28, Z:0.03 [[ 9.83951691e-01 1.78435059e-01 0.00000000e+00 5.28929208e+02] [-1.78435059e-01 9.83951691e-01 0.00000000e+00 -1.39282795e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22021207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.96, Y:-139.29, Z:0.03 [[ 9.83826904e-01 1.79121813e-01 0.00000000e+00 5.28956537e+02] [-1.79121813e-01 9.83826904e-01 0.00000000e+00 -1.39288052e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35610067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.99, Y:-139.29, Z:0.04 [[ 9.83675953e-01 1.79948934e-01 0.00000000e+00 5.28985016e+02] [-1.79948934e-01 9.83675953e-01 0.00000000e+00 -1.39294230e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83302505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.01, Y:-139.30, Z:0.04 [[ 9.83421001e-01 1.81337074e-01 0.00000000e+00 5.29012331e+02] [-1.81337074e-01 9.83421001e-01 0.00000000e+00 -1.39299663e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.05851089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.04, Y:-139.30, Z:0.04 [[ 9.83212446e-01 1.82464478e-01 0.00000000e+00 5.29039783e+02] [-1.82464478e-01 9.83212446e-01 0.00000000e+00 -1.39304657e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.16220737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.071400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:529.07, Y:-139.31, Z:0.04 [[ 9.82986325e-01 1.83678757e-01 0.00000000e+00 5.29068605e+02] [-1.83678757e-01 9.82986325e-01 0.00000000e+00 -1.39309704e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.19778567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.10, Y:-139.31, Z:0.04 [[ 9.82747287e-01 1.84953429e-01 0.00000000e+00 5.29095091e+02] [-1.84953429e-01 9.82747287e-01 0.00000000e+00 -1.39314245e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.07087819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.12, Y:-139.32, Z:0.04 [[ 9.82440925e-01 1.86573922e-01 0.00000000e+00 5.29124065e+02] [-1.86573922e-01 9.82440925e-01 0.00000000e+00 -1.39316183e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86233441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.15, Y:-139.32, Z:0.04 [[ 9.82422282e-01 1.86672064e-01 0.00000000e+00 5.29151993e+02] [-1.86672064e-01 9.82422282e-01 0.00000000e+00 -1.39320389e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87967208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.191400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:529.18, Y:-139.32, Z:0.04 [[ 9.82443784e-01 1.86558870e-01 0.00000000e+00 5.29179992e+02] [-1.86558870e-01 9.82443784e-01 0.00000000e+00 -1.39323976e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.98803583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.21, Y:-139.33, Z:0.04 [[ 9.82454298e-01 1.86503489e-01 0.00000000e+00 5.29207783e+02] [-1.86503489e-01 9.82454298e-01 0.00000000e+00 -1.39327629e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.09515675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.24, Y:-139.33, Z:0.04 [[ 9.82474680e-01 1.86396090e-01 0.00000000e+00 5.29235376e+02] [-1.86396090e-01 9.82474680e-01 0.00000000e+00 -1.39331023e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22657741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.26, Y:-139.33, Z:0.04 [[ 9.82519141e-01 1.86161588e-01 0.00000000e+00 5.29263018e+02] [-1.86161588e-01 9.82519141e-01 0.00000000e+00 -1.39334377e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.33434667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.29, Y:-139.34, Z:0.04 [[ 9.82588444e-01 1.85795451e-01 0.00000000e+00 5.29291448e+02] [-1.85795451e-01 9.82588444e-01 0.00000000e+00 -1.39337788e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27844617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.32, Y:-139.34, Z:0.04 [[ 9.82819848e-01 1.84567460e-01 0.00000000e+00 5.29319822e+02] [-1.84567460e-01 9.82819848e-01 0.00000000e+00 -1.39338092e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86227465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.35, Y:-139.34, Z:0.04 [[ 9.82992723e-01 1.83644512e-01 0.00000000e+00 5.29347611e+02] [-1.83644512e-01 9.82992723e-01 0.00000000e+00 -1.39342254e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96480080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.38, Y:-139.35, Z:0.04 [[ 9.83126002e-01 1.82929670e-01 0.00000000e+00 5.29375380e+02] [-1.82929670e-01 9.83126002e-01 0.00000000e+00 -1.39346800e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.92119995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.40, Y:-139.35, Z:0.04 [[ 9.83203340e-01 1.82513538e-01 0.00000000e+00 5.29402743e+02] [-1.82513538e-01 9.83203340e-01 0.00000000e+00 -1.39351294e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08482379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.43, Y:-139.36, Z:0.04 [[ 9.83140038e-01 1.82854219e-01 0.00000000e+00 5.29430084e+02] [-1.82854219e-01 9.83140038e-01 0.00000000e+00 -1.39356288e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06527545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.46, Y:-139.36, Z:0.04 [[ 9.83173260e-01 1.82675508e-01 0.00000000e+00 5.29457612e+02] [-1.82675508e-01 9.83173260e-01 0.00000000e+00 -1.39363524e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06527545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.49, Y:-139.37, Z:0.04 [[ 9.83002656e-01 1.83591335e-01 0.00000000e+00 5.29485536e+02] [-1.83591335e-01 9.83002656e-01 0.00000000e+00 -1.39368987e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06405487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.51, Y:-139.37, Z:0.04 [[ 9.82374285e-01 1.86924489e-01 0.00000000e+00 5.29512996e+02] [-1.86924489e-01 9.82374285e-01 0.00000000e+00 -1.39371837e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10934295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.54, Y:-139.38, Z:0.04 [[ 9.82071991e-01 1.88506244e-01 0.00000000e+00 5.29540487e+02] [-1.88506244e-01 9.82071991e-01 0.00000000e+00 -1.39376482e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14052097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.57, Y:-139.38, Z:0.04 [[ 9.81871150e-01 1.89549583e-01 0.00000000e+00 5.29568294e+02] [-1.89549583e-01 9.81871150e-01 0.00000000e+00 -1.39381578e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14448415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.60, Y:-139.39, Z:0.04 [[ 9.81900705e-01 1.89396424e-01 0.00000000e+00 5.29595585e+02] [-1.89396424e-01 9.81900705e-01 0.00000000e+00 -1.39386467e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.23253216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.62, Y:-139.39, Z:0.04 [[ 9.82113660e-01 1.88289031e-01 0.00000000e+00 5.29622778e+02] [-1.88289031e-01 9.82113660e-01 0.00000000e+00 -1.39391755e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22910309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.701400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:529.65, Y:-139.39, Z:0.04 [[ 9.82922747e-01 1.84018676e-01 0.00000000e+00 5.29650911e+02] [-1.84018676e-01 9.82922747e-01 0.00000000e+00 -1.39394323e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14928538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.68, Y:-139.40, Z:0.04 [[ 9.83427877e-01 1.81299782e-01 0.00000000e+00 5.29677673e+02] [-1.81299782e-01 9.83427877e-01 0.00000000e+00 -1.39399528e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10146961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.71, Y:-139.40, Z:0.04 [[ 9.83923999e-01 1.78587694e-01 0.00000000e+00 5.29705094e+02] [-1.78587694e-01 9.83923999e-01 0.00000000e+00 -1.39404781e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11405933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.73, Y:-139.41, Z:0.04 [[ 9.84270871e-01 1.76665935e-01 0.00000000e+00 5.29732657e+02] [-1.76665935e-01 9.84270871e-01 0.00000000e+00 -1.39409897e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.20349297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.76, Y:-139.41, Z:0.04 [[ 9.84395677e-01 1.75969174e-01 0.00000000e+00 5.29758947e+02] [-1.75969174e-01 9.84395677e-01 0.00000000e+00 -1.39414568e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.25488662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.79, Y:-139.42, Z:0.04 [[ 9.84361053e-01 1.76162756e-01 0.00000000e+00 5.29786779e+02] [-1.76162756e-01 9.84361053e-01 0.00000000e+00 -1.39419765e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.35169907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.82, Y:-139.42, Z:0.05 [[ 9.84155783e-01 1.77305937e-01 0.00000000e+00 5.29815231e+02] [-1.77305937e-01 9.84155783e-01 0.00000000e+00 -1.39422160e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.52243856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.84, Y:-139.43, Z:0.05 [[ 9.84028636e-01 1.78010237e-01 0.00000000e+00 5.29843360e+02] [-1.78010237e-01 9.84028636e-01 0.00000000e+00 -1.39426736e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.51074087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.87, Y:-139.43, Z:0.04 [[ 9.83914005e-01 1.78642747e-01 0.00000000e+00 5.29870146e+02] [-1.78642747e-01 9.83914005e-01 0.00000000e+00 -1.39431062e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.31456347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.90, Y:-139.44, Z:0.04 [[ 9.83839143e-01 1.79054574e-01 0.00000000e+00 5.29898787e+02] [-1.79054574e-01 9.83839143e-01 0.00000000e+00 -1.39436579e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.98958355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.93, Y:-139.44, Z:0.04 [[ 9.83765067e-01 1.79461120e-01 0.00000000e+00 5.29927542e+02] [-1.79461120e-01 9.83765067e-01 0.00000000e+00 -1.39442425e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82951756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.031400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:529.96, Y:-139.45, Z:0.04 [[ 9.83720762e-01 1.79703820e-01 0.00000000e+00 5.29955684e+02] [-1.79703820e-01 9.83720762e-01 0.00000000e+00 -1.39447817e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65509077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.98, Y:-139.45, Z:0.04 [[ 9.83675654e-01 1.79950570e-01 0.00000000e+00 5.29983163e+02] [-1.79950570e-01 9.83675654e-01 0.00000000e+00 -1.39449058e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65222385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.01, Y:-139.45, Z:0.04 [[ 9.83609387e-01 1.80312433e-01 0.00000000e+00 5.30011049e+02] [-1.80312433e-01 9.83609387e-01 0.00000000e+00 -1.39452756e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76171348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.04, Y:-139.46, Z:0.04 [[ 9.83467222e-01 1.81086231e-01 0.00000000e+00 5.30039604e+02] [-1.81086231e-01 9.83467222e-01 0.00000000e+00 -1.39456562e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90465638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.151400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:530.07, Y:-139.46, Z:0.04 [[ 9.83206903e-01 1.82494347e-01 0.00000000e+00 5.30067203e+02] [-1.82494347e-01 9.83206903e-01 0.00000000e+00 -1.39460252e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97818248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.10, Y:-139.46, Z:0.04 [[ 9.82921302e-01 1.84026396e-01 0.00000000e+00 5.30096024e+02] [-1.84026396e-01 9.82921302e-01 0.00000000e+00 -1.39463978e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10620290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.2114005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.12, Y:-139.47, Z:0.04 [[ 9.82322984e-01 1.87193896e-01 0.00000000e+00 5.30124138e+02] [-1.87193896e-01 9.82322984e-01 0.00000000e+00 -1.39465242e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.20438275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.15, Y:-139.47, Z:0.04 [[ 9.82124661e-01 1.88231639e-01 0.00000000e+00 5.30151674e+02] [-1.88231639e-01 9.82124661e-01 0.00000000e+00 -1.39469590e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.29928742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.18, Y:-139.47, Z:0.04 [[ 9.81868542e-01 1.89563093e-01 0.00000000e+00 5.30178830e+02] [-1.89563093e-01 9.81868542e-01 0.00000000e+00 -1.39473772e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.29443408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.21, Y:-139.48, Z:0.04 [[ 9.81572517e-01 1.91090014e-01 0.00000000e+00 5.30206878e+02] [-1.91090014e-01 9.81572517e-01 0.00000000e+00 -1.39477750e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27962255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.23, Y:-139.48, Z:0.04 [[ 9.81103036e-01 1.93486003e-01 0.00000000e+00 5.30234339e+02] [-1.93486003e-01 9.81103036e-01 0.00000000e+00 -1.39481225e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.19991964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.26, Y:-139.48, Z:0.04 [[ 9.80497394e-01 1.96532085e-01 0.00000000e+00 5.30261988e+02] [-1.96532085e-01 9.80497394e-01 0.00000000e+00 -1.39484578e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12716528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.29, Y:-139.49, Z:0.04 [[ 9.79683687e-01 2.00548931e-01 0.00000000e+00 5.30289049e+02] [-2.00548931e-01 9.79683687e-01 0.00000000e+00 -1.39487527e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06522217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.32, Y:-139.49, Z:0.04 [[ 9.78813148e-01 2.04755517e-01 0.00000000e+00 5.30317273e+02] [-2.04755517e-01 9.78813148e-01 0.00000000e+00 -1.39490144e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.20132694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.35, Y:-139.49, Z:0.04 [[ 9.77932635e-01 2.08920469e-01 0.00000000e+00 5.30345895e+02] [-2.08920469e-01 9.77932635e-01 0.00000000e+00 -1.39492640e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.38139542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.481400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:530.38, Y:-139.49, Z:0.05 [[ 9.76493138e-01 2.15548491e-01 0.00000000e+00 5.30375691e+02] [-2.15548491e-01 9.76493138e-01 0.00000000e+00 -1.39492067e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.76977392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.511400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:530.40, Y:-139.50, Z:0.05 [[ 9.76135337e-01 2.17163082e-01 0.00000000e+00 5.30402521e+02] [-2.17163082e-01 9.76135337e-01 0.00000000e+00 -1.39495741e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.86583323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.541400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:530.43, Y:-139.50, Z:0.05 [[ 9.76020996e-01 2.17676402e-01 0.00000000e+00 5.30430690e+02] [-2.17676402e-01 9.76020996e-01 0.00000000e+00 -1.39499418e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.86420665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.571400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:530.46, Y:-139.50, Z:0.05 [[ 9.76028678e-01 2.17641954e-01 0.00000000e+00 5.30458116e+02] [-2.17641954e-01 9.76028678e-01 0.00000000e+00 -1.39503147e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.80230770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.48, Y:-139.51, Z:0.05 [[ 9.76099945e-01 2.17322106e-01 0.00000000e+00 5.30484608e+02] [-2.17322106e-01 9.76099945e-01 0.00000000e+00 -1.39507182e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.69998816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.51, Y:-139.51, Z:0.05 [[ 9.76121101e-01 2.17227063e-01 0.00000000e+00 5.30511695e+02] [-2.17227063e-01 9.76121101e-01 0.00000000e+00 -1.39512564e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.79305006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.661400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:530.54, Y:-139.52, Z:0.05 [[ 9.75757689e-01 2.18853676e-01 0.00000000e+00 5.30537439e+02] [-2.18853676e-01 9.75757689e-01 0.00000000e+00 -1.39519343e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.90269246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.691400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:530.56, Y:-139.53, Z:0.05 [[ 9.75348279e-01 2.20671102e-01 0.00000000e+00 5.30563737e+02] [-2.20671102e-01 9.75348279e-01 0.00000000e+00 -1.39526288e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.85961086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.59, Y:-139.53, Z:0.05 [[ 9.74830226e-01 2.22948494e-01 0.00000000e+00 5.30590437e+02] [-2.22948494e-01 9.74830226e-01 0.00000000e+00 -1.39533100e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.83911334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.62, Y:-139.54, Z:0.05 [[ 9.74250442e-01 2.25468569e-01 0.00000000e+00 5.30617537e+02] [-2.25468569e-01 9.74250442e-01 0.00000000e+00 -1.39539968e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.84247139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.64, Y:-139.55, Z:0.05 [[ 9.73704190e-01 2.27816044e-01 0.00000000e+00 5.30644539e+02] [-2.27816044e-01 9.73704190e-01 0.00000000e+00 -1.39546795e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.93234214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.67, Y:-139.55, Z:0.05 [[ 9.73097901e-01 2.30392003e-01 0.00000000e+00 5.30670232e+02] [-2.30392003e-01 9.73097901e-01 0.00000000e+00 -1.39553596e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.05488357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.70, Y:-139.56, Z:0.05 [[ 9.71797553e-01 2.35816698e-01 0.00000000e+00 5.30696291e+02] [-2.35816698e-01 9.71797553e-01 0.00000000e+00 -1.39563535e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.96864986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.72, Y:-139.57, Z:0.05 [[ 9.71219370e-01 2.38186766e-01 0.00000000e+00 5.30721612e+02] [-2.38186766e-01 9.71219370e-01 0.00000000e+00 -1.39572362e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.72784513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.75, Y:-139.58, Z:0.05 [[ 9.70729876e-01 2.40173911e-01 0.00000000e+00 5.30748159e+02] [-2.40173911e-01 9.70729876e-01 0.00000000e+00 -1.39581649e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.56168356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.77, Y:-139.59, Z:0.05 [[ 9.70028626e-01 2.42990668e-01 0.00000000e+00 5.30773658e+02] [-2.42990668e-01 9.70028626e-01 0.00000000e+00 -1.39592290e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.55209412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9614005130001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.80, Y:-139.60, Z:0.05 [[ 9.69819407e-01 2.43824358e-01 0.00000000e+00 5.30800151e+02] [-2.43824358e-01 9.69819407e-01 0.00000000e+00 -1.39601279e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.56816135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.83, Y:-139.61, Z:0.04 [[ 9.69632213e-01 2.44567723e-01 0.00000000e+00 5.30825584e+02] [-2.44567723e-01 9.69632213e-01 0.00000000e+00 -1.39610407e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.48161726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.021400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:530.85, Y:-139.62, Z:0.04 [[ 9.69461766e-01 2.45242500e-01 0.00000000e+00 5.30851368e+02] [-2.45242500e-01 9.69461766e-01 0.00000000e+00 -1.39620284e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39639071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.88, Y:-139.63, Z:0.04 [[ 9.69321447e-01 2.45796527e-01 0.00000000e+00 5.30877466e+02] [-2.45796527e-01 9.69321447e-01 0.00000000e+00 -1.39630505e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.49807089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.90, Y:-139.64, Z:0.05 [[ 9.69279122e-01 2.45963378e-01 0.00000000e+00 5.30903246e+02] [-2.45963378e-01 9.69279122e-01 0.00000000e+00 -1.39640786e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.69732542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.93, Y:-139.66, Z:0.05 [[ 9.69318269e-01 2.45809058e-01 0.00000000e+00 5.30928738e+02] [-2.45809058e-01 9.69318269e-01 0.00000000e+00 -1.39655544e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.94123551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.95, Y:-139.67, Z:0.05 [[ 9.69472871e-01 2.45198597e-01 0.00000000e+00 5.30954441e+02] [-2.45198597e-01 9.69472871e-01 0.00000000e+00 -1.39666338e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.94182383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.98, Y:-139.68, Z:0.05 [[ 9.69590203e-01 2.44734220e-01 0.00000000e+00 5.30979037e+02] [-2.44734220e-01 9.69590203e-01 0.00000000e+00 -1.39677103e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.89212481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.00, Y:-139.69, Z:0.05 [[ 9.69645191e-01 2.44516263e-01 0.00000000e+00 5.31004600e+02] [-2.44516263e-01 9.69645191e-01 0.00000000e+00 -1.39688177e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.86739489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.03, Y:-139.70, Z:0.05 [[ 9.69487044e-01 2.45142555e-01 0.00000000e+00 5.31029854e+02] [-2.45142555e-01 9.69487044e-01 0.00000000e+00 -1.39699216e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.83936676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.06, Y:-139.71, Z:0.05 [[ 9.69153658e-01 2.46457271e-01 0.00000000e+00 5.31055687e+02] [-2.46457271e-01 9.69153658e-01 0.00000000e+00 -1.39709877e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.79311465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.08, Y:-139.72, Z:0.05 [[ 9.67810024e-01 2.51681857e-01 0.00000000e+00 5.31081094e+02] [-2.51681857e-01 9.67810024e-01 0.00000000e+00 -1.39722690e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.67878125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.11, Y:-139.73, Z:0.05 [[ 9.66853823e-01 2.55330541e-01 0.00000000e+00 5.31108121e+02] [-2.55330541e-01 9.66853823e-01 0.00000000e+00 -1.39731156e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.73918864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.13, Y:-139.74, Z:0.05 [[ 9.65648544e-01 2.59851669e-01 0.00000000e+00 5.31134256e+02] [-2.59851669e-01 9.65648544e-01 0.00000000e+00 -1.39739043e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.75185973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.16, Y:-139.75, Z:0.05 [[ 9.65697733e-01 2.59668806e-01 0.00000000e+00 5.31161849e+02] [-2.59668806e-01 9.65697733e-01 0.00000000e+00 -1.39745988e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.75185973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.19, Y:-139.75, Z:0.05 [[ 9.64510909e-01 2.64043000e-01 0.00000000e+00 5.31188520e+02] [-2.64043000e-01 9.64510909e-01 0.00000000e+00 -1.39753858e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.82718705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.21, Y:-139.76, Z:0.05 [[ 9.63372487e-01 2.68166834e-01 0.00000000e+00 5.31213951e+02] [-2.68166834e-01 9.63372487e-01 0.00000000e+00 -1.39761383e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.84726082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.24, Y:-139.77, Z:0.05 [[ 9.62376072e-01 2.71720990e-01 0.00000000e+00 5.31240473e+02] [-2.71720990e-01 9.62376072e-01 0.00000000e+00 -1.39768959e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.84003793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.27, Y:-139.78, Z:0.05 [[ 9.60941765e-01 2.76750653e-01 0.00000000e+00 5.31266887e+02] [-2.76750653e-01 9.60941765e-01 0.00000000e+00 -1.39776684e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.74861908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.29, Y:-139.78, Z:0.05 [[ 9.60543622e-01 2.78129378e-01 0.00000000e+00 5.31292877e+02] [-2.78129378e-01 9.60543622e-01 0.00000000e+00 -1.39783483e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.62555867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.32, Y:-139.79, Z:0.05 [[ 9.60476013e-01 2.78362762e-01 0.00000000e+00 5.31320187e+02] [-2.78362762e-01 9.60476013e-01 0.00000000e+00 -1.39790475e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.59500852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.35, Y:-139.80, Z:0.05 [[ 9.60566077e-01 2.78051813e-01 0.00000000e+00 5.31347568e+02] [-2.78051813e-01 9.60566077e-01 0.00000000e+00 -1.39797552e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.70703356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.37, Y:-139.80, Z:0.05 [[ 9.60673605e-01 2.77680076e-01 0.00000000e+00 5.31373243e+02] [-2.77680076e-01 9.60673605e-01 0.00000000e+00 -1.39804149e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.90936543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.40, Y:-139.81, Z:0.05 [[ 9.60944889e-01 2.76739808e-01 0.00000000e+00 5.31399897e+02] [-2.76739808e-01 9.60944889e-01 0.00000000e+00 -1.39812577e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.00525537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.43, Y:-139.82, Z:0.05 [[ 9.61164502e-01 2.75976087e-01 0.00000000e+00 5.31426180e+02] [-2.75976087e-01 9.61164502e-01 0.00000000e+00 -1.39820754e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.85212439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.45, Y:-139.83, Z:0.05 [[ 9.61358368e-01 2.75299997e-01 0.00000000e+00 5.31452589e+02] [-2.75299997e-01 9.61358368e-01 0.00000000e+00 -1.39829306e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.69847200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.48, Y:-139.84, Z:0.05 [[ 9.61497373e-01 2.74814122e-01 0.00000000e+00 5.31478764e+02] [-2.74814122e-01 9.61497373e-01 0.00000000e+00 -1.39837791e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.55513887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.51, Y:-139.85, Z:0.05 [[ 9.61676399e-01 2.74186985e-01 0.00000000e+00 5.31505092e+02] [-2.74186985e-01 9.61676399e-01 0.00000000e+00 -1.39846623e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.54802483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.53, Y:-139.86, Z:0.05 [[ 9.61908816e-01 2.73370498e-01 0.00000000e+00 5.31530378e+02] [-2.73370498e-01 9.61908816e-01 0.00000000e+00 -1.39856139e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.53251430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.56, Y:-139.87, Z:0.04 [[ 9.62501023e-01 2.71278050e-01 0.00000000e+00 5.31555173e+02] [-2.71278050e-01 9.62501023e-01 0.00000000e+00 -1.39871095e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.44110731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.58, Y:-139.88, Z:0.04 [[ 9.62604486e-01 2.70910694e-01 0.00000000e+00 5.31581083e+02] [-2.70910694e-01 9.62604486e-01 0.00000000e+00 -1.39881981e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.23957778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.61, Y:-139.89, Z:0.04 [[ 9.62477248e-01 2.71362392e-01 0.00000000e+00 5.31606679e+02] [-2.71362392e-01 9.62477248e-01 0.00000000e+00 -1.39892683e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.98927941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.63, Y:-139.90, Z:0.04 [[ 9.62261768e-01 2.72125504e-01 0.00000000e+00 5.31632727e+02] [-2.72125504e-01 9.62261768e-01 0.00000000e+00 -1.39903642e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77214396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.951400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:531.66, Y:-139.91, Z:0.04 [[ 9.61924641e-01 2.73314809e-01 0.00000000e+00 5.31658545e+02] [-2.73314809e-01 9.61924641e-01 0.00000000e+00 -1.39914722e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.98533938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.68, Y:-139.93, Z:0.04 [[ 9.61487081e-01 2.74850128e-01 0.00000000e+00 5.31684648e+02] [-2.74850128e-01 9.61487081e-01 0.00000000e+00 -1.39925414e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.13864226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.71, Y:-139.94, Z:0.04 [[ 9.60266807e-01 2.79083607e-01 0.00000000e+00 5.31709731e+02] [-2.79083607e-01 9.60266807e-01 0.00000000e+00 -1.39941125e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.25794736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.74, Y:-139.95, Z:0.04 [[ 9.59604637e-01 2.81351986e-01 0.00000000e+00 5.31735810e+02] [-2.81351986e-01 9.59604637e-01 0.00000000e+00 -1.39951888e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.17832648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.76, Y:-139.96, Z:0.04 [[ 9.59002355e-01 2.83398099e-01 0.00000000e+00 5.31761542e+02] [-2.83398099e-01 9.59002355e-01 0.00000000e+00 -1.39962152e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.03556086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.79, Y:-139.97, Z:0.04 [[ 9.58416771e-01 2.85372200e-01 0.00000000e+00 5.31786896e+02] [-2.85372200e-01 9.58416771e-01 0.00000000e+00 -1.39972106e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02666443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.81, Y:-139.98, Z:0.04 [[ 9.57954313e-01 2.86920781e-01 0.00000000e+00 5.31812643e+02] [-2.86920781e-01 9.57954313e-01 0.00000000e+00 -1.39981903e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08141748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.84, Y:-139.99, Z:0.04 [[ 9.57116738e-01 2.89702519e-01 0.00000000e+00 5.31838519e+02] [-2.89702519e-01 9.57116738e-01 0.00000000e+00 -1.39994772e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.23031581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.87, Y:-140.00, Z:0.04 [[ 9.56812794e-01 2.90704794e-01 0.00000000e+00 5.31865341e+02] [-2.90704794e-01 9.56812794e-01 0.00000000e+00 -1.40004005e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14737698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.89, Y:-140.01, Z:0.04 [[ 9.56589719e-01 2.91438002e-01 0.00000000e+00 5.31892229e+02] [-2.91438002e-01 9.56589719e-01 0.00000000e+00 -1.40012727e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93733013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.92, Y:-140.02, Z:0.04 [[ 9.56437766e-01 2.91936294e-01 0.00000000e+00 5.31919317e+02] [-2.91936294e-01 9.56437766e-01 0.00000000e+00 -1.40020772e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89661996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.95, Y:-140.03, Z:0.04 [[ 9.56285414e-01 2.92434962e-01 0.00000000e+00 5.31945795e+02] [-2.92434962e-01 9.56285414e-01 0.00000000e+00 -1.40028657e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89729093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.97, Y:-140.04, Z:0.04 [[ 9.56249927e-01 2.92550981e-01 0.00000000e+00 5.31973192e+02] [-2.92550981e-01 9.56249927e-01 0.00000000e+00 -1.40036378e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.21112028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.00, Y:-140.05, Z:0.05 [[ 9.56058634e-01 2.93175525e-01 0.00000000e+00 5.31999701e+02] [-2.93175525e-01 9.56058634e-01 0.00000000e+00 -1.40046583e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.66027660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.03, Y:-140.06, Z:0.05 [[ 9.56017230e-01 2.93310511e-01 0.00000000e+00 5.32026212e+02] [-2.93310511e-01 9.56017230e-01 0.00000000e+00 -1.40055052e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.64235107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.05, Y:-140.06, Z:0.05 [[ 9.56006239e-01 2.93346333e-01 0.00000000e+00 5.32051620e+02] [-2.93346333e-01 9.56006239e-01 0.00000000e+00 -1.40062846e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.51300162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.08, Y:-140.07, Z:0.04 [[ 9.55963302e-01 2.93486225e-01 0.00000000e+00 5.32078060e+02] [-2.93486225e-01 9.55963302e-01 0.00000000e+00 -1.40070383e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.42358004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.11, Y:-140.08, Z:0.04 [[ 9.55895263e-01 2.93707756e-01 0.00000000e+00 5.32105213e+02] [-2.93707756e-01 9.55895263e-01 0.00000000e+00 -1.40077747e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.35156016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.13, Y:-140.09, Z:0.04 [[ 9.55809180e-01 2.93987775e-01 0.00000000e+00 5.32131072e+02] [-2.93987775e-01 9.55809180e-01 0.00000000e+00 -1.40086911e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.31742478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.16, Y:-140.10, Z:0.04 [[ 9.55790694e-01 2.94047867e-01 0.00000000e+00 5.32158167e+02] [-2.94047867e-01 9.55790694e-01 0.00000000e+00 -1.40095812e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.41874226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.18, Y:-140.10, Z:0.04 [[ 9.55772236e-01 2.94107858e-01 0.00000000e+00 5.32184247e+02] [-2.94107858e-01 9.55772236e-01 0.00000000e+00 -1.40104102e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.45096644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.21, Y:-140.11, Z:0.04 [[ 9.55729619e-01 2.94246317e-01 0.00000000e+00 5.32211512e+02] [-2.94246317e-01 9.55729619e-01 0.00000000e+00 -1.40112020e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.37858236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.611400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:532.24, Y:-140.12, Z:0.04 [[ 9.55659663e-01 2.94473443e-01 0.00000000e+00 5.32238060e+02] [-2.94473443e-01 9.55659663e-01 0.00000000e+00 -1.40119517e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.25533543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.26, Y:-140.13, Z:0.04 [[ 9.55397190e-01 2.95323907e-01 0.00000000e+00 5.32263810e+02] [-2.95323907e-01 9.55397190e-01 0.00000000e+00 -1.40127471e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.17256505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.29, Y:-140.14, Z:0.04 [[ 9.55209218e-01 2.95931325e-01 0.00000000e+00 5.32290176e+02] [-2.95931325e-01 9.55209218e-01 0.00000000e+00 -1.40135959e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22879023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.32, Y:-140.14, Z:0.04 [[ 9.55024080e-01 2.96528255e-01 0.00000000e+00 5.32317297e+02] [-2.96528255e-01 9.55024080e-01 0.00000000e+00 -1.40144641e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.32541126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.34, Y:-140.15, Z:0.04 [[ 9.54924878e-01 2.96847566e-01 0.00000000e+00 5.32343324e+02] [-2.96847566e-01 9.54924878e-01 0.00000000e+00 -1.40152541e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39064569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.37, Y:-140.16, Z:0.04 [[ 9.54962599e-01 2.96726193e-01 0.00000000e+00 5.32368936e+02] [-2.96726193e-01 9.54962599e-01 0.00000000e+00 -1.40159978e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.48492316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.40, Y:-140.17, Z:0.05 [[ 9.55253224e-01 2.95789246e-01 0.00000000e+00 5.32395056e+02] [-2.95789246e-01 9.55253224e-01 0.00000000e+00 -1.40170058e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.51783185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.42, Y:-140.18, Z:0.05 [[ 9.55462656e-01 2.95112035e-01 0.00000000e+00 5.32421893e+02] [-2.95112035e-01 9.55462656e-01 0.00000000e+00 -1.40178470e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.50895384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.45, Y:-140.19, Z:0.04 [[ 9.55617264e-01 2.94611007e-01 0.00000000e+00 5.32449195e+02] [-2.94611007e-01 9.55617264e-01 0.00000000e+00 -1.40186640e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.47316934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.47, Y:-140.19, Z:0.04 [[ 9.55763827e-01 2.94135184e-01 0.00000000e+00 5.32474740e+02] [-2.94135184e-01 9.55763827e-01 0.00000000e+00 -1.40194577e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.31383799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.50, Y:-140.20, Z:0.04 [[ 9.56036266e-01 2.93248458e-01 0.00000000e+00 5.32501151e+02] [-2.93248458e-01 9.56036266e-01 0.00000000e+00 -1.40203069e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.21920015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.53, Y:-140.21, Z:0.04 [[ 9.56359307e-01 2.92193217e-01 0.00000000e+00 5.32526627e+02] [-2.92193217e-01 9.56359307e-01 0.00000000e+00 -1.40211518e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10068025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.55, Y:-140.22, Z:0.04 [[ 9.57199122e-01 2.89430200e-01 0.00000000e+00 5.32552612e+02] [-2.89430200e-01 9.57199122e-01 0.00000000e+00 -1.40223452e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.26616974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.58, Y:-140.23, Z:0.04 [[ 9.57504385e-01 2.88418710e-01 0.00000000e+00 5.32579051e+02] [-2.88418710e-01 9.57504385e-01 0.00000000e+00 -1.40233383e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.33886075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.61, Y:-140.24, Z:0.04 [[ 9.57690486e-01 2.87800161e-01 0.00000000e+00 5.32605748e+02] [-2.87800161e-01 9.57690486e-01 0.00000000e+00 -1.40243844e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.33665031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.63, Y:-140.25, Z:0.04 [[ 9.57685073e-01 2.87818172e-01 0.00000000e+00 5.32631356e+02] [-2.87818172e-01 9.57685073e-01 0.00000000e+00 -1.40253940e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27028365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.66, Y:-140.26, Z:0.04 [[ 9.57487596e-01 2.88474442e-01 0.00000000e+00 5.32657696e+02] [-2.88474442e-01 9.57487596e-01 0.00000000e+00 -1.40263683e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.20791168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.121400513 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:532.68, Y:-140.27, Z:0.04 [[ 9.56967850e-01 2.90193960e-01 0.00000000e+00 5.32684038e+02] [-2.90193960e-01 9.56967850e-01 0.00000000e+00 -1.40273380e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.21352410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.71, Y:-140.28, Z:0.05 [[ 9.55153819e-01 2.96110086e-01 0.00000000e+00 5.32710991e+02] [-2.96110086e-01 9.55153819e-01 0.00000000e+00 -1.40283160e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.51607880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.74, Y:-140.29, Z:0.05 [[ 9.53896269e-01 3.00136483e-01 0.00000000e+00 5.32736857e+02] [-3.00136483e-01 9.53896269e-01 0.00000000e+00 -1.40290311e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.53717307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.76, Y:-140.30, Z:0.04 [[ 9.52659155e-01 3.04040349e-01 0.00000000e+00 5.32763707e+02] [-3.04040349e-01 9.52659155e-01 0.00000000e+00 -1.40296388e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.43119013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.79, Y:-140.30, Z:0.04 [[ 9.51425740e-01 3.07878323e-01 0.00000000e+00 5.32789795e+02] [-3.07878323e-01 9.51425740e-01 0.00000000e+00 -1.40301502e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.30494186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.82, Y:-140.31, Z:0.04 [[ 9.51480670e-01 3.07708523e-01 0.00000000e+00 5.32817477e+02] [-3.07708523e-01 9.51480670e-01 0.00000000e+00 -1.40308200e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.30494186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.84, Y:-140.31, Z:0.04 [[ 9.50364628e-01 3.11138350e-01 0.00000000e+00 5.32844912e+02] [-3.11138350e-01 9.50364628e-01 0.00000000e+00 -1.40313041e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28760210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.87, Y:-140.32, Z:0.04 [[ 9.49439289e-01 3.13950692e-01 0.00000000e+00 5.32872042e+02] [-3.13950692e-01 9.49439289e-01 0.00000000e+00 -1.40317965e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.37908988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.90, Y:-140.32, Z:0.05 [[ 9.48402801e-01 3.17068015e-01 0.00000000e+00 5.32899539e+02] [-3.17068015e-01 9.48402801e-01 0.00000000e+00 -1.40322956e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.65763319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.391400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:532.93, Y:-140.33, Z:0.05 [[ 9.48376016e-01 3.17148123e-01 0.00000000e+00 5.32925988e+02] [-3.17148123e-01 9.48376016e-01 0.00000000e+00 -1.40328134e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.66367369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.95, Y:-140.33, Z:0.05 [[ 9.48739382e-01 3.16059464e-01 0.00000000e+00 5.32953477e+02] [-3.16059464e-01 9.48739382e-01 0.00000000e+00 -1.40331804e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.57686292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.98, Y:-140.34, Z:0.04 [[ 9.49088292e-01 3.15010180e-01 0.00000000e+00 5.32980160e+02] [-3.15010180e-01 9.49088292e-01 0.00000000e+00 -1.40335286e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.25974562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.01, Y:-140.34, Z:0.04 [[ 9.49671701e-01 3.13246964e-01 0.00000000e+00 5.33008280e+02] [-3.13246964e-01 9.49671701e-01 0.00000000e+00 -1.40339072e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.23008433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.04, Y:-140.34, Z:0.05 [[ 9.50639099e-01 3.10298731e-01 0.00000000e+00 5.33036857e+02] [-3.10298731e-01 9.50639099e-01 0.00000000e+00 -1.40342749e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.50240258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.06, Y:-140.35, Z:0.05 [[ 9.51192742e-01 3.08597421e-01 0.00000000e+00 5.33064348e+02] [-3.08597421e-01 9.51192742e-01 0.00000000e+00 -1.40348231e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.76808092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.09, Y:-140.35, Z:0.05 [[ 9.51796392e-01 3.06730548e-01 0.00000000e+00 5.33090748e+02] [-3.06730548e-01 9.51796392e-01 0.00000000e+00 -1.40353050e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.88018104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.12, Y:-140.36, Z:0.05 [[ 9.52254793e-01 3.05304454e-01 0.00000000e+00 5.33117514e+02] [-3.05304454e-01 9.52254793e-01 0.00000000e+00 -1.40359207e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.88111942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.14, Y:-140.37, Z:0.05 [[ 9.52610922e-01 3.04191440e-01 0.00000000e+00 5.33144506e+02] [-3.04191440e-01 9.52610922e-01 0.00000000e+00 -1.40366241e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.73496292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.661400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:533.17, Y:-140.38, Z:0.04 [[ 9.53267914e-01 3.02126271e-01 0.00000000e+00 5.33170967e+02] [-3.02126271e-01 9.53267914e-01 0.00000000e+00 -1.40375585e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.40789621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.20, Y:-140.38, Z:0.04 [[ 9.53680117e-01 3.00822596e-01 0.00000000e+00 5.33196797e+02] [-3.00822596e-01 9.53680117e-01 0.00000000e+00 -1.40382301e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.41120210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.22, Y:-140.39, Z:0.04 [[ 9.53879245e-01 3.00190583e-01 0.00000000e+00 5.33222763e+02] [-3.00190583e-01 9.53879245e-01 0.00000000e+00 -1.40390085e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.47813594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.25, Y:-140.40, Z:0.04 [[ 9.53943105e-01 2.99987589e-01 0.00000000e+00 5.33249642e+02] [-2.99987589e-01 9.53943105e-01 0.00000000e+00 -1.40399431e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.48582808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.27, Y:-140.41, Z:0.04 [[ 9.53818126e-01 3.00384724e-01 0.00000000e+00 5.33274615e+02] [-3.00384724e-01 9.53818126e-01 0.00000000e+00 -1.40409614e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.47787577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.30, Y:-140.42, Z:0.04 [[ 9.53605553e-01 3.01058879e-01 0.00000000e+00 5.33300964e+02] [-3.01058879e-01 9.53605553e-01 0.00000000e+00 -1.40420535e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.38011257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.33, Y:-140.43, Z:0.04 [[ 9.52636466e-01 3.04111434e-01 0.00000000e+00 5.33326459e+02] [-3.04111434e-01 9.52636466e-01 0.00000000e+00 -1.40432562e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97844461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.35, Y:-140.44, Z:0.04 [[ 9.51933154e-01 3.06305845e-01 0.00000000e+00 5.33353243e+02] [-3.06305845e-01 9.51933154e-01 0.00000000e+00 -1.40441238e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93342101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.38, Y:-140.45, Z:0.04 [[ 9.50894822e-01 3.09514195e-01 0.00000000e+00 5.33379287e+02] [-3.09514195e-01 9.50894822e-01 0.00000000e+00 -1.40450448e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99939234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.41, Y:-140.46, Z:0.04 [[ 9.48337941e-01 3.17261958e-01 0.00000000e+00 5.33405714e+02] [-3.17261958e-01 9.48337941e-01 0.00000000e+00 -1.40461847e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02282729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.43, Y:-140.47, Z:0.04 [[ 9.46959181e-01 3.21353869e-01 0.00000000e+00 5.33432599e+02] [-3.21353869e-01 9.46959181e-01 0.00000000e+00 -1.40468319e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71170766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.46, Y:-140.47, Z:0.04 [[ 9.45784289e-01 3.24795441e-01 0.00000000e+00 5.33461383e+02] [-3.24795441e-01 9.45784289e-01 0.00000000e+00 -1.40473230e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61956571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.49, Y:-140.48, Z:0.04 [[ 9.44875431e-01 3.27430022e-01 0.00000000e+00 5.33487826e+02] [-3.27430022e-01 9.44875431e-01 0.00000000e+00 -1.40477020e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50047173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.52, Y:-140.48, Z:0.04 [[ 9.44355352e-01 3.28926996e-01 0.00000000e+00 5.33516062e+02] [-3.28926996e-01 9.44355352e-01 0.00000000e+00 -1.40481905e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56932950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.54, Y:-140.49, Z:0.04 [[ 9.44398791e-01 3.28802255e-01 0.00000000e+00 5.33544007e+02] [-3.28802255e-01 9.44398791e-01 0.00000000e+00 -1.40485672e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91618572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.57, Y:-140.49, Z:0.04 [[ 9.45017210e-01 3.27020601e-01 0.00000000e+00 5.33572253e+02] [-3.27020601e-01 9.45017210e-01 0.00000000e+00 -1.40490836e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.25149549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.60, Y:-140.50, Z:0.04 [[ 9.45819783e-01 3.24692066e-01 0.00000000e+00 5.33599706e+02] [-3.24692066e-01 9.45819783e-01 0.00000000e+00 -1.40496028e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.43441590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.63, Y:-140.50, Z:0.05 [[ 9.46668915e-01 3.22207952e-01 0.00000000e+00 5.33626721e+02] [-3.22207952e-01 9.46668915e-01 0.00000000e+00 -1.40501196e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.54045606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.65, Y:-140.51, Z:0.05 [[ 9.47854675e-01 3.18702865e-01 0.00000000e+00 5.33653191e+02] [-3.18702865e-01 9.47854675e-01 0.00000000e+00 -1.40505450e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.50598531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.68, Y:-140.51, Z:0.04 [[ 9.48042183e-01 3.18144651e-01 0.00000000e+00 5.33681039e+02] [-3.18144651e-01 9.48042183e-01 0.00000000e+00 -1.40510867e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.46872459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.71, Y:-140.52, Z:0.04 [[ 9.48030458e-01 3.18179588e-01 0.00000000e+00 5.33707213e+02] [-3.18179588e-01 9.48030458e-01 0.00000000e+00 -1.40515624e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.42764321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.74, Y:-140.52, Z:0.04 [[ 9.47828527e-01 3.18780618e-01 0.00000000e+00 5.33735294e+02] [-3.18780618e-01 9.47828527e-01 0.00000000e+00 -1.40520632e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.49846189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.76, Y:-140.52, Z:0.04 [[ 9.47020060e-01 3.21174416e-01 0.00000000e+00 5.33762291e+02] [-3.21174416e-01 9.47020060e-01 0.00000000e+00 -1.40522907e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.49253998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.79, Y:-140.53, Z:0.05 [[ 9.46846927e-01 3.21684468e-01 0.00000000e+00 5.33789919e+02] [-3.21684468e-01 9.46846927e-01 0.00000000e+00 -1.40526864e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.50894460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.82, Y:-140.53, Z:0.05 [[ 9.46774640e-01 3.21897159e-01 0.00000000e+00 5.33817091e+02] [-3.21897159e-01 9.46774640e-01 0.00000000e+00 -1.40530754e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.52959605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.85, Y:-140.53, Z:0.05 [[ 9.46880659e-01 3.21585164e-01 0.00000000e+00 5.33845217e+02] [-3.21585164e-01 9.46880659e-01 0.00000000e+00 -1.40534460e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.63084318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.87, Y:-140.54, Z:0.05 [[ 9.46982577e-01 3.21284920e-01 0.00000000e+00 5.33871924e+02] [-3.21284920e-01 9.46982577e-01 0.00000000e+00 -1.40538301e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.65632969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.90, Y:-140.54, Z:0.05 [[ 9.47086565e-01 3.20978251e-01 0.00000000e+00 5.33898157e+02] [-3.20978251e-01 9.47086565e-01 0.00000000e+00 -1.40542586e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.58403411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.93, Y:-140.55, Z:0.04 [[ 9.47544431e-01 3.19624078e-01 0.00000000e+00 5.33926149e+02] [-3.19624078e-01 9.47544431e-01 0.00000000e+00 -1.40546045e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.45882714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.95, Y:-140.55, Z:0.04 [[ 9.47955964e-01 3.18401462e-01 0.00000000e+00 5.33954330e+02] [-3.18401462e-01 9.47955964e-01 0.00000000e+00 -1.40550287e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39650092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.98, Y:-140.55, Z:0.04 [[ 9.48318960e-01 3.17318689e-01 0.00000000e+00 5.33980888e+02] [-3.17318689e-01 9.48318960e-01 0.00000000e+00 -1.40553947e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.30366677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.01, Y:-140.56, Z:0.04 [[ 9.48592083e-01 3.16501280e-01 0.00000000e+00 5.34008456e+02] [-3.16501280e-01 9.48592083e-01 0.00000000e+00 -1.40558964e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.29545846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.03, Y:-140.57, Z:0.04 [[ 9.48991992e-01 3.15300172e-01 0.00000000e+00 5.34034338e+02] [-3.15300172e-01 9.48991992e-01 0.00000000e+00 -1.40565427e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.23954340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.06, Y:-140.58, Z:0.04 [[ 9.50474034e-01 3.10803975e-01 0.00000000e+00 5.34060648e+02] [-3.10803975e-01 9.50474034e-01 0.00000000e+00 -1.40575854e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.33743229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.09, Y:-140.58, Z:0.04 [[ 9.51302968e-01 3.08257461e-01 0.00000000e+00 5.34087250e+02] [-3.08257461e-01 9.51302968e-01 0.00000000e+00 -1.40584563e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.34203146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.11, Y:-140.59, Z:0.04 [[ 9.52053640e-01 3.05931148e-01 0.00000000e+00 5.34113192e+02] [-3.05931148e-01 9.52053640e-01 0.00000000e+00 -1.40593076e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.26107406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.14, Y:-140.60, Z:0.04 [[ 9.52706119e-01 3.03893157e-01 0.00000000e+00 5.34140263e+02] [-3.03893157e-01 9.52706119e-01 0.00000000e+00 -1.40602235e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18977337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.17, Y:-140.61, Z:0.04 [[ 9.53152530e-01 3.02490090e-01 0.00000000e+00 5.34165634e+02] [-3.02490090e-01 9.53152530e-01 0.00000000e+00 -1.40613439e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06802950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.19, Y:-140.62, Z:0.04 [[ 9.52981052e-01 3.03029889e-01 0.00000000e+00 5.34192086e+02] [-3.03029889e-01 9.52981052e-01 0.00000000e+00 -1.40620988e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10324795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.22, Y:-140.63, Z:0.04 [[ 9.52621612e-01 3.04157961e-01 0.00000000e+00 5.34218885e+02] [-3.04157961e-01 9.52621612e-01 0.00000000e+00 -1.40628227e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.09653527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.24, Y:-140.64, Z:0.04 [[ 9.52105271e-01 3.05770424e-01 0.00000000e+00 5.34244915e+02] [-3.05770424e-01 9.52105271e-01 0.00000000e+00 -1.40635159e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97572910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.27, Y:-140.64, Z:0.04 [[ 9.51543111e-01 3.07515379e-01 0.00000000e+00 5.34272273e+02] [-3.07515379e-01 9.51543111e-01 0.00000000e+00 -1.40642407e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88228580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.30, Y:-140.65, Z:0.04 [[ 9.51011473e-01 3.09155589e-01 0.00000000e+00 5.34299337e+02] [-3.09155589e-01 9.51011473e-01 0.00000000e+00 -1.40650118e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.85416519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.32, Y:-140.66, Z:0.04 [[ 9.50339055e-01 3.11216453e-01 0.00000000e+00 5.34324782e+02] [-3.11216453e-01 9.50339055e-01 0.00000000e+00 -1.40658835e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80981083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.35, Y:-140.67, Z:0.04 [[ 9.50227782e-01 3.11556034e-01 0.00000000e+00 5.34352615e+02] [-3.11556034e-01 9.50227782e-01 0.00000000e+00 -1.40666091e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99939556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.38, Y:-140.67, Z:0.04 [[ 9.50196397e-01 3.11651741e-01 0.00000000e+00 5.34379970e+02] [-3.11651741e-01 9.50196397e-01 0.00000000e+00 -1.40672943e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18586845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.41, Y:-140.68, Z:0.04 [[ 9.50243455e-01 3.11508227e-01 0.00000000e+00 5.34407558e+02] [-3.11508227e-01 9.50243455e-01 0.00000000e+00 -1.40679927e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.32429480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.43, Y:-140.69, Z:0.04 [[ 9.50113026e-01 3.11905815e-01 0.00000000e+00 5.34434069e+02] [-3.11905815e-01 9.50113026e-01 0.00000000e+00 -1.40686952e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.19032491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.46, Y:-140.69, Z:0.04 [[ 9.49528278e-01 3.13681445e-01 0.00000000e+00 5.34462365e+02] [-3.13681445e-01 9.49528278e-01 0.00000000e+00 -1.40693925e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.92694824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.49, Y:-140.70, Z:0.04 [[ 9.49194707e-01 3.14689383e-01 0.00000000e+00 5.34488966e+02] [-3.14689383e-01 9.49194707e-01 0.00000000e+00 -1.40699420e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88355863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.52, Y:-140.70, Z:0.04 [[ 9.48988816e-01 3.15309731e-01 0.00000000e+00 5.34515309e+02] [-3.15309731e-01 9.48988816e-01 0.00000000e+00 -1.40704000e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.85980436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.54, Y:-140.71, Z:0.04 [[ 9.49046125e-01 3.15137198e-01 0.00000000e+00 5.34543044e+02] [-3.15137198e-01 9.49046125e-01 0.00000000e+00 -1.40710466e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.85980436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.57, Y:-140.71, Z:0.04 [[ 9.48991572e-01 3.15301439e-01 0.00000000e+00 5.34571169e+02] [-3.15301439e-01 9.48991572e-01 0.00000000e+00 -1.40714764e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96647024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.60, Y:-140.72, Z:0.04 [[ 9.49119744e-01 3.14915405e-01 0.00000000e+00 5.34598860e+02] [-3.14915405e-01 9.49119744e-01 0.00000000e+00 -1.40720782e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11353421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.63, Y:-140.73, Z:0.04 [[ 9.49287551e-01 3.14409201e-01 0.00000000e+00 5.34625942e+02] [-3.14409201e-01 9.49287551e-01 0.00000000e+00 -1.40726719e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11846168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.65, Y:-140.73, Z:0.04 [[ 9.49663624e-01 3.13271450e-01 0.00000000e+00 5.34654036e+02] [-3.13271450e-01 9.49663624e-01 0.00000000e+00 -1.40732817e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.32174740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.68, Y:-140.74, Z:0.05 [[ 9.50175236e-01 3.11716250e-01 0.00000000e+00 5.34681834e+02] [-3.11716250e-01 9.50175236e-01 0.00000000e+00 -1.40738882e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.52006335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.71, Y:-140.74, Z:0.05 [[ 9.50982463e-01 3.09244815e-01 0.00000000e+00 5.34708978e+02] [-3.09244815e-01 9.50982463e-01 0.00000000e+00 -1.40744855e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.74863164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.74, Y:-140.75, Z:0.05 [[ 9.51264059e-01 3.08377511e-01 0.00000000e+00 5.34736592e+02] [-3.08377511e-01 9.51264059e-01 0.00000000e+00 -1.40750746e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.86796630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.76, Y:-140.76, Z:0.05 [[ 9.51427416e-01 3.07873143e-01 0.00000000e+00 5.34764027e+02] [-3.07873143e-01 9.51427416e-01 0.00000000e+00 -1.40755511e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.88977455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.79, Y:-140.76, Z:0.05 [[ 9.51411481e-01 3.07922383e-01 0.00000000e+00 5.34791281e+02] [-3.07922383e-01 9.51411481e-01 0.00000000e+00 -1.40760136e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.80703875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.82, Y:-140.77, Z:0.05 [[ 9.51241680e-01 3.08446537e-01 0.00000000e+00 5.34817475e+02] [-3.08446537e-01 9.51241680e-01 0.00000000e+00 -1.40765164e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.72827516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.85, Y:-140.77, Z:0.05 [[ 9.51225619e-01 3.08496065e-01 0.00000000e+00 5.34845133e+02] [-3.08496065e-01 9.51225619e-01 0.00000000e+00 -1.40771466e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.65483614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.87, Y:-140.78, Z:0.05 [[ 9.51587740e-01 3.07377248e-01 0.00000000e+00 5.34871802e+02] [-3.07377248e-01 9.51587740e-01 0.00000000e+00 -1.40779119e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.71578598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.90, Y:-140.79, Z:0.05 [[ 9.51929076e-01 3.06318519e-01 0.00000000e+00 5.34898946e+02] [-3.06318519e-01 9.51929076e-01 0.00000000e+00 -1.40786112e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.59560374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.93, Y:-140.79, Z:0.04 [[ 9.52294318e-01 3.05181145e-01 0.00000000e+00 5.34925012e+02] [-3.05181145e-01 9.52294318e-01 0.00000000e+00 -1.40793020e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39683084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.95, Y:-140.80, Z:0.04 [[ 9.53083859e-01 3.02706388e-01 0.00000000e+00 5.34951060e+02] [-3.02706388e-01 9.53083859e-01 0.00000000e+00 -1.40803180e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.35085498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.98, Y:-140.81, Z:0.04 [[ 9.53515757e-01 3.01343162e-01 0.00000000e+00 5.34977552e+02] [-3.01343162e-01 9.53515757e-01 0.00000000e+00 -1.40811834e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.44818794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.00, Y:-140.82, Z:0.04 [[ 9.53829677e-01 3.00348042e-01 0.00000000e+00 5.35003620e+02] [-3.00348042e-01 9.53829677e-01 0.00000000e+00 -1.40820321e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.49203571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.03, Y:-140.83, Z:0.04 [[ 9.54043239e-01 2.99668982e-01 0.00000000e+00 5.35029453e+02] [-2.99668982e-01 9.54043239e-01 0.00000000e+00 -1.40829023e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39798670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.06, Y:-140.84, Z:0.04 [[ 9.54111981e-01 2.99450042e-01 0.00000000e+00 5.35056400e+02] [-2.99450042e-01 9.54111981e-01 0.00000000e+00 -1.40838456e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28529749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.08, Y:-140.85, Z:0.04 [[ 9.54035724e-01 2.99692904e-01 0.00000000e+00 5.35084268e+02] [-2.99692904e-01 9.54035724e-01 0.00000000e+00 -1.40848088e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.05019593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.11, Y:-140.86, Z:0.04 [[ 9.53592380e-01 3.01100604e-01 0.00000000e+00 5.35109812e+02] [-3.01100604e-01 9.53592380e-01 0.00000000e+00 -1.40859453e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87599912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.14, Y:-140.87, Z:0.04 [[ 9.53447457e-01 3.01559194e-01 0.00000000e+00 5.35136243e+02] [-3.01559194e-01 9.53447457e-01 0.00000000e+00 -1.40868296e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10863642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.16, Y:-140.88, Z:0.04 [[ 9.53266219e-01 3.02131620e-01 0.00000000e+00 5.35162852e+02] [-3.02131620e-01 9.53266219e-01 0.00000000e+00 -1.40877219e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.20695530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.19, Y:-140.89, Z:0.04 [[ 9.53134187e-01 3.02547885e-01 0.00000000e+00 5.35189645e+02] [-3.02547885e-01 9.53134187e-01 0.00000000e+00 -1.40886499e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.20587363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.22, Y:-140.90, Z:0.04 [[ 9.53157992e-01 3.02472879e-01 0.00000000e+00 5.35215616e+02] [-3.02472879e-01 9.53157992e-01 0.00000000e+00 -1.40899625e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12801584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.24, Y:-140.91, Z:0.04 [[ 9.53396228e-01 3.01721116e-01 0.00000000e+00 5.35241412e+02] [-3.01721116e-01 9.53396228e-01 0.00000000e+00 -1.40909540e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.16875606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.27, Y:-140.92, Z:0.04 [[ 9.53756803e-01 3.00579376e-01 0.00000000e+00 5.35268320e+02] [-3.00579376e-01 9.53756803e-01 0.00000000e+00 -1.40919396e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.30056623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.031400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:535.29, Y:-140.93, Z:0.04 [[ 9.53888514e-01 3.00161130e-01 0.00000000e+00 5.35294867e+02] [-3.00161130e-01 9.53888514e-01 0.00000000e+00 -1.40929592e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.33781739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.061400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:535.32, Y:-140.94, Z:0.04 [[ 9.53958169e-01 2.99939680e-01 0.00000000e+00 5.35321773e+02] [-2.99939680e-01 9.53958169e-01 0.00000000e+00 -1.40939505e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39951307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.35, Y:-140.95, Z:0.04 [[ 9.53737027e-01 3.00642117e-01 0.00000000e+00 5.35346113e+02] [-3.00642117e-01 9.53737027e-01 0.00000000e+00 -1.40952865e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36081978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.37, Y:-140.96, Z:0.04 [[ 9.53600786e-01 3.01073979e-01 0.00000000e+00 5.35372390e+02] [-3.01073979e-01 9.53600786e-01 0.00000000e+00 -1.40962981e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.44309875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.40, Y:-140.97, Z:0.04 [[ 9.53478104e-01 3.01462279e-01 0.00000000e+00 5.35397532e+02] [-3.01462279e-01 9.53478104e-01 0.00000000e+00 -1.40972549e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.47986571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.42, Y:-140.98, Z:0.05 [[ 9.53309148e-01 3.01996140e-01 0.00000000e+00 5.35423266e+02] [-3.01996140e-01 9.53309148e-01 0.00000000e+00 -1.40982396e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.57587679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.45, Y:-140.99, Z:0.05 [[ 9.53133871e-01 3.02548880e-01 0.00000000e+00 5.35449219e+02] [-3.02548880e-01 9.53133871e-01 0.00000000e+00 -1.40992015e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.59411742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.48, Y:-141.00, Z:0.05 [[ 9.52838415e-01 3.03478097e-01 0.00000000e+00 5.35475905e+02] [-3.03478097e-01 9.52838415e-01 0.00000000e+00 -1.41001251e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.62740731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.50, Y:-141.01, Z:0.04 [[ 9.51580033e-01 3.07401108e-01 0.00000000e+00 5.35501438e+02] [-3.07401108e-01 9.51580033e-01 0.00000000e+00 -1.41011269e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.43066781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.53, Y:-141.02, Z:0.04 [[ 9.50841700e-01 3.09677351e-01 0.00000000e+00 5.35528680e+02] [-3.09677351e-01 9.50841700e-01 0.00000000e+00 -1.41019113e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.37725610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.56, Y:-141.03, Z:0.04 [[ 9.50086456e-01 3.11986740e-01 0.00000000e+00 5.35555838e+02] [-3.11986740e-01 9.50086456e-01 0.00000000e+00 -1.41026375e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.29598755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.58, Y:-141.03, Z:0.04 [[ 9.49436203e-01 3.13960024e-01 0.00000000e+00 5.35583406e+02] [-3.13960024e-01 9.49436203e-01 0.00000000e+00 -1.41032945e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.30063917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.61, Y:-141.04, Z:0.04 [[ 9.49045836e-01 3.15138067e-01 0.00000000e+00 5.35611301e+02] [-3.15138067e-01 9.49045836e-01 0.00000000e+00 -1.41038535e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.31104587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.64, Y:-141.04, Z:0.04 [[ 9.48870517e-01 3.15665555e-01 0.00000000e+00 5.35637922e+02] [-3.15665555e-01 9.48870517e-01 0.00000000e+00 -1.41043649e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.17033597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.66, Y:-141.05, Z:0.04 [[ 9.49454522e-01 3.13904621e-01 0.00000000e+00 5.35664993e+02] [-3.13904621e-01 9.49454522e-01 0.00000000e+00 -1.41050944e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01743031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.69, Y:-141.06, Z:0.04 [[ 9.50249210e-01 3.11490672e-01 0.00000000e+00 5.35691434e+02] [-3.11490672e-01 9.50249210e-01 0.00000000e+00 -1.41058673e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06055731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.72, Y:-141.07, Z:0.04 [[ 9.51207675e-01 3.08551389e-01 0.00000000e+00 5.35718467e+02] [-3.08551389e-01 9.51207675e-01 0.00000000e+00 -1.41066673e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12049073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.75, Y:-141.07, Z:0.04 [[ 9.52281166e-01 3.05222182e-01 0.00000000e+00 5.35745999e+02] [-3.05222182e-01 9.52281166e-01 0.00000000e+00 -1.41074458e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24607895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.77, Y:-141.08, Z:0.04 [[ 9.54465638e-01 2.98320877e-01 0.00000000e+00 5.35772094e+02] [-2.98320877e-01 9.54465638e-01 0.00000000e+00 -1.41084088e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.20507132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.80, Y:-141.09, Z:0.04 [[ 9.55409533e-01 2.95283971e-01 0.00000000e+00 5.35798049e+02] [-2.95283971e-01 9.55409533e-01 0.00000000e+00 -1.41093755e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14475659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.82, Y:-141.10, Z:0.04 [[ 9.56233947e-01 2.92603212e-01 0.00000000e+00 5.35824848e+02] [-2.92603212e-01 9.56233947e-01 0.00000000e+00 -1.41104024e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11918711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.85, Y:-141.11, Z:0.04 [[ 9.56905773e-01 2.90398592e-01 0.00000000e+00 5.35851738e+02] [-2.90398592e-01 9.56905773e-01 0.00000000e+00 -1.41113862e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.09819450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.88, Y:-141.12, Z:0.04 [[ 9.57335580e-01 2.88978522e-01 0.00000000e+00 5.35877409e+02] [-2.88978522e-01 9.57335580e-01 0.00000000e+00 -1.41122850e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.98457432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.90, Y:-141.13, Z:0.04 [[ 9.57028068e-01 2.89995304e-01 0.00000000e+00 5.35904489e+02] [-2.89995304e-01 9.57028068e-01 0.00000000e+00 -1.41134674e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.94105730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.93, Y:-141.14, Z:0.04 [[ 9.56482862e-01 2.91788510e-01 0.00000000e+00 5.35931722e+02] [-2.91788510e-01 9.56482862e-01 0.00000000e+00 -1.41143354e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96847812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.96, Y:-141.15, Z:0.04 [[ 9.55642649e-01 2.94528653e-01 0.00000000e+00 5.35959593e+02] [-2.94528653e-01 9.55642649e-01 0.00000000e+00 -1.41151746e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.07431435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.99, Y:-141.16, Z:0.04 [[ 9.54638824e-01 2.97766211e-01 0.00000000e+00 5.35986275e+02] [-2.97766211e-01 9.54638824e-01 0.00000000e+00 -1.41158513e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18988535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.01, Y:-141.16, Z:0.04 [[ 9.53558702e-01 3.01207239e-01 0.00000000e+00 5.36014723e+02] [-3.01207239e-01 9.53558702e-01 0.00000000e+00 -1.41164662e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.33183600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.04, Y:-141.17, Z:0.04 [[ 9.52716352e-01 3.03861074e-01 0.00000000e+00 5.36041687e+02] [-3.03861074e-01 9.52716352e-01 0.00000000e+00 -1.41170622e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.40718587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.07, Y:-141.18, Z:0.04 [[ 9.52075676e-01 3.05862562e-01 0.00000000e+00 5.36069158e+02] [-3.05862562e-01 9.52075676e-01 0.00000000e+00 -1.41177983e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.35652780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.10, Y:-141.19, Z:0.04 [[ 9.52336409e-01 3.05049772e-01 0.00000000e+00 5.36097123e+02] [-3.05049772e-01 9.52336409e-01 0.00000000e+00 -1.41185335e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.21501031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.12, Y:-141.19, Z:0.04 [[ 9.52833248e-01 3.03494319e-01 0.00000000e+00 5.36124968e+02] [-3.03494319e-01 9.52833248e-01 0.00000000e+00 -1.41192186e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14275541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.15, Y:-141.20, Z:0.04 [[ 9.53334337e-01 3.01916615e-01 0.00000000e+00 5.36152312e+02] [-3.01916615e-01 9.53334337e-01 0.00000000e+00 -1.41198772e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11720584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.18, Y:-141.21, Z:0.04 [[ 9.53864446e-01 3.00237604e-01 0.00000000e+00 5.36179483e+02] [-3.00237604e-01 9.53864446e-01 0.00000000e+00 -1.41206378e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15598887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.21, Y:-141.21, Z:0.04 [[ 9.53909492e-01 3.00094453e-01 0.00000000e+00 5.36206500e+02] [-3.00094453e-01 9.53909492e-01 0.00000000e+00 -1.41213592e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.26990089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.23, Y:-141.22, Z:0.04 [[ 9.53930259e-01 3.00028432e-01 0.00000000e+00 5.36234293e+02] [-3.00028432e-01 9.53930259e-01 0.00000000e+00 -1.41219901e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.26990089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.26, Y:-141.23, Z:0.04 [[ 9.53772449e-01 3.00529725e-01 0.00000000e+00 5.36261032e+02] [-3.00529725e-01 9.53772449e-01 0.00000000e+00 -1.41226915e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22715971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.29, Y:-141.23, Z:0.04 [[ 9.53595618e-01 3.01090347e-01 0.00000000e+00 5.36287978e+02] [-3.01090347e-01 9.53595618e-01 0.00000000e+00 -1.41233979e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22765040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.31, Y:-141.24, Z:0.04 [[ 9.53397164e-01 3.01718158e-01 0.00000000e+00 5.36313738e+02] [-3.01718158e-01 9.53397164e-01 0.00000000e+00 -1.41240775e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.09798862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.34, Y:-141.25, Z:0.04 [[ 9.53370404e-01 3.01802706e-01 0.00000000e+00 5.36339415e+02] [-3.01802706e-01 9.53370404e-01 0.00000000e+00 -1.41247739e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.00931071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.37, Y:-141.26, Z:0.04 [[ 9.53584915e-01 3.01124243e-01 0.00000000e+00 5.36367247e+02] [-3.01124243e-01 9.53584915e-01 0.00000000e+00 -1.41257427e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97467655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.39, Y:-141.27, Z:0.04 [[ 9.53706740e-01 3.00738183e-01 0.00000000e+00 5.36394555e+02] [-3.00738183e-01 9.53706740e-01 0.00000000e+00 -1.41265642e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14637338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.42, Y:-141.27, Z:0.04 [[ 9.53800007e-01 3.00442251e-01 0.00000000e+00 5.36421416e+02] [-3.00442251e-01 9.53800007e-01 0.00000000e+00 -1.41273660e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22375393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.45, Y:-141.28, Z:0.04 [[ 9.53635774e-01 3.00963139e-01 0.00000000e+00 5.36448327e+02] [-3.00963139e-01 9.53635774e-01 0.00000000e+00 -1.41284545e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36696299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.351400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:536.47, Y:-141.29, Z:0.04 [[ 9.53468345e-01 3.01493142e-01 0.00000000e+00 5.36474347e+02] [-3.01493142e-01 9.53468345e-01 0.00000000e+00 -1.41293161e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.13763597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.50, Y:-141.30, Z:0.04 [[ 9.53362721e-01 3.01826974e-01 0.00000000e+00 5.36501972e+02] [-3.01826974e-01 9.53362721e-01 0.00000000e+00 -1.41301544e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.09448974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.53, Y:-141.31, Z:0.04 [[ 9.53205676e-01 3.02322575e-01 0.00000000e+00 5.36529306e+02] [-3.02322575e-01 9.53205676e-01 0.00000000e+00 -1.41309850e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.94150442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.56, Y:-141.32, Z:0.04 [[ 9.53046979e-01 3.02822482e-01 0.00000000e+00 5.36556579e+02] [-3.02822482e-01 9.53046979e-01 0.00000000e+00 -1.41318003e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83037066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.58, Y:-141.33, Z:0.04 [[ 9.52871142e-01 3.03375324e-01 0.00000000e+00 5.36583819e+02] [-3.03375324e-01 9.52871142e-01 0.00000000e+00 -1.41326304e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86679553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.61, Y:-141.34, Z:0.04 [[ 9.52511691e-01 3.04502018e-01 0.00000000e+00 5.36611214e+02] [-3.04502018e-01 9.52511691e-01 0.00000000e+00 -1.41335289e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96252143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.64, Y:-141.34, Z:0.04 [[ 9.52271789e-01 3.05251437e-01 0.00000000e+00 5.36637667e+02] [-3.05251437e-01 9.52271789e-01 0.00000000e+00 -1.41341744e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88845258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.66, Y:-141.35, Z:0.04 [[ 9.52084283e-01 3.05835769e-01 0.00000000e+00 5.36664960e+02] [-3.05835769e-01 9.52084283e-01 0.00000000e+00 -1.41347655e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84892936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.69, Y:-141.35, Z:0.04 [[ 9.51926109e-01 3.06327738e-01 0.00000000e+00 5.36691152e+02] [-3.06327738e-01 9.51926109e-01 0.00000000e+00 -1.41353276e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78894506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.72, Y:-141.36, Z:0.04 [[ 9.51823607e-01 3.06646083e-01 0.00000000e+00 5.36719270e+02] [-3.06646083e-01 9.51823607e-01 0.00000000e+00 -1.41360179e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87795876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.75, Y:-141.37, Z:0.04 [[ 9.52018844e-01 3.06039409e-01 0.00000000e+00 5.36746868e+02] [-3.06039409e-01 9.52018844e-01 0.00000000e+00 -1.41366399e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97376756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.77, Y:-141.37, Z:0.04 [[ 9.52315402e-01 3.05115347e-01 0.00000000e+00 5.36774206e+02] [-3.05115347e-01 9.52315402e-01 0.00000000e+00 -1.41372204e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10535640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.80, Y:-141.38, Z:0.04 [[ 9.52648239e-01 3.04074552e-01 0.00000000e+00 5.36802045e+02] [-3.04074552e-01 9.52648239e-01 0.00000000e+00 -1.41377547e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.26187872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.83, Y:-141.38, Z:0.04 [[ 9.52823403e-01 3.03525226e-01 0.00000000e+00 5.36829903e+02] [-3.03525226e-01 9.52823403e-01 0.00000000e+00 -1.41382410e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.29074499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.86, Y:-141.38, Z:0.04 [[ 9.52377441e-01 3.04921645e-01 0.00000000e+00 5.36859317e+02] [-3.04921645e-01 9.52377441e-01 0.00000000e+00 -1.41384805e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04549758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.89, Y:-141.39, Z:0.04 [[ 9.51977482e-01 3.06168048e-01 0.00000000e+00 5.36887079e+02] [-3.06168048e-01 9.51977482e-01 0.00000000e+00 -1.41387630e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80533173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.92, Y:-141.39, Z:0.04 [[ 9.51591815e-01 3.07364633e-01 0.00000000e+00 5.36915720e+02] [-3.07364633e-01 9.51591815e-01 0.00000000e+00 -1.41389804e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81967996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.94, Y:-141.39, Z:0.04 [[ 9.51239262e-01 3.08453993e-01 0.00000000e+00 5.36943313e+02] [-3.08453993e-01 9.51239262e-01 0.00000000e+00 -1.41391475e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80325275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.97, Y:-141.39, Z:0.04 [[ 9.51044036e-01 3.09055403e-01 0.00000000e+00 5.36972182e+02] [-3.09055403e-01 9.51044036e-01 0.00000000e+00 -1.41393612e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91412201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.00, Y:-141.40, Z:0.04 [[ 9.51193955e-01 3.08593681e-01 0.00000000e+00 5.37000872e+02] [-3.08593681e-01 9.51193955e-01 0.00000000e+00 -1.41396151e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04230622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.03, Y:-141.40, Z:0.04 [[ 9.52432910e-01 3.04748342e-01 0.00000000e+00 5.37030718e+02] [-3.04748342e-01 9.52432910e-01 0.00000000e+00 -1.41395166e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.19029121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.06, Y:-141.40, Z:0.04 [[ 9.53293577e-01 3.02045288e-01 0.00000000e+00 5.37057400e+02] [-3.02045288e-01 9.53293577e-01 0.00000000e+00 -1.41397752e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.16167989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.08, Y:-141.40, Z:0.04 [[ 9.54013959e-01 2.99762184e-01 0.00000000e+00 5.37084676e+02] [-2.99762184e-01 9.54013959e-01 0.00000000e+00 -1.41400956e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.13338363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.11, Y:-141.40, Z:0.04 [[ 9.54437397e-01 2.98411220e-01 0.00000000e+00 5.37112867e+02] [-2.98411220e-01 9.54437397e-01 0.00000000e+00 -1.41404671e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.19170915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.14, Y:-141.41, Z:0.04 [[ 9.54608422e-01 2.97863660e-01 0.00000000e+00 5.37140575e+02] [-2.97863660e-01 9.54608422e-01 0.00000000e+00 -1.41408250e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22788350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.17, Y:-141.41, Z:0.04 [[ 9.54622944e-01 2.97817117e-01 0.00000000e+00 5.37168235e+02] [-2.97817117e-01 9.54622944e-01 0.00000000e+00 -1.41411227e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.19773911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.20, Y:-141.41, Z:0.04 [[ 9.54239233e-01 2.99044288e-01 0.00000000e+00 5.37196899e+02] [-2.99044288e-01 9.54239233e-01 0.00000000e+00 -1.41411682e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95356573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.22, Y:-141.42, Z:0.04 [[ 9.54094203e-01 2.99506679e-01 0.00000000e+00 5.37224902e+02] [-2.99506679e-01 9.54094203e-01 0.00000000e+00 -1.41416397e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11937121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.25, Y:-141.42, Z:0.04 [[ 9.54004959e-01 2.99790825e-01 0.00000000e+00 5.37251355e+02] [-2.99790825e-01 9.54004959e-01 0.00000000e+00 -1.41421939e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12952822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.28, Y:-141.43, Z:0.04 [[ 9.54124254e-01 2.99410933e-01 0.00000000e+00 5.37279854e+02] [-2.99410933e-01 9.54124254e-01 0.00000000e+00 -1.41428417e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06582587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.251400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:537.31, Y:-141.43, Z:0.04 [[ 9.54631434e-01 2.97789901e-01 0.00000000e+00 5.37306681e+02] [-2.97789901e-01 9.54631434e-01 0.00000000e+00 -1.41434625e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99044063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.33, Y:-141.44, Z:0.04 [[ 9.54977852e-01 2.96677102e-01 0.00000000e+00 5.37334187e+02] [-2.96677102e-01 9.54977852e-01 0.00000000e+00 -1.41440563e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10453017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.36, Y:-141.45, Z:0.04 [[ 9.55227888e-01 2.95871056e-01 0.00000000e+00 5.37362174e+02] [-2.95871056e-01 9.55227888e-01 0.00000000e+00 -1.41447819e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.41250444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.39, Y:-141.46, Z:0.05 [[ 9.55462806e-01 2.95111548e-01 0.00000000e+00 5.37388925e+02] [-2.95111548e-01 9.55462806e-01 0.00000000e+00 -1.41455240e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.59805414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.42, Y:-141.46, Z:0.05 [[ 9.55492566e-01 2.95015181e-01 0.00000000e+00 5.37415331e+02] [-2.95015181e-01 9.55492566e-01 0.00000000e+00 -1.41462866e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.67896404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.44, Y:-141.47, Z:0.05 [[ 9.55335693e-01 2.95522779e-01 0.00000000e+00 5.37441882e+02] [-2.95522779e-01 9.55335693e-01 0.00000000e+00 -1.41469956e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.61668091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.47, Y:-141.48, Z:0.04 [[ 9.54335602e-01 2.98736604e-01 0.00000000e+00 5.37469983e+02] [-2.98736604e-01 9.54335602e-01 0.00000000e+00 -1.41476775e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.19885505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.50, Y:-141.48, Z:0.04 [[ 9.53733858e-01 3.00652170e-01 0.00000000e+00 5.37497974e+02] [-3.00652170e-01 9.53733858e-01 0.00000000e+00 -1.41482980e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96441868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.53, Y:-141.49, Z:0.04 [[ 9.53197147e-01 3.02349464e-01 0.00000000e+00 5.37525771e+02] [-3.02349464e-01 9.53197147e-01 0.00000000e+00 -1.41489464e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84571586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.55, Y:-141.50, Z:0.04 [[ 9.52941505e-01 3.03154232e-01 0.00000000e+00 5.37554360e+02] [-3.03154232e-01 9.52941505e-01 0.00000000e+00 -1.41495856e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.98286057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.58, Y:-141.50, Z:0.04 [[ 9.52950043e-01 3.03127392e-01 0.00000000e+00 5.37581424e+02] [-3.03127392e-01 9.52950043e-01 0.00000000e+00 -1.41501434e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12306283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.61, Y:-141.51, Z:0.04 [[ 9.53260723e-01 3.02148961e-01 0.00000000e+00 5.37608989e+02] [-3.02148961e-01 9.53260723e-01 0.00000000e+00 -1.41506755e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.31256004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.64, Y:-141.51, Z:0.04 [[ 9.54536757e-01 2.98093239e-01 0.00000000e+00 5.37636067e+02] [-2.98093239e-01 9.54536757e-01 0.00000000e+00 -1.41512670e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.37759306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.66, Y:-141.52, Z:0.04 [[ 9.55512424e-01 2.94950857e-01 0.00000000e+00 5.37663784e+02] [-2.94950857e-01 9.55512424e-01 0.00000000e+00 -1.41520104e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.25924974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.69, Y:-141.53, Z:0.04 [[ 9.56727081e-01 2.90986756e-01 0.00000000e+00 5.37690720e+02] [-2.90986756e-01 9.56727081e-01 0.00000000e+00 -1.41527739e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.16504446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.72, Y:-141.54, Z:0.04 [[ 9.58005016e-01 2.86751443e-01 0.00000000e+00 5.37716857e+02] [-2.86751443e-01 9.58005016e-01 0.00000000e+00 -1.41536085e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14327361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.74, Y:-141.55, Z:0.04 [[ 9.59293831e-01 2.82409889e-01 0.00000000e+00 5.37743298e+02] [-2.82409889e-01 9.59293831e-01 0.00000000e+00 -1.41545448e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36367976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.77, Y:-141.56, Z:0.05 [[ 9.61287491e-01 2.75547382e-01 0.00000000e+00 5.37769660e+02] [-2.75547382e-01 9.61287491e-01 0.00000000e+00 -1.41561368e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.89869983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.79, Y:-141.57, Z:0.05 [[ 9.61811705e-01 2.73711975e-01 0.00000000e+00 5.37794512e+02] [-2.73711975e-01 9.61811705e-01 0.00000000e+00 -1.41572154e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.92111078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.82, Y:-141.58, Z:0.05 [[ 9.62026636e-01 2.72955586e-01 0.00000000e+00 5.37820535e+02] [-2.72955586e-01 9.62026636e-01 0.00000000e+00 -1.41582337e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.73904780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.85, Y:-141.59, Z:0.04 [[ 9.61895603e-01 2.73416989e-01 0.00000000e+00 5.37847016e+02] [-2.73416989e-01 9.61895603e-01 0.00000000e+00 -1.41591963e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.41822057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.87, Y:-141.60, Z:0.04 [[ 9.61536343e-01 2.74677741e-01 0.00000000e+00 5.37872822e+02] [-2.74677741e-01 9.61536343e-01 0.00000000e+00 -1.41601801e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.23377218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.90, Y:-141.61, Z:0.04 [[ 9.61068422e-01 2.76310492e-01 0.00000000e+00 5.37898703e+02] [-2.76310492e-01 9.61068422e-01 0.00000000e+00 -1.41612112e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.23534841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.92, Y:-141.63, Z:0.04 [[ 9.60153257e-01 2.79474013e-01 0.00000000e+00 5.37923547e+02] [-2.79474013e-01 9.60153257e-01 0.00000000e+00 -1.41626576e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18023995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.95, Y:-141.64, Z:0.04 [[ 9.59838612e-01 2.80552738e-01 0.00000000e+00 5.37950561e+02] [-2.80552738e-01 9.59838612e-01 0.00000000e+00 -1.41635672e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10788546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.98, Y:-141.64, Z:0.04 [[ 9.59857046e-01 2.80489663e-01 0.00000000e+00 5.37978382e+02] [-2.80489663e-01 9.59857046e-01 0.00000000e+00 -1.41641864e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10788546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.01, Y:-141.65, Z:0.04 [[ 9.59707010e-01 2.81002590e-01 0.00000000e+00 5.38006437e+02] [-2.81002590e-01 9.59707010e-01 0.00000000e+00 -1.41650588e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08075305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.03, Y:-141.66, Z:0.04 [[ 9.59756430e-01 2.80833748e-01 0.00000000e+00 5.38033399e+02] [-2.80833748e-01 9.59756430e-01 0.00000000e+00 -1.41659719e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.00711779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.06, Y:-141.67, Z:0.04 [[ 9.59920252e-01 2.80273278e-01 0.00000000e+00 5.38061205e+02] [-2.80273278e-01 9.59920252e-01 0.00000000e+00 -1.41669424e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.00129793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.09, Y:-141.68, Z:0.04 [[ 9.60213207e-01 2.79267967e-01 0.00000000e+00 5.38088191e+02] [-2.79267967e-01 9.60213207e-01 0.00000000e+00 -1.41678830e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08281732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.12, Y:-141.69, Z:0.04 [[ 9.61186984e-01 2.75897775e-01 0.00000000e+00 5.38115812e+02] [-2.75897775e-01 9.61186984e-01 0.00000000e+00 -1.41687222e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.31239140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.14, Y:-141.69, Z:0.04 [[ 9.61880446e-01 2.73470307e-01 0.00000000e+00 5.38143514e+02] [-2.73470307e-01 9.61880446e-01 0.00000000e+00 -1.41694049e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.37936598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.17, Y:-141.70, Z:0.04 [[ 9.62704817e-01 2.70553940e-01 0.00000000e+00 5.38170644e+02] [-2.70553940e-01 9.62704817e-01 0.00000000e+00 -1.41702090e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.35879069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.20, Y:-141.71, Z:0.04 [[ 9.63630311e-01 2.67238890e-01 0.00000000e+00 5.38198935e+02] [-2.67238890e-01 9.63630311e-01 0.00000000e+00 -1.41711170e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.35895054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.23, Y:-141.72, Z:0.04 [[ 9.64572529e-01 2.63817807e-01 0.00000000e+00 5.38227784e+02] [-2.63817807e-01 9.64572529e-01 0.00000000e+00 -1.41720105e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.32489118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.26, Y:-141.73, Z:0.04 [[ 9.66689706e-01 2.55951192e-01 0.00000000e+00 5.38258169e+02] [-2.55951192e-01 9.66689706e-01 0.00000000e+00 -1.41730601e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.47576191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.29, Y:-141.74, Z:0.05 [[ 9.67735240e-01 2.51969255e-01 0.00000000e+00 5.38288596e+02] [-2.51969255e-01 9.67735240e-01 0.00000000e+00 -1.41739509e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.53178394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.32, Y:-141.75, Z:0.05 [[ 9.68727644e-01 2.48126482e-01 0.00000000e+00 5.38318308e+02] [-2.48126482e-01 9.68727644e-01 0.00000000e+00 -1.41748888e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.55221059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.35, Y:-141.76, Z:0.04 [[ 9.69518237e-01 2.45019158e-01 0.00000000e+00 5.38349619e+02] [-2.45019158e-01 9.69518237e-01 0.00000000e+00 -1.41758410e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.48364896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.38, Y:-141.77, Z:0.04 [[ 9.70084649e-01 2.42766913e-01 0.00000000e+00 5.38380080e+02] [-2.42766913e-01 9.70084649e-01 0.00000000e+00 -1.41767364e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.40763569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.41, Y:-141.78, Z:0.04 [[ 9.70394312e-01 2.41526146e-01 0.00000000e+00 5.38411535e+02] [-2.41526146e-01 9.70394312e-01 0.00000000e+00 -1.41775683e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36801835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.44, Y:-141.78, Z:0.04 [[ 9.70658889e-01 2.40460642e-01 0.00000000e+00 5.38442312e+02] [-2.40460642e-01 9.70658889e-01 0.00000000e+00 -1.41782112e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28254459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.47, Y:-141.79, Z:0.04 [[ 9.70674419e-01 2.40397947e-01 0.00000000e+00 5.38474066e+02] [-2.40397947e-01 9.70674419e-01 0.00000000e+00 -1.41788225e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28364129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.51, Y:-141.79, Z:0.04 [[ 9.70749909e-01 2.40092928e-01 0.00000000e+00 5.38505967e+02] [-2.40092928e-01 9.70749909e-01 0.00000000e+00 -1.41794127e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.32217864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.54, Y:-141.80, Z:0.04 [[ 9.70909435e-01 2.39447007e-01 0.00000000e+00 5.38536430e+02] [-2.39447007e-01 9.70909435e-01 0.00000000e+00 -1.41799543e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28591711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.57, Y:-141.81, Z:0.04 [[ 9.71172526e-01 2.38377693e-01 0.00000000e+00 5.38568872e+02] [-2.38377693e-01 9.71172526e-01 0.00000000e+00 -1.41805037e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27655901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.60, Y:-141.81, Z:0.04 [[ 9.71643338e-01 2.36451314e-01 0.00000000e+00 5.38600801e+02] [-2.36451314e-01 9.71643338e-01 0.00000000e+00 -1.41810172e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.17294812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.63, Y:-141.81, Z:0.04 [[ 9.73303883e-01 2.29520264e-01 0.00000000e+00 5.38632407e+02] [-2.29520264e-01 9.73303883e-01 0.00000000e+00 -1.41813185e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.35289420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.66, Y:-141.82, Z:0.04 [[ 9.74225972e-01 2.25574281e-01 0.00000000e+00 5.38662921e+02] [-2.25574281e-01 9.74225972e-01 0.00000000e+00 -1.41819046e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.43248587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.70, Y:-141.83, Z:0.04 [[ 9.75088937e-01 2.21814256e-01 0.00000000e+00 5.38695235e+02] [-2.21814256e-01 9.75088937e-01 0.00000000e+00 -1.41825833e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.35992145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.73, Y:-141.83, Z:0.04 [[ 9.75867890e-01 2.18361766e-01 0.00000000e+00 5.38726082e+02] [-2.18361766e-01 9.75867890e-01 0.00000000e+00 -1.41832203e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18446783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.76, Y:-141.84, Z:0.04 [[ 9.76536161e-01 2.15353492e-01 0.00000000e+00 5.38756524e+02] [-2.15353492e-01 9.76536161e-01 0.00000000e+00 -1.41838608e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.03542358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.79, Y:-141.85, Z:0.04 [[ 9.77081570e-01 2.12865226e-01 0.00000000e+00 5.38788637e+02] [-2.12865226e-01 9.77081570e-01 0.00000000e+00 -1.41845314e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14279282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.82, Y:-141.85, Z:0.05 [[ 9.77576883e-01 2.10578815e-01 0.00000000e+00 5.38818819e+02] [-2.10578815e-01 9.77576883e-01 0.00000000e+00 -1.41851613e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.66346570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.85, Y:-141.86, Z:0.05 [[ 9.77601401e-01 2.10464965e-01 0.00000000e+00 5.38848831e+02] [-2.10464965e-01 9.77601401e-01 0.00000000e+00 -1.41858483e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.80712034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.88, Y:-141.87, Z:0.05 [[ 9.77658427e-01 2.10199907e-01 0.00000000e+00 5.38879721e+02] [-2.10199907e-01 9.77658427e-01 0.00000000e+00 -1.41865339e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.72799481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.91, Y:-141.87, Z:0.05 [[ 9.77737086e-01 2.09833723e-01 0.00000000e+00 5.38911871e+02] [-2.09833723e-01 9.77737086e-01 0.00000000e+00 -1.41872468e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.50497854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.94, Y:-141.88, Z:0.04 [[ 9.77880516e-01 2.09164279e-01 0.00000000e+00 5.38942650e+02] [-2.09164279e-01 9.77880516e-01 0.00000000e+00 -1.41879512e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.30035953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.97, Y:-141.89, Z:0.04 [[ 9.78067610e-01 2.08287661e-01 0.00000000e+00 5.38972741e+02] [-2.08287661e-01 9.78067610e-01 0.00000000e+00 -1.41887096e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.25222190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.00, Y:-141.90, Z:0.05 [[ 9.78672841e-01 2.05425095e-01 0.00000000e+00 5.39002647e+02] [-2.05425095e-01 9.78672841e-01 0.00000000e+00 -1.41897590e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.51142940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.03, Y:-141.91, Z:0.05 [[ 9.78991523e-01 2.03900953e-01 0.00000000e+00 5.39034191e+02] [-2.03900953e-01 9.78991523e-01 0.00000000e+00 -1.41907347e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.63399275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.07, Y:-141.92, Z:0.05 [[ 9.79254172e-01 2.02635799e-01 0.00000000e+00 5.39065721e+02] [-2.02635799e-01 9.79254172e-01 0.00000000e+00 -1.41917146e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.65892178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.10, Y:-141.93, Z:0.05 [[ 9.79451013e-01 2.01682211e-01 0.00000000e+00 5.39095879e+02] [-2.01682211e-01 9.79451013e-01 0.00000000e+00 -1.41926579e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.63530083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.13, Y:-141.94, Z:0.05 [[ 9.79546644e-01 2.01217226e-01 0.00000000e+00 5.39126562e+02] [-2.01217226e-01 9.79546644e-01 0.00000000e+00 -1.41935880e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.56136836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.16, Y:-141.94, Z:0.05 [[ 9.79534921e-01 2.01274286e-01 0.00000000e+00 5.39158213e+02] [-2.01274286e-01 9.79534921e-01 0.00000000e+00 -1.41944561e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.61448491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.19, Y:-141.95, Z:0.05 [[ 9.79279413e-01 2.02513779e-01 0.00000000e+00 5.39189657e+02] [-2.02513779e-01 9.79279413e-01 0.00000000e+00 -1.41953493e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.87149264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.22, Y:-141.96, Z:0.05 [[ 9.79123123e-01 2.03268073e-01 0.00000000e+00 5.39220182e+02] [-2.03268073e-01 9.79123123e-01 0.00000000e+00 -1.41961301e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.78947469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.261400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:539.25, Y:-141.97, Z:0.05 [[ 9.78959491e-01 2.04054687e-01 0.00000000e+00 5.39251222e+02] [-2.04054687e-01 9.78959491e-01 0.00000000e+00 -1.41969877e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.65116161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.28, Y:-141.98, Z:0.05 [[ 9.78939614e-01 2.04150023e-01 0.00000000e+00 5.39282730e+02] [-2.04150023e-01 9.78939614e-01 0.00000000e+00 -1.41977493e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.59596408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.32, Y:-141.99, Z:0.04 [[ 9.78922376e-01 2.04232664e-01 0.00000000e+00 5.39315042e+02] [-2.04232664e-01 9.78922376e-01 0.00000000e+00 -1.41985145e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.38955289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.35, Y:-141.99, Z:0.04 [[ 9.78983317e-01 2.03940346e-01 0.00000000e+00 5.39346506e+02] [-2.03940346e-01 9.78983317e-01 0.00000000e+00 -1.41992060e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18002957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.38, Y:-142.00, Z:0.04 [[ 9.79243679e-01 2.02686501e-01 0.00000000e+00 5.39378841e+02] [-2.02686501e-01 9.79243679e-01 0.00000000e+00 -1.41997119e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84640987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.41, Y:-142.00, Z:0.04 [[ 9.79357380e-01 2.02136393e-01 0.00000000e+00 5.39410494e+02] [-2.02136393e-01 9.79357380e-01 0.00000000e+00 -1.42002992e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79146564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.44, Y:-142.01, Z:0.04 [[ 9.79508043e-01 2.01405047e-01 0.00000000e+00 5.39443393e+02] [-2.01405047e-01 9.79508043e-01 0.00000000e+00 -1.42008364e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86794640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.48, Y:-142.01, Z:0.04 [[ 9.79678116e-01 2.00576142e-01 0.00000000e+00 5.39475485e+02] [-2.00576142e-01 9.79678116e-01 0.00000000e+00 -1.42013679e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84227007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.51, Y:-142.02, Z:0.04 [[ 9.79887339e-01 1.99551505e-01 0.00000000e+00 5.39506850e+02] [-1.99551505e-01 9.79887339e-01 0.00000000e+00 -1.42018950e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.73315584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.54, Y:-142.02, Z:0.04 [[ 9.80183467e-01 1.98091824e-01 0.00000000e+00 5.39537190e+02] [-1.98091824e-01 9.80183467e-01 0.00000000e+00 -1.42024492e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51593048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.57, Y:-142.03, Z:0.03 [[ 9.80917074e-01 1.94426576e-01 0.00000000e+00 5.39568455e+02] [-1.94426576e-01 9.80917074e-01 0.00000000e+00 -1.42029966e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35965393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.60, Y:-142.04, Z:0.03 [[ 9.81265647e-01 1.92659624e-01 0.00000000e+00 5.39600367e+02] [-1.92659624e-01 9.81265647e-01 0.00000000e+00 -1.42037719e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42339933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.63, Y:-142.05, Z:0.04 [[ 9.81684592e-01 1.90513415e-01 0.00000000e+00 5.39631109e+02] [-1.90513415e-01 9.81684592e-01 0.00000000e+00 -1.42045382e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61695765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.66, Y:-142.05, Z:0.04 [[ 9.82090240e-01 1.88411148e-01 0.00000000e+00 5.39662069e+02] [-1.88411148e-01 9.82090240e-01 0.00000000e+00 -1.42053148e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78679307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.69, Y:-142.06, Z:0.04 [[ 9.82389027e-01 1.86846996e-01 0.00000000e+00 5.39692851e+02] [-1.86846996e-01 9.82389027e-01 0.00000000e+00 -1.42061121e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76565221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.72, Y:-142.07, Z:0.03 [[ 9.82674209e-01 1.85341304e-01 0.00000000e+00 5.39723609e+02] [-1.85341304e-01 9.82674209e-01 0.00000000e+00 -1.42070365e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47303775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.75, Y:-142.08, Z:0.03 [[ 9.82562198e-01 1.85934199e-01 0.00000000e+00 5.39754248e+02] [-1.85934199e-01 9.82562198e-01 0.00000000e+00 -1.42078847e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44801298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.79, Y:-142.09, Z:0.04 [[ 9.82296360e-01 1.87333555e-01 0.00000000e+00 5.39785690e+02] [-1.87333555e-01 9.82296360e-01 0.00000000e+00 -1.42087361e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69536151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.82, Y:-142.10, Z:0.04 [[ 9.81996920e-01 1.88896930e-01 0.00000000e+00 5.39815461e+02] [-1.88896930e-01 9.81996920e-01 0.00000000e+00 -1.42095093e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84286986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.85, Y:-142.10, Z:0.04 [[ 9.81700113e-01 1.90433423e-01 0.00000000e+00 5.39846901e+02] [-1.90433423e-01 9.81700113e-01 0.00000000e+00 -1.42103827e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.09596353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.861400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:539.88, Y:-142.11, Z:0.04 [[ 9.81407481e-01 1.91935815e-01 0.00000000e+00 5.39879160e+02] [-1.91935815e-01 9.81407481e-01 0.00000000e+00 -1.42112504e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.17426909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.891400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:539.91, Y:-142.12, Z:0.04 [[ 9.81370162e-01 1.92126536e-01 0.00000000e+00 5.39911724e+02] [-1.92126536e-01 9.81370162e-01 0.00000000e+00 -1.42120324e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.17426909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.94, Y:-142.13, Z:0.04 [[ 9.81211991e-01 1.92932707e-01 0.00000000e+00 5.39941988e+02] [-1.92932707e-01 9.81211991e-01 0.00000000e+00 -1.42130115e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.17898747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.97, Y:-142.14, Z:0.04 [[ 9.81234786e-01 1.92816737e-01 0.00000000e+00 5.39972558e+02] [-1.92816737e-01 9.81234786e-01 0.00000000e+00 -1.42138747e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08888108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.00, Y:-142.15, Z:0.04 [[ 9.81318452e-01 1.92390475e-01 0.00000000e+00 5.40004553e+02] [-1.92390475e-01 9.81318452e-01 0.00000000e+00 -1.42147386e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08838551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.04, Y:-142.16, Z:0.04 [[ 9.81442474e-01 1.91756799e-01 0.00000000e+00 5.40035264e+02] [-1.91756799e-01 9.81442474e-01 0.00000000e+00 -1.42155092e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10665706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.07, Y:-142.16, Z:0.04 [[ 9.81648443e-01 1.90699591e-01 0.00000000e+00 5.40066272e+02] [-1.90699591e-01 9.81648443e-01 0.00000000e+00 -1.42162164e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.30573940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.10, Y:-142.17, Z:0.04 [[ 9.81867685e-01 1.89567534e-01 0.00000000e+00 5.40097983e+02] [-1.89567534e-01 9.81867685e-01 0.00000000e+00 -1.42169505e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.45272624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.13, Y:-142.18, Z:0.05 [[ 9.82313326e-01 1.87244570e-01 0.00000000e+00 5.40129623e+02] [-1.87244570e-01 9.82313326e-01 0.00000000e+00 -1.42176894e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.56838664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.16, Y:-142.18, Z:0.05 [[ 9.82445610e-01 1.86549250e-01 0.00000000e+00 5.40160660e+02] [-1.86549250e-01 9.82445610e-01 0.00000000e+00 -1.42184116e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.52126933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.19, Y:-142.19, Z:0.04 [[ 9.82565292e-01 1.85917852e-01 0.00000000e+00 5.40192060e+02] [-1.85917852e-01 9.82565292e-01 0.00000000e+00 -1.42191011e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36717751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.22, Y:-142.20, Z:0.04 [[ 9.82725906e-01 1.85067000e-01 0.00000000e+00 5.40223793e+02] [-1.85067000e-01 9.82725906e-01 0.00000000e+00 -1.42197079e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.19437513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.26, Y:-142.20, Z:0.04 [[ 9.82816410e-01 1.84585763e-01 0.00000000e+00 5.40256518e+02] [-1.84585763e-01 9.82816410e-01 0.00000000e+00 -1.42203519e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02763144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.29, Y:-142.21, Z:0.04 [[ 9.82887735e-01 1.84205594e-01 0.00000000e+00 5.40289513e+02] [-1.84205594e-01 9.82887735e-01 0.00000000e+00 -1.42208898e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95644736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.32, Y:-142.21, Z:0.04 [[ 9.82795953e-01 1.84694655e-01 0.00000000e+00 5.40320936e+02] [-1.84694655e-01 9.82795953e-01 0.00000000e+00 -1.42214770e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14567071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.311400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:540.35, Y:-142.22, Z:0.04 [[ 9.82651485e-01 1.85461746e-01 0.00000000e+00 5.40353862e+02] [-1.85461746e-01 9.82651485e-01 0.00000000e+00 -1.42220140e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.34986093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.39, Y:-142.22, Z:0.05 [[ 9.82505960e-01 1.86231141e-01 0.00000000e+00 5.40385956e+02] [-1.86231141e-01 9.82505960e-01 0.00000000e+00 -1.42224434e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.52744548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.42, Y:-142.23, Z:0.04 [[ 9.82280072e-01 1.87418946e-01 0.00000000e+00 5.40418161e+02] [-1.87418946e-01 9.82280072e-01 0.00000000e+00 -1.42229296e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.48267979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.45, Y:-142.24, Z:0.04 [[ 9.82020968e-01 1.88771871e-01 0.00000000e+00 5.40449944e+02] [-1.88771871e-01 9.82020968e-01 0.00000000e+00 -1.42235112e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36260914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.48, Y:-142.24, Z:0.04 [[ 9.81550085e-01 1.91205204e-01 0.00000000e+00 5.40480462e+02] [-1.91205204e-01 9.81550085e-01 0.00000000e+00 -1.42240107e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12637823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.51, Y:-142.25, Z:0.04 [[ 9.81394527e-01 1.92002035e-01 0.00000000e+00 5.40510678e+02] [-1.92002035e-01 9.81394527e-01 0.00000000e+00 -1.42246023e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15957292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.491400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:540.54, Y:-142.25, Z:0.04 [[ 9.81290504e-01 1.92532977e-01 0.00000000e+00 5.40542286e+02] [-1.92532977e-01 9.81290504e-01 0.00000000e+00 -1.42251775e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.20757030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.57, Y:-142.26, Z:0.04 [[ 9.81202821e-01 1.92979334e-01 0.00000000e+00 5.40573985e+02] [-1.92979334e-01 9.81202821e-01 0.00000000e+00 -1.42257314e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.29697240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.61, Y:-142.26, Z:0.04 [[ 9.81117690e-01 1.93411681e-01 0.00000000e+00 5.40605417e+02] [-1.93411681e-01 9.81117690e-01 0.00000000e+00 -1.42262801e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28941985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.64, Y:-142.27, Z:0.04 [[ 9.81039300e-01 1.93808904e-01 0.00000000e+00 5.40636674e+02] [-1.93808904e-01 9.81039300e-01 0.00000000e+00 -1.42268076e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.20915109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.67, Y:-142.27, Z:0.04 [[ 9.81160698e-01 1.93193385e-01 0.00000000e+00 5.40668158e+02] [-1.93193385e-01 9.81160698e-01 0.00000000e+00 -1.42269909e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95920169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.641400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:540.70, Y:-142.27, Z:0.04 [[ 9.81235758e-01 1.92811790e-01 0.00000000e+00 5.40699585e+02] [-1.92811790e-01 9.81235758e-01 0.00000000e+00 -1.42273687e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95493822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.73, Y:-142.28, Z:0.04 [[ 9.81314477e-01 1.92410749e-01 0.00000000e+00 5.40729548e+02] [-1.92410749e-01 9.81314477e-01 0.00000000e+00 -1.42276853e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12920349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.76, Y:-142.28, Z:0.04 [[ 9.81376767e-01 1.92092791e-01 0.00000000e+00 5.40760486e+02] [-1.92092791e-01 9.81376767e-01 0.00000000e+00 -1.42280640e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39434463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.79, Y:-142.28, Z:0.04 [[ 9.81475993e-01 1.91585166e-01 0.00000000e+00 5.40791215e+02] [-1.91585166e-01 9.81475993e-01 0.00000000e+00 -1.42280455e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.44729821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.82, Y:-142.28, Z:0.04 [[ 9.81523045e-01 1.91343963e-01 0.00000000e+00 5.40821644e+02] [-1.91343963e-01 9.81523045e-01 0.00000000e+00 -1.42282595e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28801862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.85, Y:-142.28, Z:0.04 [[ 9.81528558e-01 1.91315680e-01 0.00000000e+00 5.40851459e+02] [-1.91315680e-01 9.81528558e-01 0.00000000e+00 -1.42283348e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14413606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.88, Y:-142.28, Z:0.04 [[ 9.81621348e-01 1.90839015e-01 0.00000000e+00 5.40881444e+02] [-1.90839015e-01 9.81621348e-01 0.00000000e+00 -1.42283788e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.00050580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.91, Y:-142.28, Z:0.04 [[ 9.81515207e-01 1.91384166e-01 0.00000000e+00 5.40910072e+02] [-1.91384166e-01 9.81515207e-01 0.00000000e+00 -1.42284413e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28891825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.94, Y:-142.28, Z:0.05 [[ 9.81412658e-01 1.91909338e-01 0.00000000e+00 5.40940816e+02] [-1.91909338e-01 9.81412658e-01 0.00000000e+00 -1.42278992e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.63721135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.97, Y:-142.28, Z:0.05 [[ 9.81421906e-01 1.91862041e-01 0.00000000e+00 5.40969776e+02] [-1.91862041e-01 9.81421906e-01 0.00000000e+00 -1.42278354e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.58616136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.941400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:541.00, Y:-142.28, Z:0.04 [[ 9.81481331e-01 1.91557817e-01 0.00000000e+00 5.40999503e+02] [-1.91557817e-01 9.81481331e-01 0.00000000e+00 -1.42277872e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.46966559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.03, Y:-142.28, Z:0.04 [[ 9.81571093e-01 1.91097328e-01 0.00000000e+00 5.41029061e+02] [-1.91097328e-01 9.81571093e-01 0.00000000e+00 -1.42277384e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.42659365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.06, Y:-142.28, Z:0.04 [[ 9.81799521e-01 1.89920246e-01 0.00000000e+00 5.41057221e+02] [-1.89920246e-01 9.81799521e-01 0.00000000e+00 -1.42277369e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.40745421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.09, Y:-142.28, Z:0.05 [[ 9.82157516e-01 1.88060131e-01 0.00000000e+00 5.41086276e+02] [-1.88060131e-01 9.82157516e-01 0.00000000e+00 -1.42277422e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.57907308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.12, Y:-142.27, Z:0.05 [[ 9.82903875e-01 1.84119449e-01 0.00000000e+00 5.41116371e+02] [-1.84119449e-01 9.82903875e-01 0.00000000e+00 -1.42269581e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.93810532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.15, Y:-142.27, Z:0.05 [[ 9.83223939e-01 1.82402537e-01 0.00000000e+00 5.41145167e+02] [-1.82402537e-01 9.83223939e-01 0.00000000e+00 -1.42268971e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.88264186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.17, Y:-142.27, Z:0.05 [[ 9.83463917e-01 1.81104179e-01 0.00000000e+00 5.41173129e+02] [-1.81104179e-01 9.83463917e-01 0.00000000e+00 -1.42268761e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.64753620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.20, Y:-142.27, Z:0.04 [[ 9.83610462e-01 1.80306569e-01 0.00000000e+00 5.41201493e+02] [-1.80306569e-01 9.83610462e-01 0.00000000e+00 -1.42268965e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.41698966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.23, Y:-142.27, Z:0.04 [[ 9.83637433e-01 1.80159375e-01 0.00000000e+00 5.41231157e+02] [-1.80159375e-01 9.83637433e-01 0.00000000e+00 -1.42268768e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.30560384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.26, Y:-142.27, Z:0.04 [[ 9.83589948e-01 1.80418440e-01 0.00000000e+00 5.41259634e+02] [-1.80418440e-01 9.83589948e-01 0.00000000e+00 -1.42267983e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.35820969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.29, Y:-142.26, Z:0.04 [[ 9.83515694e-01 1.80822784e-01 0.00000000e+00 5.41289122e+02] [-1.80822784e-01 9.83515694e-01 0.00000000e+00 -1.42260934e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.47708250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.32, Y:-142.26, Z:0.05 [[ 9.83496932e-01 1.80924803e-01 0.00000000e+00 5.41317155e+02] [-1.80924803e-01 9.83496932e-01 0.00000000e+00 -1.42261692e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.55175164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.34, Y:-142.26, Z:0.05 [[ 9.83571115e-01 1.80521085e-01 0.00000000e+00 5.41344251e+02] [-1.80521085e-01 9.83571115e-01 0.00000000e+00 -1.42262660e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.57645063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.37, Y:-142.26, Z:0.05 [[ 9.83736787e-01 1.79616075e-01 0.00000000e+00 5.41371442e+02] [-1.79616075e-01 9.83736787e-01 0.00000000e+00 -1.42263756e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.52023099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.40, Y:-142.27, Z:0.04 [[ 9.83961122e-01 1.78383045e-01 0.00000000e+00 5.41399448e+02] [-1.78383045e-01 9.83961122e-01 0.00000000e+00 -1.42265364e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.43750094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.43, Y:-142.26, Z:0.04 [[ 9.84425288e-01 1.75803449e-01 0.00000000e+00 5.41428425e+02] [-1.75803449e-01 9.84425288e-01 0.00000000e+00 -1.42264020e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.32827556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.46, Y:-142.27, Z:0.04 [[ 9.84619710e-01 1.74711269e-01 0.00000000e+00 5.41457241e+02] [-1.74711269e-01 9.84619710e-01 0.00000000e+00 -1.42267088e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.46121736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.451400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:541.48, Y:-142.27, Z:0.05 [[ 9.84774612e-01 1.73836023e-01 0.00000000e+00 5.41483990e+02] [-1.73836023e-01 9.84774612e-01 0.00000000e+00 -1.42270070e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.60822241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.51, Y:-142.27, Z:0.05 [[ 9.84921942e-01 1.72999331e-01 0.00000000e+00 5.41511556e+02] [-1.72999331e-01 9.84921942e-01 0.00000000e+00 -1.42272663e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.77597695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.511400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:541.54, Y:-142.28, Z:0.05 [[ 9.85077314e-01 1.72112419e-01 0.00000000e+00 5.41539864e+02] [-1.72112419e-01 9.85077314e-01 0.00000000e+00 -1.42275723e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.78719674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.57, Y:-142.28, Z:0.05 [[ 9.85270087e-01 1.71005426e-01 0.00000000e+00 5.41567236e+02] [-1.71005426e-01 9.85270087e-01 0.00000000e+00 -1.42278485e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.70097640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.60, Y:-142.28, Z:0.05 [[ 9.85637296e-01 1.68876052e-01 0.00000000e+00 5.41595663e+02] [-1.68876052e-01 9.85637296e-01 0.00000000e+00 -1.42277844e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.67792100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.62, Y:-142.28, Z:0.05 [[ 9.85755114e-01 1.68186968e-01 0.00000000e+00 5.41622232e+02] [-1.68186968e-01 9.85755114e-01 0.00000000e+00 -1.42280609e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.82110820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.65, Y:-142.28, Z:0.05 [[ 9.85918216e-01 1.67228202e-01 0.00000000e+00 5.41649834e+02] [-1.67228202e-01 9.85918216e-01 0.00000000e+00 -1.42283500e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.97187681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.661400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:541.68, Y:-142.29, Z:0.05 [[ 9.86070651e-01 1.66327002e-01 0.00000000e+00 5.41677087e+02] [-1.66327002e-01 9.86070651e-01 0.00000000e+00 -1.42285573e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.90549491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.71, Y:-142.29, Z:0.05 [[ 9.86228007e-01 1.65391410e-01 0.00000000e+00 5.41705618e+02] [-1.65391410e-01 9.86228007e-01 0.00000000e+00 -1.42288760e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.98364741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.721400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:541.73, Y:-142.29, Z:0.05 [[ 9.86357775e-01 1.64615731e-01 0.00000000e+00 5.41733947e+02] [-1.64615731e-01 9.86357775e-01 0.00000000e+00 -1.42291775e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.82923335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.76, Y:-142.29, Z:0.05 [[ 9.86403789e-01 1.64339784e-01 0.00000000e+00 5.41761841e+02] [-1.64339784e-01 9.86403789e-01 0.00000000e+00 -1.42293943e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.67073589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.79, Y:-142.29, Z:0.04 [[ 9.86596071e-01 1.63181470e-01 0.00000000e+00 5.41791166e+02] [-1.63181470e-01 9.86596071e-01 0.00000000e+00 -1.42292813e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.40449126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.82, Y:-142.30, Z:0.04 [[ 9.86626738e-01 1.62995952e-01 0.00000000e+00 5.41818898e+02] [-1.62995952e-01 9.86626738e-01 0.00000000e+00 -1.42299214e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.40449126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.85, Y:-142.30, Z:0.04 [[ 9.86797154e-01 1.61961036e-01 0.00000000e+00 5.41846350e+02] [-1.61961036e-01 9.86797154e-01 0.00000000e+00 -1.42301168e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.41331373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.871400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:541.87, Y:-142.30, Z:0.05 [[ 9.87011296e-01 1.60650868e-01 0.00000000e+00 5.41873914e+02] [-1.60650868e-01 9.87011296e-01 0.00000000e+00 -1.42303797e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.51710352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.90, Y:-142.31, Z:0.05 [[ 9.87206418e-01 1.59447446e-01 0.00000000e+00 5.41901958e+02] [-1.59447446e-01 9.87206418e-01 0.00000000e+00 -1.42306028e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.65970415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.93, Y:-142.31, Z:0.05 [[ 9.87368463e-01 1.58440898e-01 0.00000000e+00 5.41930205e+02] [-1.58440898e-01 9.87368463e-01 0.00000000e+00 -1.42308694e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.71865348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.961400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:541.96, Y:-142.31, Z:0.05 [[ 9.87525717e-01 1.57457797e-01 0.00000000e+00 5.41957966e+02] [-1.57457797e-01 9.87525717e-01 0.00000000e+00 -1.42311399e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.65106252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.99, Y:-142.31, Z:0.04 [[ 9.87830220e-01 1.55536030e-01 0.00000000e+00 5.41986092e+02] [-1.55536030e-01 9.87830220e-01 0.00000000e+00 -1.42309707e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.23212986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.01, Y:-142.31, Z:0.04 [[ 9.87965918e-01 1.54671734e-01 0.00000000e+00 5.42012772e+02] [-1.54671734e-01 9.87965918e-01 0.00000000e+00 -1.42312283e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.07472027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.04, Y:-142.32, Z:0.04 [[ 9.88001361e-01 1.54445171e-01 0.00000000e+00 5.42040431e+02] [-1.54445171e-01 9.88001361e-01 0.00000000e+00 -1.42315274e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12598068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.07, Y:-142.32, Z:0.04 [[ 9.87785923e-01 1.55817103e-01 0.00000000e+00 5.42069262e+02] [-1.55817103e-01 9.87785923e-01 0.00000000e+00 -1.42315212e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22534235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.10, Y:-142.32, Z:0.04 [[ 9.87603935e-01 1.56966452e-01 0.00000000e+00 5.42096733e+02] [-1.56966452e-01 9.87603935e-01 0.00000000e+00 -1.42317787e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.09716648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.13, Y:-142.32, Z:0.04 [[ 9.87419068e-01 1.58125216e-01 0.00000000e+00 5.42125034e+02] [-1.58125216e-01 9.87419068e-01 0.00000000e+00 -1.42320046e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.03849499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.15, Y:-142.32, Z:0.04 [[ 9.87187324e-01 1.59565623e-01 0.00000000e+00 5.42153145e+02] [-1.59565623e-01 9.87187324e-01 0.00000000e+00 -1.42322176e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04964916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.201400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:542.18, Y:-142.32, Z:0.04 [[ 9.86950519e-01 1.61023825e-01 0.00000000e+00 5.42180812e+02] [-1.61023825e-01 9.86950519e-01 0.00000000e+00 -1.42324680e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.19823687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.21, Y:-142.32, Z:0.04 [[ 9.86716724e-01 1.62450320e-01 0.00000000e+00 5.42209901e+02] [-1.62450320e-01 9.86716724e-01 0.00000000e+00 -1.42322809e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.47782904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.24, Y:-142.32, Z:0.05 [[ 9.86819922e-01 1.61822255e-01 0.00000000e+00 5.42238163e+02] [-1.61822255e-01 9.86819922e-01 0.00000000e+00 -1.42324752e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.62063690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.27, Y:-142.33, Z:0.05 [[ 9.86980448e-01 1.60840277e-01 0.00000000e+00 5.42265295e+02] [-1.60840277e-01 9.86980448e-01 0.00000000e+00 -1.42326421e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.61075407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.29, Y:-142.33, Z:0.04 [[ 9.87222204e-01 1.59349678e-01 0.00000000e+00 5.42292956e+02] [-1.59349678e-01 9.87222204e-01 0.00000000e+00 -1.42328912e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.44581333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.32, Y:-142.33, Z:0.04 [[ 9.87491785e-01 1.57670461e-01 0.00000000e+00 5.42320328e+02] [-1.57670461e-01 9.87491785e-01 0.00000000e+00 -1.42332404e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22267391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.35, Y:-142.34, Z:0.04 [[ 9.87744919e-01 1.56076826e-01 0.00000000e+00 5.42346778e+02] [-1.56076826e-01 9.87744919e-01 0.00000000e+00 -1.42336020e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.07450231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.411400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:542.37, Y:-142.34, Z:0.04 [[ 9.88195419e-01 1.53198610e-01 0.00000000e+00 5.42374956e+02] [-1.53198610e-01 9.88195419e-01 0.00000000e+00 -1.42336688e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.37785713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.40, Y:-142.34, Z:0.05 [[ 9.88299399e-01 1.52526383e-01 0.00000000e+00 5.42403427e+02] [-1.52526383e-01 9.88299399e-01 0.00000000e+00 -1.42339693e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.51593824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.43, Y:-142.34, Z:0.05 [[ 9.88331258e-01 1.52319811e-01 0.00000000e+00 5.42430760e+02] [-1.52319811e-01 9.88331258e-01 0.00000000e+00 -1.42342451e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.61986033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.46, Y:-142.35, Z:0.05 [[ 9.88284946e-01 1.52620000e-01 0.00000000e+00 5.42459179e+02] [-1.52620000e-01 9.88284946e-01 0.00000000e+00 -1.42345499e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.64925387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.49, Y:-142.34, Z:0.05 [[ 9.88058092e-01 1.54081818e-01 0.00000000e+00 5.42487021e+02] [-1.54081818e-01 9.88058092e-01 0.00000000e+00 -1.42343863e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.54731172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.51, Y:-142.35, Z:0.04 [[ 9.87979249e-01 1.54586559e-01 0.00000000e+00 5.42514882e+02] [-1.54586559e-01 9.87979249e-01 0.00000000e+00 -1.42346114e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.44663891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.54, Y:-142.35, Z:0.04 [[ 9.87892498e-01 1.55139975e-01 0.00000000e+00 5.42541688e+02] [-1.55139975e-01 9.87892498e-01 0.00000000e+00 -1.42348619e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28384308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.57, Y:-142.35, Z:0.04 [[ 9.87818153e-01 1.55612648e-01 0.00000000e+00 5.42569663e+02] [-1.55612648e-01 9.87818153e-01 0.00000000e+00 -1.42352332e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14897387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.60, Y:-142.36, Z:0.04 [[ 9.87719717e-01 1.56236231e-01 0.00000000e+00 5.42596646e+02] [-1.56236231e-01 9.87719717e-01 0.00000000e+00 -1.42356028e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.98827435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.681400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:542.62, Y:-142.36, Z:0.04 [[ 9.87651035e-01 1.56669821e-01 0.00000000e+00 5.42624327e+02] [-1.56669821e-01 9.87651035e-01 0.00000000e+00 -1.42359753e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93931120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.65, Y:-142.36, Z:0.04 [[ 9.87162156e-01 1.59721252e-01 0.00000000e+00 5.42652426e+02] [-1.59721252e-01 9.87162156e-01 0.00000000e+00 -1.42359240e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95937750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.68, Y:-142.36, Z:0.04 [[ 9.86788885e-01 1.62011407e-01 0.00000000e+00 5.42680293e+02] [-1.62011407e-01 9.86788885e-01 0.00000000e+00 -1.42361915e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01235321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.71, Y:-142.36, Z:0.04 [[ 9.86367113e-01 1.64559769e-01 0.00000000e+00 5.42707156e+02] [-1.64559769e-01 9.86367113e-01 0.00000000e+00 -1.42364424e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.05224416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.74, Y:-142.37, Z:0.04 [[ 9.85943862e-01 1.67076931e-01 0.00000000e+00 5.42735010e+02] [-1.67076931e-01 9.85943862e-01 0.00000000e+00 -1.42367030e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11130322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.831400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:542.76, Y:-142.37, Z:0.04 [[ 9.85545020e-01 1.69413732e-01 0.00000000e+00 5.42762918e+02] [-1.69413732e-01 9.85545020e-01 0.00000000e+00 -1.42369734e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14163849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.79, Y:-142.37, Z:0.04 [[ 9.84693065e-01 1.74297355e-01 0.00000000e+00 5.42793322e+02] [-1.74297355e-01 9.84693065e-01 0.00000000e+00 -1.42367771e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.37801836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.82, Y:-142.37, Z:0.05 [[ 9.84220796e-01 1.76944697e-01 0.00000000e+00 5.42820826e+02] [-1.76944697e-01 9.84220796e-01 0.00000000e+00 -1.42369343e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.51648309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.85, Y:-142.37, Z:0.05 [[ 9.83777345e-01 1.79393802e-01 0.00000000e+00 5.42848704e+02] [-1.79393802e-01 9.83777345e-01 0.00000000e+00 -1.42370631e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.71737878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.88, Y:-142.37, Z:0.05 [[ 9.83392528e-01 1.81491422e-01 0.00000000e+00 5.42877102e+02] [-1.81491422e-01 9.83392528e-01 0.00000000e+00 -1.42371863e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.89623338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.90, Y:-142.37, Z:0.05 [[ 9.83058720e-01 1.83290899e-01 0.00000000e+00 5.42904635e+02] [-1.83290899e-01 9.83058720e-01 0.00000000e+00 -1.42372990e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.02392267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.93, Y:-142.37, Z:0.05 [[ 9.82884513e-01 1.84222785e-01 0.00000000e+00 5.42932918e+02] [-1.84222785e-01 9.82884513e-01 0.00000000e+00 -1.42374775e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.06579610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.96, Y:-142.37, Z:0.05 [[ 9.82708686e-01 1.85158413e-01 0.00000000e+00 5.42962163e+02] [-1.85158413e-01 9.82708686e-01 0.00000000e+00 -1.42373068e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.98054743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.99, Y:-142.37, Z:0.05 [[ 9.82679628e-01 1.85312572e-01 0.00000000e+00 5.42989977e+02] [-1.85312572e-01 9.82679628e-01 0.00000000e+00 -1.42374920e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.94581445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.02, Y:-142.38, Z:0.05 [[ 9.82582703e-01 1.85825809e-01 0.00000000e+00 5.43018404e+02] [-1.85825809e-01 9.82582703e-01 0.00000000e+00 -1.42377327e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.91694727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.05, Y:-142.38, Z:0.05 [[ 9.82476879e-01 1.86384502e-01 0.00000000e+00 5.43046857e+02] [-1.86384502e-01 9.82476879e-01 0.00000000e+00 -1.42379870e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.93692533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.07, Y:-142.38, Z:0.05 [[ 9.82357539e-01 1.87012476e-01 0.00000000e+00 5.43074276e+02] [-1.87012476e-01 9.82357539e-01 0.00000000e+00 -1.42382617e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.88801791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.10, Y:-142.39, Z:0.05 [[ 9.82246226e-01 1.87596246e-01 0.00000000e+00 5.43102671e+02] [-1.87596246e-01 9.82246226e-01 0.00000000e+00 -1.42385944e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.83461647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.13, Y:-142.39, Z:0.05 [[ 9.81880238e-01 1.89502503e-01 0.00000000e+00 5.43130751e+02] [-1.89502503e-01 9.81880238e-01 0.00000000e+00 -1.42385751e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.78322681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.16, Y:-142.39, Z:0.05 [[ 9.81623705e-01 1.90826887e-01 0.00000000e+00 5.43157865e+02] [-1.90826887e-01 9.81623705e-01 0.00000000e+00 -1.42388736e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.74635775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.19, Y:-142.39, Z:0.05 [[ 9.81320192e-01 1.92381602e-01 0.00000000e+00 5.43185938e+02] [-1.92381602e-01 9.81320192e-01 0.00000000e+00 -1.42392361e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.69112968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.21, Y:-142.40, Z:0.05 [[ 9.80959970e-01 1.94210032e-01 0.00000000e+00 5.43213224e+02] [-1.94210032e-01 9.80959970e-01 0.00000000e+00 -1.42396423e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.68012527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.24, Y:-142.40, Z:0.05 [[ 9.80536829e-01 1.96335242e-01 0.00000000e+00 5.43240423e+02] [-1.96335242e-01 9.80536829e-01 0.00000000e+00 -1.42400079e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.67870908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.27, Y:-142.40, Z:0.05 [[ 9.80001694e-01 1.98989144e-01 0.00000000e+00 5.43266687e+02] [-1.98989144e-01 9.80001694e-01 0.00000000e+00 -1.42404043e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.71589357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.29, Y:-142.41, Z:0.05 [[ 9.78916859e-01 2.04259110e-01 0.00000000e+00 5.43294263e+02] [-2.04259110e-01 9.78916859e-01 0.00000000e+00 -1.42407485e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.59415024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.32, Y:-142.41, Z:0.04 [[ 9.78362336e-01 2.06898862e-01 0.00000000e+00 5.43320338e+02] [-2.06898862e-01 9.78362336e-01 0.00000000e+00 -1.42412263e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.48625519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.35, Y:-142.42, Z:0.05 [[ 9.77844638e-01 2.09331945e-01 0.00000000e+00 5.43348175e+02] [-2.09331945e-01 9.77844638e-01 0.00000000e+00 -1.42416764e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.50595409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.38, Y:-142.42, Z:0.05 [[ 9.77290143e-01 2.11905586e-01 0.00000000e+00 5.43375544e+02] [-2.11905586e-01 9.77290143e-01 0.00000000e+00 -1.42420678e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.55945323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.40, Y:-142.42, Z:0.05 [[ 9.76648416e-01 2.14843832e-01 0.00000000e+00 5.43402857e+02] [-2.14843832e-01 9.76648416e-01 0.00000000e+00 -1.42424705e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.64252008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.43, Y:-142.43, Z:0.05 [[ 9.75217264e-01 2.21249380e-01 0.00000000e+00 5.43431022e+02] [-2.21249380e-01 9.75217264e-01 0.00000000e+00 -1.42426931e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.77522826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.46, Y:-142.43, Z:0.05 [[ 9.74459335e-01 2.24564033e-01 0.00000000e+00 5.43458090e+02] [-2.24564033e-01 9.74459335e-01 0.00000000e+00 -1.42431066e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.82780384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.49, Y:-142.44, Z:0.05 [[ 9.73685039e-01 2.27897880e-01 0.00000000e+00 5.43486005e+02] [-2.27897880e-01 9.73685039e-01 0.00000000e+00 -1.42435331e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.87750160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.51, Y:-142.44, Z:0.05 [[ 9.72999051e-01 2.30809111e-01 0.00000000e+00 5.43513782e+02] [-2.30809111e-01 9.72999051e-01 0.00000000e+00 -1.42439454e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.96105306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.54, Y:-142.44, Z:0.05 [[ 9.72409320e-01 2.33281190e-01 0.00000000e+00 5.43540177e+02] [-2.33281190e-01 9.72409320e-01 0.00000000e+00 -1.42443679e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.06574925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.57, Y:-142.45, Z:0.05 [[ 9.72451575e-01 2.33104984e-01 0.00000000e+00 5.43567932e+02] [-2.33104984e-01 9.72451575e-01 0.00000000e+00 -1.42449785e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.06574925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.60, Y:-142.45, Z:0.05 [[ 9.71931036e-01 2.35265937e-01 0.00000000e+00 5.43595878e+02] [-2.35265937e-01 9.71931036e-01 0.00000000e+00 -1.42453995e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.21690552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.62, Y:-142.46, Z:0.05 [[ 9.71973812e-01 2.35089151e-01 0.00000000e+00 5.43622520e+02] [-2.35089151e-01 9.71973812e-01 0.00000000e+00 -1.42460144e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.27244124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.65, Y:-142.47, Z:0.05 [[ 9.72136549e-01 2.34415296e-01 0.00000000e+00 5.43649892e+02] [-2.34415296e-01 9.72136549e-01 0.00000000e+00 -1.42467424e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.35304538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.68, Y:-142.48, Z:0.05 [[ 9.72301130e-01 2.33731709e-01 0.00000000e+00 5.43676483e+02] [-2.33731709e-01 9.72301130e-01 0.00000000e+00 -1.42475477e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.32650173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.70, Y:-142.48, Z:0.05 [[ 9.72452239e-01 2.33102215e-01 0.00000000e+00 5.43702432e+02] [-2.33102215e-01 9.72452239e-01 0.00000000e+00 -1.42483757e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.28154793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.73, Y:-142.49, Z:0.05 [[ 9.72687250e-01 2.32119611e-01 0.00000000e+00 5.43729371e+02] [-2.32119611e-01 9.72687250e-01 0.00000000e+00 -1.42491642e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.19603098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.76, Y:-142.50, Z:0.05 [[ 9.72953318e-01 2.31001818e-01 0.00000000e+00 5.43756391e+02] [-2.31001818e-01 9.72953318e-01 0.00000000e+00 -1.42499962e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.14809647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.78, Y:-142.51, Z:0.05 [[ 9.72870258e-01 2.31351380e-01 0.00000000e+00 5.43782785e+02] [-2.31351380e-01 9.72870258e-01 0.00000000e+00 -1.42506978e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.19134580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.81, Y:-142.51, Z:0.05 [[ 9.72675743e-01 2.32167826e-01 0.00000000e+00 5.43809214e+02] [-2.32167826e-01 9.72675743e-01 0.00000000e+00 -1.42514695e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.04158370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.83, Y:-142.52, Z:0.05 [[ 9.72331761e-01 2.33604254e-01 0.00000000e+00 5.43834566e+02] [-2.33604254e-01 9.72331761e-01 0.00000000e+00 -1.42522595e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.95465364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.86, Y:-142.53, Z:0.05 [[ 9.71977021e-01 2.35075883e-01 0.00000000e+00 5.43861335e+02] [-2.35075883e-01 9.71977021e-01 0.00000000e+00 -1.42530527e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.82847559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.89, Y:-142.54, Z:0.05 [[ 9.71670423e-01 2.36339986e-01 0.00000000e+00 5.43886860e+02] [-2.36339986e-01 9.71670423e-01 0.00000000e+00 -1.42538104e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.77064887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.91, Y:-142.55, Z:0.05 [[ 9.71330186e-01 2.37734454e-01 0.00000000e+00 5.43912751e+02] [-2.37734454e-01 9.71330186e-01 0.00000000e+00 -1.42548636e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.69892163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.94, Y:-142.56, Z:0.05 [[ 9.71390906e-01 2.37486226e-01 0.00000000e+00 5.43939918e+02] [-2.37486226e-01 9.71390906e-01 0.00000000e+00 -1.42557159e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.67774972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.96, Y:-142.57, Z:0.05 [[ 9.71521576e-01 2.36951109e-01 0.00000000e+00 5.43964632e+02] [-2.36951109e-01 9.71521576e-01 0.00000000e+00 -1.42568015e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.63157018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.99, Y:-142.58, Z:0.05 [[ 9.71595781e-01 2.36646652e-01 0.00000000e+00 5.43991624e+02] [-2.36646652e-01 9.71595781e-01 0.00000000e+00 -1.42577175e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.51415168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.02, Y:-142.59, Z:0.04 [[ 9.71548700e-01 2.36839870e-01 0.00000000e+00 5.44017675e+02] [-2.36839870e-01 9.71548700e-01 0.00000000e+00 -1.42586728e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39793270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.04, Y:-142.60, Z:0.04 [[ 9.71382907e-01 2.37518941e-01 0.00000000e+00 5.44042733e+02] [-2.37518941e-01 9.71382907e-01 0.00000000e+00 -1.42595973e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.32514428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.07, Y:-142.61, Z:0.04 [[ 9.71147232e-01 2.38480718e-01 0.00000000e+00 5.44069265e+02] [-2.38480718e-01 9.71147232e-01 0.00000000e+00 -1.42605300e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36957609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.09, Y:-142.61, Z:0.04 [[ 9.70818936e-01 2.39813666e-01 0.00000000e+00 5.44094834e+02] [-2.39813666e-01 9.70818936e-01 0.00000000e+00 -1.42613894e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.41739862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.12, Y:-142.63, Z:0.04 [[ 9.69961064e-01 2.43260218e-01 0.00000000e+00 5.44120544e+02] [-2.43260218e-01 9.69961064e-01 0.00000000e+00 -1.42626011e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.34218464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.15, Y:-142.64, Z:0.04 [[ 9.69522198e-01 2.45003487e-01 0.00000000e+00 5.44147004e+02] [-2.45003487e-01 9.69522198e-01 0.00000000e+00 -1.42636002e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.26218968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.17, Y:-142.65, Z:0.04 [[ 9.69134537e-01 2.46532449e-01 0.00000000e+00 5.44173556e+02] [-2.46532449e-01 9.69134537e-01 0.00000000e+00 -1.42646365e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22811255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.20, Y:-142.66, Z:0.04 [[ 9.68847063e-01 2.47659783e-01 0.00000000e+00 5.44199730e+02] [-2.47659783e-01 9.68847063e-01 0.00000000e+00 -1.42656699e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.30928061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.23, Y:-142.67, Z:0.04 [[ 9.68675124e-01 2.48331441e-01 0.00000000e+00 5.44225249e+02] [-2.48331441e-01 9.68675124e-01 0.00000000e+00 -1.42666720e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39925537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.25, Y:-142.68, Z:0.04 [[ 9.68579163e-01 2.48705459e-01 0.00000000e+00 5.44250728e+02] [-2.48705459e-01 9.68579163e-01 0.00000000e+00 -1.42676652e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.49829133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.28, Y:-142.69, Z:0.05 [[ 9.68181936e-01 2.50247353e-01 0.00000000e+00 5.44276253e+02] [-2.50247353e-01 9.68181936e-01 0.00000000e+00 -1.42691305e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.70149770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.30, Y:-142.70, Z:0.05 [[ 9.67769318e-01 2.51838335e-01 0.00000000e+00 5.44301629e+02] [-2.51838335e-01 9.67769318e-01 0.00000000e+00 -1.42701356e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.71514911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.33, Y:-142.71, Z:0.05 [[ 9.67239438e-01 2.53865851e-01 0.00000000e+00 5.44328513e+02] [-2.53865851e-01 9.67239438e-01 0.00000000e+00 -1.42711139e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.69918756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.35, Y:-142.72, Z:0.05 [[ 9.66612331e-01 2.56243248e-01 0.00000000e+00 5.44354126e+02] [-2.56243248e-01 9.66612331e-01 0.00000000e+00 -1.42720114e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.68895243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.38, Y:-142.73, Z:0.05 [[ 9.65892551e-01 2.58943198e-01 0.00000000e+00 5.44379695e+02] [-2.58943198e-01 9.65892551e-01 0.00000000e+00 -1.42728719e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.75501504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.41, Y:-142.74, Z:0.05 [[ 9.65146298e-01 2.61710953e-01 0.00000000e+00 5.44406001e+02] [-2.61710953e-01 9.65146298e-01 0.00000000e+00 -1.42737685e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.94902746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.43, Y:-142.75, Z:0.05 [[ 9.63952954e-01 2.66072738e-01 0.00000000e+00 5.44432029e+02] [-2.66072738e-01 9.63952954e-01 0.00000000e+00 -1.42749939e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.33698722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.46, Y:-142.76, Z:0.05 [[ 9.63688016e-01 2.67030726e-01 0.00000000e+00 5.44458737e+02] [-2.67030726e-01 9.63688016e-01 0.00000000e+00 -1.42758887e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.21763690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.49, Y:-142.77, Z:0.05 [[ 9.63699715e-01 2.66988502e-01 0.00000000e+00 5.44485365e+02] [-2.66988502e-01 9.63699715e-01 0.00000000e+00 -1.42767679e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.96616732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.51, Y:-142.78, Z:0.05 [[ 9.63765695e-01 2.66750228e-01 0.00000000e+00 5.44511370e+02] [-2.66750228e-01 9.63765695e-01 0.00000000e+00 -1.42776479e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.77484250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.54, Y:-142.79, Z:0.05 [[ 9.63806034e-01 2.66604444e-01 0.00000000e+00 5.44537852e+02] [-2.66604444e-01 9.63806034e-01 0.00000000e+00 -1.42785441e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.64311306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.56, Y:-142.79, Z:0.05 [[ 9.63893486e-01 2.66288092e-01 0.00000000e+00 5.44564575e+02] [-2.66288092e-01 9.63893486e-01 0.00000000e+00 -1.42794071e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.64056113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.59, Y:-142.80, Z:0.05 [[ 9.64049456e-01 2.65722875e-01 0.00000000e+00 5.44589972e+02] [-2.65722875e-01 9.64049456e-01 0.00000000e+00 -1.42803464e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.76523278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.62, Y:-142.81, Z:0.05 [[ 9.64183538e-01 2.65235944e-01 0.00000000e+00 5.44617145e+02] [-2.65235944e-01 9.64183538e-01 0.00000000e+00 -1.42810309e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.77627174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.64, Y:-142.82, Z:0.05 [[ 9.64337690e-01 2.64674933e-01 0.00000000e+00 5.44643204e+02] [-2.64674933e-01 9.64337690e-01 0.00000000e+00 -1.42816820e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.75988475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.67, Y:-142.83, Z:0.05 [[ 9.64754406e-01 2.63151927e-01 0.00000000e+00 5.44670177e+02] [-2.63151927e-01 9.64754406e-01 0.00000000e+00 -1.42825693e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.58300543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.70, Y:-142.83, Z:0.04 [[ 9.65065818e-01 2.62007569e-01 0.00000000e+00 5.44697090e+02] [-2.62007569e-01 9.65065818e-01 0.00000000e+00 -1.42833424e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.44881082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.72, Y:-142.84, Z:0.04 [[ 9.65413023e-01 2.60725326e-01 0.00000000e+00 5.44723968e+02] [-2.60725326e-01 9.65413023e-01 0.00000000e+00 -1.42841608e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.29756909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.75, Y:-142.85, Z:0.04 [[ 9.65785563e-01 2.59341948e-01 0.00000000e+00 5.44749369e+02] [-2.59341948e-01 9.65785563e-01 0.00000000e+00 -1.42849461e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14638101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.78, Y:-142.86, Z:0.04 [[ 9.66098577e-01 2.58173468e-01 0.00000000e+00 5.44775732e+02] [-2.58173468e-01 9.66098577e-01 0.00000000e+00 -1.42857835e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12513435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.80, Y:-142.87, Z:0.04 [[ 9.66358409e-01 2.57199193e-01 0.00000000e+00 5.44800835e+02] [-2.57199193e-01 9.66358409e-01 0.00000000e+00 -1.42869338e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24216004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.83, Y:-142.88, Z:0.04 [[ 9.66285600e-01 2.57472597e-01 0.00000000e+00 5.44827986e+02] [-2.57472597e-01 9.66285600e-01 0.00000000e+00 -1.42877853e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.33208525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.85, Y:-142.89, Z:0.04 [[ 9.66093789e-01 2.58191383e-01 0.00000000e+00 5.44854926e+02] [-2.58191383e-01 9.66093789e-01 0.00000000e+00 -1.42885513e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.41596813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.88, Y:-142.89, Z:0.04 [[ 9.65732169e-01 2.59540705e-01 0.00000000e+00 5.44880811e+02] [-2.59540705e-01 9.65732169e-01 0.00000000e+00 -1.42893065e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.41465152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.91, Y:-142.90, Z:0.04 [[ 9.65193187e-01 2.61537973e-01 0.00000000e+00 5.44906263e+02] [-2.61537973e-01 9.65193187e-01 0.00000000e+00 -1.42900760e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.41253101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.93, Y:-142.91, Z:0.04 [[ 9.64055384e-01 2.65701366e-01 0.00000000e+00 5.44933176e+02] [-2.65701366e-01 9.64055384e-01 0.00000000e+00 -1.42910240e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36204430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.96, Y:-142.92, Z:0.04 [[ 9.63637951e-01 2.67211337e-01 0.00000000e+00 5.44959791e+02] [-2.67211337e-01 9.63637951e-01 0.00000000e+00 -1.42917064e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.35851941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.99, Y:-142.92, Z:0.04 [[ 9.63291412e-01 2.68457923e-01 0.00000000e+00 5.44986387e+02] [-2.68457923e-01 9.63291412e-01 0.00000000e+00 -1.42923388e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.35383684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.01, Y:-142.93, Z:0.04 [[ 9.63166890e-01 2.68904335e-01 0.00000000e+00 5.45012364e+02] [-2.68904335e-01 9.63166890e-01 0.00000000e+00 -1.42929748e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28728079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.04, Y:-142.94, Z:0.04 [[ 9.63314692e-01 2.68374374e-01 0.00000000e+00 5.45039453e+02] [-2.68374374e-01 9.63314692e-01 0.00000000e+00 -1.42937019e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22736904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.07, Y:-142.94, Z:0.04 [[ 9.63648526e-01 2.67173200e-01 0.00000000e+00 5.45066009e+02] [-2.67173200e-01 9.63648526e-01 0.00000000e+00 -1.42944625e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11837587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.09, Y:-142.96, Z:0.04 [[ 9.64517526e-01 2.64018828e-01 0.00000000e+00 5.45091531e+02] [-2.64018828e-01 9.64517526e-01 0.00000000e+00 -1.42955999e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.17745397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.12, Y:-142.96, Z:0.04 [[ 9.65102050e-01 2.61874078e-01 0.00000000e+00 5.45117659e+02] [-2.61874078e-01 9.65102050e-01 0.00000000e+00 -1.42964299e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12853027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.15, Y:-142.97, Z:0.04 [[ 9.65612403e-01 2.59985935e-01 0.00000000e+00 5.45145620e+02] [-2.59985935e-01 9.65612403e-01 0.00000000e+00 -1.42973653e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39722801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.17, Y:-142.98, Z:0.04 [[ 9.66081147e-01 2.58238682e-01 0.00000000e+00 5.45172281e+02] [-2.58238682e-01 9.66081147e-01 0.00000000e+00 -1.42982828e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.43481512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.20, Y:-142.99, Z:0.04 [[ 9.66396215e-01 2.57057105e-01 0.00000000e+00 5.45197484e+02] [-2.57057105e-01 9.66396215e-01 0.00000000e+00 -1.42992511e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.44728366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.22, Y:-143.00, Z:0.04 [[ 9.66517559e-01 2.56600484e-01 0.00000000e+00 5.45224365e+02] [-2.56600484e-01 9.66517559e-01 0.00000000e+00 -1.43002498e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.43236368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.25, Y:-143.01, Z:0.04 [[ 9.66567937e-01 2.56410653e-01 0.00000000e+00 5.45252212e+02] [-2.56410653e-01 9.66567937e-01 0.00000000e+00 -1.43008332e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.43236368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.28, Y:-143.02, Z:0.04 [[ 9.66122430e-01 2.58084191e-01 0.00000000e+00 5.45277770e+02] [-2.58084191e-01 9.66122430e-01 0.00000000e+00 -1.43020010e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28270954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.30, Y:-143.03, Z:0.04 [[ 9.65570079e-01 2.60143082e-01 0.00000000e+00 5.45303742e+02] [-2.60143082e-01 9.65570079e-01 0.00000000e+00 -1.43027170e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12335254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.33, Y:-143.03, Z:0.04 [[ 9.64812862e-01 2.62937524e-01 0.00000000e+00 5.45330696e+02] [-2.62937524e-01 9.64812862e-01 0.00000000e+00 -1.43034605e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99594642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.36, Y:-143.04, Z:0.04 [[ 9.63286598e-01 2.68475193e-01 0.00000000e+00 5.45355933e+02] [-2.68475193e-01 9.63286598e-01 0.00000000e+00 -1.43044126e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82087242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.38, Y:-143.05, Z:0.04 [[ 9.62746903e-01 2.70404142e-01 0.00000000e+00 5.45383237e+02] [-2.70404142e-01 9.62746903e-01 0.00000000e+00 -1.43051460e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87771760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.41, Y:-143.06, Z:0.04 [[ 9.62333403e-01 2.71872069e-01 0.00000000e+00 5.45410464e+02] [-2.71872069e-01 9.62333403e-01 0.00000000e+00 -1.43058887e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90572264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.44, Y:-143.07, Z:0.04 [[ 9.61992818e-01 2.73074747e-01 0.00000000e+00 5.45437033e+02] [-2.73074747e-01 9.61992818e-01 0.00000000e+00 -1.43066016e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84664366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.46, Y:-143.07, Z:0.04 [[ 9.61756997e-01 2.73904143e-01 0.00000000e+00 5.45463116e+02] [-2.73904143e-01 9.61756997e-01 0.00000000e+00 -1.43072739e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.73258641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.49, Y:-143.08, Z:0.04 [[ 9.61399838e-01 2.75155141e-01 0.00000000e+00 5.45489095e+02] [-2.75155141e-01 9.61399838e-01 0.00000000e+00 -1.43079082e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80716594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.52, Y:-143.08, Z:0.04 [[ 9.61231044e-01 2.75744228e-01 0.00000000e+00 5.45515400e+02] [-2.75744228e-01 9.61231044e-01 0.00000000e+00 -1.43084404e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95476718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.54, Y:-143.09, Z:0.04 [[ 9.61010359e-01 2.76512369e-01 0.00000000e+00 5.45543188e+02] [-2.76512369e-01 9.61010359e-01 0.00000000e+00 -1.43090223e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.05630243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.57, Y:-143.10, Z:0.04 [[ 9.60836344e-01 2.77116439e-01 0.00000000e+00 5.45570614e+02] [-2.77116439e-01 9.60836344e-01 0.00000000e+00 -1.43095955e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02612863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.60, Y:-143.10, Z:0.04 [[ 9.60707002e-01 2.77564507e-01 0.00000000e+00 5.45596918e+02] [-2.77564507e-01 9.60707002e-01 0.00000000e+00 -1.43101659e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89103827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.62, Y:-143.11, Z:0.04 [[ 9.60707739e-01 2.77561958e-01 0.00000000e+00 5.45623719e+02] [-2.77561958e-01 9.60707739e-01 0.00000000e+00 -1.43106896e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72827569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.65, Y:-143.11, Z:0.04 [[ 9.60845718e-01 2.77083935e-01 0.00000000e+00 5.45651190e+02] [-2.77083935e-01 9.60845718e-01 0.00000000e+00 -1.43112080e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83678511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.68, Y:-143.12, Z:0.04 [[ 9.60962436e-01 2.76678869e-01 0.00000000e+00 5.45678280e+02] [-2.76678869e-01 9.60962436e-01 0.00000000e+00 -1.43118167e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04364395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.71, Y:-143.12, Z:0.04 [[ 9.61004762e-01 2.76531819e-01 0.00000000e+00 5.45705407e+02] [-2.76531819e-01 9.61004762e-01 0.00000000e+00 -1.43124177e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.20284698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.73, Y:-143.13, Z:0.04 [[ 9.60990919e-01 2.76579923e-01 0.00000000e+00 5.45733176e+02] [-2.76579923e-01 9.60990919e-01 0.00000000e+00 -1.43129414e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.25083025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.76, Y:-143.13, Z:0.04 [[ 9.60753893e-01 2.77402159e-01 0.00000000e+00 5.45760476e+02] [-2.77402159e-01 9.60753893e-01 0.00000000e+00 -1.43134521e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22746926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.79, Y:-143.14, Z:0.04 [[ 9.60656436e-01 2.77739468e-01 0.00000000e+00 5.45787324e+02] [-2.77739468e-01 9.60656436e-01 0.00000000e+00 -1.43141384e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.25690085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.81, Y:-143.15, Z:0.04 [[ 9.60697242e-01 2.77598287e-01 0.00000000e+00 5.45813445e+02] [-2.77598287e-01 9.60697242e-01 0.00000000e+00 -1.43148597e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.26505268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.84, Y:-143.16, Z:0.04 [[ 9.60822077e-01 2.77165900e-01 0.00000000e+00 5.45839913e+02] [-2.77165900e-01 9.60822077e-01 0.00000000e+00 -1.43155344e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11501409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.87, Y:-143.16, Z:0.04 [[ 9.61054345e-01 2.76359451e-01 0.00000000e+00 5.45867809e+02] [-2.76359451e-01 9.61054345e-01 0.00000000e+00 -1.43161904e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.03586089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.89, Y:-143.17, Z:0.04 [[ 9.61271727e-01 2.75602370e-01 0.00000000e+00 5.45893643e+02] [-2.75602370e-01 9.61271727e-01 0.00000000e+00 -1.43167784e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.00066512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.92, Y:-143.18, Z:0.04 [[ 9.61568030e-01 2.74566794e-01 0.00000000e+00 5.45920135e+02] [-2.74566794e-01 9.61568030e-01 0.00000000e+00 -1.43177443e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.25831829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.95, Y:-143.19, Z:0.04 [[ 9.61698381e-01 2.74109876e-01 0.00000000e+00 5.45947015e+02] [-2.74109876e-01 9.61698381e-01 0.00000000e+00 -1.43185949e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39464874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.97, Y:-143.19, Z:0.04 [[ 9.61821410e-01 2.73677869e-01 0.00000000e+00 5.45974149e+02] [-2.73677869e-01 9.61821410e-01 0.00000000e+00 -1.43194445e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36287990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.461400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:546.00, Y:-143.20, Z:0.04 [[ 9.61962358e-01 2.73182029e-01 0.00000000e+00 5.46000604e+02] [-2.73182029e-01 9.61962358e-01 0.00000000e+00 -1.43202134e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.26908360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.03, Y:-143.21, Z:0.04 [[ 9.62014645e-01 2.72997846e-01 0.00000000e+00 5.46027047e+02] [-2.72997846e-01 9.62014645e-01 0.00000000e+00 -1.43209185e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08936964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.05, Y:-143.22, Z:0.04 [[ 9.62209420e-01 2.72310545e-01 0.00000000e+00 5.46053421e+02] [-2.72310545e-01 9.62209420e-01 0.00000000e+00 -1.43220581e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.05218221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.08, Y:-143.23, Z:0.04 [[ 9.62328696e-01 2.71888730e-01 0.00000000e+00 5.46079342e+02] [-2.71888730e-01 9.62328696e-01 0.00000000e+00 -1.43229965e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11888032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.11, Y:-143.24, Z:0.04 [[ 9.62419442e-01 2.71567335e-01 0.00000000e+00 5.46105807e+02] [-2.71567335e-01 9.62419442e-01 0.00000000e+00 -1.43238678e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18260930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.13, Y:-143.25, Z:0.04 [[ 9.62465714e-01 2.71403296e-01 0.00000000e+00 5.46132244e+02] [-2.71403296e-01 9.62465714e-01 0.00000000e+00 -1.43246598e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14586293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.16, Y:-143.26, Z:0.04 [[ 9.62616172e-01 2.70869168e-01 0.00000000e+00 5.46159238e+02] [-2.70869168e-01 9.62616172e-01 0.00000000e+00 -1.43256094e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76541926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.19, Y:-143.26, Z:0.04 [[ 9.62849386e-01 2.70038997e-01 0.00000000e+00 5.46185972e+02] [-2.70038997e-01 9.62849386e-01 0.00000000e+00 -1.43264189e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62482315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.21, Y:-143.27, Z:0.04 [[ 9.63234481e-01 2.68662121e-01 0.00000000e+00 5.46212848e+02] [-2.68662121e-01 9.63234481e-01 0.00000000e+00 -1.43273492e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71427544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.24, Y:-143.28, Z:0.04 [[ 9.63831180e-01 2.66513521e-01 0.00000000e+00 5.46239228e+02] [-2.66513521e-01 9.63831180e-01 0.00000000e+00 -1.43282940e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.94712626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.27, Y:-143.29, Z:0.04 [[ 9.64593087e-01 2.63742635e-01 0.00000000e+00 5.46265143e+02] [-2.63742635e-01 9.64593087e-01 0.00000000e+00 -1.43292326e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.25263148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.29, Y:-143.30, Z:0.04 [[ 9.65521723e-01 2.60322497e-01 0.00000000e+00 5.46292102e+02] [-2.60322497e-01 9.65521723e-01 0.00000000e+00 -1.43302382e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.38001226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.32, Y:-143.32, Z:0.04 [[ 9.67471973e-01 2.52978223e-01 0.00000000e+00 5.46317820e+02] [-2.52978223e-01 9.67471973e-01 0.00000000e+00 -1.43317958e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15588576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.34, Y:-143.33, Z:0.04 [[ 9.68304259e-01 2.49773621e-01 0.00000000e+00 5.46343113e+02] [-2.49773621e-01 9.68304259e-01 0.00000000e+00 -1.43329166e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08825790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.37, Y:-143.34, Z:0.04 [[ 9.68975579e-01 2.47156483e-01 0.00000000e+00 5.46369560e+02] [-2.47156483e-01 9.68975579e-01 0.00000000e+00 -1.43341018e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.17219263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.40, Y:-143.35, Z:0.04 [[ 9.69454908e-01 2.45269608e-01 0.00000000e+00 5.46395808e+02] [-2.45269608e-01 9.69454908e-01 0.00000000e+00 -1.43352356e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27530212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.42, Y:-143.36, Z:0.04 [[ 9.69745243e-01 2.44119157e-01 0.00000000e+00 5.46421247e+02] [-2.44119157e-01 9.69745243e-01 0.00000000e+00 -1.43362881e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39879157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.45, Y:-143.37, Z:0.04 [[ 9.69876512e-01 2.43597108e-01 0.00000000e+00 5.46447036e+02] [-2.43597108e-01 9.69876512e-01 0.00000000e+00 -1.43373322e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39916137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.47, Y:-143.39, Z:0.04 [[ 9.70037480e-01 2.42955319e-01 0.00000000e+00 5.46472345e+02] [-2.42955319e-01 9.70037480e-01 0.00000000e+00 -1.43390160e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.29285163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.50, Y:-143.40, Z:0.04 [[ 9.70263470e-01 2.42051230e-01 0.00000000e+00 5.46497790e+02] [-2.42051230e-01 9.70263470e-01 0.00000000e+00 -1.43401601e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.23413984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.52, Y:-143.41, Z:0.04 [[ 9.70727602e-01 2.40183102e-01 0.00000000e+00 5.46523244e+02] [-2.40183102e-01 9.70727602e-01 0.00000000e+00 -1.43412492e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28395835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.55, Y:-143.42, Z:0.04 [[ 9.71454625e-01 2.37225443e-01 0.00000000e+00 5.46549806e+02] [-2.37225443e-01 9.71454625e-01 0.00000000e+00 -1.43423018e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.38781194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.121400513 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:546.57, Y:-143.44, Z:0.05 [[ 9.72986600e-01 2.30861595e-01 0.00000000e+00 5.46574810e+02] [-2.30861595e-01 9.72986600e-01 0.00000000e+00 -1.43437530e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.68750376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.60, Y:-143.45, Z:0.05 [[ 9.73517878e-01 2.28610897e-01 0.00000000e+00 5.46601870e+02] [-2.28610897e-01 9.73517878e-01 0.00000000e+00 -1.43446815e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.74924348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.63, Y:-143.46, Z:0.05 [[ 9.73831615e-01 2.27270732e-01 0.00000000e+00 5.46627882e+02] [-2.27270732e-01 9.73831615e-01 0.00000000e+00 -1.43455487e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.71581998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.65, Y:-143.46, Z:0.05 [[ 9.73918829e-01 2.26896703e-01 0.00000000e+00 5.46653556e+02] [-2.26896703e-01 9.73918829e-01 0.00000000e+00 -1.43463747e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.61582832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.68, Y:-143.47, Z:0.05 [[ 9.73878491e-01 2.27069779e-01 0.00000000e+00 5.46680406e+02] [-2.27069779e-01 9.73878491e-01 0.00000000e+00 -1.43471709e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.55698226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.71, Y:-143.48, Z:0.04 [[ 9.73507209e-01 2.28656322e-01 0.00000000e+00 5.46706924e+02] [-2.28656322e-01 9.73507209e-01 0.00000000e+00 -1.43480299e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.40733556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.73, Y:-143.49, Z:0.04 [[ 9.73264765e-01 2.29686084e-01 0.00000000e+00 5.46733235e+02] [-2.29686084e-01 9.73264765e-01 0.00000000e+00 -1.43486492e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.32213083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.76, Y:-143.49, Z:0.04 [[ 9.73043693e-01 2.30620839e-01 0.00000000e+00 5.46760851e+02] [-2.30620839e-01 9.73043693e-01 0.00000000e+00 -1.43493309e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22820197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.79, Y:-143.50, Z:0.04 [[ 9.72948023e-01 2.31024122e-01 0.00000000e+00 5.46787111e+02] [-2.31024122e-01 9.72948023e-01 0.00000000e+00 -1.43499455e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11797317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.81, Y:-143.51, Z:0.04 [[ 9.72955092e-01 2.30994349e-01 0.00000000e+00 5.46814704e+02] [-2.30994349e-01 9.72955092e-01 0.00000000e+00 -1.43505272e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01320484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.84, Y:-143.51, Z:0.04 [[ 9.73015136e-01 2.30741294e-01 0.00000000e+00 5.46841433e+02] [-2.30741294e-01 9.73015136e-01 0.00000000e+00 -1.43510643e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96460075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.87, Y:-143.52, Z:0.04 [[ 9.73164634e-01 2.30109964e-01 0.00000000e+00 5.46868512e+02] [-2.30109964e-01 9.73164634e-01 0.00000000e+00 -1.43515603e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11449617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.90, Y:-143.52, Z:0.04 [[ 9.73235992e-01 2.29807970e-01 0.00000000e+00 5.46895363e+02] [-2.29807970e-01 9.73235992e-01 0.00000000e+00 -1.43520834e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.17836706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.92, Y:-143.53, Z:0.04 [[ 9.73279399e-01 2.29624064e-01 0.00000000e+00 5.46923291e+02] [-2.29624064e-01 9.73279399e-01 0.00000000e+00 -1.43526435e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.17836706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.95, Y:-143.53, Z:0.04 [[ 9.73316272e-01 2.29467721e-01 0.00000000e+00 5.46950743e+02] [-2.29467721e-01 9.73316272e-01 0.00000000e+00 -1.43531393e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.20588891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.98, Y:-143.54, Z:0.04 [[ 9.73307359e-01 2.29505521e-01 0.00000000e+00 5.46978290e+02] [-2.29505521e-01 9.73307359e-01 0.00000000e+00 -1.43535981e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11025389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.00, Y:-143.54, Z:0.04 [[ 9.73212014e-01 2.29909496e-01 0.00000000e+00 5.47004858e+02] [-2.29909496e-01 9.73212014e-01 0.00000000e+00 -1.43538575e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79301754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.03, Y:-143.54, Z:0.04 [[ 9.73103288e-01 2.30369249e-01 0.00000000e+00 5.47032497e+02] [-2.30369249e-01 9.73103288e-01 0.00000000e+00 -1.43542966e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74762489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.06, Y:-143.55, Z:0.04 [[ 9.73015111e-01 2.30741399e-01 0.00000000e+00 5.47060311e+02] [-2.30741399e-01 9.73015111e-01 0.00000000e+00 -1.43547160e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78221394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.09, Y:-143.55, Z:0.04 [[ 9.72938286e-01 2.31065125e-01 0.00000000e+00 5.47088488e+02] [-2.31065125e-01 9.72938286e-01 0.00000000e+00 -1.43550514e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.94708193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.12, Y:-143.55, Z:0.04 [[ 9.72816514e-01 2.31577267e-01 0.00000000e+00 5.47115394e+02] [-2.31577267e-01 9.72816514e-01 0.00000000e+00 -1.43553220e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06854589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.14, Y:-143.56, Z:0.04 [[ 9.72737083e-01 2.31910689e-01 0.00000000e+00 5.47143271e+02] [-2.31910689e-01 9.72737083e-01 0.00000000e+00 -1.43556413e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11384868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.17, Y:-143.56, Z:0.04 [[ 9.72674586e-01 2.32172672e-01 0.00000000e+00 5.47169880e+02] [-2.32172672e-01 9.72674586e-01 0.00000000e+00 -1.43560491e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18618518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.20, Y:-143.57, Z:0.04 [[ 9.72722508e-01 2.31971816e-01 0.00000000e+00 5.47196397e+02] [-2.31971816e-01 9.72722508e-01 0.00000000e+00 -1.43565273e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24481256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.22, Y:-143.57, Z:0.04 [[ 9.72783095e-01 2.31717608e-01 0.00000000e+00 5.47223357e+02] [-2.31717608e-01 9.72783095e-01 0.00000000e+00 -1.43569376e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28448286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.25, Y:-143.57, Z:0.04 [[ 9.72813133e-01 2.31591468e-01 0.00000000e+00 5.47250895e+02] [-2.31591468e-01 9.72813133e-01 0.00000000e+00 -1.43573229e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27400571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.28, Y:-143.58, Z:0.04 [[ 9.72711024e-01 2.32019962e-01 0.00000000e+00 5.47277507e+02] [-2.32019962e-01 9.72711024e-01 0.00000000e+00 -1.43577298e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.26402600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.31, Y:-143.58, Z:0.04 [[ 9.72388975e-01 2.33365981e-01 0.00000000e+00 5.47305455e+02] [-2.33365981e-01 9.72388975e-01 0.00000000e+00 -1.43581288e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.30711992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.33, Y:-143.59, Z:0.04 [[ 9.72189036e-01 2.34197519e-01 0.00000000e+00 5.47331564e+02] [-2.34197519e-01 9.72189036e-01 0.00000000e+00 -1.43585815e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.29976656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.36, Y:-143.59, Z:0.04 [[ 9.72002703e-01 2.34969670e-01 0.00000000e+00 5.47358170e+02] [-2.34969670e-01 9.72002703e-01 0.00000000e+00 -1.43590904e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.32194591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.39, Y:-143.60, Z:0.04 [[ 9.71835966e-01 2.35658344e-01 0.00000000e+00 5.47385487e+02] [-2.35658344e-01 9.71835966e-01 0.00000000e+00 -1.43596862e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39483172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.41, Y:-143.60, Z:0.04 [[ 9.71731102e-01 2.36090377e-01 0.00000000e+00 5.47413121e+02] [-2.36090377e-01 9.71731102e-01 0.00000000e+00 -1.43603650e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.49324521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.44, Y:-143.61, Z:0.05 [[ 9.71627896e-01 2.36514759e-01 0.00000000e+00 5.47439565e+02] [-2.36514759e-01 9.71627896e-01 0.00000000e+00 -1.43610353e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.57056088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.47, Y:-143.62, Z:0.05 [[ 9.71315682e-01 2.37793704e-01 0.00000000e+00 5.47465367e+02] [-2.37793704e-01 9.71315682e-01 0.00000000e+00 -1.43616863e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.79273533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.49, Y:-143.62, Z:0.05 [[ 9.71093901e-01 2.38697790e-01 0.00000000e+00 5.47493228e+02] [-2.38697790e-01 9.71093901e-01 0.00000000e+00 -1.43622132e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.87489353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.52, Y:-143.63, Z:0.05 [[ 9.70737050e-01 2.40144912e-01 0.00000000e+00 5.47520400e+02] [-2.40144912e-01 9.70737050e-01 0.00000000e+00 -1.43627052e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.95249751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.55, Y:-143.63, Z:0.05 [[ 9.70298257e-01 2.41911743e-01 0.00000000e+00 5.47547418e+02] [-2.41911743e-01 9.70298257e-01 0.00000000e+00 -1.43632252e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.89971223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.57, Y:-143.64, Z:0.05 [[ 9.69760924e-01 2.44056859e-01 0.00000000e+00 5.47574898e+02] [-2.44056859e-01 9.69760924e-01 0.00000000e+00 -1.43638099e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.75678505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.60, Y:-143.64, Z:0.05 [[ 9.69187256e-01 2.46325115e-01 0.00000000e+00 5.47602330e+02] [-2.46325115e-01 9.69187256e-01 0.00000000e+00 -1.43644301e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.50730621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.63, Y:-143.65, Z:0.04 [[ 9.68215692e-01 2.50116720e-01 0.00000000e+00 5.47628764e+02] [-2.50116720e-01 9.68215692e-01 0.00000000e+00 -1.43652012e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90755190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.66, Y:-143.66, Z:0.04 [[ 9.67948788e-01 2.51147653e-01 0.00000000e+00 5.47655975e+02] [-2.51147653e-01 9.67948788e-01 0.00000000e+00 -1.43658329e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77142465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.351400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:547.68, Y:-143.66, Z:0.04 [[ 9.67764833e-01 2.51855571e-01 0.00000000e+00 5.47682556e+02] [-2.51855571e-01 9.67764833e-01 0.00000000e+00 -1.43664548e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69268300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.381400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:547.71, Y:-143.67, Z:0.04 [[ 9.67583089e-01 2.52552897e-01 0.00000000e+00 5.47709469e+02] [-2.52552897e-01 9.67583089e-01 0.00000000e+00 -1.43670544e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70437901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.74, Y:-143.68, Z:0.04 [[ 9.67359138e-01 2.53409348e-01 0.00000000e+00 5.47736372e+02] [-2.53409348e-01 9.67359138e-01 0.00000000e+00 -1.43676383e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.73982710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.76, Y:-143.68, Z:0.04 [[ 9.66758539e-01 2.55691077e-01 0.00000000e+00 5.47763997e+02] [-2.55691077e-01 9.66758539e-01 0.00000000e+00 -1.43681904e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72495225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.79, Y:-143.69, Z:0.04 [[ 9.66345295e-01 2.57248461e-01 0.00000000e+00 5.47791878e+02] [-2.57248461e-01 9.66345295e-01 0.00000000e+00 -1.43686924e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66824764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.82, Y:-143.69, Z:0.04 [[ 9.65934225e-01 2.58787700e-01 0.00000000e+00 5.47818604e+02] [-2.58787700e-01 9.65934225e-01 0.00000000e+00 -1.43691256e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61375347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.85, Y:-143.70, Z:0.04 [[ 9.65506474e-01 2.60379050e-01 0.00000000e+00 5.47846053e+02] [-2.60379050e-01 9.65506474e-01 0.00000000e+00 -1.43695593e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61302865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.87, Y:-143.70, Z:0.04 [[ 9.64492155e-01 2.64111496e-01 0.00000000e+00 5.47874101e+02] [-2.64111496e-01 9.64492155e-01 0.00000000e+00 -1.43697807e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75975380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.90, Y:-143.70, Z:0.04 [[ 9.64038406e-01 2.65762963e-01 0.00000000e+00 5.47901093e+02] [-2.65762963e-01 9.64038406e-01 0.00000000e+00 -1.43700525e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87868551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.93, Y:-143.70, Z:0.04 [[ 9.63683783e-01 2.67046002e-01 0.00000000e+00 5.47928896e+02] [-2.67046002e-01 9.63683783e-01 0.00000000e+00 -1.43703470e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99286631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.96, Y:-143.71, Z:0.04 [[ 9.63321956e-01 2.68348297e-01 0.00000000e+00 5.47956986e+02] [-2.68348297e-01 9.63321956e-01 0.00000000e+00 -1.43706959e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.05560975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.98, Y:-143.71, Z:0.04 [[ 9.63027015e-01 2.69404843e-01 0.00000000e+00 5.47984106e+02] [-2.69404843e-01 9.63027015e-01 0.00000000e+00 -1.43710719e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.05928931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.01, Y:-143.71, Z:0.04 [[ 9.62820778e-01 2.70140979e-01 0.00000000e+00 5.48012330e+02] [-2.70140979e-01 9.62820778e-01 0.00000000e+00 -1.43714816e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08783105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.04, Y:-143.72, Z:0.04 [[ 9.62755798e-01 2.70372472e-01 0.00000000e+00 5.48040299e+02] [-2.70372472e-01 9.62755798e-01 0.00000000e+00 -1.43718480e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12410125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.07, Y:-143.72, Z:0.04 [[ 9.62801017e-01 2.70211402e-01 0.00000000e+00 5.48066869e+02] [-2.70211402e-01 9.62801017e-01 0.00000000e+00 -1.43722132e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.20390270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.09, Y:-143.72, Z:0.04 [[ 9.63090329e-01 2.69178414e-01 0.00000000e+00 5.48094593e+02] [-2.69178414e-01 9.63090329e-01 0.00000000e+00 -1.43724825e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39240601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.12, Y:-143.73, Z:0.04 [[ 9.63243388e-01 2.68630184e-01 0.00000000e+00 5.48121135e+02] [-2.68630184e-01 9.63243388e-01 0.00000000e+00 -1.43728847e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.49616419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.15, Y:-143.73, Z:0.05 [[ 9.63448394e-01 2.67893993e-01 0.00000000e+00 5.48147356e+02] [-2.67893993e-01 9.63448394e-01 0.00000000e+00 -1.43733266e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.53365112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.17, Y:-143.74, Z:0.04 [[ 9.63760912e-01 2.66767512e-01 0.00000000e+00 5.48174708e+02] [-2.66767512e-01 9.63760912e-01 0.00000000e+00 -1.43738524e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.41723704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.20, Y:-143.75, Z:0.04 [[ 9.64600217e-01 2.63716554e-01 0.00000000e+00 5.48202149e+02] [-2.63716554e-01 9.64600217e-01 0.00000000e+00 -1.43745462e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.09061123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.23, Y:-143.75, Z:0.04 [[ 9.65205818e-01 2.61491355e-01 0.00000000e+00 5.48229354e+02] [-2.61491355e-01 9.65205818e-01 0.00000000e+00 -1.43752527e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04504959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.26, Y:-143.76, Z:0.04 [[ 9.65779971e-01 2.59362772e-01 0.00000000e+00 5.48255681e+02] [-2.59362772e-01 9.65779971e-01 0.00000000e+00 -1.43760627e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.03540966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.28, Y:-143.77, Z:0.04 [[ 9.66332816e-01 2.57295332e-01 0.00000000e+00 5.48282548e+02] [-2.57295332e-01 9.66332816e-01 0.00000000e+00 -1.43768806e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95101614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.31, Y:-143.78, Z:0.04 [[ 9.66696357e-01 2.55926070e-01 0.00000000e+00 5.48310667e+02] [-2.55926070e-01 9.66696357e-01 0.00000000e+00 -1.43777640e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82517002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.34, Y:-143.79, Z:0.04 [[ 9.66820467e-01 2.55456816e-01 0.00000000e+00 5.48336445e+02] [-2.55456816e-01 9.66820467e-01 0.00000000e+00 -1.43785734e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76481883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.36, Y:-143.80, Z:0.04 [[ 9.66376804e-01 2.57130070e-01 0.00000000e+00 5.48362610e+02] [-2.57130070e-01 9.66376804e-01 0.00000000e+00 -1.43795597e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99125808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.39, Y:-143.80, Z:0.04 [[ 9.65866654e-01 2.59039777e-01 0.00000000e+00 5.48389790e+02] [-2.59039777e-01 9.65866654e-01 0.00000000e+00 -1.43802473e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08418268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.42, Y:-143.81, Z:0.04 [[ 9.65152787e-01 2.61687024e-01 0.00000000e+00 5.48415634e+02] [-2.61687024e-01 9.65152787e-01 0.00000000e+00 -1.43809003e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11791490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.44, Y:-143.82, Z:0.04 [[ 9.64471188e-01 2.64188055e-01 0.00000000e+00 5.48442577e+02] [-2.64188055e-01 9.64471188e-01 0.00000000e+00 -1.43815620e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97895344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.47, Y:-143.82, Z:0.04 [[ 9.63829597e-01 2.66519245e-01 0.00000000e+00 5.48470764e+02] [-2.66519245e-01 9.63829597e-01 0.00000000e+00 -1.43823233e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89126516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.50, Y:-143.83, Z:0.04 [[ 9.63425684e-01 2.67975655e-01 0.00000000e+00 5.48497115e+02] [-2.67975655e-01 9.63425684e-01 0.00000000e+00 -1.43829466e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70489274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.52, Y:-143.84, Z:0.04 [[ 9.62939053e-01 2.69719076e-01 0.00000000e+00 5.48523972e+02] [-2.69719076e-01 9.62939053e-01 0.00000000e+00 -1.43838192e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77547991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.55, Y:-143.84, Z:0.04 [[ 9.63034509e-01 2.69378050e-01 0.00000000e+00 5.48551479e+02] [-2.69378050e-01 9.63034509e-01 0.00000000e+00 -1.43844754e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84285479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.58, Y:-143.85, Z:0.04 [[ 9.63342074e-01 2.68276069e-01 0.00000000e+00 5.48579070e+02] [-2.68276069e-01 9.63342074e-01 0.00000000e+00 -1.43851532e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91636335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.61, Y:-143.86, Z:0.04 [[ 9.64109600e-01 2.65504574e-01 0.00000000e+00 5.48605210e+02] [-2.65504574e-01 9.64109600e-01 0.00000000e+00 -1.43860335e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99161473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.63, Y:-143.87, Z:0.04 [[ 9.64459882e-01 2.64229324e-01 0.00000000e+00 5.48632589e+02] [-2.64229324e-01 9.64459882e-01 0.00000000e+00 -1.43868089e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.07591508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.66, Y:-143.87, Z:0.04 [[ 9.64478407e-01 2.64161697e-01 0.00000000e+00 5.48660566e+02] [-2.64161697e-01 9.64478407e-01 0.00000000e+00 -1.43873496e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.07591508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.69, Y:-143.88, Z:0.04 [[ 9.64635044e-01 2.63589134e-01 0.00000000e+00 5.48687053e+02] [-2.63589134e-01 9.64635044e-01 0.00000000e+00 -1.43881243e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15733970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.71, Y:-143.89, Z:0.04 [[ 9.64729314e-01 2.63243901e-01 0.00000000e+00 5.48714053e+02] [-2.63243901e-01 9.64729314e-01 0.00000000e+00 -1.43888620e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11951523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.521400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:548.74, Y:-143.90, Z:0.04 [[ 9.64858931e-01 2.62768421e-01 0.00000000e+00 5.48740756e+02] [-2.62768421e-01 9.64858931e-01 0.00000000e+00 -1.43895693e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06100723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.77, Y:-143.90, Z:0.04 [[ 9.64816160e-01 2.62925423e-01 0.00000000e+00 5.48767469e+02] [-2.62925423e-01 9.64816160e-01 0.00000000e+00 -1.43902533e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04385279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.80, Y:-143.91, Z:0.04 [[ 9.65009047e-01 2.62216587e-01 0.00000000e+00 5.48795267e+02] [-2.62216587e-01 9.65009047e-01 0.00000000e+00 -1.43912321e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.32037668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.82, Y:-143.92, Z:0.05 [[ 9.65154129e-01 2.61682073e-01 0.00000000e+00 5.48822524e+02] [-2.61682073e-01 9.65154129e-01 0.00000000e+00 -1.43920355e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.53687035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.85, Y:-143.93, Z:0.05 [[ 9.65230274e-01 2.61401068e-01 0.00000000e+00 5.48850286e+02] [-2.61401068e-01 9.65230274e-01 0.00000000e+00 -1.43928516e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.58913802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.88, Y:-143.94, Z:0.05 [[ 9.65269525e-01 2.61256089e-01 0.00000000e+00 5.48878107e+02] [-2.61256089e-01 9.65269525e-01 0.00000000e+00 -1.43937057e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.50740331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.91, Y:-143.95, Z:0.04 [[ 9.65234947e-01 2.61383812e-01 0.00000000e+00 5.48905728e+02] [-2.61383812e-01 9.65234947e-01 0.00000000e+00 -1.43945822e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.31942708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.93, Y:-143.95, Z:0.04 [[ 9.65114557e-01 2.61827982e-01 0.00000000e+00 5.48932827e+02] [-2.61827982e-01 9.65114557e-01 0.00000000e+00 -1.43954339e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18879816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.96, Y:-143.96, Z:0.04 [[ 9.64330091e-01 2.64702619e-01 0.00000000e+00 5.48958915e+02] [-2.64702619e-01 9.64330091e-01 0.00000000e+00 -1.43964581e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08541171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.99, Y:-143.97, Z:0.04 [[ 9.63668274e-01 2.67101960e-01 0.00000000e+00 5.48985032e+02] [-2.67101960e-01 9.63668274e-01 0.00000000e+00 -1.43971536e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.13452606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.01, Y:-143.98, Z:0.04 [[ 9.62830344e-01 2.70106884e-01 0.00000000e+00 5.49012213e+02] [-2.70106884e-01 9.62830344e-01 0.00000000e+00 -1.43978986e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11717192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.04, Y:-143.99, Z:0.04 [[ 9.61026249e-01 2.76457136e-01 0.00000000e+00 5.49038077e+02] [-2.76457136e-01 9.61026249e-01 0.00000000e+00 -1.43987357e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69809590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.07, Y:-143.99, Z:0.03 [[ 9.60224420e-01 2.79229409e-01 0.00000000e+00 5.49065789e+02] [-2.79229409e-01 9.60224420e-01 0.00000000e+00 -1.43993656e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46284826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.09, Y:-144.00, Z:0.03 [[ 9.59607895e-01 2.81340874e-01 0.00000000e+00 5.49092935e+02] [-2.81340874e-01 9.59607895e-01 0.00000000e+00 -1.43999956e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34602820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.12, Y:-144.01, Z:0.03 [[ 9.59261276e-01 2.82520449e-01 0.00000000e+00 5.49119008e+02] [-2.82520449e-01 9.59261276e-01 0.00000000e+00 -1.44005794e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34899903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.15, Y:-144.01, Z:0.04 [[ 9.59101724e-01 2.83061624e-01 0.00000000e+00 5.49147632e+02] [-2.83061624e-01 9.59101724e-01 0.00000000e+00 -1.44011457e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52955566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.17, Y:-144.02, Z:0.04 [[ 9.59122329e-01 2.82991799e-01 0.00000000e+00 5.49174840e+02] [-2.82991799e-01 9.59122329e-01 0.00000000e+00 -1.44015917e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66194899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.20, Y:-144.02, Z:0.04 [[ 9.59699588e-01 2.81027935e-01 0.00000000e+00 5.49201397e+02] [-2.81027935e-01 9.59699588e-01 0.00000000e+00 -1.44019623e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58024343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.23, Y:-144.02, Z:0.03 [[ 9.60231907e-01 2.79203662e-01 0.00000000e+00 5.49228947e+02] [-2.79203662e-01 9.60231907e-01 0.00000000e+00 -1.44024724e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44631685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.26, Y:-144.03, Z:0.03 [[ 9.60815124e-01 2.77190002e-01 0.00000000e+00 5.49255080e+02] [-2.77190002e-01 9.60815124e-01 0.00000000e+00 -1.44030038e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30019661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.28, Y:-144.04, Z:0.03 [[ 9.61906629e-01 2.73378193e-01 0.00000000e+00 5.49282614e+02] [-2.73378193e-01 9.61906629e-01 0.00000000e+00 -1.44035913e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37066601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.31, Y:-144.04, Z:0.04 [[ 9.62334727e-01 2.71867381e-01 0.00000000e+00 5.49309730e+02] [-2.71867381e-01 9.62334727e-01 0.00000000e+00 -1.44040910e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50725330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.34, Y:-144.05, Z:0.04 [[ 9.62582710e-01 2.70988057e-01 0.00000000e+00 5.49336196e+02] [-2.70988057e-01 9.62582710e-01 0.00000000e+00 -1.44045516e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63687612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.36, Y:-144.05, Z:0.04 [[ 9.62623777e-01 2.70842137e-01 0.00000000e+00 5.49362964e+02] [-2.70842137e-01 9.62623777e-01 0.00000000e+00 -1.44049610e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70763753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.39, Y:-144.05, Z:0.04 [[ 9.62540308e-01 2.71138627e-01 0.00000000e+00 5.49390664e+02] [-2.71138627e-01 9.62540308e-01 0.00000000e+00 -1.44052708e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77622619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.42, Y:-144.05, Z:0.04 [[ 9.61894388e-01 2.73421261e-01 0.00000000e+00 5.49419359e+02] [-2.73421261e-01 9.61894388e-01 0.00000000e+00 -1.44052032e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.73530666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.45, Y:-144.05, Z:0.04 [[ 9.61525160e-01 2.74716884e-01 0.00000000e+00 5.49447424e+02] [-2.74716884e-01 9.61525160e-01 0.00000000e+00 -1.44054452e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71111001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.331400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:549.48, Y:-144.06, Z:0.04 [[ 9.61237026e-01 2.75723376e-01 0.00000000e+00 5.49475225e+02] [-2.75723376e-01 9.61237026e-01 0.00000000e+00 -1.44057555e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78728266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.50, Y:-144.06, Z:0.04 [[ 9.61141450e-01 2.76056357e-01 0.00000000e+00 5.49502270e+02] [-2.76056357e-01 9.61141450e-01 0.00000000e+00 -1.44060485e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88977498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.53, Y:-144.06, Z:0.04 [[ 9.61381673e-01 2.75218603e-01 0.00000000e+00 5.49529189e+02] [-2.75218603e-01 9.61381673e-01 0.00000000e+00 -1.44063505e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.03982309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.56, Y:-144.07, Z:0.04 [[ 9.61988577e-01 2.73089687e-01 0.00000000e+00 5.49557368e+02] [-2.73089687e-01 9.61988577e-01 0.00000000e+00 -1.44066971e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08437547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.58, Y:-144.07, Z:0.04 [[ 9.64024407e-01 2.65813735e-01 0.00000000e+00 5.49583952e+02] [-2.65813735e-01 9.64024407e-01 0.00000000e+00 -1.44070436e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99612575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.61, Y:-144.08, Z:0.04 [[ 9.65038359e-01 2.62108690e-01 0.00000000e+00 5.49611278e+02] [-2.62108690e-01 9.65038359e-01 0.00000000e+00 -1.44076608e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87305951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.64, Y:-144.08, Z:0.04 [[ 9.65935003e-01 2.58784793e-01 0.00000000e+00 5.49638658e+02] [-2.58784793e-01 9.65935003e-01 0.00000000e+00 -1.44083341e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70869346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.66, Y:-144.09, Z:0.04 [[ 9.67235584e-01 2.53880531e-01 0.00000000e+00 5.49664183e+02] [-2.53880531e-01 9.67235584e-01 0.00000000e+00 -1.44091729e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70436171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.69, Y:-144.10, Z:0.04 [[ 9.67691139e-01 2.52138573e-01 0.00000000e+00 5.49690361e+02] [-2.52138573e-01 9.67691139e-01 0.00000000e+00 -1.44097846e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.85091614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.72, Y:-144.10, Z:0.04 [[ 9.67963562e-01 2.51090706e-01 0.00000000e+00 5.49717110e+02] [-2.51090706e-01 9.67963562e-01 0.00000000e+00 -1.44103950e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93704790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.74, Y:-144.11, Z:0.04 [[ 9.68074657e-01 2.50662042e-01 0.00000000e+00 5.49744735e+02] [-2.50662042e-01 9.68074657e-01 0.00000000e+00 -1.44111093e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93895490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.77, Y:-144.12, Z:0.04 [[ 9.68094824e-01 2.50584141e-01 0.00000000e+00 5.49770759e+02] [-2.50584141e-01 9.68094824e-01 0.00000000e+00 -1.44118231e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89618569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.80, Y:-144.13, Z:0.04 [[ 9.67496817e-01 2.52883191e-01 0.00000000e+00 5.49796365e+02] [-2.52883191e-01 9.67496817e-01 0.00000000e+00 -1.44126388e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66636989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.82, Y:-144.13, Z:0.04 [[ 9.67025888e-01 2.54678095e-01 0.00000000e+00 5.49822340e+02] [-2.54678095e-01 9.67025888e-01 0.00000000e+00 -1.44132605e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60379883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.85, Y:-144.14, Z:0.04 [[ 9.66518233e-01 2.56597946e-01 0.00000000e+00 5.49849441e+02] [-2.56597946e-01 9.66518233e-01 0.00000000e+00 -1.44139620e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50872502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.88, Y:-144.15, Z:0.03 [[ 9.66030781e-01 2.58427030e-01 0.00000000e+00 5.49875090e+02] [-2.58427030e-01 9.66030781e-01 0.00000000e+00 -1.44146972e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38744605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.90, Y:-144.15, Z:0.03 [[ 9.65607987e-01 2.60002339e-01 0.00000000e+00 5.49901404e+02] [-2.60002339e-01 9.65607987e-01 0.00000000e+00 -1.44154509e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34431265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.93, Y:-144.16, Z:0.03 [[ 9.65206751e-01 2.61487910e-01 0.00000000e+00 5.49928390e+02] [-2.61487910e-01 9.65206751e-01 0.00000000e+00 -1.44161466e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44794257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.96, Y:-144.17, Z:0.04 [[ 9.64335644e-01 2.64682386e-01 0.00000000e+00 5.49955823e+02] [-2.64682386e-01 9.64335644e-01 0.00000000e+00 -1.44167174e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60654484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.98, Y:-144.17, Z:0.04 [[ 9.63786587e-01 2.66674737e-01 0.00000000e+00 5.49983450e+02] [-2.66674737e-01 9.63786587e-01 0.00000000e+00 -1.44172345e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66635335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.01, Y:-144.18, Z:0.04 [[ 9.63247586e-01 2.68615131e-01 0.00000000e+00 5.50010637e+02] [-2.68615131e-01 9.63247586e-01 0.00000000e+00 -1.44178351e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66880281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.04, Y:-144.19, Z:0.04 [[ 9.62890977e-01 2.69890655e-01 0.00000000e+00 5.50037784e+02] [-2.69890655e-01 9.62890977e-01 0.00000000e+00 -1.44185902e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67759113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.06, Y:-144.19, Z:0.04 [[ 9.63197826e-01 2.68793504e-01 0.00000000e+00 5.50063650e+02] [-2.68793504e-01 9.63197826e-01 0.00000000e+00 -1.44191824e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72627467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.021400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:550.09, Y:-144.20, Z:0.04 [[ 9.63778377e-01 2.66704405e-01 0.00000000e+00 5.50090836e+02] [-2.66704405e-01 9.63778377e-01 0.00000000e+00 -1.44198393e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77373980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.051400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:550.12, Y:-144.21, Z:0.04 [[ 9.64424885e-01 2.64357035e-01 0.00000000e+00 5.50118333e+02] [-2.64357035e-01 9.64424885e-01 0.00000000e+00 -1.44205785e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82088073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.15, Y:-144.21, Z:0.04 [[ 9.64973355e-01 2.62347906e-01 0.00000000e+00 5.50145439e+02] [-2.62347906e-01 9.64973355e-01 0.00000000e+00 -1.44213988e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84724747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.17, Y:-144.22, Z:0.04 [[ 9.65493662e-01 2.60426553e-01 0.00000000e+00 5.50171275e+02] [-2.60426553e-01 9.65493662e-01 0.00000000e+00 -1.44222123e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88847708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.20, Y:-144.23, Z:0.04 [[ 9.66024226e-01 2.58451533e-01 0.00000000e+00 5.50197858e+02] [-2.58451533e-01 9.66024226e-01 0.00000000e+00 -1.44232787e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88812022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.23, Y:-144.24, Z:0.04 [[ 9.65978566e-01 2.58622136e-01 0.00000000e+00 5.50225028e+02] [-2.58622136e-01 9.65978566e-01 0.00000000e+00 -1.44240413e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83497338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.25, Y:-144.25, Z:0.04 [[ 9.65735495e-01 2.59528329e-01 0.00000000e+00 5.50251288e+02] [-2.59528329e-01 9.65735495e-01 0.00000000e+00 -1.44247852e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84525318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.28, Y:-144.25, Z:0.04 [[ 9.65383425e-01 2.60834895e-01 0.00000000e+00 5.50277085e+02] [-2.60834895e-01 9.65383425e-01 0.00000000e+00 -1.44254794e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88135265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.30, Y:-144.26, Z:0.04 [[ 9.64331276e-01 2.64698300e-01 0.00000000e+00 5.50304224e+02] [-2.64698300e-01 9.64331276e-01 0.00000000e+00 -1.44262718e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88404240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.33, Y:-144.27, Z:0.04 [[ 9.63700395e-01 2.66986047e-01 0.00000000e+00 5.50332177e+02] [-2.66986047e-01 9.63700395e-01 0.00000000e+00 -1.44268247e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.85943743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.36, Y:-144.27, Z:0.04 [[ 9.63718709e-01 2.66919931e-01 0.00000000e+00 5.50360185e+02] [-2.66919931e-01 9.63718709e-01 0.00000000e+00 -1.44273526e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.85943743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.39, Y:-144.28, Z:0.04 [[ 9.63117075e-01 2.69082699e-01 0.00000000e+00 5.50387067e+02] [-2.69082699e-01 9.63117075e-01 0.00000000e+00 -1.44278491e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80029699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.42, Y:-144.28, Z:0.04 [[ 9.62583392e-01 2.70985634e-01 0.00000000e+00 5.50415096e+02] [-2.70985634e-01 9.62583392e-01 0.00000000e+00 -1.44283452e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68805346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.44, Y:-144.29, Z:0.04 [[ 9.62238260e-01 2.72208618e-01 0.00000000e+00 5.50442763e+02] [-2.72208618e-01 9.62238260e-01 0.00000000e+00 -1.44288035e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62074548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.47, Y:-144.29, Z:0.03 [[ 9.62043521e-01 2.72896067e-01 0.00000000e+00 5.50469605e+02] [-2.72896067e-01 9.62043521e-01 0.00000000e+00 -1.44292767e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48958209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.50, Y:-144.30, Z:0.03 [[ 9.62272997e-01 2.72085794e-01 0.00000000e+00 5.50496888e+02] [-2.72085794e-01 9.62272997e-01 0.00000000e+00 -1.44296714e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41281547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.52, Y:-144.30, Z:0.03 [[ 9.62507141e-01 2.71256344e-01 0.00000000e+00 5.50524558e+02] [-2.71256344e-01 9.62507141e-01 0.00000000e+00 -1.44301531e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47330900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.531400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:550.55, Y:-144.31, Z:0.04 [[ 9.62826141e-01 2.70121864e-01 0.00000000e+00 5.50552096e+02] [-2.70121864e-01 9.62826141e-01 0.00000000e+00 -1.44306461e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55163128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.58, Y:-144.31, Z:0.04 [[ 9.63111655e-01 2.69102098e-01 0.00000000e+00 5.50578304e+02] [-2.69102098e-01 9.63111655e-01 0.00000000e+00 -1.44311310e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65852857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.61, Y:-144.32, Z:0.03 [[ 9.63870395e-01 2.66371659e-01 0.00000000e+00 5.50605606e+02] [-2.66371659e-01 9.63870395e-01 0.00000000e+00 -1.44316154e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49211832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.63, Y:-144.32, Z:0.03 [[ 9.64317920e-01 2.64746953e-01 0.00000000e+00 5.50632431e+02] [-2.64746953e-01 9.64317920e-01 0.00000000e+00 -1.44321764e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37349042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.66, Y:-144.33, Z:0.03 [[ 9.64699321e-01 2.63353791e-01 0.00000000e+00 5.50659656e+02] [-2.63353791e-01 9.64699321e-01 0.00000000e+00 -1.44328062e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41600401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.69, Y:-144.33, Z:0.04 [[ 9.65075933e-01 2.61970309e-01 0.00000000e+00 5.50686392e+02] [-2.61970309e-01 9.65075933e-01 0.00000000e+00 -1.44334765e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53362223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.71, Y:-144.34, Z:0.04 [[ 9.65471678e-01 2.60508041e-01 0.00000000e+00 5.50713530e+02] [-2.60508041e-01 9.65471678e-01 0.00000000e+00 -1.44340599e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59053213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.74, Y:-144.35, Z:0.04 [[ 9.66246786e-01 2.57618221e-01 0.00000000e+00 5.50740944e+02] [-2.57618221e-01 9.66246786e-01 0.00000000e+00 -1.44346848e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52284660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.77, Y:-144.35, Z:0.04 [[ 9.66681683e-01 2.55981492e-01 0.00000000e+00 5.50767867e+02] [-2.55981492e-01 9.66681683e-01 0.00000000e+00 -1.44353594e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51779446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.80, Y:-144.36, Z:0.04 [[ 9.67132919e-01 2.54271345e-01 0.00000000e+00 5.50795330e+02] [-2.54271345e-01 9.67132919e-01 0.00000000e+00 -1.44361652e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56728454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.82, Y:-144.37, Z:0.04 [[ 9.67593928e-01 2.52511369e-01 0.00000000e+00 5.50822673e+02] [-2.52511369e-01 9.67593928e-01 0.00000000e+00 -1.44369691e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67616511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.85, Y:-144.38, Z:0.04 [[ 9.67992075e-01 2.50980763e-01 0.00000000e+00 5.50849442e+02] [-2.50980763e-01 9.67992075e-01 0.00000000e+00 -1.44377284e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67119993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.88, Y:-144.39, Z:0.04 [[ 9.68389870e-01 2.49441495e-01 0.00000000e+00 5.50876129e+02] [-2.49441495e-01 9.68389870e-01 0.00000000e+00 -1.44387380e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63861165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.90, Y:-144.40, Z:0.04 [[ 9.68341760e-01 2.49628196e-01 0.00000000e+00 5.50902697e+02] [-2.49628196e-01 9.68341760e-01 0.00000000e+00 -1.44395451e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69936267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.93, Y:-144.40, Z:0.04 [[ 9.68030186e-01 2.50833726e-01 0.00000000e+00 5.50930947e+02] [-2.50833726e-01 9.68030186e-01 0.00000000e+00 -1.44403762e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80094391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.96, Y:-144.41, Z:0.04 [[ 9.67519344e-01 2.52796993e-01 0.00000000e+00 5.50957904e+02] [-2.52796993e-01 9.67519344e-01 0.00000000e+00 -1.44410705e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83491238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.99, Y:-144.42, Z:0.04 [[ 9.66964717e-01 2.54910253e-01 0.00000000e+00 5.50985784e+02] [-2.54910253e-01 9.66964717e-01 0.00000000e+00 -1.44417269e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77801745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.01, Y:-144.43, Z:0.04 [[ 9.65985871e-01 2.58594849e-01 0.00000000e+00 5.51012308e+02] [-2.58594849e-01 9.65985871e-01 0.00000000e+00 -1.44425272e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57069578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.071400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:551.04, Y:-144.43, Z:0.03 [[ 9.65815616e-01 2.59230007e-01 0.00000000e+00 5.51038812e+02] [-2.59230007e-01 9.65815616e-01 0.00000000e+00 -1.44432497e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44133380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.07, Y:-144.44, Z:0.03 [[ 9.65744856e-01 2.59493494e-01 0.00000000e+00 5.51065325e+02] [-2.59493494e-01 9.65744856e-01 0.00000000e+00 -1.44439645e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45622603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.09, Y:-144.45, Z:0.03 [[ 9.65837738e-01 2.59147570e-01 0.00000000e+00 5.51093549e+02] [-2.59147570e-01 9.65837738e-01 0.00000000e+00 -1.44446714e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47607479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.12, Y:-144.45, Z:0.03 [[ 9.66060918e-01 2.58314347e-01 0.00000000e+00 5.51120366e+02] [-2.58314347e-01 9.66060918e-01 0.00000000e+00 -1.44453177e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46132289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.15, Y:-144.46, Z:0.03 [[ 9.66387960e-01 2.57088137e-01 0.00000000e+00 5.51148180e+02] [-2.57088137e-01 9.66387960e-01 0.00000000e+00 -1.44459668e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47128122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.18, Y:-144.47, Z:0.03 [[ 9.67328426e-01 2.53526559e-01 0.00000000e+00 5.51176199e+02] [-2.53526559e-01 9.67328426e-01 0.00000000e+00 -1.44467524e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45469997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.21, Y:-144.47, Z:0.03 [[ 9.67875948e-01 2.51428219e-01 0.00000000e+00 5.51205059e+02] [-2.51428219e-01 9.67875948e-01 0.00000000e+00 -1.44474651e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42830518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.23, Y:-144.48, Z:0.03 [[ 9.68311001e-01 2.49747483e-01 0.00000000e+00 5.51232578e+02] [-2.49747483e-01 9.68311001e-01 0.00000000e+00 -1.44482759e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33132199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.26, Y:-144.49, Z:0.04 [[ 9.68934641e-01 2.47316927e-01 0.00000000e+00 5.51262207e+02] [-2.47316927e-01 9.68934641e-01 0.00000000e+00 -1.44490736e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52543969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.29, Y:-144.50, Z:0.04 [[ 9.69330410e-01 2.45761175e-01 0.00000000e+00 5.51291754e+02] [-2.45761175e-01 9.69330410e-01 0.00000000e+00 -1.44499427e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55108859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.32, Y:-144.51, Z:0.03 [[ 9.69671858e-01 2.44410492e-01 0.00000000e+00 5.51320723e+02] [-2.44410492e-01 9.69671858e-01 0.00000000e+00 -1.44509899e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47513047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.35, Y:-144.52, Z:0.04 [[ 9.69570153e-01 2.44813638e-01 0.00000000e+00 5.51349950e+02] [-2.44813638e-01 9.69570153e-01 0.00000000e+00 -1.44517132e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51198868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.38, Y:-144.52, Z:0.04 [[ 9.69274995e-01 2.45979640e-01 0.00000000e+00 5.51380037e+02] [-2.45979640e-01 9.69274995e-01 0.00000000e+00 -1.44524492e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54727184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.41, Y:-144.53, Z:0.04 [[ 9.68934950e-01 2.47315716e-01 0.00000000e+00 5.51409421e+02] [-2.47315716e-01 9.68934950e-01 0.00000000e+00 -1.44531745e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57954983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.44, Y:-144.54, Z:0.04 [[ 9.68558502e-01 2.48785907e-01 0.00000000e+00 5.51440051e+02] [-2.48785907e-01 9.68558502e-01 0.00000000e+00 -1.44539083e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67955265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.47, Y:-144.55, Z:0.04 [[ 9.68157848e-01 2.50340532e-01 0.00000000e+00 5.51471532e+02] [-2.50340532e-01 9.68157848e-01 0.00000000e+00 -1.44546514e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76595357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.50, Y:-144.55, Z:0.04 [[ 9.67345557e-01 2.53461186e-01 0.00000000e+00 5.51501762e+02] [-2.53461186e-01 9.67345557e-01 0.00000000e+00 -1.44554457e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79813101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.53, Y:-144.56, Z:0.04 [[ 9.67082310e-01 2.54463761e-01 0.00000000e+00 5.51532026e+02] [-2.54463761e-01 9.67082310e-01 0.00000000e+00 -1.44561518e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64674333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.56, Y:-144.57, Z:0.03 [[ 9.66954184e-01 2.54950202e-01 0.00000000e+00 5.51561099e+02] [-2.54950202e-01 9.66954184e-01 0.00000000e+00 -1.44568579e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49157336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.641400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:551.59, Y:-144.58, Z:0.04 [[ 9.67046067e-01 2.54601463e-01 0.00000000e+00 5.51592761e+02] [-2.54601463e-01 9.67046067e-01 0.00000000e+00 -1.44576053e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53428665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.62, Y:-144.58, Z:0.04 [[ 9.67088891e-01 2.54438747e-01 0.00000000e+00 5.51624047e+02] [-2.54438747e-01 9.67088891e-01 0.00000000e+00 -1.44583876e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58816754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.66, Y:-144.59, Z:0.04 [[ 9.67153269e-01 2.54193930e-01 0.00000000e+00 5.51655074e+02] [-2.54193930e-01 9.67153269e-01 0.00000000e+00 -1.44591467e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69584924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.69, Y:-144.60, Z:0.04 [[ 9.66970546e-01 2.54888138e-01 0.00000000e+00 5.51686095e+02] [-2.54888138e-01 9.66970546e-01 0.00000000e+00 -1.44600342e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76841934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.72, Y:-144.61, Z:0.04 [[ 9.66699644e-01 2.55913655e-01 0.00000000e+00 5.51716583e+02] [-2.55913655e-01 9.66699644e-01 0.00000000e+00 -1.44606998e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75900153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.75, Y:-144.61, Z:0.04 [[ 9.66425953e-01 2.56945281e-01 0.00000000e+00 5.51747630e+02] [-2.56945281e-01 9.66425953e-01 0.00000000e+00 -1.44613196e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.73026652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.821400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:551.78, Y:-144.62, Z:0.04 [[ 9.66133388e-01 2.58043166e-01 0.00000000e+00 5.51778330e+02] [-2.58043166e-01 9.66133388e-01 0.00000000e+00 -1.44618852e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68351016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.81, Y:-144.63, Z:0.04 [[ 9.65699450e-01 2.59662418e-01 0.00000000e+00 5.51810222e+02] [-2.59662418e-01 9.65699450e-01 0.00000000e+00 -1.44625029e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58486099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.84, Y:-144.63, Z:0.04 [[ 9.64902962e-01 2.62606692e-01 0.00000000e+00 5.51841553e+02] [-2.62606692e-01 9.64902962e-01 0.00000000e+00 -1.44630906e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65923810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.87, Y:-144.64, Z:0.04 [[ 9.64553681e-01 2.63886713e-01 0.00000000e+00 5.51872264e+02] [-2.63886713e-01 9.64553681e-01 0.00000000e+00 -1.44636299e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66572354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.90, Y:-144.64, Z:0.04 [[ 9.64380660e-01 2.64518321e-01 0.00000000e+00 5.51902813e+02] [-2.64518321e-01 9.64380660e-01 0.00000000e+00 -1.44641252e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68973938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.93, Y:-144.65, Z:0.04 [[ 9.64275884e-01 2.64900018e-01 0.00000000e+00 5.51932466e+02] [-2.64900018e-01 9.64275884e-01 0.00000000e+00 -1.44646488e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72356447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.96, Y:-144.65, Z:0.04 [[ 9.64212672e-01 2.65130013e-01 0.00000000e+00 5.51962956e+02] [-2.65130013e-01 9.64212672e-01 0.00000000e+00 -1.44652056e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77787348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.99, Y:-144.66, Z:0.04 [[ 9.64197913e-01 2.65183681e-01 0.00000000e+00 5.51992988e+02] [-2.65183681e-01 9.64197913e-01 0.00000000e+00 -1.44656271e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81965475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.02, Y:-144.66, Z:0.04 [[ 9.64238129e-01 2.65037415e-01 0.00000000e+00 5.52023196e+02] [-2.65037415e-01 9.64238129e-01 0.00000000e+00 -1.44660429e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76493526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.05, Y:-144.66, Z:0.04 [[ 9.64232319e-01 2.65058550e-01 0.00000000e+00 5.52053692e+02] [-2.65058550e-01 9.64232319e-01 0.00000000e+00 -1.44664662e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74642240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.08, Y:-144.67, Z:0.04 [[ 9.64222841e-01 2.65093028e-01 0.00000000e+00 5.52083084e+02] [-2.65093028e-01 9.64222841e-01 0.00000000e+00 -1.44668719e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70095577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.11, Y:-144.67, Z:0.04 [[ 9.64237156e-01 2.65040952e-01 0.00000000e+00 5.52112172e+02] [-2.65040952e-01 9.64237156e-01 0.00000000e+00 -1.44673158e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58821354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.14, Y:-144.68, Z:0.03 [[ 9.64352939e-01 2.64619366e-01 0.00000000e+00 5.52141346e+02] [-2.64619366e-01 9.64352939e-01 0.00000000e+00 -1.44675949e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30507005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.17, Y:-144.68, Z:0.03 [[ 9.64473122e-01 2.64180992e-01 0.00000000e+00 5.52171462e+02] [-2.64180992e-01 9.64473122e-01 0.00000000e+00 -1.44679991e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26499701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.20, Y:-144.69, Z:0.03 [[ 9.64473122e-01 2.64180992e-01 0.00000000e+00 5.52201901e+02] [-2.64180992e-01 9.64473122e-01 0.00000000e+00 -1.44685859e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26499701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.23, Y:-144.69, Z:0.03 [[ 9.64611368e-01 2.63675765e-01 0.00000000e+00 5.52230897e+02] [-2.63675765e-01 9.64611368e-01 0.00000000e+00 -1.44690216e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17987250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.26, Y:-144.69, Z:0.03 [[ 9.64790413e-01 2.63019884e-01 0.00000000e+00 5.52260642e+02] [-2.63019884e-01 9.64790413e-01 0.00000000e+00 -1.44694369e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30539020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.29, Y:-144.70, Z:0.03 [[ 9.64854032e-01 2.62786408e-01 0.00000000e+00 5.52289900e+02] [-2.62786408e-01 9.64854032e-01 0.00000000e+00 -1.44698052e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46269982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.32, Y:-144.70, Z:0.04 [[ 9.64860235e-01 2.62763632e-01 0.00000000e+00 5.52319260e+02] [-2.62763632e-01 9.64860235e-01 0.00000000e+00 -1.44700667e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57968188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.35, Y:-144.70, Z:0.03 [[ 9.64740440e-01 2.63203120e-01 0.00000000e+00 5.52348133e+02] [-2.63203120e-01 9.64740440e-01 0.00000000e+00 -1.44698465e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40778856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.38, Y:-144.70, Z:0.03 [[ 9.64869306e-01 2.62730322e-01 0.00000000e+00 5.52377677e+02] [-2.62730322e-01 9.64869306e-01 0.00000000e+00 -1.44699877e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16425487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.41, Y:-144.70, Z:0.03 [[ 9.65079061e-01 2.61958787e-01 0.00000000e+00 5.52406148e+02] [-2.61958787e-01 9.65079061e-01 0.00000000e+00 -1.44701059e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00733170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.481400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:552.43, Y:-144.70, Z:0.03 [[ 9.65294719e-01 2.61162986e-01 0.00000000e+00 5.52433806e+02] [-2.61162986e-01 9.65294719e-01 0.00000000e+00 -1.44702534e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08250105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.46, Y:-144.70, Z:0.03 [[ 9.65664773e-01 2.59791350e-01 0.00000000e+00 5.52463303e+02] [-2.59791350e-01 9.65664773e-01 0.00000000e+00 -1.44704117e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45618090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.49, Y:-144.71, Z:0.04 [[ 9.66116333e-01 2.58107014e-01 0.00000000e+00 5.52491150e+02] [-2.58107014e-01 9.66116333e-01 0.00000000e+00 -1.44705192e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71343011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.52, Y:-144.70, Z:0.04 [[ 9.67064287e-01 2.54532247e-01 0.00000000e+00 5.52519711e+02] [-2.54532247e-01 9.67064287e-01 0.00000000e+00 -1.44701980e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88793656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.55, Y:-144.70, Z:0.04 [[ 9.67586477e-01 2.52539918e-01 0.00000000e+00 5.52547643e+02] [-2.52539918e-01 9.67586477e-01 0.00000000e+00 -1.44703186e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91876066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.58, Y:-144.71, Z:0.04 [[ 9.68099581e-01 2.50565764e-01 0.00000000e+00 5.52576148e+02] [-2.50565764e-01 9.68099581e-01 0.00000000e+00 -1.44705498e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.00096993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.661400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:552.60, Y:-144.71, Z:0.04 [[ 9.68622367e-01 2.48537140e-01 0.00000000e+00 5.52604868e+02] [-2.48537140e-01 9.68622367e-01 0.00000000e+00 -1.44709243e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02698043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.63, Y:-144.71, Z:0.04 [[ 9.69329441e-01 2.45764998e-01 0.00000000e+00 5.52632416e+02] [-2.45764998e-01 9.69329441e-01 0.00000000e+00 -1.44712590e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.03169498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.66, Y:-144.72, Z:0.04 [[ 9.70024606e-01 2.43006715e-01 0.00000000e+00 5.52660450e+02] [-2.43006715e-01 9.70024606e-01 0.00000000e+00 -1.44716472e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93086375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.69, Y:-144.72, Z:0.04 [[ 9.71118308e-01 2.38598474e-01 0.00000000e+00 5.52689082e+02] [-2.38598474e-01 9.71118308e-01 0.00000000e+00 -1.44720568e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63449036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.72, Y:-144.73, Z:0.04 [[ 9.71400297e-01 2.37447809e-01 0.00000000e+00 5.52716124e+02] [-2.37447809e-01 9.71400297e-01 0.00000000e+00 -1.44726522e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62866492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.74, Y:-144.73, Z:0.04 [[ 9.71517095e-01 2.36969480e-01 0.00000000e+00 5.52743605e+02] [-2.36969480e-01 9.71517095e-01 0.00000000e+00 -1.44732516e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78967460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.77, Y:-144.74, Z:0.04 [[ 9.71326438e-01 2.37749764e-01 0.00000000e+00 5.52771904e+02] [-2.37749764e-01 9.71326438e-01 0.00000000e+00 -1.44738164e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97076320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.80, Y:-144.74, Z:0.04 [[ 9.70891793e-01 2.39518531e-01 0.00000000e+00 5.52799085e+02] [-2.39518531e-01 9.70891793e-01 0.00000000e+00 -1.44742017e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10059812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.83, Y:-144.74, Z:0.04 [[ 9.69340992e-01 2.45719435e-01 0.00000000e+00 5.52826897e+02] [-2.45719435e-01 9.69340992e-01 0.00000000e+00 -1.44744450e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.85149422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.85, Y:-144.75, Z:0.04 [[ 9.68479082e-01 2.49094896e-01 0.00000000e+00 5.52854811e+02] [-2.49094896e-01 9.68479082e-01 0.00000000e+00 -1.44749379e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58780546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.88, Y:-144.75, Z:0.03 [[ 9.67743251e-01 2.51938484e-01 0.00000000e+00 5.52881280e+02] [-2.51938484e-01 9.67743251e-01 0.00000000e+00 -1.44754123e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44198729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.91, Y:-144.76, Z:0.03 [[ 9.67148168e-01 2.54213339e-01 0.00000000e+00 5.52909288e+02] [-2.54213339e-01 9.67148168e-01 0.00000000e+00 -1.44758789e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43659605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.94, Y:-144.76, Z:0.04 [[ 9.66401558e-01 2.57037020e-01 0.00000000e+00 5.52936725e+02] [-2.57037020e-01 9.66401558e-01 0.00000000e+00 -1.44759907e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59648609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.96, Y:-144.76, Z:0.04 [[ 9.66224184e-01 2.57702980e-01 0.00000000e+00 5.52963839e+02] [-2.57702980e-01 9.66224184e-01 0.00000000e+00 -1.44763104e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56710673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.99, Y:-144.77, Z:0.03 [[ 9.66121026e-01 2.58089446e-01 0.00000000e+00 5.52991220e+02] [-2.58089446e-01 9.66121026e-01 0.00000000e+00 -1.44766643e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46501213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.02, Y:-144.77, Z:0.03 [[ 9.66052931e-01 2.58344219e-01 0.00000000e+00 5.53018734e+02] [-2.58344219e-01 9.66052931e-01 0.00000000e+00 -1.44769698e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31494900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.05, Y:-144.78, Z:0.04 [[ 9.65408609e-01 2.60741668e-01 0.00000000e+00 5.53051822e+02] [-2.60741668e-01 9.65408609e-01 0.00000000e+00 -1.44778054e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52112651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.08, Y:-144.78, Z:0.03 [[ 9.65252500e-01 2.61318983e-01 0.00000000e+00 5.53079733e+02] [-2.61318983e-01 9.65252500e-01 0.00000000e+00 -1.44775028e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32229280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.10, Y:-144.77, Z:0.03 [[ 9.65398948e-01 2.60777435e-01 0.00000000e+00 5.53104946e+02] [-2.60777435e-01 9.65398948e-01 0.00000000e+00 -1.44774660e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09363548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.13, Y:-144.78, Z:0.04 [[ 9.65375046e-01 2.60865906e-01 0.00000000e+00 5.53134477e+02] [-2.60865906e-01 9.65375046e-01 0.00000000e+00 -1.44778738e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57786396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.16, Y:-144.78, Z:0.03 [[ 9.65711853e-01 2.59616287e-01 0.00000000e+00 5.53160905e+02] [-2.59616287e-01 9.65711853e-01 0.00000000e+00 -1.44778777e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42894734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.19, Y:-144.78, Z:0.04 [[ 9.66017732e-01 2.58475806e-01 0.00000000e+00 5.53187941e+02] [-2.58475806e-01 9.66017732e-01 0.00000000e+00 -1.44780469e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51945186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.22, Y:-144.78, Z:0.03 [[ 9.66306919e-01 2.57392575e-01 0.00000000e+00 5.53215621e+02] [-2.57392575e-01 9.66306919e-01 0.00000000e+00 -1.44783006e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39500555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.24, Y:-144.79, Z:0.03 [[ 9.66649730e-01 2.56102125e-01 0.00000000e+00 5.53242737e+02] [-2.56102125e-01 9.66649730e-01 0.00000000e+00 -1.44785365e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31379233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.28, Y:-144.79, Z:0.04 [[ 9.66747282e-01 2.55733635e-01 0.00000000e+00 5.53277310e+02] [-2.55733635e-01 9.66747282e-01 0.00000000e+00 -1.44791791e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84510511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.411400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:553.30, Y:-144.79, Z:0.04 [[ 9.66941702e-01 2.54997539e-01 0.00000000e+00 5.53304749e+02] [-2.54997539e-01 9.66941702e-01 0.00000000e+00 -1.44793477e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86080294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.33, Y:-144.79, Z:0.03 [[ 9.67319199e-01 2.53561762e-01 0.00000000e+00 5.53327262e+02] [-2.53561762e-01 9.67319199e-01 0.00000000e+00 -1.44789887e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25436725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.36, Y:-144.80, Z:0.04 [[ 9.66870302e-01 2.55268131e-01 0.00000000e+00 5.53362450e+02] [-2.55268131e-01 9.66870302e-01 0.00000000e+00 -1.44798434e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79226320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.38, Y:-144.79, Z:0.03 [[ 9.67177622e-01 2.54101254e-01 0.00000000e+00 5.53384971e+02] [-2.54101254e-01 9.67177622e-01 0.00000000e+00 -1.44793761e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04907481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.41, Y:-144.80, Z:0.03 [[ 9.67171575e-01 2.54124271e-01 0.00000000e+00 5.53412966e+02] [-2.54124271e-01 9.67171575e-01 0.00000000e+00 -1.44795824e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91868259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.44, Y:-144.80, Z:0.03 [[ 9.67428660e-01 2.53143808e-01 0.00000000e+00 5.53442393e+02] [-2.53143808e-01 9.67428660e-01 0.00000000e+00 -1.44797524e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80345271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.48, Y:-144.80, Z:0.03 [[ 9.67763073e-01 2.51862334e-01 0.00000000e+00 5.53475148e+02] [-2.51862334e-01 9.67763073e-01 0.00000000e+00 -1.44804031e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21553370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.50, Y:-144.81, Z:0.03 [[ 9.67938047e-01 2.51189046e-01 0.00000000e+00 5.53504585e+02] [-2.51189046e-01 9.67938047e-01 0.00000000e+00 -1.44808827e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40929471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.53, Y:-144.81, Z:0.03 [[ 9.68267322e-01 2.49916772e-01 0.00000000e+00 5.53531702e+02] [-2.49916772e-01 9.68267322e-01 0.00000000e+00 -1.44806081e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38958962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.57, Y:-144.81, Z:0.03 [[ 9.67788733e-01 2.51763713e-01 0.00000000e+00 5.53565256e+02] [-2.51763713e-01 9.67788733e-01 0.00000000e+00 -1.44813196e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48789115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.59, Y:-144.81, Z:0.03 [[ 9.68080769e-01 2.50638436e-01 0.00000000e+00 5.53589980e+02] [-2.50638436e-01 9.68080769e-01 0.00000000e+00 -1.44809926e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42598246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.62, Y:-144.82, Z:0.03 [[ 9.67492652e-01 2.52899125e-01 0.00000000e+00 5.53622384e+02] [-2.52899125e-01 9.67492652e-01 0.00000000e+00 -1.44816035e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45123034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.65, Y:-144.81, Z:0.04 [[ 9.67754580e-01 2.51894963e-01 0.00000000e+00 5.53647186e+02] [-2.51894963e-01 9.67754580e-01 0.00000000e+00 -1.44812165e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57085622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.68, Y:-144.81, Z:0.04 [[ 9.67431577e-01 2.53132659e-01 0.00000000e+00 5.53677686e+02] [-2.53132659e-01 9.67431577e-01 0.00000000e+00 -1.44809208e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50554598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.71, Y:-144.81, Z:0.03 [[ 9.67462671e-01 2.53013795e-01 0.00000000e+00 5.53706751e+02] [-2.53013795e-01 9.67462671e-01 0.00000000e+00 -1.44810013e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31196067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.73, Y:-144.81, Z:0.03 [[ 9.67605034e-01 2.52468806e-01 0.00000000e+00 5.53734892e+02] [-2.52468806e-01 9.67605034e-01 0.00000000e+00 -1.44810698e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21552815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.891400513 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:553.76, Y:-144.81, Z:0.03 [[ 9.67847304e-01 2.51538460e-01 0.00000000e+00 5.53764603e+02] [-2.51538460e-01 9.67847304e-01 0.00000000e+00 -1.44812022e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10559484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.921400513 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:553.79, Y:-144.81, Z:0.03 [[ 9.68844186e-01 2.47671038e-01 0.00000000e+00 5.53791176e+02] [-2.47671038e-01 9.68844186e-01 0.00000000e+00 -1.44808704e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32113338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.82, Y:-144.81, Z:0.03 [[ 9.69518220e-01 2.45019226e-01 0.00000000e+00 5.53822037e+02] [-2.45019226e-01 9.69518220e-01 0.00000000e+00 -1.44812818e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47565537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.85, Y:-144.82, Z:0.03 [[ 9.70157528e-01 2.42475508e-01 0.00000000e+00 5.53847515e+02] [-2.42475508e-01 9.70157528e-01 0.00000000e+00 -1.44815247e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49165250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.011400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:553.88, Y:-144.82, Z:0.03 [[ 9.70490019e-01 2.41141292e-01 0.00000000e+00 5.53878637e+02] [-2.41141292e-01 9.70490019e-01 0.00000000e+00 -1.44821723e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38875782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.90, Y:-144.82, Z:0.03 [[ 9.70952147e-01 2.39273750e-01 0.00000000e+00 5.53903848e+02] [-2.39273750e-01 9.70952147e-01 0.00000000e+00 -1.44822166e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14383323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.93, Y:-144.82, Z:0.03 [[ 9.71216953e-01 2.38196619e-01 0.00000000e+00 5.53932852e+02] [-2.38196619e-01 9.71216953e-01 0.00000000e+00 -1.44824206e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87017530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.96, Y:-144.82, Z:0.03 [[ 9.70680749e-01 2.40372387e-01 0.00000000e+00 5.53962076e+02] [-2.40372387e-01 9.70680749e-01 0.00000000e+00 -1.44824774e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81056107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.99, Y:-144.83, Z:0.03 [[ 9.70755952e-01 2.40068492e-01 0.00000000e+00 5.53989165e+02] [-2.40068492e-01 9.70755952e-01 0.00000000e+00 -1.44829390e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81056107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.02, Y:-144.83, Z:0.03 [[ 9.70181992e-01 2.42377602e-01 0.00000000e+00 5.54016135e+02] [-2.42377602e-01 9.70181992e-01 0.00000000e+00 -1.44831635e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86609604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.05, Y:-144.83, Z:0.03 [[ 9.69742983e-01 2.44128137e-01 0.00000000e+00 5.54048180e+02] [-2.44128137e-01 9.69742983e-01 0.00000000e+00 -1.44834805e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78217209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.08, Y:-144.84, Z:0.03 [[ 9.69361173e-01 2.45639808e-01 0.00000000e+00 5.54075651e+02] [-2.45639808e-01 9.69361173e-01 0.00000000e+00 -1.44836270e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85825938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.10, Y:-144.84, Z:0.03 [[ 9.69324327e-01 2.45785170e-01 0.00000000e+00 5.54103342e+02] [-2.45785170e-01 9.69324327e-01 0.00000000e+00 -1.44836610e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73580620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.13, Y:-144.84, Z:0.03 [[ 9.69054881e-01 2.46845374e-01 0.00000000e+00 5.54133679e+02] [-2.46845374e-01 9.69054881e-01 0.00000000e+00 -1.44841232e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67911069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.16, Y:-144.84, Z:0.03 [[ 9.68977563e-01 2.47148704e-01 0.00000000e+00 5.54161231e+02] [-2.47148704e-01 9.68977563e-01 0.00000000e+00 -1.44841669e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11258215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.19, Y:-144.84, Z:0.03 [[ 9.69068515e-01 2.46791844e-01 0.00000000e+00 5.54189799e+02] [-2.46791844e-01 9.69068515e-01 0.00000000e+00 -1.44844060e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42072280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.22, Y:-144.85, Z:0.04 [[ 9.69177157e-01 2.46364848e-01 0.00000000e+00 5.54218558e+02] [-2.46364848e-01 9.69177157e-01 0.00000000e+00 -1.44846914e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54320570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.25, Y:-144.85, Z:0.03 [[ 9.69369343e-01 2.45607567e-01 0.00000000e+00 5.54245138e+02] [-2.45607567e-01 9.69369343e-01 0.00000000e+00 -1.44849590e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39171138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.27, Y:-144.85, Z:0.03 [[ 9.69592367e-01 2.44725645e-01 0.00000000e+00 5.54271647e+02] [-2.44725645e-01 9.69592367e-01 0.00000000e+00 -1.44852927e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06938394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.30, Y:-144.86, Z:0.03 [[ 9.69959770e-01 2.43265379e-01 0.00000000e+00 5.54301382e+02] [-2.43265379e-01 9.69959770e-01 0.00000000e+00 -1.44856361e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62788856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.33, Y:-144.86, Z:0.03 [[ 9.70418302e-01 2.41429738e-01 0.00000000e+00 5.54330379e+02] [-2.41429738e-01 9.70418302e-01 0.00000000e+00 -1.44859543e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63120427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.36, Y:-144.86, Z:0.03 [[ 9.70422505e-01 2.41412844e-01 0.00000000e+00 5.54355958e+02] [-2.41412844e-01 9.70422505e-01 0.00000000e+00 -1.44863697e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60166608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.38, Y:-144.87, Z:0.03 [[ 9.70561850e-01 2.40852021e-01 0.00000000e+00 5.54383574e+02] [-2.40852021e-01 9.70561850e-01 0.00000000e+00 -1.44867973e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00164323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.41, Y:-144.87, Z:0.03 [[ 9.70658622e-01 2.40461721e-01 0.00000000e+00 5.54412500e+02] [-2.40461721e-01 9.70658622e-01 0.00000000e+00 -1.44872528e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06401039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.44, Y:-144.88, Z:0.04 [[ 9.70976464e-01 2.39175054e-01 0.00000000e+00 5.54442488e+02] [-2.39175054e-01 9.70976464e-01 0.00000000e+00 -1.44877190e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61249767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.47, Y:-144.88, Z:0.04 [[ 9.71259461e-01 2.38023232e-01 0.00000000e+00 5.54470332e+02] [-2.38023232e-01 9.71259461e-01 0.00000000e+00 -1.44883298e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69906123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.50, Y:-144.89, Z:0.03 [[ 9.71198943e-01 2.38270044e-01 0.00000000e+00 5.54495707e+02] [-2.38270044e-01 9.71198943e-01 0.00000000e+00 -1.44888920e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16548231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.53, Y:-144.89, Z:0.04 [[ 9.71399269e-01 2.37452018e-01 0.00000000e+00 5.54525208e+02] [-2.37452018e-01 9.71399269e-01 0.00000000e+00 -1.44894551e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58113025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.55, Y:-144.90, Z:0.03 [[ 9.71259279e-01 2.38023975e-01 0.00000000e+00 5.54552947e+02] [-2.38023975e-01 9.71259279e-01 0.00000000e+00 -1.44899956e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07973066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.58, Y:-144.90, Z:0.03 [[ 9.71055121e-01 2.38855504e-01 0.00000000e+00 5.54581225e+02] [-2.38855504e-01 9.71055121e-01 0.00000000e+00 -1.44904825e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08147265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.61, Y:-144.91, Z:0.03 [[ 9.70932171e-01 2.39354797e-01 0.00000000e+00 5.54610636e+02] [-2.39354797e-01 9.70932171e-01 0.00000000e+00 -1.44909734e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49743055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.64, Y:-144.91, Z:0.03 [[ 9.70693135e-01 2.40322360e-01 0.00000000e+00 5.54636656e+02] [-2.40322360e-01 9.70693135e-01 0.00000000e+00 -1.44914350e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39341337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.67, Y:-144.92, Z:0.03 [[ 9.70561772e-01 2.40852335e-01 0.00000000e+00 5.54665258e+02] [-2.40852335e-01 9.70561772e-01 0.00000000e+00 -1.44919509e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91420348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.69, Y:-144.93, Z:0.03 [[ 9.70213461e-01 2.42251603e-01 0.00000000e+00 5.54690227e+02] [-2.42251603e-01 9.70213461e-01 0.00000000e+00 -1.44925680e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66240972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.72, Y:-144.93, Z:0.03 [[ 9.70490241e-01 2.41140399e-01 0.00000000e+00 5.54721771e+02] [-2.41140399e-01 9.70490241e-01 0.00000000e+00 -1.44931919e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67296379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.75, Y:-144.94, Z:0.02 [[ 9.70804939e-01 2.39870318e-01 0.00000000e+00 5.54747246e+02] [-2.39870318e-01 9.70804939e-01 0.00000000e+00 -1.44940363e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29177962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.77, Y:-144.95, Z:0.02 [[ 9.70953759e-01 2.39267211e-01 0.00000000e+00 5.54773747e+02] [-2.39267211e-01 9.70953759e-01 0.00000000e+00 -1.44947424e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41101548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.80, Y:-144.95, Z:0.03 [[ 9.71451919e-01 2.37236525e-01 0.00000000e+00 5.54803255e+02] [-2.37236525e-01 9.71451919e-01 0.00000000e+00 -1.44954547e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50235060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.83, Y:-144.96, Z:0.03 [[ 9.71745488e-01 2.36031155e-01 0.00000000e+00 5.54830668e+02] [-2.36031155e-01 9.71745488e-01 0.00000000e+00 -1.44960926e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59792164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.86, Y:-144.97, Z:0.02 [[ 9.71788463e-01 2.35854156e-01 0.00000000e+00 5.54859022e+02] [-2.35854156e-01 9.71788463e-01 0.00000000e+00 -1.44967839e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34723895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.88, Y:-144.97, Z:0.02 [[ 9.71207596e-01 2.38234771e-01 0.00000000e+00 5.54884937e+02] [-2.38234771e-01 9.71207596e-01 0.00000000e+00 -1.44973433e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15604041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.91, Y:-144.98, Z:0.02 [[ 9.70720854e-01 2.40210374e-01 0.00000000e+00 5.54914001e+02] [-2.40210374e-01 9.70720854e-01 0.00000000e+00 -1.44977492e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15366381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.94, Y:-144.98, Z:0.02 [[ 9.70128701e-01 2.42590816e-01 0.00000000e+00 5.54941479e+02] [-2.42590816e-01 9.70128701e-01 0.00000000e+00 -1.44980715e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29442498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.97, Y:-144.98, Z:0.02 [[ 9.69479345e-01 2.45172999e-01 0.00000000e+00 5.54969242e+02] [-2.45172999e-01 9.69479345e-01 0.00000000e+00 -1.44984071e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04436144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.00, Y:-144.99, Z:0.02 [[ 9.68585701e-01 2.48679995e-01 0.00000000e+00 5.54997335e+02] [-2.48679995e-01 9.68585701e-01 0.00000000e+00 -1.44985810e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21322728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.03, Y:-144.99, Z:0.02 [[ 9.68537950e-01 2.48865905e-01 0.00000000e+00 5.55025933e+02] [-2.48865905e-01 9.68537950e-01 0.00000000e+00 -1.44987928e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29357922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.05, Y:-144.99, Z:0.02 [[ 9.68834885e-01 2.47707418e-01 0.00000000e+00 5.55053521e+02] [-2.47707418e-01 9.68834885e-01 0.00000000e+00 -1.44988899e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40708299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.08, Y:-144.99, Z:0.03 [[ 9.69308844e-01 2.45846224e-01 0.00000000e+00 5.55081190e+02] [-2.45846224e-01 9.69308844e-01 0.00000000e+00 -1.44990438e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52009310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.11, Y:-144.99, Z:0.03 [[ 9.69907225e-01 2.43474794e-01 0.00000000e+00 5.55108684e+02] [-2.43474794e-01 9.69907225e-01 0.00000000e+00 -1.44993838e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79009687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.14, Y:-145.00, Z:0.03 [[ 9.70620096e-01 2.40617184e-01 0.00000000e+00 5.55137559e+02] [-2.40617184e-01 9.70620096e-01 0.00000000e+00 -1.44998127e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71598084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.16, Y:-145.00, Z:0.03 [[ 9.71581402e-01 2.36705679e-01 0.00000000e+00 5.55164180e+02] [-2.36705679e-01 9.71581402e-01 0.00000000e+00 -1.45000891e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80776937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.18, Y:-145.00, Z:0.03 [[ 9.71134585e-01 2.38532217e-01 0.00000000e+00 5.55177926e+02] [-2.38532217e-01 9.71134585e-01 0.00000000e+00 -1.44999953e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81136586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.451400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:555.21, Y:-145.00, Z:0.03 [[ 9.70981287e-01 2.39155473e-01 0.00000000e+00 5.55205568e+02] [-2.39155473e-01 9.70981287e-01 0.00000000e+00 -1.45003805e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67457436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.25, Y:-145.01, Z:0.03 [[ 9.71796444e-01 2.35821272e-01 0.00000000e+00 5.55245696e+02] [-2.35821272e-01 9.71796444e-01 0.00000000e+00 -1.45011549e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80948713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.27, Y:-145.02, Z:0.03 [[ 9.71891062e-01 2.35431016e-01 0.00000000e+00 5.55274475e+02] [-2.35431016e-01 9.71891062e-01 0.00000000e+00 -1.45015426e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64997367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.30, Y:-145.02, Z:0.03 [[ 9.71761484e-01 2.35965290e-01 0.00000000e+00 5.55302049e+02] [-2.35965290e-01 9.71761484e-01 0.00000000e+00 -1.45018978e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60455476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.571400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:555.33, Y:-145.02, Z:0.03 [[ 9.71490992e-01 2.37076471e-01 0.00000000e+00 5.55328953e+02] [-2.37076471e-01 9.71490992e-01 0.00000000e+00 -1.45022812e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73107502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.36, Y:-145.03, Z:0.03 [[ 9.71317485e-01 2.37786340e-01 0.00000000e+00 5.55356239e+02] [-2.37786340e-01 9.71317485e-01 0.00000000e+00 -1.45026854e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80156182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.37, Y:-145.03, Z:0.03 [[ 9.70574513e-01 2.40800986e-01 0.00000000e+00 5.55373059e+02] [-2.40800986e-01 9.70574513e-01 0.00000000e+00 -1.45028119e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71331224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.41, Y:-145.04, Z:0.03 [[ 9.70471101e-01 2.41217418e-01 0.00000000e+00 5.55406893e+02] [-2.41217418e-01 9.70471101e-01 0.00000000e+00 -1.45036231e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84289722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.43, Y:-145.04, Z:0.02 [[ 9.70082665e-01 2.42774842e-01 0.00000000e+00 5.55428076e+02] [-2.42774842e-01 9.70082665e-01 0.00000000e+00 -1.45037302e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46687900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.721400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:555.46, Y:-145.04, Z:0.02 [[ 9.69712689e-01 2.44248441e-01 0.00000000e+00 5.55455186e+02] [-2.44248441e-01 9.69712689e-01 0.00000000e+00 -1.45042881e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26630444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.48, Y:-145.05, Z:0.02 [[ 9.70403148e-01 2.41490643e-01 0.00000000e+00 5.55482202e+02] [-2.41490643e-01 9.70403148e-01 0.00000000e+00 -1.45047379e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36193035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.51, Y:-145.05, Z:0.03 [[ 9.70612785e-01 2.40646672e-01 0.00000000e+00 5.55509393e+02] [-2.40646672e-01 9.70612785e-01 0.00000000e+00 -1.45053054e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59125107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.54, Y:-145.06, Z:0.03 [[ 9.70808737e-01 2.39854947e-01 0.00000000e+00 5.55541610e+02] [-2.39854947e-01 9.70808737e-01 0.00000000e+00 -1.45062116e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73077626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.56, Y:-145.07, Z:0.03 [[ 9.71215345e-01 2.38203176e-01 0.00000000e+00 5.55564498e+02] [-2.38203176e-01 9.71215345e-01 0.00000000e+00 -1.45066492e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89493656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.59, Y:-145.07, Z:0.03 [[ 9.71200091e-01 2.38265364e-01 0.00000000e+00 5.55592548e+02] [-2.38265364e-01 9.71200091e-01 0.00000000e+00 -1.45071308e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01397468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.62, Y:-145.08, Z:0.03 [[ 9.71300016e-01 2.37857684e-01 0.00000000e+00 5.55618723e+02] [-2.37857684e-01 9.71300016e-01 0.00000000e+00 -1.45075643e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89745598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.66, Y:-145.08, Z:0.03 [[ 9.71808852e-01 2.35770133e-01 0.00000000e+00 5.55655947e+02] [-2.35770133e-01 9.71808852e-01 0.00000000e+00 -1.45082917e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14191850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.68, Y:-145.09, Z:0.03 [[ 9.72015779e-01 2.34915571e-01 0.00000000e+00 5.55682787e+02] [-2.34915571e-01 9.72015779e-01 0.00000000e+00 -1.45086534e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94886525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.70, Y:-145.09, Z:0.03 [[ 9.71525999e-01 2.36932973e-01 0.00000000e+00 5.55700979e+02] [-2.36932973e-01 9.71525999e-01 0.00000000e+00 -1.45088038e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74920625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.74, Y:-145.09, Z:0.03 [[ 9.72264314e-01 2.33884810e-01 0.00000000e+00 5.55735597e+02] [-2.33884810e-01 9.72264314e-01 0.00000000e+00 -1.45092318e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41757749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.76, Y:-145.10, Z:0.03 [[ 9.72334471e-01 2.33592973e-01 0.00000000e+00 5.55763735e+02] [-2.33592973e-01 9.72334471e-01 0.00000000e+00 -1.45096639e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41757749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.78, Y:-145.10, Z:0.03 [[ 9.72564927e-01 2.32631603e-01 0.00000000e+00 5.55784621e+02] [-2.32631603e-01 9.72564927e-01 0.00000000e+00 -1.45099243e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06776880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.81, Y:-145.10, Z:0.03 [[ 9.73097798e-01 2.30392440e-01 0.00000000e+00 5.55812465e+02] [-2.30392440e-01 9.73097798e-01 0.00000000e+00 -1.45104908e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02325300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.141400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:555.84, Y:-145.11, Z:0.03 [[ 9.73630319e-01 2.28131546e-01 0.00000000e+00 5.55838987e+02] [-2.28131546e-01 9.73630319e-01 0.00000000e+00 -1.45110030e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69198140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.87, Y:-145.11, Z:0.03 [[ 9.74895974e-01 2.22660816e-01 0.00000000e+00 5.55867296e+02] [-2.22660816e-01 9.74895974e-01 0.00000000e+00 -1.45113841e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97415955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.90, Y:-145.12, Z:0.03 [[ 9.75753060e-01 2.18874313e-01 0.00000000e+00 5.55895977e+02] [-2.18874313e-01 9.75753060e-01 0.00000000e+00 -1.45117674e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09237012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.92, Y:-145.12, Z:0.03 [[ 9.77240821e-01 2.12132925e-01 0.00000000e+00 5.55923170e+02] [-2.12132925e-01 9.77240821e-01 0.00000000e+00 -1.45123078e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24319235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.95, Y:-145.13, Z:0.03 [[ 9.77680758e-01 2.10096017e-01 0.00000000e+00 5.55949431e+02] [-2.10096017e-01 9.77680758e-01 0.00000000e+00 -1.45128231e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09556782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.98, Y:-145.13, Z:0.03 [[ 9.78344244e-01 2.06984398e-01 0.00000000e+00 5.55982908e+02] [-2.06984398e-01 9.78344244e-01 0.00000000e+00 -1.45133135e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40638043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.00, Y:-145.13, Z:0.03 [[ 9.78256507e-01 2.07398664e-01 0.00000000e+00 5.56004939e+02] [-2.07398664e-01 9.78256507e-01 0.00000000e+00 -1.45134496e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99304232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.03, Y:-145.14, Z:0.03 [[ 9.78144147e-01 2.07927939e-01 0.00000000e+00 5.56032673e+02] [-2.07927939e-01 9.78144147e-01 0.00000000e+00 -1.45136963e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17294410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.06, Y:-145.14, Z:0.03 [[ 9.78245268e-01 2.07451668e-01 0.00000000e+00 5.56059455e+02] [-2.07451668e-01 9.78245268e-01 0.00000000e+00 -1.45138749e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05174880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.09, Y:-145.14, Z:0.03 [[ 9.78345848e-01 2.06976813e-01 0.00000000e+00 5.56087308e+02] [-2.06976813e-01 9.78345848e-01 0.00000000e+00 -1.45141485e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07394671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.12, Y:-145.14, Z:0.03 [[ 9.78593441e-01 2.05803006e-01 0.00000000e+00 5.56115418e+02] [-2.05803006e-01 9.78593441e-01 0.00000000e+00 -1.45142882e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16908297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.14, Y:-145.14, Z:0.03 [[ 9.78890057e-01 2.04387516e-01 0.00000000e+00 5.56144536e+02] [-2.04387516e-01 9.78890057e-01 0.00000000e+00 -1.45143349e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41331603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.17, Y:-145.14, Z:0.04 [[ 9.79378936e-01 2.02031926e-01 0.00000000e+00 5.56173485e+02] [-2.02031926e-01 9.79378936e-01 0.00000000e+00 -1.45139246e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61072355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.531400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:556.20, Y:-145.14, Z:0.04 [[ 9.79519770e-01 2.01348007e-01 0.00000000e+00 5.56201793e+02] [-2.01348007e-01 9.79519770e-01 0.00000000e+00 -1.45139499e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58890037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.23, Y:-145.14, Z:0.04 [[ 9.79985764e-01 1.99067582e-01 0.00000000e+00 5.56230554e+02] [-1.99067582e-01 9.79985764e-01 0.00000000e+00 -1.45138710e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.73993250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.26, Y:-145.14, Z:0.04 [[ 9.80418502e-01 1.96925267e-01 0.00000000e+00 5.56259544e+02] [-1.96925267e-01 9.80418502e-01 0.00000000e+00 -1.45137139e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69970746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.29, Y:-145.14, Z:0.04 [[ 9.80803719e-01 1.94997602e-01 0.00000000e+00 5.56288129e+02] [-1.94997602e-01 9.80803719e-01 0.00000000e+00 -1.45135006e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66805386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.32, Y:-145.13, Z:0.04 [[ 9.81268519e-01 1.92644994e-01 0.00000000e+00 5.56315753e+02] [-1.92644994e-01 9.81268519e-01 0.00000000e+00 -1.45132721e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55741993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.35, Y:-145.13, Z:0.04 [[ 9.81948904e-01 1.89146374e-01 0.00000000e+00 5.56347552e+02] [-1.89146374e-01 9.81948904e-01 0.00000000e+00 -1.45125763e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63381631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.38, Y:-145.12, Z:0.04 [[ 9.82398300e-01 1.86798236e-01 0.00000000e+00 5.56376352e+02] [-1.86798236e-01 9.82398300e-01 0.00000000e+00 -1.45123443e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57103597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.40, Y:-145.12, Z:0.03 [[ 9.82669943e-01 1.85363921e-01 0.00000000e+00 5.56403469e+02] [-1.85363921e-01 9.82669943e-01 0.00000000e+00 -1.45120212e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41347056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.43, Y:-145.12, Z:0.03 [[ 9.82994536e-01 1.83634805e-01 0.00000000e+00 5.56432116e+02] [-1.83634805e-01 9.82994536e-01 0.00000000e+00 -1.45117235e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36566962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.46, Y:-145.11, Z:0.03 [[ 9.83453689e-01 1.81159714e-01 0.00000000e+00 5.56460578e+02] [-1.81159714e-01 9.83453689e-01 0.00000000e+00 -1.45108609e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27035982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.49, Y:-145.11, Z:0.03 [[ 9.83657826e-01 1.80047997e-01 0.00000000e+00 5.56488464e+02] [-1.80047997e-01 9.83657826e-01 0.00000000e+00 -1.45107342e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23744647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.52, Y:-145.11, Z:0.03 [[ 9.83667099e-01 1.79997328e-01 0.00000000e+00 5.56517787e+02] [-1.79997328e-01 9.83667099e-01 0.00000000e+00 -1.45106848e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36962290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.55, Y:-145.11, Z:0.03 [[ 9.83664760e-01 1.80010110e-01 0.00000000e+00 5.56545397e+02] [-1.80010110e-01 9.83664760e-01 0.00000000e+00 -1.45105818e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35021528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.57, Y:-145.11, Z:0.03 [[ 9.83493375e-01 1.80944136e-01 0.00000000e+00 5.56574046e+02] [-1.80944136e-01 9.83493375e-01 0.00000000e+00 -1.45105092e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43367877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.60, Y:-145.10, Z:0.03 [[ 9.83253035e-01 1.82245631e-01 0.00000000e+00 5.56602725e+02] [-1.82245631e-01 9.83253035e-01 0.00000000e+00 -1.45104104e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45967441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.63, Y:-145.10, Z:0.03 [[ 9.82197107e-01 1.87853247e-01 0.00000000e+00 5.56632179e+02] [-1.87853247e-01 9.82197107e-01 0.00000000e+00 -1.45098182e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48085769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.66, Y:-145.10, Z:0.03 [[ 9.81486925e-01 1.91529150e-01 0.00000000e+00 5.56660126e+02] [-1.91529150e-01 9.81486925e-01 0.00000000e+00 -1.45097146e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43985399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.69, Y:-145.09, Z:0.04 [[ 9.80166154e-01 1.98177473e-01 0.00000000e+00 5.56689417e+02] [-1.98177473e-01 9.80166154e-01 0.00000000e+00 -1.45090740e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55202721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.72, Y:-145.09, Z:0.04 [[ 9.79632989e-01 2.00796430e-01 0.00000000e+00 5.56717846e+02] [-2.00796430e-01 9.79632989e-01 0.00000000e+00 -1.45090820e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53038679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.101400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:556.75, Y:-145.09, Z:0.03 [[ 9.79293681e-01 2.02444773e-01 0.00000000e+00 5.56746395e+02] [-2.02444773e-01 9.79293681e-01 0.00000000e+00 -1.45091250e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43326348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.77, Y:-145.09, Z:0.03 [[ 9.79142414e-01 2.03175128e-01 0.00000000e+00 5.56774314e+02] [-2.03175128e-01 9.79142414e-01 0.00000000e+00 -1.45092472e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48222255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.80, Y:-145.09, Z:0.04 [[ 9.79149498e-01 2.03140988e-01 0.00000000e+00 5.56802347e+02] [-2.03140988e-01 9.79149498e-01 0.00000000e+00 -1.45093378e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50198327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.191400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:556.83, Y:-145.09, Z:0.04 [[ 9.79303845e-01 2.02395599e-01 0.00000000e+00 5.56830369e+02] [-2.02395599e-01 9.79303845e-01 0.00000000e+00 -1.45093552e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56966100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.86, Y:-145.09, Z:0.04 [[ 9.79499319e-01 2.01447474e-01 0.00000000e+00 5.56858906e+02] [-2.01447474e-01 9.79499319e-01 0.00000000e+00 -1.45094834e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69471259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.89, Y:-145.09, Z:0.04 [[ 9.79930815e-01 1.99337897e-01 0.00000000e+00 5.56887713e+02] [-1.99337897e-01 9.79930815e-01 0.00000000e+00 -1.45094648e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88525145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.91, Y:-145.10, Z:0.04 [[ 9.80076730e-01 1.98619240e-01 0.00000000e+00 5.56914505e+02] [-1.98619240e-01 9.80076730e-01 0.00000000e+00 -1.45096661e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87406181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.94, Y:-145.10, Z:0.04 [[ 9.80160367e-01 1.98206094e-01 0.00000000e+00 5.56942246e+02] [-1.98206094e-01 9.80160367e-01 0.00000000e+00 -1.45098781e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82338478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.97, Y:-145.10, Z:0.04 [[ 9.80165934e-01 1.98178560e-01 0.00000000e+00 5.56969455e+02] [-1.98178560e-01 9.80165934e-01 0.00000000e+00 -1.45100382e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69071037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.00, Y:-145.10, Z:0.04 [[ 9.80113072e-01 1.98439832e-01 0.00000000e+00 5.56997250e+02] [-1.98439832e-01 9.80113072e-01 0.00000000e+00 -1.45102043e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62344614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.02, Y:-145.10, Z:0.04 [[ 9.79971065e-01 1.99139929e-01 0.00000000e+00 5.57024075e+02] [-1.99139929e-01 9.79971065e-01 0.00000000e+00 -1.45103450e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54396835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.05, Y:-145.10, Z:0.03 [[ 9.79606145e-01 2.00927353e-01 0.00000000e+00 5.57052368e+02] [-2.00927353e-01 9.79606145e-01 0.00000000e+00 -1.45102453e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44684545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.08, Y:-145.10, Z:0.03 [[ 9.79493212e-01 2.01477165e-01 0.00000000e+00 5.57080490e+02] [-2.01477165e-01 9.79493212e-01 0.00000000e+00 -1.45103768e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44540382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.11, Y:-145.10, Z:0.03 [[ 9.79462464e-01 2.01626591e-01 0.00000000e+00 5.57107825e+02] [-2.01626591e-01 9.79462464e-01 0.00000000e+00 -1.45104828e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37463570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.14, Y:-145.11, Z:0.03 [[ 9.79519255e-01 2.01350513e-01 0.00000000e+00 5.57136282e+02] [-2.01350513e-01 9.79519255e-01 0.00000000e+00 -1.45106624e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41217843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.16, Y:-145.11, Z:0.04 [[ 9.79682981e-01 2.00552381e-01 0.00000000e+00 5.57164529e+02] [-2.00552381e-01 9.79682981e-01 0.00000000e+00 -1.45106204e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50833867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.19, Y:-145.11, Z:0.03 [[ 9.79723294e-01 2.00355353e-01 0.00000000e+00 5.57192118e+02] [-2.00355353e-01 9.79723294e-01 0.00000000e+00 -1.45106875e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49820443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.22, Y:-145.11, Z:0.04 [[ 9.79665355e-01 2.00638461e-01 0.00000000e+00 5.57220830e+02] [-2.00638461e-01 9.79665355e-01 0.00000000e+00 -1.45107212e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50022720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.25, Y:-145.11, Z:0.03 [[ 9.79545059e-01 2.01224944e-01 0.00000000e+00 5.57248941e+02] [-2.01224944e-01 9.79545059e-01 0.00000000e+00 -1.45107706e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48143016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.28, Y:-145.11, Z:0.03 [[ 9.79363730e-01 2.02105628e-01 0.00000000e+00 5.57276992e+02] [-2.02105628e-01 9.79363730e-01 0.00000000e+00 -1.45109092e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41775655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.30, Y:-145.11, Z:0.03 [[ 9.79240753e-01 2.02700634e-01 0.00000000e+00 5.57304685e+02] [-2.02700634e-01 9.79240753e-01 0.00000000e+00 -1.45110155e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43931600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.33, Y:-145.11, Z:0.04 [[ 9.79128877e-01 2.03240357e-01 0.00000000e+00 5.57332843e+02] [-2.03240357e-01 9.79128877e-01 0.00000000e+00 -1.45108393e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58775594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.36, Y:-145.11, Z:0.04 [[ 9.79214523e-01 2.02827309e-01 0.00000000e+00 5.57360859e+02] [-2.02827309e-01 9.79214523e-01 0.00000000e+00 -1.45109041e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79314056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.39, Y:-145.11, Z:0.04 [[ 9.79644878e-01 2.00738418e-01 0.00000000e+00 5.57389272e+02] [-2.00738418e-01 9.79644878e-01 0.00000000e+00 -1.45107218e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75561563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.42, Y:-145.11, Z:0.04 [[ 9.79959628e-01 1.99196205e-01 0.00000000e+00 5.57417506e+02] [-1.99196205e-01 9.79959628e-01 0.00000000e+00 -1.45109066e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67754394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.45, Y:-145.11, Z:0.04 [[ 9.80255866e-01 1.97733249e-01 0.00000000e+00 5.57445550e+02] [-1.97733249e-01 9.80255866e-01 0.00000000e+00 -1.45110903e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56545626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.47, Y:-145.11, Z:0.03 [[ 9.80569245e-01 1.96173279e-01 0.00000000e+00 5.57472301e+02] [-1.96173279e-01 9.80569245e-01 0.00000000e+00 -1.45112403e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44483889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.50, Y:-145.11, Z:0.04 [[ 9.80781041e-01 1.95111634e-01 0.00000000e+00 5.57499858e+02] [-1.95111634e-01 9.80781041e-01 0.00000000e+00 -1.45113770e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50629579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.53, Y:-145.12, Z:0.04 [[ 9.80816224e-01 1.94934691e-01 0.00000000e+00 5.57527978e+02] [-1.94934691e-01 9.80816224e-01 0.00000000e+00 -1.45117949e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50629579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.56, Y:-145.12, Z:0.04 [[ 9.80997163e-01 1.94022077e-01 0.00000000e+00 5.57557244e+02] [-1.94022077e-01 9.80997163e-01 0.00000000e+00 -1.45119902e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55353510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.001400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:557.59, Y:-145.12, Z:0.04 [[ 9.81047194e-01 1.93768940e-01 0.00000000e+00 5.57585009e+02] [-1.93768940e-01 9.81047194e-01 0.00000000e+00 -1.45120201e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57545260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.61, Y:-145.12, Z:0.04 [[ 9.81048816e-01 1.93760729e-01 0.00000000e+00 5.57612258e+02] [-1.93760729e-01 9.81048816e-01 0.00000000e+00 -1.45123172e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58705126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.64, Y:-145.13, Z:0.04 [[ 9.81085215e-01 1.93576343e-01 0.00000000e+00 5.57640145e+02] [-1.93576343e-01 9.81085215e-01 0.00000000e+00 -1.45125587e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61601235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.67, Y:-145.13, Z:0.04 [[ 9.81071476e-01 1.93645963e-01 0.00000000e+00 5.57668259e+02] [-1.93645963e-01 9.81071476e-01 0.00000000e+00 -1.45127426e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68906152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.121400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:557.70, Y:-145.13, Z:0.04 [[ 9.80977000e-01 1.94123994e-01 0.00000000e+00 5.57696581e+02] [-1.94123994e-01 9.80977000e-01 0.00000000e+00 -1.45128044e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77155048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.72, Y:-145.13, Z:0.04 [[ 9.80986111e-01 1.94077946e-01 0.00000000e+00 5.57723790e+02] [-1.94077946e-01 9.80986111e-01 0.00000000e+00 -1.45131578e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77909101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.75, Y:-145.14, Z:0.04 [[ 9.81136917e-01 1.93314121e-01 0.00000000e+00 5.57751902e+02] [-1.93314121e-01 9.81136917e-01 0.00000000e+00 -1.45135122e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78250915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.78, Y:-145.14, Z:0.04 [[ 9.81437738e-01 1.91781039e-01 0.00000000e+00 5.57779969e+02] [-1.91781039e-01 9.81437738e-01 0.00000000e+00 -1.45138682e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84241659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.81, Y:-145.14, Z:0.04 [[ 9.81839869e-01 1.89711546e-01 0.00000000e+00 5.57806907e+02] [-1.89711546e-01 9.81839869e-01 0.00000000e+00 -1.45142486e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87199350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.83, Y:-145.15, Z:0.04 [[ 9.82884793e-01 1.84221290e-01 0.00000000e+00 5.57833744e+02] [-1.84221290e-01 9.82884793e-01 0.00000000e+00 -1.45147872e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86499545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.86, Y:-145.15, Z:0.04 [[ 9.83533072e-01 1.80728238e-01 0.00000000e+00 5.57860974e+02] [-1.80728238e-01 9.83533072e-01 0.00000000e+00 -1.45153242e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81770190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.89, Y:-145.16, Z:0.04 [[ 9.84067798e-01 1.77793611e-01 0.00000000e+00 5.57887146e+02] [-1.77793611e-01 9.84067798e-01 0.00000000e+00 -1.45158187e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68471236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.92, Y:-145.16, Z:0.04 [[ 9.84450399e-01 1.75662779e-01 0.00000000e+00 5.57915117e+02] [-1.75662779e-01 9.84450399e-01 0.00000000e+00 -1.45162851e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56788377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.94, Y:-145.17, Z:0.03 [[ 9.84752964e-01 1.73958617e-01 0.00000000e+00 5.57942797e+02] [-1.73958617e-01 9.84752964e-01 0.00000000e+00 -1.45166673e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44918332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.97, Y:-145.17, Z:0.04 [[ 9.84650555e-01 1.74537344e-01 0.00000000e+00 5.57969987e+02] [-1.74537344e-01 9.84650555e-01 0.00000000e+00 -1.45170927e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50137864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.451400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:558.00, Y:-145.17, Z:0.04 [[ 9.84513178e-01 1.75310589e-01 0.00000000e+00 5.57998246e+02] [-1.75310589e-01 9.84513178e-01 0.00000000e+00 -1.45174063e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52524482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.03, Y:-145.18, Z:0.04 [[ 9.84253913e-01 1.76760388e-01 0.00000000e+00 5.58026308e+02] [-1.76760388e-01 9.84253913e-01 0.00000000e+00 -1.45177345e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70121642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.511400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:558.05, Y:-145.18, Z:0.04 [[ 9.84075417e-01 1.77751437e-01 0.00000000e+00 5.58054255e+02] [-1.77751437e-01 9.84075417e-01 0.00000000e+00 -1.45178599e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67632263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.08, Y:-145.18, Z:0.04 [[ 9.83831551e-01 1.79096287e-01 0.00000000e+00 5.58082385e+02] [-1.79096287e-01 9.83831551e-01 0.00000000e+00 -1.45179109e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75458511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.11, Y:-145.18, Z:0.04 [[ 9.83957459e-01 1.78403250e-01 0.00000000e+00 5.58110249e+02] [-1.78403250e-01 9.83957459e-01 0.00000000e+00 -1.45180847e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84815329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.601400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:558.14, Y:-145.18, Z:0.04 [[ 9.84248682e-01 1.76789510e-01 0.00000000e+00 5.58138053e+02] [-1.76789510e-01 9.84248682e-01 0.00000000e+00 -1.45181678e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99914806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.17, Y:-145.18, Z:0.04 [[ 9.84642192e-01 1.74584519e-01 0.00000000e+00 5.58166411e+02] [-1.74584519e-01 9.84642192e-01 0.00000000e+00 -1.45183064e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18769563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.19, Y:-145.18, Z:0.04 [[ 9.85086104e-01 1.72062106e-01 0.00000000e+00 5.58193526e+02] [-1.72062106e-01 9.85086104e-01 0.00000000e+00 -1.45183868e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.29839122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.22, Y:-145.18, Z:0.05 [[ 9.86155982e-01 1.65820323e-01 0.00000000e+00 5.58222096e+02] [-1.65820323e-01 9.86155982e-01 0.00000000e+00 -1.45181456e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.55040349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.25, Y:-145.18, Z:0.05 [[ 9.86691056e-01 1.62606148e-01 0.00000000e+00 5.58250151e+02] [-1.62606148e-01 9.86691056e-01 0.00000000e+00 -1.45182334e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.54724758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.28, Y:-145.18, Z:0.05 [[ 9.87184047e-01 1.59585894e-01 0.00000000e+00 5.58278116e+02] [-1.59585894e-01 9.87184047e-01 0.00000000e+00 -1.45183229e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.51892920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.781400513 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:558.31, Y:-145.18, Z:0.05 [[ 9.87699965e-01 1.56361057e-01 0.00000000e+00 5.58306281e+02] [-1.56361057e-01 9.87699965e-01 0.00000000e+00 -1.45183804e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.52205629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.33, Y:-145.18, Z:0.05 [[ 9.88206735e-01 1.53125601e-01 0.00000000e+00 5.58334385e+02] [-1.53125601e-01 9.88206735e-01 0.00000000e+00 -1.45184866e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.71018560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.841400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:558.36, Y:-145.18, Z:0.05 [[ 9.89206763e-01 1.46526377e-01 0.00000000e+00 5.58362915e+02] [-1.46526377e-01 9.89206763e-01 0.00000000e+00 -1.45182368e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.81365770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.871400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:558.39, Y:-145.18, Z:0.05 [[ 9.89710667e-01 1.43083177e-01 0.00000000e+00 5.58390714e+02] [-1.43083177e-01 9.89710667e-01 0.00000000e+00 -1.45183400e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.74924819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.901400513 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:558.42, Y:-145.18, Z:0.05 [[ 9.90133741e-01 1.40125565e-01 0.00000000e+00 5.58417710e+02] [-1.40125565e-01 9.90133741e-01 0.00000000e+00 -1.45184064e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.66120960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.931400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:558.45, Y:-145.19, Z:0.05 [[ 9.90382652e-01 1.38355351e-01 0.00000000e+00 5.58445186e+02] [-1.38355351e-01 9.90382652e-01 0.00000000e+00 -1.45185151e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.66547707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.961400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:558.47, Y:-145.18, Z:0.05 [[ 9.90562224e-01 1.37063785e-01 0.00000000e+00 5.58473739e+02] [-1.37063785e-01 9.90562224e-01 0.00000000e+00 -1.45181982e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.56274332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.991400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:558.50, Y:-145.18, Z:0.04 [[ 9.90460438e-01 1.37797390e-01 0.00000000e+00 5.58501380e+02] [-1.37797390e-01 9.90460438e-01 0.00000000e+00 -1.45182620e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.41278355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.53, Y:-145.18, Z:0.04 [[ 9.90292245e-01 1.39000966e-01 0.00000000e+00 5.58529970e+02] [-1.39000966e-01 9.90292245e-01 0.00000000e+00 -1.45183543e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.21625222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.56, Y:-145.18, Z:0.04 [[ 9.90095211e-01 1.40397555e-01 0.00000000e+00 5.58557816e+02] [-1.40397555e-01 9.90095211e-01 0.00000000e+00 -1.45183095e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04476973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.59, Y:-145.18, Z:0.04 [[ 9.89838910e-01 1.42193291e-01 0.00000000e+00 5.58585214e+02] [-1.42193291e-01 9.89838910e-01 0.00000000e+00 -1.45181414e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93041867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.111400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:558.61, Y:-145.18, Z:0.04 [[ 9.89617432e-01 1.43726612e-01 0.00000000e+00 5.58614135e+02] [-1.43726612e-01 9.89617432e-01 0.00000000e+00 -1.45178497e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87594374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.64, Y:-145.17, Z:0.04 [[ 9.88880764e-01 1.48710571e-01 0.00000000e+00 5.58642181e+02] [-1.48710571e-01 9.88880764e-01 0.00000000e+00 -1.45170021e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81899871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.67, Y:-145.17, Z:0.04 [[ 9.88529519e-01 1.51027780e-01 0.00000000e+00 5.58669965e+02] [-1.51027780e-01 9.88529519e-01 0.00000000e+00 -1.45168368e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80240772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.201400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:558.70, Y:-145.17, Z:0.04 [[ 9.88368998e-01 1.52074728e-01 0.00000000e+00 5.58698242e+02] [-1.52074728e-01 9.88368998e-01 0.00000000e+00 -1.45166024e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79233809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.231400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:558.73, Y:-145.16, Z:0.04 [[ 9.88273052e-01 1.52697003e-01 0.00000000e+00 5.58725840e+02] [-1.52697003e-01 9.88273052e-01 0.00000000e+00 -1.45164977e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80771607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.261400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:558.76, Y:-145.16, Z:0.04 [[ 9.88563825e-01 1.50803066e-01 0.00000000e+00 5.58755549e+02] [-1.50803066e-01 9.88563825e-01 0.00000000e+00 -1.45157999e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93433245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.291400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:558.78, Y:-145.16, Z:0.04 [[ 9.88845007e-01 1.48948150e-01 0.00000000e+00 5.58782570e+02] [-1.48948150e-01 9.88845007e-01 0.00000000e+00 -1.45156486e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87281598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.321400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:558.81, Y:-145.16, Z:0.04 [[ 9.89111757e-01 1.47166343e-01 0.00000000e+00 5.58810497e+02] [-1.47166343e-01 9.89111757e-01 0.00000000e+00 -1.45155356e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79457439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.351400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:558.84, Y:-145.15, Z:0.04 [[ 9.89340920e-01 1.45617802e-01 0.00000000e+00 5.58839044e+02] [-1.45617802e-01 9.89340920e-01 0.00000000e+00 -1.45154715e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67990826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.381400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:558.87, Y:-145.15, Z:0.04 [[ 9.89436826e-01 1.44964712e-01 0.00000000e+00 5.58866786e+02] [-1.44964712e-01 9.89436826e-01 0.00000000e+00 -1.45154030e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51419749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.411400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:558.89, Y:-145.15, Z:0.03 [[ 9.89413092e-01 1.45126609e-01 0.00000000e+00 5.58894583e+02] [-1.45126609e-01 9.89413092e-01 0.00000000e+00 -1.45153431e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46002519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.92, Y:-145.15, Z:0.04 [[ 9.88855851e-01 1.48876141e-01 0.00000000e+00 5.58923256e+02] [-1.48876141e-01 9.88855851e-01 0.00000000e+00 -1.45147944e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95527352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.471400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:558.96, Y:-145.15, Z:0.04 [[ 9.88408946e-01 1.51814870e-01 0.00000000e+00 5.58957548e+02] [-1.51814870e-01 9.88408946e-01 0.00000000e+00 -1.45150529e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.25829104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.501400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:558.98, Y:-145.14, Z:0.04 [[ 9.88308207e-01 1.52469299e-01 0.00000000e+00 5.58980810e+02] [-1.52469299e-01 9.88308207e-01 0.00000000e+00 -1.45143831e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.38202562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.531400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:559.01, Y:-145.14, Z:0.04 [[ 9.87867636e-01 1.55298211e-01 0.00000000e+00 5.59009502e+02] [-1.55298211e-01 9.87867636e-01 0.00000000e+00 -1.45138471e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.48524512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.04, Y:-145.14, Z:0.05 [[ 9.87680957e-01 1.56481077e-01 0.00000000e+00 5.59037578e+02] [-1.56481077e-01 9.87680957e-01 0.00000000e+00 -1.45139346e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.52365824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.07, Y:-145.14, Z:0.05 [[ 9.87756006e-01 1.56006641e-01 0.00000000e+00 5.59071773e+02] [-1.56006641e-01 9.87756006e-01 0.00000000e+00 -1.45140568e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.64105565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.621400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:559.09, Y:-145.14, Z:0.04 [[ 9.87840515e-01 1.55470632e-01 0.00000000e+00 5.59094575e+02] [-1.55470632e-01 9.87840515e-01 0.00000000e+00 -1.45135305e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.17003665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.13, Y:-145.14, Z:0.04 [[ 9.87670700e-01 1.56545804e-01 0.00000000e+00 5.59129502e+02] [-1.56545804e-01 9.87670700e-01 0.00000000e+00 -1.45138554e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11468830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.16, Y:-145.14, Z:0.04 [[ 9.87310659e-01 1.58800703e-01 0.00000000e+00 5.59164233e+02] [-1.58800703e-01 9.87310659e-01 0.00000000e+00 -1.45142897e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.03236497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.19, Y:-145.14, Z:0.04 [[ 9.87084387e-01 1.60201166e-01 0.00000000e+00 5.59193916e+02] [-1.60201166e-01 9.87084387e-01 0.00000000e+00 -1.45137683e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.03171819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.22, Y:-145.13, Z:0.04 [[ 9.87294386e-01 1.58901845e-01 0.00000000e+00 5.59220159e+02] [-1.58901845e-01 9.87294386e-01 0.00000000e+00 -1.45132264e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12105870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.25, Y:-145.13, Z:0.04 [[ 9.87036249e-01 1.60497483e-01 0.00000000e+00 5.59249192e+02] [-1.60497483e-01 9.87036249e-01 0.00000000e+00 -1.45132050e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93004700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.28, Y:-145.13, Z:0.04 [[ 9.86304940e-01 1.64932002e-01 0.00000000e+00 5.59280331e+02] [-1.64932002e-01 9.86304940e-01 0.00000000e+00 -1.45128908e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79791864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.31, Y:-145.13, Z:0.04 [[ 9.86297079e-01 1.64979006e-01 0.00000000e+00 5.59307719e+02] [-1.64979006e-01 9.86297079e-01 0.00000000e+00 -1.45125084e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01330025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.33, Y:-145.13, Z:0.04 [[ 9.86351870e-01 1.64651112e-01 0.00000000e+00 5.59334812e+02] [-1.64651112e-01 9.86351870e-01 0.00000000e+00 -1.45128575e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01330025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.36, Y:-145.13, Z:0.04 [[ 9.86015164e-01 1.66655622e-01 0.00000000e+00 5.59364917e+02] [-1.66655622e-01 9.86015164e-01 0.00000000e+00 -1.45127390e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.30711808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.921400513 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:559.39, Y:-145.13, Z:0.04 [[ 9.85586167e-01 1.69174191e-01 0.00000000e+00 5.59394137e+02] [-1.69174191e-01 9.85586167e-01 0.00000000e+00 -1.45126580e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.42400943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.42, Y:-145.12, Z:0.05 [[ 9.85253391e-01 1.71101593e-01 0.00000000e+00 5.59422230e+02] [-1.71101593e-01 9.85253391e-01 0.00000000e+00 -1.45124106e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.56676747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.45, Y:-145.12, Z:0.04 [[ 9.84934923e-01 1.72925411e-01 0.00000000e+00 5.59454973e+02] [-1.72925411e-01 9.84934923e-01 0.00000000e+00 -1.45124616e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.31068238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.011400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:559.49, Y:-145.12, Z:0.04 [[ 9.84665832e-01 1.74451138e-01 0.00000000e+00 5.59485321e+02] [-1.74451138e-01 9.84665832e-01 0.00000000e+00 -1.45119122e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79430962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.51, Y:-145.11, Z:0.03 [[ 9.84872502e-01 1.73280568e-01 0.00000000e+00 5.59509134e+02] [-1.73280568e-01 9.84872502e-01 0.00000000e+00 -1.45113257e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49031550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.54, Y:-145.12, Z:0.04 [[ 9.84604603e-01 1.74796381e-01 0.00000000e+00 5.59543648e+02] [-1.74796381e-01 9.84604603e-01 0.00000000e+00 -1.45116578e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75336956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.57, Y:-145.11, Z:0.04 [[ 9.84946290e-01 1.72860656e-01 0.00000000e+00 5.59567993e+02] [-1.72860656e-01 9.84946290e-01 0.00000000e+00 -1.45110523e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67436939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.60, Y:-145.11, Z:0.04 [[ 9.84812354e-01 1.73622080e-01 0.00000000e+00 5.59602046e+02] [-1.73622080e-01 9.84812354e-01 0.00000000e+00 -1.45113508e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75901250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.161400513 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:559.63, Y:-145.11, Z:0.04 [[ 9.85096108e-01 1.72004822e-01 0.00000000e+00 5.59630312e+02] [-1.72004822e-01 9.85096108e-01 0.00000000e+00 -1.45114588e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68609952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.66, Y:-145.12, Z:0.04 [[ 9.85624341e-01 1.68951647e-01 0.00000000e+00 5.59660184e+02] [-1.68951647e-01 9.85624341e-01 0.00000000e+00 -1.45115040e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67024913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.221400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:559.69, Y:-145.12, Z:0.04 [[ 9.86000301e-01 1.66743537e-01 0.00000000e+00 5.59687457e+02] [-1.66743537e-01 9.86000301e-01 0.00000000e+00 -1.45115529e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76176520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.71, Y:-145.12, Z:0.04 [[ 9.86512931e-01 1.63683344e-01 0.00000000e+00 5.59714927e+02] [-1.63683344e-01 9.86512931e-01 0.00000000e+00 -1.45115702e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91221732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.74, Y:-145.12, Z:0.04 [[ 9.86803003e-01 1.61925391e-01 0.00000000e+00 5.59743958e+02] [-1.61925391e-01 9.86803003e-01 0.00000000e+00 -1.45117657e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12025954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.77, Y:-145.12, Z:0.04 [[ 9.86965925e-01 1.60929375e-01 0.00000000e+00 5.59770784e+02] [-1.60929375e-01 9.86965925e-01 0.00000000e+00 -1.45119611e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.19649033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.80, Y:-145.12, Z:0.04 [[ 9.87136205e-01 1.59881559e-01 0.00000000e+00 5.59799553e+02] [-1.59881559e-01 9.87136205e-01 0.00000000e+00 -1.45121763e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24530187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.83, Y:-145.12, Z:0.04 [[ 9.87263462e-01 1.59093859e-01 0.00000000e+00 5.59827273e+02] [-1.59093859e-01 9.87263462e-01 0.00000000e+00 -1.45121471e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.44433105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.86, Y:-145.12, Z:0.04 [[ 9.87223719e-01 1.59340291e-01 0.00000000e+00 5.59857318e+02] [-1.59340291e-01 9.87223719e-01 0.00000000e+00 -1.45119481e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.47003738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.89, Y:-145.12, Z:0.04 [[ 9.87028331e-01 1.60546171e-01 0.00000000e+00 5.59885158e+02] [-1.60546171e-01 9.87028331e-01 0.00000000e+00 -1.45119783e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.47366201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.91, Y:-145.12, Z:0.05 [[ 9.86900634e-01 1.61329288e-01 0.00000000e+00 5.59914891e+02] [-1.61329288e-01 9.86900634e-01 0.00000000e+00 -1.45120289e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.52174629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.94, Y:-145.12, Z:0.05 [[ 9.86903939e-01 1.61309070e-01 0.00000000e+00 5.59942636e+02] [-1.61309070e-01 9.86903939e-01 0.00000000e+00 -1.45120078e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.62905383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.521400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:559.97, Y:-145.12, Z:0.05 [[ 9.87101867e-01 1.60093421e-01 0.00000000e+00 5.59970415e+02] [-1.60093421e-01 9.87101867e-01 0.00000000e+00 -1.45118597e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.57709561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.00, Y:-145.12, Z:0.05 [[ 9.87521799e-01 1.57482369e-01 0.00000000e+00 5.59999622e+02] [-1.57482369e-01 9.87521799e-01 0.00000000e+00 -1.45120261e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.52095112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.03, Y:-145.12, Z:0.04 [[ 9.87904145e-01 1.55065791e-01 0.00000000e+00 5.60027352e+02] [-1.55065791e-01 9.87904145e-01 0.00000000e+00 -1.45121702e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.49156500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.06, Y:-145.12, Z:0.05 [[ 9.88208091e-01 1.53116845e-01 0.00000000e+00 5.60056445e+02] [-1.53116845e-01 9.88208091e-01 0.00000000e+00 -1.45122877e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.54153468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.08, Y:-145.12, Z:0.05 [[ 9.88264743e-01 1.52750769e-01 0.00000000e+00 5.60084450e+02] [-1.52750769e-01 9.88264743e-01 0.00000000e+00 -1.45122743e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.62675106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.11, Y:-145.12, Z:0.05 [[ 9.87997972e-01 1.54466848e-01 0.00000000e+00 5.60113145e+02] [-1.54466848e-01 9.87997972e-01 0.00000000e+00 -1.45121371e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.59318491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.14, Y:-145.12, Z:0.04 [[ 9.87835275e-01 1.55503920e-01 0.00000000e+00 5.60141220e+02] [-1.55503920e-01 9.87835275e-01 0.00000000e+00 -1.45121996e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.38310088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.17, Y:-145.12, Z:0.04 [[ 9.87618344e-01 1.56875770e-01 0.00000000e+00 5.60171697e+02] [-1.56875770e-01 9.87618344e-01 0.00000000e+00 -1.45122978e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.21997256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.761400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:560.20, Y:-145.12, Z:0.04 [[ 9.87095225e-01 1.60134372e-01 0.00000000e+00 5.60198647e+02] [-1.60134372e-01 9.87095225e-01 0.00000000e+00 -1.45122203e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22872380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.23, Y:-145.12, Z:0.04 [[ 9.86579180e-01 1.63283562e-01 0.00000000e+00 5.60225921e+02] [-1.63283562e-01 9.86579180e-01 0.00000000e+00 -1.45120252e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.19778289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.25, Y:-145.12, Z:0.04 [[ 9.86000122e-01 1.66744591e-01 0.00000000e+00 5.60254947e+02] [-1.66744591e-01 9.86000122e-01 0.00000000e+00 -1.45119768e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.92395006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.28, Y:-145.12, Z:0.03 [[ 9.84926890e-01 1.72971157e-01 0.00000000e+00 5.60284111e+02] [-1.72971157e-01 9.84926890e-01 0.00000000e+00 -1.45116112e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29639270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.31, Y:-145.12, Z:0.03 [[ 9.84668456e-01 1.74436325e-01 0.00000000e+00 5.60313391e+02] [-1.74436325e-01 9.84668456e-01 0.00000000e+00 -1.45115056e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33640698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.34, Y:-145.11, Z:0.04 [[ 9.84626415e-01 1.74673474e-01 0.00000000e+00 5.60341253e+02] [-1.74673474e-01 9.84626415e-01 0.00000000e+00 -1.45113389e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57280412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.941400513 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:560.37, Y:-145.11, Z:0.04 [[ 9.84686652e-01 1.74333579e-01 0.00000000e+00 5.60370186e+02] [-1.74333579e-01 9.84686652e-01 0.00000000e+00 -1.45112865e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81718110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.40, Y:-145.11, Z:0.04 [[ 9.85020246e-01 1.72438726e-01 0.00000000e+00 5.60396932e+02] [-1.72438726e-01 9.85020246e-01 0.00000000e+00 -1.45111374e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86766341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.43, Y:-145.11, Z:0.04 [[ 9.85341891e-01 1.70591203e-01 0.00000000e+00 5.60425101e+02] [-1.70591203e-01 9.85341891e-01 0.00000000e+00 -1.45110784e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.00325765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.45, Y:-145.11, Z:0.04 [[ 9.85589859e-01 1.69152684e-01 0.00000000e+00 5.60454608e+02] [-1.69152684e-01 9.85589859e-01 0.00000000e+00 -1.45109384e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14075162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.48, Y:-145.11, Z:0.04 [[ 9.85727376e-01 1.68349457e-01 0.00000000e+00 5.60481533e+02] [-1.68349457e-01 9.85727376e-01 0.00000000e+00 -1.45107922e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18054305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.51, Y:-145.11, Z:0.04 [[ 9.85830336e-01 1.67745486e-01 0.00000000e+00 5.60509318e+02] [-1.67745486e-01 9.85830336e-01 0.00000000e+00 -1.45107203e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14169194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.54, Y:-145.10, Z:0.04 [[ 9.85984553e-01 1.66836633e-01 0.00000000e+00 5.60536798e+02] [-1.66836633e-01 9.85984553e-01 0.00000000e+00 -1.45103749e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91703034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.151400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:560.57, Y:-145.10, Z:0.04 [[ 9.86058867e-01 1.66396845e-01 0.00000000e+00 5.60565104e+02] [-1.66396845e-01 9.86058867e-01 0.00000000e+00 -1.45102819e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80423182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.59, Y:-145.10, Z:0.04 [[ 9.86403336e-01 1.64342507e-01 0.00000000e+00 5.60592736e+02] [-1.64342507e-01 9.86403336e-01 0.00000000e+00 -1.45099405e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90858221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.62, Y:-145.10, Z:0.04 [[ 9.86652089e-01 1.62842426e-01 0.00000000e+00 5.60621367e+02] [-1.62842426e-01 9.86652089e-01 0.00000000e+00 -1.45097745e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06815077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.65, Y:-145.09, Z:0.04 [[ 9.87251708e-01 1.59166783e-01 0.00000000e+00 5.60649678e+02] [-1.59166783e-01 9.87251708e-01 0.00000000e+00 -1.45094520e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.25466977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.68, Y:-145.09, Z:0.04 [[ 9.87586014e-01 1.57079169e-01 0.00000000e+00 5.60675854e+02] [-1.57079169e-01 9.87586014e-01 0.00000000e+00 -1.45094100e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.37548991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.70, Y:-145.09, Z:0.04 [[ 9.87978966e-01 1.54588366e-01 0.00000000e+00 5.60703707e+02] [-1.54588366e-01 9.87978966e-01 0.00000000e+00 -1.45094163e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28618407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.73, Y:-145.09, Z:0.04 [[ 9.88114374e-01 1.53720474e-01 0.00000000e+00 5.60731954e+02] [-1.53720474e-01 9.88114374e-01 0.00000000e+00 -1.45094897e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.17035370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.361400513 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:560.76, Y:-145.09, Z:0.04 [[ 9.88287193e-01 1.52605453e-01 0.00000000e+00 5.60759792e+02] [-1.52605453e-01 9.88287193e-01 0.00000000e+00 -1.45094722e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14919994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.79, Y:-145.09, Z:0.04 [[ 9.88474421e-01 1.51387976e-01 0.00000000e+00 5.60787802e+02] [-1.51387976e-01 9.88474421e-01 0.00000000e+00 -1.45092767e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22686711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.82, Y:-145.09, Z:0.04 [[ 9.88527516e-01 1.51040891e-01 0.00000000e+00 5.60816450e+02] [-1.51040891e-01 9.88527516e-01 0.00000000e+00 -1.45094533e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15066353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.451400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:560.84, Y:-145.10, Z:0.04 [[ 9.88414970e-01 1.51775649e-01 0.00000000e+00 5.60843522e+02] [-1.51775649e-01 9.88414970e-01 0.00000000e+00 -1.45096751e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.03703824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.87, Y:-145.10, Z:0.04 [[ 9.88387448e-01 1.51954772e-01 0.00000000e+00 5.60870014e+02] [-1.51954772e-01 9.88387448e-01 0.00000000e+00 -1.45096712e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93252241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.90, Y:-145.09, Z:0.04 [[ 9.87866935e-01 1.55302671e-01 0.00000000e+00 5.60899476e+02] [-1.55302671e-01 9.87866935e-01 0.00000000e+00 -1.45094280e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69457541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.93, Y:-145.09, Z:0.04 [[ 9.87532331e-01 1.57416311e-01 0.00000000e+00 5.60926936e+02] [-1.57416311e-01 9.87532331e-01 0.00000000e+00 -1.45094270e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58413358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.95, Y:-145.09, Z:0.04 [[ 9.87185445e-01 1.59577243e-01 0.00000000e+00 5.60954551e+02] [-1.59577243e-01 9.87185445e-01 0.00000000e+00 -1.45094172e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62521771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.98, Y:-145.09, Z:0.04 [[ 9.86992923e-01 1.60763710e-01 0.00000000e+00 5.60982094e+02] [-1.60763710e-01 9.86992923e-01 0.00000000e+00 -1.45093798e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81545018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.631400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:561.01, Y:-145.09, Z:0.04 [[ 9.86917398e-01 1.61226701e-01 0.00000000e+00 5.61009781e+02] [-1.61226701e-01 9.86917398e-01 0.00000000e+00 -1.45092439e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01446941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.661400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:561.04, Y:-145.09, Z:0.04 [[ 9.87009058e-01 1.60664618e-01 0.00000000e+00 5.61036406e+02] [-1.60664618e-01 9.87009058e-01 0.00000000e+00 -1.45089849e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12677514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.691400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:561.07, Y:-145.08, Z:0.04 [[ 9.87236918e-01 1.59258496e-01 0.00000000e+00 5.61066284e+02] [-1.59258496e-01 9.87236918e-01 0.00000000e+00 -1.45084353e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27902808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.09, Y:-145.08, Z:0.04 [[ 9.87595367e-01 1.57020351e-01 0.00000000e+00 5.61093685e+02] [-1.57020351e-01 9.87595367e-01 0.00000000e+00 -1.45083399e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.40892892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.12, Y:-145.09, Z:0.04 [[ 9.87691218e-01 1.56416296e-01 0.00000000e+00 5.61121483e+02] [-1.56416296e-01 9.87691218e-01 0.00000000e+00 -1.45085506e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.40892892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.781400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:561.15, Y:-145.08, Z:0.04 [[ 9.88085208e-01 1.53907832e-01 0.00000000e+00 5.61147946e+02] [-1.53907832e-01 9.88085208e-01 0.00000000e+00 -1.45083826e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.31592152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.811400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:561.18, Y:-145.08, Z:0.04 [[ 9.88639570e-01 1.50305692e-01 0.00000000e+00 5.61175814e+02] [-1.50305692e-01 9.88639570e-01 0.00000000e+00 -1.45078297e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.21839278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.21, Y:-145.08, Z:0.04 [[ 9.88857377e-01 1.48866006e-01 0.00000000e+00 5.61205171e+02] [-1.48866006e-01 9.88857377e-01 0.00000000e+00 -1.45076657e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24246755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.23, Y:-145.07, Z:0.04 [[ 9.88968778e-01 1.48124127e-01 0.00000000e+00 5.61231201e+02] [-1.48124127e-01 9.88968778e-01 0.00000000e+00 -1.45074749e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.41730426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.26, Y:-145.07, Z:0.05 [[ 9.89138283e-01 1.46987950e-01 0.00000000e+00 5.61257817e+02] [-1.46987950e-01 9.89138283e-01 0.00000000e+00 -1.45072083e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.56936450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.29, Y:-145.07, Z:0.05 [[ 9.89307006e-01 1.45848027e-01 0.00000000e+00 5.61288676e+02] [-1.45848027e-01 9.89307006e-01 0.00000000e+00 -1.45070422e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.72093231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.961400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:561.31, Y:-145.07, Z:0.05 [[ 9.89449940e-01 1.44875177e-01 0.00000000e+00 5.61312924e+02] [-1.44875177e-01 9.89449940e-01 0.00000000e+00 -1.45069094e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.68523221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.34, Y:-145.07, Z:0.04 [[ 9.89430632e-01 1.45006979e-01 0.00000000e+00 5.61342113e+02] [-1.45006979e-01 9.89430632e-01 0.00000000e+00 -1.45068631e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39824393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.37, Y:-145.06, Z:0.05 [[ 9.89481729e-01 1.44657900e-01 0.00000000e+00 5.61368904e+02] [-1.44657900e-01 9.89481729e-01 0.00000000e+00 -1.45064328e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.56398818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.051400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:561.40, Y:-145.06, Z:0.04 [[ 9.89684565e-01 1.43263607e-01 0.00000000e+00 5.61400236e+02] [-1.43263607e-01 9.89684565e-01 0.00000000e+00 -1.45063245e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.47359638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.081400513 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:561.40, Y:-145.06, Z:0.04 [[ 9.88075693e-01 1.53968907e-01 0.00000000e+00 5.61399787e+02] [-1.53968907e-01 9.88075693e-01 0.00000000e+00 -1.45062115e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84599413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.45, Y:-145.06, Z:0.05 [[ 9.89256860e-01 1.46187772e-01 0.00000000e+00 5.61450943e+02] [-1.46187772e-01 9.89256860e-01 0.00000000e+00 -1.45063021e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.55676694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.48, Y:-145.06, Z:0.05 [[ 9.89022443e-01 1.47765376e-01 0.00000000e+00 5.61478610e+02] [-1.47765376e-01 9.89022443e-01 0.00000000e+00 -1.45061345e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.66633995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.171400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:561.48, Y:-145.06, Z:0.04 [[ 9.87017181e-01 1.60614709e-01 0.00000000e+00 5.61483298e+02] [-1.60614709e-01 9.87017181e-01 0.00000000e+00 -1.45057089e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97416467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.54, Y:-145.06, Z:0.04 [[ 9.87976031e-01 1.54607121e-01 0.00000000e+00 5.61538641e+02] [-1.54607121e-01 9.87976031e-01 0.00000000e+00 -1.45057485e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.17827799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.231400513 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:561.54, Y:-145.06, Z:0.04 [[ 9.86158727e-01 1.65803996e-01 0.00000000e+00 5.61541260e+02] [-1.65803996e-01 9.86158727e-01 0.00000000e+00 -1.45055100e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56432826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.59, Y:-145.05, Z:0.04 [[ 9.86827758e-01 1.61774458e-01 0.00000000e+00 5.61590625e+02] [-1.61774458e-01 9.86827758e-01 0.00000000e+00 -1.45054373e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78833209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.60, Y:-145.05, Z:0.04 [[ 9.85020826e-01 1.72435416e-01 0.00000000e+00 5.61597681e+02] [-1.72435416e-01 9.85020826e-01 0.00000000e+00 -1.45045882e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71254885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.321400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:561.63, Y:-145.04, Z:0.04 [[ 9.84586175e-01 1.74900154e-01 0.00000000e+00 5.61625574e+02] [-1.74900154e-01 9.84586175e-01 0.00000000e+00 -1.45043657e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79439638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.351400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:561.65, Y:-145.04, Z:0.04 [[ 9.84262271e-01 1.76713842e-01 0.00000000e+00 5.61652362e+02] [-1.76713842e-01 9.84262271e-01 0.00000000e+00 -1.45041763e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90169706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.381400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:561.68, Y:-145.04, Z:0.04 [[ 9.84264607e-01 1.76700830e-01 0.00000000e+00 5.61679907e+02] [-1.76700830e-01 9.84264607e-01 0.00000000e+00 -1.45040022e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.98402260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.411400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:561.71, Y:-145.04, Z:0.04 [[ 9.84465159e-01 1.75580039e-01 0.00000000e+00 5.61708069e+02] [-1.75580039e-01 9.84465159e-01 0.00000000e+00 -1.45038655e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90631711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.441400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:561.74, Y:-145.03, Z:0.04 [[ 9.85176340e-01 1.71544683e-01 0.00000000e+00 5.61736059e+02] [-1.71544683e-01 9.85176340e-01 0.00000000e+00 -1.45034567e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58822591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.76, Y:-145.03, Z:0.04 [[ 9.85713617e-01 1.68430001e-01 0.00000000e+00 5.61762761e+02] [-1.68430001e-01 9.85713617e-01 0.00000000e+00 -1.45033912e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62443144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.501400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:561.79, Y:-145.03, Z:0.04 [[ 9.86139247e-01 1.65919816e-01 0.00000000e+00 5.61790513e+02] [-1.65919816e-01 9.86139247e-01 0.00000000e+00 -1.45033977e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65064063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.82, Y:-145.03, Z:0.04 [[ 9.86553086e-01 1.63441148e-01 0.00000000e+00 5.61817722e+02] [-1.63441148e-01 9.86553086e-01 0.00000000e+00 -1.45033954e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55800200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.561400513 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:561.85, Y:-145.03, Z:0.03 [[ 9.87632846e-01 1.56784445e-01 0.00000000e+00 5.61845109e+02] [-1.56784445e-01 9.87632846e-01 0.00000000e+00 -1.45034198e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42478183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.87, Y:-145.03, Z:0.04 [[ 9.88314286e-01 1.52429889e-01 0.00000000e+00 5.61872738e+02] [-1.52429889e-01 9.88314286e-01 0.00000000e+00 -1.45034773e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79970066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.90, Y:-145.04, Z:0.04 [[ 9.88845005e-01 1.48948166e-01 0.00000000e+00 5.61900524e+02] [-1.48948166e-01 9.88845005e-01 0.00000000e+00 -1.45036292e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97030954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.651400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:561.93, Y:-145.04, Z:0.04 [[ 9.89438310e-01 1.44954581e-01 0.00000000e+00 5.61927400e+02] [-1.44954581e-01 9.89438310e-01 0.00000000e+00 -1.45037608e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02255798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.681400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:561.96, Y:-145.04, Z:0.04 [[ 9.89508071e-01 1.44477601e-01 0.00000000e+00 5.61955213e+02] [-1.44477601e-01 9.89508071e-01 0.00000000e+00 -1.45040032e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01334212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.98, Y:-145.04, Z:0.04 [[ 9.89412817e-01 1.45128483e-01 0.00000000e+00 5.61981495e+02] [-1.45128483e-01 9.89412817e-01 0.00000000e+00 -1.45043024e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08398583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.741400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:562.01, Y:-145.05, Z:0.04 [[ 9.89241170e-01 1.46293908e-01 0.00000000e+00 5.62009032e+02] [-1.46293908e-01 9.89241170e-01 0.00000000e+00 -1.45045938e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10393306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.771400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:562.04, Y:-145.05, Z:0.04 [[ 9.89036752e-01 1.47669571e-01 0.00000000e+00 5.62036597e+02] [-1.47669571e-01 9.89036752e-01 0.00000000e+00 -1.45048145e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06991548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.801400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:562.06, Y:-145.05, Z:0.04 [[ 9.88780455e-01 1.49376077e-01 0.00000000e+00 5.62063753e+02] [-1.49376077e-01 9.88780455e-01 0.00000000e+00 -1.45051603e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.26552515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.831400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:562.09, Y:-145.05, Z:0.04 [[ 9.88611885e-01 1.50487675e-01 0.00000000e+00 5.62090095e+02] [-1.50487675e-01 9.88611885e-01 0.00000000e+00 -1.45053946e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.19757316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.861400513 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:562.12, Y:-145.06, Z:0.04 [[ 9.88448943e-01 1.51554238e-01 0.00000000e+00 5.62117581e+02] [-1.51554238e-01 9.88448943e-01 0.00000000e+00 -1.45056972e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.94980311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.891400513 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:562.15, Y:-145.06, Z:0.04 [[ 9.88218766e-01 1.53047933e-01 0.00000000e+00 5.62145649e+02] [-1.53047933e-01 9.88218766e-01 0.00000000e+00 -1.45060784e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81502826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.17, Y:-145.06, Z:0.04 [[ 9.87979309e-01 1.54586176e-01 0.00000000e+00 5.62172749e+02] [-1.54586176e-01 9.87979309e-01 0.00000000e+00 -1.45063662e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.73969602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.20, Y:-145.07, Z:0.04 [[ 9.87803714e-01 1.55704280e-01 0.00000000e+00 5.62200695e+02] [-1.55704280e-01 9.87803714e-01 0.00000000e+00 -1.45066665e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54044830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.981400513 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:562.23, Y:-145.07, Z:0.03 [[ 9.87917499e-01 1.54980694e-01 0.00000000e+00 5.62227980e+02] [-1.54980694e-01 9.87917499e-01 0.00000000e+00 -1.45069130e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39621994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.011400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:562.26, Y:-145.07, Z:0.03 [[ 9.87709082e-01 1.56303452e-01 0.00000000e+00 5.62255636e+02] [-1.56303452e-01 9.87709082e-01 0.00000000e+00 -1.45071372e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26556495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.041400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:562.28, Y:-145.07, Z:0.03 [[ 9.87690933e-01 1.56418094e-01 0.00000000e+00 5.62283282e+02] [-1.56418094e-01 9.87690933e-01 0.00000000e+00 -1.45074286e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18063677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.31, Y:-145.08, Z:0.03 [[ 9.87545499e-01 1.57333680e-01 0.00000000e+00 5.62310412e+02] [-1.57333680e-01 9.87545499e-01 0.00000000e+00 -1.45078075e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32421442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.34, Y:-145.08, Z:0.03 [[ 9.87293711e-01 1.58906036e-01 0.00000000e+00 5.62338623e+02] [-1.58906036e-01 9.87293711e-01 0.00000000e+00 -1.45079876e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32304118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.37, Y:-145.08, Z:0.03 [[ 9.87014726e-01 1.60629792e-01 0.00000000e+00 5.62366168e+02] [-1.60629792e-01 9.87014726e-01 0.00000000e+00 -1.45082182e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34356186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.161400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:562.39, Y:-145.08, Z:0.03 [[ 9.86737295e-01 1.62325324e-01 0.00000000e+00 5.62393426e+02] [-1.62325324e-01 9.86737295e-01 0.00000000e+00 -1.45084918e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31681318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.191400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:562.42, Y:-145.09, Z:0.03 [[ 9.86468615e-01 1.63950211e-01 0.00000000e+00 5.62421127e+02] [-1.63950211e-01 9.86468615e-01 0.00000000e+00 -1.45087368e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38462037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.221400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:562.45, Y:-145.09, Z:0.03 [[ 9.86377158e-01 1.64499550e-01 0.00000000e+00 5.62447930e+02] [-1.64499550e-01 9.86377158e-01 0.00000000e+00 -1.45089200e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30694953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.251400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:562.48, Y:-145.09, Z:0.04 [[ 9.86575108e-01 1.63308165e-01 0.00000000e+00 5.62475572e+02] [-1.63308165e-01 9.86575108e-01 0.00000000e+00 -1.45090468e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63910380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.281400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:562.50, Y:-145.09, Z:0.04 [[ 9.86771526e-01 1.62117105e-01 0.00000000e+00 5.62503615e+02] [-1.62117105e-01 9.86771526e-01 0.00000000e+00 -1.45092162e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.73726499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.311400513 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:562.53, Y:-145.09, Z:0.04 [[ 9.87090778e-01 1.60161780e-01 0.00000000e+00 5.62530079e+02] [-1.60161780e-01 9.87090778e-01 0.00000000e+00 -1.45094253e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78621860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.56, Y:-145.10, Z:0.04 [[ 9.86986657e-01 1.60802171e-01 0.00000000e+00 5.62557714e+02] [-1.60802171e-01 9.86986657e-01 0.00000000e+00 -1.45096353e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86955795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.58, Y:-145.10, Z:0.04 [[ 9.86969919e-01 1.60904873e-01 0.00000000e+00 5.62584802e+02] [-1.60904873e-01 9.86969919e-01 0.00000000e+00 -1.45098757e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86361787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.401400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:562.61, Y:-145.10, Z:0.04 [[ 9.86808307e-01 1.61893070e-01 0.00000000e+00 5.62612075e+02] [-1.61893070e-01 9.86808307e-01 0.00000000e+00 -1.45100363e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.09452924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.64, Y:-145.10, Z:0.04 [[ 9.86792389e-01 1.61990065e-01 0.00000000e+00 5.62640071e+02] [-1.61990065e-01 9.86792389e-01 0.00000000e+00 -1.45102471e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24387834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.461400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:562.67, Y:-145.10, Z:0.04 [[ 9.87054440e-01 1.60385573e-01 0.00000000e+00 5.62667869e+02] [-1.60385573e-01 9.87054440e-01 0.00000000e+00 -1.45104237e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.26671563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.70, Y:-145.11, Z:0.04 [[ 9.87195440e-01 1.59515402e-01 0.00000000e+00 5.62695277e+02] [-1.59515402e-01 9.87195440e-01 0.00000000e+00 -1.45107311e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.31188715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.72, Y:-145.11, Z:0.04 [[ 9.88082382e-01 1.53925978e-01 0.00000000e+00 5.62719751e+02] [-1.53925978e-01 9.88082382e-01 0.00000000e+00 -1.45110738e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39495297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.551400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:562.75, Y:-145.12, Z:0.04 [[ 9.88512250e-01 1.51140769e-01 0.00000000e+00 5.62750102e+02] [-1.51140769e-01 9.88512250e-01 0.00000000e+00 -1.45115136e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.00306209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.581400513 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:562.78, Y:-145.12, Z:0.04 [[ 9.89031661e-01 1.47703666e-01 0.00000000e+00 5.62777819e+02] [-1.47703666e-01 9.89031661e-01 0.00000000e+00 -1.45117245e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91444497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.611400513 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:562.81, Y:-145.12, Z:0.04 [[ 9.89306510e-01 1.45851391e-01 0.00000000e+00 5.62805905e+02] [-1.45851391e-01 9.89306510e-01 0.00000000e+00 -1.45119109e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96052143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.641400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:562.83, Y:-145.12, Z:0.04 [[ 9.89473915e-01 1.44711341e-01 0.00000000e+00 5.62833381e+02] [-1.44711341e-01 9.89473915e-01 0.00000000e+00 -1.45121093e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.94500179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.671400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:562.86, Y:-145.12, Z:0.04 [[ 9.89500188e-01 1.44531578e-01 0.00000000e+00 5.62861609e+02] [-1.44531578e-01 9.89500188e-01 0.00000000e+00 -1.45123426e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.94500179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.89, Y:-145.13, Z:0.04 [[ 9.89379903e-01 1.45352697e-01 0.00000000e+00 5.62887968e+02] [-1.45352697e-01 9.89379903e-01 0.00000000e+00 -1.45125446e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01484234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.731400513 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:562.91, Y:-145.13, Z:0.04 [[ 9.89250799e-01 1.46228783e-01 0.00000000e+00 5.62914560e+02] [-1.46228783e-01 9.89250799e-01 0.00000000e+00 -1.45125932e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76050323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.761400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:562.94, Y:-145.13, Z:0.04 [[ 9.88994064e-01 1.47955198e-01 0.00000000e+00 5.62941904e+02] [-1.47955198e-01 9.88994064e-01 0.00000000e+00 -1.45126481e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75009497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.97, Y:-145.13, Z:0.04 [[ 9.88789411e-01 1.49316777e-01 0.00000000e+00 5.62969238e+02] [-1.49316777e-01 9.88789411e-01 0.00000000e+00 -1.45128308e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66671051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.00, Y:-145.13, Z:0.04 [[ 9.89031778e-01 1.47702888e-01 0.00000000e+00 5.62996639e+02] [-1.47702888e-01 9.89031778e-01 0.00000000e+00 -1.45131320e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65002301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.851400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:563.02, Y:-145.13, Z:0.04 [[ 9.89516670e-01 1.44418696e-01 0.00000000e+00 5.63023303e+02] [-1.44418696e-01 9.89516670e-01 0.00000000e+00 -1.45132053e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59239189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.881400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:563.05, Y:-145.13, Z:0.04 [[ 9.89716354e-01 1.43043838e-01 0.00000000e+00 5.63049933e+02] [-1.43043838e-01 9.89716354e-01 0.00000000e+00 -1.45133764e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64347275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.911400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:563.08, Y:-145.14, Z:0.04 [[ 9.89984378e-01 1.41176953e-01 0.00000000e+00 5.63077735e+02] [-1.41176953e-01 9.89984378e-01 0.00000000e+00 -1.45136239e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77584467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.941400513 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:563.10, Y:-145.14, Z:0.04 [[ 9.90163679e-01 1.39913865e-01 0.00000000e+00 5.63104196e+02] [-1.39913865e-01 9.90163679e-01 0.00000000e+00 -1.45137884e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77446681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.971400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:563.13, Y:-145.14, Z:0.04 [[ 9.90099626e-01 1.40366415e-01 0.00000000e+00 5.63131557e+02] [-1.40366415e-01 9.90099626e-01 0.00000000e+00 -1.45139383e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83160663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.001400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:563.16, Y:-145.14, Z:0.04 [[ 9.90107662e-01 1.40309722e-01 0.00000000e+00 5.63159320e+02] [-1.40309722e-01 9.90107662e-01 0.00000000e+00 -1.45141156e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.85629726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.031400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:563.19, Y:-145.14, Z:0.04 [[ 9.90062650e-01 1.40626983e-01 0.00000000e+00 5.63186199e+02] [-1.40626983e-01 9.90062650e-01 0.00000000e+00 -1.45142996e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88371687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.061400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:563.21, Y:-145.14, Z:0.04 [[ 9.89884752e-01 1.41873806e-01 0.00000000e+00 5.63213789e+02] [-1.41873806e-01 9.89884752e-01 0.00000000e+00 -1.45144742e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.03133721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.091400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:563.24, Y:-145.15, Z:0.04 [[ 9.89781648e-01 1.42591339e-01 0.00000000e+00 5.63241420e+02] [-1.42591339e-01 9.89781648e-01 0.00000000e+00 -1.45147344e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24794847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.121400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:563.27, Y:-145.15, Z:0.04 [[ 9.89883181e-01 1.41884773e-01 0.00000000e+00 5.63267879e+02] [-1.41884773e-01 9.89883181e-01 0.00000000e+00 -1.45148409e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14703854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.151400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:563.29, Y:-145.15, Z:0.04 [[ 9.89826318e-01 1.42280917e-01 0.00000000e+00 5.63294807e+02] [-1.42280917e-01 9.89826318e-01 0.00000000e+00 -1.45150607e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.19438136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.181400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:563.32, Y:-145.15, Z:0.04 [[ 9.89951563e-01 1.41406872e-01 0.00000000e+00 5.63322676e+02] [-1.41406872e-01 9.89951563e-01 0.00000000e+00 -1.45152538e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24683150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.211400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:563.35, Y:-145.15, Z:0.04 [[ 9.90128062e-01 1.40165688e-01 0.00000000e+00 5.63350006e+02] [-1.40165688e-01 9.90128062e-01 0.00000000e+00 -1.45154053e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.40012098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.241400513 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:563.38, Y:-145.16, Z:0.04 [[ 9.90259135e-01 1.39236656e-01 0.00000000e+00 5.63377784e+02] [-1.39236656e-01 9.90259135e-01 0.00000000e+00 -1.45156045e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28374335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.40, Y:-145.16, Z:0.04 [[ 9.90103474e-01 1.40339267e-01 0.00000000e+00 5.63404135e+02] [-1.40339267e-01 9.90103474e-01 0.00000000e+00 -1.45159040e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.31366029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.43, Y:-145.16, Z:0.04 [[ 9.90115499e-01 1.40254406e-01 0.00000000e+00 5.63431386e+02] [-1.40254406e-01 9.90115499e-01 0.00000000e+00 -1.45161852e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28349787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.331400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:563.46, Y:-145.16, Z:0.05 [[ 9.90288276e-01 1.39029245e-01 0.00000000e+00 5.63459522e+02] [-1.39029245e-01 9.90288276e-01 0.00000000e+00 -1.45162998e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.53854035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.361400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:563.49, Y:-145.16, Z:0.05 [[ 9.90553840e-01 1.37124357e-01 0.00000000e+00 5.63487830e+02] [-1.37124357e-01 9.90553840e-01 0.00000000e+00 -1.45163915e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.53858622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.51, Y:-145.17, Z:0.05 [[ 9.90608740e-01 1.36727192e-01 0.00000000e+00 5.63514428e+02] [-1.36727192e-01 9.90608740e-01 0.00000000e+00 -1.45166597e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.61821453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.421400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:563.54, Y:-145.17, Z:0.04 [[ 9.90796833e-01 1.35357438e-01 0.00000000e+00 5.63541049e+02] [-1.35357438e-01 9.90796833e-01 0.00000000e+00 -1.45168967e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.48084556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.451400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:563.57, Y:-145.17, Z:0.04 [[ 9.90837632e-01 1.35058458e-01 0.00000000e+00 5.63568304e+02] [-1.35058458e-01 9.90837632e-01 0.00000000e+00 -1.45171163e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.30232455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.481400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:563.60, Y:-145.17, Z:0.05 [[ 9.90906173e-01 1.34554656e-01 0.00000000e+00 5.63595861e+02] [-1.34554656e-01 9.90906173e-01 0.00000000e+00 -1.45173623e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.51464782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.62, Y:-145.18, Z:0.05 [[ 9.90837099e-01 1.35062366e-01 0.00000000e+00 5.63623223e+02] [-1.35062366e-01 9.90837099e-01 0.00000000e+00 -1.45175683e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.53891085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.65, Y:-145.18, Z:0.04 [[ 9.90938241e-01 1.34318285e-01 0.00000000e+00 5.63651240e+02] [-1.34318285e-01 9.90938241e-01 0.00000000e+00 -1.45178455e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.43696076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.571400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:563.68, Y:-145.18, Z:0.04 [[ 9.90970939e-01 1.34076837e-01 0.00000000e+00 5.63678229e+02] [-1.34076837e-01 9.90970939e-01 0.00000000e+00 -1.45180654e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.34703995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.71, Y:-145.18, Z:0.04 [[ 9.90936033e-01 1.34334578e-01 0.00000000e+00 5.63705542e+02] [-1.34334578e-01 9.90936033e-01 0.00000000e+00 -1.45182719e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36829055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.631400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:563.73, Y:-145.18, Z:0.04 [[ 9.91141265e-01 1.32811867e-01 0.00000000e+00 5.63733048e+02] [-1.32811867e-01 9.91141265e-01 0.00000000e+00 -1.45184006e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39749735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.661400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:563.76, Y:-145.19, Z:0.04 [[ 9.91158419e-01 1.32683790e-01 0.00000000e+00 5.63760470e+02] [-1.32683790e-01 9.91158419e-01 0.00000000e+00 -1.45186268e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.35470932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.691400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:563.79, Y:-145.19, Z:0.04 [[ 9.91117511e-01 1.32989020e-01 0.00000000e+00 5.63788624e+02] [-1.32989020e-01 9.91117511e-01 0.00000000e+00 -1.45188356e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27832986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.721400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:563.82, Y:-145.19, Z:0.04 [[ 9.90967272e-01 1.34103935e-01 0.00000000e+00 5.63815786e+02] [-1.34103935e-01 9.90967272e-01 0.00000000e+00 -1.45190801e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27350456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.751400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:563.84, Y:-145.19, Z:0.04 [[ 9.90675179e-01 1.36244964e-01 0.00000000e+00 5.63843931e+02] [-1.36244964e-01 9.90675179e-01 0.00000000e+00 -1.45192611e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.31204819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.781400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:563.87, Y:-145.19, Z:0.04 [[ 9.90607922e-01 1.36733116e-01 0.00000000e+00 5.63871374e+02] [-1.36733116e-01 9.90607922e-01 0.00000000e+00 -1.45194694e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.45548556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.811400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:563.90, Y:-145.20, Z:0.04 [[ 9.90672844e-01 1.36261937e-01 0.00000000e+00 5.63899145e+02] [-1.36261937e-01 9.90672844e-01 0.00000000e+00 -1.45196636e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39885222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.841400513 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:563.93, Y:-145.20, Z:0.04 [[ 9.90795455e-01 1.35367521e-01 0.00000000e+00 5.63926492e+02] [-1.35367521e-01 9.90795455e-01 0.00000000e+00 -1.45198905e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28438826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.871400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:563.95, Y:-145.20, Z:0.04 [[ 9.90859449e-01 1.34898303e-01 0.00000000e+00 5.63952874e+02] [-1.34898303e-01 9.90859449e-01 0.00000000e+00 -1.45200913e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10330122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.98, Y:-145.20, Z:0.04 [[ 9.90785280e-01 1.35441979e-01 0.00000000e+00 5.63979915e+02] [-1.35441979e-01 9.90785280e-01 0.00000000e+00 -1.45203766e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11940871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.01, Y:-145.21, Z:0.04 [[ 9.90763537e-01 1.35600935e-01 0.00000000e+00 5.64008138e+02] [-1.35600935e-01 9.90763537e-01 0.00000000e+00 -1.45206079e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18997325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.961400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:564.04, Y:-145.21, Z:0.04 [[ 9.90766559e-01 1.35578855e-01 0.00000000e+00 5.64036323e+02] [-1.35578855e-01 9.90766559e-01 0.00000000e+00 -1.45208093e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11842794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.991400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:564.06, Y:-145.21, Z:0.04 [[ 9.90772810e-01 1.35533165e-01 0.00000000e+00 5.64063155e+02] [-1.35533165e-01 9.90772810e-01 0.00000000e+00 -1.45210272e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14396201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.09, Y:-145.21, Z:0.04 [[ 9.90716663e-01 1.35942978e-01 0.00000000e+00 5.64091183e+02] [-1.35942978e-01 9.90716663e-01 0.00000000e+00 -1.45212077e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.25252510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.051400513 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:564.12, Y:-145.21, Z:0.04 [[ 9.90936330e-01 1.34332384e-01 0.00000000e+00 5.64118732e+02] [-1.34332384e-01 9.90936330e-01 0.00000000e+00 -1.45213180e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.32928872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.081400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:564.15, Y:-145.21, Z:0.04 [[ 9.90884423e-01 1.34714740e-01 0.00000000e+00 5.64145358e+02] [-1.34714740e-01 9.90884423e-01 0.00000000e+00 -1.45214817e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.45147694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.17, Y:-145.22, Z:0.05 [[ 9.90866737e-01 1.34844758e-01 0.00000000e+00 5.64173549e+02] [-1.34844758e-01 9.90866737e-01 0.00000000e+00 -1.45217093e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.60909425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.20, Y:-145.22, Z:0.05 [[ 9.90905024e-01 1.34563119e-01 0.00000000e+00 5.64200908e+02] [-1.34563119e-01 9.90905024e-01 0.00000000e+00 -1.45219075e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.69366375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.171400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:564.23, Y:-145.22, Z:0.05 [[ 9.91180968e-01 1.32515241e-01 0.00000000e+00 5.64228869e+02] [-1.32515241e-01 9.91180968e-01 0.00000000e+00 -1.45219960e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.70256973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.201400513 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:564.26, Y:-145.22, Z:0.05 [[ 9.91396930e-01 1.30889753e-01 0.00000000e+00 5.64257092e+02] [-1.30889753e-01 9.91396930e-01 0.00000000e+00 -1.45221936e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.77136439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.231400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:564.29, Y:-145.22, Z:0.05 [[ 9.91490891e-01 1.30176086e-01 0.00000000e+00 5.64285228e+02] [-1.30176086e-01 9.91490891e-01 0.00000000e+00 -1.45223648e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.88664296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.31, Y:-145.23, Z:0.05 [[ 9.91535012e-01 1.29839593e-01 0.00000000e+00 5.64311531e+02] [-1.29839593e-01 9.91535012e-01 0.00000000e+00 -1.45225763e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.01423649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.291400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:564.34, Y:-145.23, Z:0.05 [[ 9.91651925e-01 1.28943633e-01 0.00000000e+00 5.64339520e+02] [-1.28943633e-01 9.91651925e-01 0.00000000e+00 -1.45227780e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.12222702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.321400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:564.37, Y:-145.23, Z:0.05 [[ 9.91758780e-01 1.28119174e-01 0.00000000e+00 5.64365956e+02] [-1.28119174e-01 9.91758780e-01 0.00000000e+00 -1.45228734e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.06798414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.351400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:564.39, Y:-145.23, Z:0.05 [[ 9.91942101e-01 1.26692021e-01 0.00000000e+00 5.64393473e+02] [-1.26692021e-01 9.91942101e-01 0.00000000e+00 -1.45230632e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.16987628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.381400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:564.42, Y:-145.23, Z:0.05 [[ 9.92094869e-01 1.25490124e-01 0.00000000e+00 5.64420533e+02] [-1.25490124e-01 9.92094869e-01 0.00000000e+00 -1.45232634e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.17853243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.411400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:564.45, Y:-145.23, Z:0.05 [[ 9.92316345e-01 1.23726600e-01 0.00000000e+00 5.64448461e+02] [-1.23726600e-01 9.92316345e-01 0.00000000e+00 -1.45234578e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.19913778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.441400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:564.48, Y:-145.24, Z:0.05 [[ 9.92407441e-01 1.22993781e-01 0.00000000e+00 5.64476054e+02] [-1.22993781e-01 9.92407441e-01 0.00000000e+00 -1.45236397e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.99796388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.471400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:564.50, Y:-145.24, Z:0.05 [[ 9.92482347e-01 1.22387874e-01 0.00000000e+00 5.64503173e+02] [-1.22387874e-01 9.92482347e-01 0.00000000e+00 -1.45238578e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.04941436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.501400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:564.53, Y:-145.24, Z:0.05 [[ 9.92876097e-01 1.19151402e-01 0.00000000e+00 5.64531010e+02] [-1.19151402e-01 9.92876097e-01 0.00000000e+00 -1.45241230e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.98372541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.56, Y:-145.24, Z:0.05 [[ 9.93020483e-01 1.17942021e-01 0.00000000e+00 5.64559495e+02] [-1.17942021e-01 9.93020483e-01 0.00000000e+00 -1.45243638e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.82650979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.59, Y:-145.25, Z:0.05 [[ 9.93042345e-01 1.17757808e-01 0.00000000e+00 5.64587738e+02] [-1.17757808e-01 9.93042345e-01 0.00000000e+00 -1.45245716e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.82650979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.591400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:564.61, Y:-145.25, Z:0.05 [[ 9.93288824e-01 1.15660332e-01 0.00000000e+00 5.64614871e+02] [-1.15660332e-01 9.93288824e-01 0.00000000e+00 -1.45247042e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.76325219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.64, Y:-145.25, Z:0.05 [[ 9.93338067e-01 1.15236647e-01 0.00000000e+00 5.64643425e+02] [-1.15236647e-01 9.93338067e-01 0.00000000e+00 -1.45249309e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.66445600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.651400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:564.67, Y:-145.25, Z:0.04 [[ 9.93701918e-01 1.12055780e-01 0.00000000e+00 5.64670852e+02] [-1.12055780e-01 9.93701918e-01 0.00000000e+00 -1.45252384e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.38339955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.70, Y:-145.25, Z:0.04 [[ 9.93712367e-01 1.11963079e-01 0.00000000e+00 5.64697576e+02] [-1.11963079e-01 9.93712367e-01 0.00000000e+00 -1.45254571e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24371070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.73, Y:-145.26, Z:0.04 [[ 9.93768104e-01 1.11467280e-01 0.00000000e+00 5.64725675e+02] [-1.11467280e-01 9.93768104e-01 0.00000000e+00 -1.45257063e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.30900816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.741400513 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:564.75, Y:-145.26, Z:0.04 [[ 9.93840883e-01 1.10816512e-01 0.00000000e+00 5.64752752e+02] [-1.10816512e-01 9.93840883e-01 0.00000000e+00 -1.45257596e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.43147920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.771400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:564.78, Y:-145.26, Z:0.05 [[ 9.93624683e-01 1.12738587e-01 0.00000000e+00 5.64784361e+02] [-1.12738587e-01 9.93624683e-01 0.00000000e+00 -1.45264028e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.61838276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.801400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:564.81, Y:-145.26, Z:0.04 [[ 9.94013955e-01 1.09253177e-01 0.00000000e+00 5.64809561e+02] [-1.09253177e-01 9.94013955e-01 0.00000000e+00 -1.45263814e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.43138748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.831400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:564.83, Y:-145.27, Z:0.04 [[ 9.94506240e-01 1.04677307e-01 0.00000000e+00 5.64834401e+02] [-1.04677307e-01 9.94506240e-01 0.00000000e+00 -1.45265512e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96714288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.861400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:564.86, Y:-145.27, Z:0.04 [[ 9.94720009e-01 1.02626033e-01 0.00000000e+00 5.64861405e+02] [-1.02626033e-01 9.94720009e-01 0.00000000e+00 -1.45266699e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.03056976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.891400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:564.90, Y:-145.28, Z:0.04 [[ 9.94383794e-01 1.05834162e-01 0.00000000e+00 5.64900440e+02] [-1.05834162e-01 9.94383794e-01 0.00000000e+00 -1.45278138e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.20278909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.921400513 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:564.94, Y:-145.29, Z:0.04 [[ 9.93855427e-01 1.10685998e-01 0.00000000e+00 5.64939433e+02] [-1.10685998e-01 9.93855427e-01 0.00000000e+00 -1.45290944e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.37664746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.951400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:564.96, Y:-145.28, Z:0.05 [[ 9.94327946e-01 1.06357589e-01 0.00000000e+00 5.64959129e+02] [-1.06357589e-01 9.94327946e-01 0.00000000e+00 -1.45284880e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.68179041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.981400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:564.99, Y:-145.29, Z:0.05 [[ 9.94335202e-01 1.06289731e-01 0.00000000e+00 5.64991477e+02] [-1.06289731e-01 9.94335202e-01 0.00000000e+00 -1.45290966e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.77042002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.02, Y:-145.29, Z:0.05 [[ 9.94705291e-01 1.02768595e-01 0.00000000e+00 5.65018213e+02] [-1.02768595e-01 9.94705291e-01 0.00000000e+00 -1.45290579e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.63397822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.041400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:565.04, Y:-145.29, Z:0.05 [[ 9.95149784e-01 9.83712695e-02 0.00000000e+00 5.65044525e+02] [-9.83712695e-02 9.95149784e-01 0.00000000e+00 -1.45292249e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.55431865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.08, Y:-145.30, Z:0.04 [[ 9.95386364e-01 9.59478344e-02 0.00000000e+00 5.65075884e+02] [-9.59478344e-02 9.95386364e-01 0.00000000e+00 -1.45296410e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.47369676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.101400513 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:565.11, Y:-145.31, Z:0.04 [[ 9.95432619e-01 9.54667529e-02 0.00000000e+00 5.65109251e+02] [-9.54667529e-02 9.95432619e-01 0.00000000e+00 -1.45305194e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01370796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.131400513 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:565.14, Y:-145.31, Z:0.04 [[ 9.95727713e-01 9.23380843e-02 0.00000000e+00 5.65136586e+02] [-9.23380843e-02 9.95727713e-01 0.00000000e+00 -1.45307284e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11531046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.161400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:565.17, Y:-145.31, Z:0.04 [[ 9.95735848e-01 9.22503143e-02 0.00000000e+00 5.65165051e+02] [-9.22503143e-02 9.95735848e-01 0.00000000e+00 -1.45309994e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08690495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.19, Y:-145.31, Z:0.04 [[ 9.95891115e-01 9.05587464e-02 0.00000000e+00 5.65192205e+02] [-9.05587464e-02 9.95891115e-01 0.00000000e+00 -1.45309863e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.03108558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.221400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:565.22, Y:-145.31, Z:0.04 [[ 9.95778641e-01 9.17872490e-02 0.00000000e+00 5.65221155e+02] [-9.17872490e-02 9.95778641e-01 0.00000000e+00 -1.45314833e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.98858623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.251400513 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:565.25, Y:-145.32, Z:0.04 [[ 9.95908827e-01 9.03637545e-02 0.00000000e+00 5.65249864e+02] [-9.03637545e-02 9.95908827e-01 0.00000000e+00 -1.45319344e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.16321597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.28, Y:-145.32, Z:0.04 [[ 9.96021259e-01 8.91159430e-02 0.00000000e+00 5.65279721e+02] [-8.91159430e-02 9.96021259e-01 0.00000000e+00 -1.45319777e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79842010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.311400513 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:565.31, Y:-145.32, Z:0.04 [[ 9.96115466e-01 8.80566722e-02 0.00000000e+00 5.65306719e+02] [-8.80566722e-02 9.96115466e-01 0.00000000e+00 -1.45322645e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78503271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.341400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:565.33, Y:-145.32, Z:0.04 [[ 9.96355602e-01 8.52966239e-02 0.00000000e+00 5.65333611e+02] [-8.52966239e-02 9.96355602e-01 0.00000000e+00 -1.45322836e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52693440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.36, Y:-145.33, Z:0.03 [[ 9.96371878e-01 8.51062928e-02 0.00000000e+00 5.65363022e+02] [-8.51062928e-02 9.96371878e-01 0.00000000e+00 -1.45327790e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25335558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.401400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:565.39, Y:-145.33, Z:0.03 [[ 9.96433227e-01 8.43849781e-02 0.00000000e+00 5.65389522e+02] [-8.43849781e-02 9.96433227e-01 0.00000000e+00 -1.45333027e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84131514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.431400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:565.42, Y:-145.34, Z:0.03 [[ 9.96292832e-01 8.60267045e-02 0.00000000e+00 5.65422546e+02] [-8.60267045e-02 9.96292832e-01 0.00000000e+00 -1.45339873e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24483546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.45, Y:-145.34, Z:0.03 [[ 9.96100423e-01 8.82266855e-02 0.00000000e+00 5.65452765e+02] [-8.82266855e-02 9.96100423e-01 0.00000000e+00 -1.45341086e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26279968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.48, Y:-145.34, Z:0.03 [[ 9.95810928e-01 9.14362927e-02 0.00000000e+00 5.65481122e+02] [-9.14362927e-02 9.95810928e-01 0.00000000e+00 -1.45341909e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35300331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.521400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:565.51, Y:-145.34, Z:0.04 [[ 9.95561445e-01 9.41138061e-02 0.00000000e+00 5.65508208e+02] [-9.41138061e-02 9.95561445e-01 0.00000000e+00 -1.45344441e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79144229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.551400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:565.54, Y:-145.34, Z:0.04 [[ 9.94729221e-01 1.02536713e-01 0.00000000e+00 5.65537437e+02] [-1.02536713e-01 9.94729221e-01 0.00000000e+00 -1.45344025e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67434509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.581400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:565.57, Y:-145.34, Z:0.04 [[ 9.94566567e-01 1.04102567e-01 0.00000000e+00 5.65566826e+02] [-1.04102567e-01 9.94566567e-01 0.00000000e+00 -1.45344399e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61426535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.611400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:565.59, Y:-145.35, Z:0.03 [[ 9.94369930e-01 1.05964341e-01 0.00000000e+00 5.65594826e+02] [-1.05964341e-01 9.94369930e-01 0.00000000e+00 -1.45345937e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47896200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.641400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:565.62, Y:-145.35, Z:0.03 [[ 9.94215218e-01 1.07406241e-01 0.00000000e+00 5.65622965e+02] [-1.07406241e-01 9.94215218e-01 0.00000000e+00 -1.45345144e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45004306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.671400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:565.65, Y:-145.35, Z:0.03 [[ 9.94133669e-01 1.08158444e-01 0.00000000e+00 5.65651007e+02] [-1.08158444e-01 9.94133669e-01 0.00000000e+00 -1.45346118e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45246814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.701400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:565.68, Y:-145.35, Z:0.04 [[ 9.93719159e-01 1.11902782e-01 0.00000000e+00 5.65679112e+02] [-1.11902782e-01 9.93719159e-01 0.00000000e+00 -1.45345168e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71083667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.731400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:565.71, Y:-145.35, Z:0.04 [[ 9.93608115e-01 1.12884514e-01 0.00000000e+00 5.65708506e+02] [-1.12884514e-01 9.93608115e-01 0.00000000e+00 -1.45345516e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.00298685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.761400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:565.74, Y:-145.35, Z:0.04 [[ 9.93397540e-01 1.14722833e-01 0.00000000e+00 5.65737004e+02] [-1.14722833e-01 9.93397540e-01 0.00000000e+00 -1.45345946e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.26511625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.791400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:565.77, Y:-145.35, Z:0.04 [[ 9.93214746e-01 1.16294746e-01 0.00000000e+00 5.65765017e+02] [-1.16294746e-01 9.93214746e-01 0.00000000e+00 -1.45345821e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.32896380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.79, Y:-145.35, Z:0.04 [[ 9.93346706e-01 1.15162156e-01 0.00000000e+00 5.65793053e+02] [-1.15162156e-01 9.93346706e-01 0.00000000e+00 -1.45346917e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28337970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.851400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:565.82, Y:-145.35, Z:0.04 [[ 9.93609161e-01 1.12875308e-01 0.00000000e+00 5.65820997e+02] [-1.12875308e-01 9.93609161e-01 0.00000000e+00 -1.45346772e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.07575800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.881400513 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:565.85, Y:-145.35, Z:0.04 [[ 9.93869403e-01 1.10560436e-01 0.00000000e+00 5.65847724e+02] [-1.10560436e-01 9.93869403e-01 0.00000000e+00 -1.45346414e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01232625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.911400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:565.87, Y:-145.35, Z:0.04 [[ 9.94139360e-01 1.08106122e-01 0.00000000e+00 5.65874565e+02] [-1.08106122e-01 9.94139360e-01 0.00000000e+00 -1.45346793e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75235299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.941400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:565.90, Y:-145.35, Z:0.03 [[ 9.94580928e-01 1.03965268e-01 0.00000000e+00 5.65902601e+02] [-1.03965268e-01 9.94580928e-01 0.00000000e+00 -1.45347506e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17167558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.971400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:565.93, Y:-145.35, Z:0.03 [[ 9.94855223e-01 1.01306887e-01 0.00000000e+00 5.65929551e+02] [-1.01306887e-01 9.94855223e-01 0.00000000e+00 -1.45348069e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01197323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.96, Y:-145.35, Z:0.03 [[ 9.95179015e-01 9.80751112e-02 0.00000000e+00 5.65959438e+02] [-9.80751112e-02 9.95179015e-01 0.00000000e+00 -1.45347628e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08302848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.031400513 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:565.99, Y:-145.35, Z:0.03 [[ 9.95307906e-01 9.67583137e-02 0.00000000e+00 5.65987246e+02] [-9.67583137e-02 9.95307906e-01 0.00000000e+00 -1.45348201e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99634332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.061400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:566.02, Y:-145.35, Z:0.03 [[ 9.95658588e-01 9.30804828e-02 0.00000000e+00 5.66015600e+02] [-9.30804828e-02 9.95658588e-01 0.00000000e+00 -1.45346996e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07561703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.091400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:566.04, Y:-145.35, Z:0.03 [[ 9.95822307e-01 9.13122837e-02 0.00000000e+00 5.66042983e+02] [-9.13122837e-02 9.95822307e-01 0.00000000e+00 -1.45346804e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11029041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.07, Y:-145.35, Z:0.03 [[ 9.96167332e-01 8.74679698e-02 0.00000000e+00 5.66066374e+02] [-8.74679698e-02 9.96167332e-01 0.00000000e+00 -1.45345150e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11260900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.151400513 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:566.09, Y:-145.34, Z:0.03 [[ 9.96216841e-01 8.69022729e-02 0.00000000e+00 5.66094075e+02] [-8.69022729e-02 9.96216841e-01 0.00000000e+00 -1.45344997e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06905058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.181400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:566.12, Y:-145.35, Z:0.03 [[ 9.96354128e-01 8.53138477e-02 0.00000000e+00 5.66122561e+02] [-8.53138477e-02 9.96354128e-01 0.00000000e+00 -1.45345940e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07891838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.211400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:566.15, Y:-145.35, Z:0.03 [[ 9.96471531e-01 8.39314517e-02 0.00000000e+00 5.66150305e+02] [-8.39314517e-02 9.96471531e-01 0.00000000e+00 -1.45345312e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14421343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.18, Y:-145.35, Z:0.03 [[ 9.96511196e-01 8.34591906e-02 0.00000000e+00 5.66178012e+02] [-8.34591906e-02 9.96511196e-01 0.00000000e+00 -1.45345390e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14959747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.21, Y:-145.35, Z:0.03 [[ 9.96473442e-01 8.39087536e-02 0.00000000e+00 5.66205027e+02] [-8.39087536e-02 9.96473442e-01 0.00000000e+00 -1.45345315e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17640905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.301400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:566.23, Y:-145.35, Z:0.03 [[ 9.96465034e-01 8.40085526e-02 0.00000000e+00 5.66232560e+02] [-8.40085526e-02 9.96465034e-01 0.00000000e+00 -1.45345503e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19211163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.26, Y:-145.35, Z:0.03 [[ 9.96416562e-01 8.45815327e-02 0.00000000e+00 5.66259899e+02] [-8.45815327e-02 9.96416562e-01 0.00000000e+00 -1.45346222e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14753733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.361400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:566.29, Y:-145.35, Z:0.03 [[ 9.96323446e-01 8.56714168e-02 0.00000000e+00 5.66287575e+02] [-8.56714168e-02 9.96323446e-01 0.00000000e+00 -1.45345398e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21905864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.391400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:566.32, Y:-145.34, Z:0.03 [[ 9.96352133e-01 8.53371384e-02 0.00000000e+00 5.66315083e+02] [-8.53371384e-02 9.96352133e-01 0.00000000e+00 -1.45344931e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39073011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.421400513 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:566.34, Y:-145.35, Z:0.04 [[ 9.96270723e-01 8.62823634e-02 0.00000000e+00 5.66343513e+02] [-8.62823634e-02 9.96270723e-01 0.00000000e+00 -1.45345216e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55026676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.451400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:566.37, Y:-145.34, Z:0.04 [[ 9.96146720e-01 8.77024089e-02 0.00000000e+00 5.66370530e+02] [-8.77024089e-02 9.96146720e-01 0.00000000e+00 -1.45343846e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79778453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.481400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:566.40, Y:-145.34, Z:0.04 [[ 9.96041587e-01 8.88884573e-02 0.00000000e+00 5.66398597e+02] [-8.88884573e-02 9.96041587e-01 0.00000000e+00 -1.45342622e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95858728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.511400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:566.43, Y:-145.34, Z:0.04 [[ 9.96113463e-01 8.80793290e-02 0.00000000e+00 5.66427224e+02] [-8.80793290e-02 9.96113463e-01 0.00000000e+00 -1.45343006e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95858728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.541400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:566.45, Y:-145.34, Z:0.04 [[ 9.95817903e-01 9.13602972e-02 0.00000000e+00 5.66452829e+02] [-9.13602972e-02 9.95817903e-01 0.00000000e+00 -1.45342306e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95638496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.571400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:566.49, Y:-145.34, Z:0.04 [[ 9.95591269e-01 9.37977853e-02 0.00000000e+00 5.66490122e+02] [-9.37977853e-02 9.95591269e-01 0.00000000e+00 -1.45344846e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10304741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.52, Y:-145.34, Z:0.04 [[ 9.95590084e-01 9.38103672e-02 0.00000000e+00 5.66516908e+02] [-9.38103672e-02 9.95590084e-01 0.00000000e+00 -1.45344180e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15457672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.54, Y:-145.34, Z:0.04 [[ 9.95625014e-01 9.34389147e-02 0.00000000e+00 5.66543604e+02] [-9.34389147e-02 9.95625014e-01 0.00000000e+00 -1.45343620e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.20523404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.661400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:566.57, Y:-145.34, Z:0.04 [[ 9.95703108e-01 9.26030315e-02 0.00000000e+00 5.66572676e+02] [-9.26030315e-02 9.95703108e-01 0.00000000e+00 -1.45344566e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22065931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.691400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:566.60, Y:-145.34, Z:0.04 [[ 9.95870988e-01 9.07798201e-02 0.00000000e+00 5.66599709e+02] [-9.07798201e-02 9.95870988e-01 0.00000000e+00 -1.45344412e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12148830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.721400513 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:566.63, Y:-145.35, Z:0.04 [[ 9.95740966e-01 9.21950601e-02 0.00000000e+00 5.66628160e+02] [-9.21950601e-02 9.95740966e-01 0.00000000e+00 -1.45345369e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.07185491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.751400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:566.65, Y:-145.34, Z:0.04 [[ 9.95772075e-01 9.18584489e-02 0.00000000e+00 5.66654283e+02] [-9.18584489e-02 9.95772075e-01 0.00000000e+00 -1.45344037e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91069193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.68, Y:-145.34, Z:0.04 [[ 9.95789920e-01 9.16648036e-02 0.00000000e+00 5.66682358e+02] [-9.16648036e-02 9.95789920e-01 0.00000000e+00 -1.45343873e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10133112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.811400513 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:566.71, Y:-145.34, Z:0.04 [[ 9.95946985e-01 8.99422260e-02 0.00000000e+00 5.66709163e+02] [-8.99422260e-02 9.95946985e-01 0.00000000e+00 -1.45343850e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01687093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.74, Y:-145.34, Z:0.04 [[ 9.96007167e-01 8.92733084e-02 0.00000000e+00 5.66736229e+02] [-8.92733084e-02 9.96007167e-01 0.00000000e+00 -1.45342507e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02188889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.871400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:566.76, Y:-145.34, Z:0.04 [[ 9.96067501e-01 8.85975928e-02 0.00000000e+00 5.66764817e+02] [-8.85975928e-02 9.96067501e-01 0.00000000e+00 -1.45342733e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.94563073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.79, Y:-145.34, Z:0.04 [[ 9.96353565e-01 8.53204139e-02 0.00000000e+00 5.66786254e+02] [-8.53204139e-02 9.96353565e-01 0.00000000e+00 -1.45340862e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78674522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.81, Y:-145.34, Z:0.04 [[ 9.96399397e-01 8.47835031e-02 0.00000000e+00 5.66812044e+02] [-8.47835031e-02 9.96399397e-01 0.00000000e+00 -1.45340678e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72563236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.961400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:566.84, Y:-145.34, Z:0.04 [[ 9.96484665e-01 8.37753671e-02 0.00000000e+00 5.66839304e+02] [-8.37753671e-02 9.96484665e-01 0.00000000e+00 -1.45339388e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80327793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.991400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:566.88, Y:-145.34, Z:0.04 [[ 9.96379615e-01 8.50156673e-02 0.00000000e+00 5.66875202e+02] [-8.50156673e-02 9.96379615e-01 0.00000000e+00 -1.45341502e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84174424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.021400513 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:566.90, Y:-145.34, Z:0.04 [[ 9.96046989e-01 8.88278959e-02 0.00000000e+00 5.66903841e+02] [-8.88278959e-02 9.96046989e-01 0.00000000e+00 -1.45341976e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58627178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.051400513 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:566.93, Y:-145.34, Z:0.04 [[ 9.95999740e-01 8.93561339e-02 0.00000000e+00 5.66930374e+02] [-8.93561339e-02 9.95999740e-01 0.00000000e+00 -1.45341469e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62807599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.081400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:566.96, Y:-145.34, Z:0.04 [[ 9.95909001e-01 9.03618433e-02 0.00000000e+00 5.66957301e+02] [-9.03618433e-02 9.95909001e-01 0.00000000e+00 -1.45341889e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74108113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.111400513 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:566.99, Y:-145.34, Z:0.04 [[ 9.95870549e-01 9.07846354e-02 0.00000000e+00 5.66987310e+02] [-9.07846354e-02 9.95870549e-01 0.00000000e+00 -1.45340578e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89241408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.141400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:567.01, Y:-145.34, Z:0.04 [[ 9.95879058e-01 9.06912435e-02 0.00000000e+00 5.67014200e+02] [-9.06912435e-02 9.95879058e-01 0.00000000e+00 -1.45340455e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.00162680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.171400513 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:567.04, Y:-145.34, Z:0.04 [[ 9.95712863e-01 9.24980755e-02 0.00000000e+00 5.67041083e+02] [-9.24980755e-02 9.95712863e-01 0.00000000e+00 -1.45340117e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78763397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.201400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:567.07, Y:-145.34, Z:0.04 [[ 9.95652818e-01 9.31421851e-02 0.00000000e+00 5.67068965e+02] [-9.31421851e-02 9.95652818e-01 0.00000000e+00 -1.45341415e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74096308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.231400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:567.09, Y:-145.34, Z:0.04 [[ 9.95593872e-01 9.37701525e-02 0.00000000e+00 5.67094980e+02] [-9.37701525e-02 9.95593872e-01 0.00000000e+00 -1.45340451e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86369882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.261400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:567.12, Y:-145.34, Z:0.04 [[ 9.95437534e-01 9.54154952e-02 0.00000000e+00 5.67121923e+02] [-9.54154952e-02 9.95437534e-01 0.00000000e+00 -1.45341006e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82659165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.15, Y:-145.34, Z:0.04 [[ 9.95167581e-01 9.81910669e-02 0.00000000e+00 5.67150752e+02] [-9.81910669e-02 9.95167581e-01 0.00000000e+00 -1.45340623e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90496735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.321400513 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:567.18, Y:-145.34, Z:0.04 [[ 9.95219888e-01 9.76594782e-02 0.00000000e+00 5.67178051e+02] [-9.76594782e-02 9.95219888e-01 0.00000000e+00 -1.45339890e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81949143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.20, Y:-145.34, Z:0.04 [[ 9.95269501e-01 9.71525647e-02 0.00000000e+00 5.67203383e+02] [-9.71525647e-02 9.95269501e-01 0.00000000e+00 -1.45340430e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77353807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.381400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:567.23, Y:-145.34, Z:0.03 [[ 9.95221282e-01 9.76452783e-02 0.00000000e+00 5.67231924e+02] [-9.76452783e-02 9.95221282e-01 0.00000000e+00 -1.45341968e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33013167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.411400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:567.26, Y:-145.34, Z:0.04 [[ 9.95348411e-01 9.63407564e-02 0.00000000e+00 5.67260754e+02] [-9.63407564e-02 9.95348411e-01 0.00000000e+00 -1.45340312e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69925469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.29, Y:-145.34, Z:0.03 [[ 9.95455747e-01 9.52252876e-02 0.00000000e+00 5.67286770e+02] [-9.52252876e-02 9.95455747e-01 0.00000000e+00 -1.45341248e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45653269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.471400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:567.31, Y:-145.34, Z:0.03 [[ 9.95502652e-01 9.47336782e-02 0.00000000e+00 5.67311941e+02] [-9.47336782e-02 9.95502652e-01 0.00000000e+00 -1.45340742e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47322160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.34, Y:-145.34, Z:0.04 [[ 9.95414132e-01 9.56593255e-02 0.00000000e+00 5.67340894e+02] [-9.56593255e-02 9.95414132e-01 0.00000000e+00 -1.45340048e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55028945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.531400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:567.37, Y:-145.34, Z:0.04 [[ 9.95330005e-01 9.65307312e-02 0.00000000e+00 5.67365290e+02] [-9.65307312e-02 9.95330005e-01 0.00000000e+00 -1.45339844e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52208632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.39, Y:-145.34, Z:0.04 [[ 9.95433174e-01 9.54609668e-02 0.00000000e+00 5.67393685e+02] [-9.54609668e-02 9.95433174e-01 0.00000000e+00 -1.45338769e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54986216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.591400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:567.42, Y:-145.34, Z:0.04 [[ 9.95635381e-01 9.33283891e-02 0.00000000e+00 5.67420042e+02] [-9.33283891e-02 9.95635381e-01 0.00000000e+00 -1.45337947e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51909436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.45, Y:-145.34, Z:0.04 [[ 9.95895469e-01 9.05108563e-02 0.00000000e+00 5.67447085e+02] [-9.05108563e-02 9.95895469e-01 0.00000000e+00 -1.45337004e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76089834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.651400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:567.47, Y:-145.34, Z:0.03 [[ 9.96106020e-01 8.81634671e-02 0.00000000e+00 5.67472092e+02] [-8.81634671e-02 9.96106020e-01 0.00000000e+00 -1.45338894e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38753412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.681400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:567.48, Y:-145.34, Z:0.03 [[ 9.95465368e-01 9.51246656e-02 0.00000000e+00 5.67475903e+02] [-9.51246656e-02 9.95465368e-01 0.00000000e+00 -1.45339407e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10619465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.711400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:567.53, Y:-145.34, Z:0.03 [[ 9.96442625e-01 8.42739290e-02 0.00000000e+00 5.67526907e+02] [-8.42739290e-02 9.96442625e-01 0.00000000e+00 -1.45339618e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19039515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.741400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:567.53, Y:-145.34, Z:0.03 [[ 9.95674432e-01 9.29108479e-02 0.00000000e+00 5.67531055e+02] [-9.29108479e-02 9.95674432e-01 0.00000000e+00 -1.45340318e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04560324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.771400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:567.56, Y:-145.34, Z:0.03 [[ 9.95627662e-01 9.34106971e-02 0.00000000e+00 5.67558020e+02] [-9.34106971e-02 9.95627662e-01 0.00000000e+00 -1.45341173e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96199210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.801400513 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:567.59, Y:-145.34, Z:0.03 [[ 9.95524774e-01 9.45009173e-02 0.00000000e+00 5.67586092e+02] [-9.45009173e-02 9.95524774e-01 0.00000000e+00 -1.45341645e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86870341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.831400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:567.61, Y:-145.34, Z:0.03 [[ 9.95601370e-01 9.36905147e-02 0.00000000e+00 5.67613903e+02] [-9.36905147e-02 9.95601370e-01 0.00000000e+00 -1.45342340e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92387660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.861400513 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:567.64, Y:-145.34, Z:0.03 [[ 9.95553459e-01 9.41982459e-02 0.00000000e+00 5.67641363e+02] [-9.41982459e-02 9.95553459e-01 0.00000000e+00 -1.45342305e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00407991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.891400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:567.67, Y:-145.34, Z:0.03 [[ 9.95585751e-01 9.38563397e-02 0.00000000e+00 5.67668411e+02] [-9.38563397e-02 9.95585751e-01 0.00000000e+00 -1.45342191e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14349254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.921400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:567.70, Y:-145.34, Z:0.03 [[ 9.95699161e-01 9.26454620e-02 0.00000000e+00 5.67695778e+02] [-9.26454620e-02 9.95699161e-01 0.00000000e+00 -1.45343160e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14752438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.951400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:567.72, Y:-145.34, Z:0.03 [[ 9.95679831e-01 9.28529657e-02 0.00000000e+00 5.67722445e+02] [-9.28529657e-02 9.95679831e-01 0.00000000e+00 -1.45343503e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07231865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.75, Y:-145.34, Z:0.03 [[ 9.95672800e-01 9.29283310e-02 0.00000000e+00 5.67749686e+02] [-9.29283310e-02 9.95672800e-01 0.00000000e+00 -1.45343219e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15018171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.78, Y:-145.34, Z:0.03 [[ 9.95682025e-01 9.28294418e-02 0.00000000e+00 5.67777376e+02] [-9.28294418e-02 9.95682025e-01 0.00000000e+00 -1.45343423e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28429113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.80, Y:-145.34, Z:0.04 [[ 9.95660701e-01 9.30578737e-02 0.00000000e+00 5.67804810e+02] [-9.30578737e-02 9.95660701e-01 0.00000000e+00 -1.45343302e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56023466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.83, Y:-145.34, Z:0.04 [[ 9.95550964e-01 9.42246100e-02 0.00000000e+00 5.67831923e+02] [-9.42246100e-02 9.95550964e-01 0.00000000e+00 -1.45343075e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68886060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.101400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:567.86, Y:-145.34, Z:0.04 [[ 9.95441255e-01 9.53766588e-02 0.00000000e+00 5.67859279e+02] [-9.53766588e-02 9.95441255e-01 0.00000000e+00 -1.45344178e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56098005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.89, Y:-145.34, Z:0.04 [[ 9.95481031e-01 9.49606098e-02 0.00000000e+00 5.67886406e+02] [-9.49606098e-02 9.95481031e-01 0.00000000e+00 -1.45344792e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71235527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.161400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:567.91, Y:-145.34, Z:0.04 [[ 9.95442627e-01 9.53623459e-02 0.00000000e+00 5.67914307e+02] [-9.53623459e-02 9.95442627e-01 0.00000000e+00 -1.45344626e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59084067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.94, Y:-145.34, Z:0.04 [[ 9.95440760e-01 9.53818266e-02 0.00000000e+00 5.67942031e+02] [-9.53818266e-02 9.95440760e-01 0.00000000e+00 -1.45344639e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83944632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.221400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:567.97, Y:-145.34, Z:0.04 [[ 9.95352534e-01 9.62981427e-02 0.00000000e+00 5.67969288e+02] [-9.62981427e-02 9.95352534e-01 0.00000000e+00 -1.45344428e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93385100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.251400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:568.00, Y:-145.35, Z:0.04 [[ 9.95259586e-01 9.72540857e-02 0.00000000e+00 5.67997621e+02] [-9.72540857e-02 9.95259586e-01 0.00000000e+00 -1.45345094e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10167522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.03, Y:-145.35, Z:0.04 [[ 9.94964035e-01 1.00232577e-01 0.00000000e+00 5.68025486e+02] [-1.00232577e-01 9.94964035e-01 0.00000000e+00 -1.45345981e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87990767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.05, Y:-145.35, Z:0.04 [[ 9.94936244e-01 1.00508062e-01 0.00000000e+00 5.68053403e+02] [-1.00508062e-01 9.94936244e-01 0.00000000e+00 -1.45346308e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81341744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.341400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:568.08, Y:-145.35, Z:0.04 [[ 9.94963782e-01 1.00235084e-01 0.00000000e+00 5.68081342e+02] [-1.00235084e-01 9.94963782e-01 0.00000000e+00 -1.45346535e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76961281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.371400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:568.11, Y:-145.35, Z:0.04 [[ 9.94983255e-01 1.00041598e-01 0.00000000e+00 5.68109654e+02] [-1.00041598e-01 9.94983255e-01 0.00000000e+00 -1.45346731e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76961281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.401400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:568.14, Y:-145.35, Z:0.04 [[ 9.95018465e-01 9.96907913e-02 0.00000000e+00 5.68137640e+02] [-9.96907913e-02 9.95018465e-01 0.00000000e+00 -1.45347109e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64346898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.431400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:568.16, Y:-145.35, Z:0.03 [[ 9.95036619e-01 9.95094316e-02 0.00000000e+00 5.68164319e+02] [-9.95094316e-02 9.95036619e-01 0.00000000e+00 -1.45347694e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45922129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.461400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:568.19, Y:-145.35, Z:0.03 [[ 9.94994750e-01 9.99272089e-02 0.00000000e+00 5.68192623e+02] [-9.99272089e-02 9.94994750e-01 0.00000000e+00 -1.45348377e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42353382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.22, Y:-145.35, Z:0.03 [[ 9.95039886e-01 9.94767572e-02 0.00000000e+00 5.68220266e+02] [-9.94767572e-02 9.95039886e-01 0.00000000e+00 -1.45348781e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48270954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.521400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:568.25, Y:-145.35, Z:0.03 [[ 9.95052819e-01 9.93473027e-02 0.00000000e+00 5.68248436e+02] [-9.93473027e-02 9.95052819e-01 0.00000000e+00 -1.45348526e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45097679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.551400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:568.28, Y:-145.35, Z:0.03 [[ 9.95047298e-01 9.94025871e-02 0.00000000e+00 5.68275251e+02] [-9.94025871e-02 9.95047298e-01 0.00000000e+00 -1.45348168e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38383109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.581400513 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:568.30, Y:-145.35, Z:0.03 [[ 9.95056616e-01 9.93092648e-02 0.00000000e+00 5.68302009e+02] [-9.93092648e-02 9.95056616e-01 0.00000000e+00 -1.45347867e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05920739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.33, Y:-145.35, Z:0.03 [[ 9.95329497e-01 9.65359599e-02 0.00000000e+00 5.68330333e+02] [-9.65359599e-02 9.95329497e-01 0.00000000e+00 -1.45348814e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82695773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.641400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:568.36, Y:-145.35, Z:0.03 [[ 9.95504248e-01 9.47169065e-02 0.00000000e+00 5.68358127e+02] [-9.47169065e-02 9.95504248e-01 0.00000000e+00 -1.45348414e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95561648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.671400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:568.39, Y:-145.35, Z:0.03 [[ 9.95675096e-01 9.29037304e-02 0.00000000e+00 5.68386320e+02] [-9.29037304e-02 9.95675096e-01 0.00000000e+00 -1.45347570e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09121541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.701400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:568.41, Y:-145.35, Z:0.03 [[ 9.95839715e-01 9.11222394e-02 0.00000000e+00 5.68413321e+02] [-9.11222394e-02 9.95839715e-01 0.00000000e+00 -1.45347562e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14619536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.731400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:568.44, Y:-145.35, Z:0.03 [[ 9.95923963e-01 9.01967815e-02 0.00000000e+00 5.68441373e+02] [-9.01967815e-02 9.95923963e-01 0.00000000e+00 -1.45347477e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15996000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.761400513 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:568.47, Y:-145.35, Z:0.03 [[ 9.95936625e-01 9.00568683e-02 0.00000000e+00 5.68469554e+02] [-9.00568683e-02 9.95936625e-01 0.00000000e+00 -1.45347845e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14213342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.50, Y:-145.35, Z:0.04 [[ 9.95804267e-01 9.15088056e-02 0.00000000e+00 5.68497483e+02] [-9.15088056e-02 9.95804267e-01 0.00000000e+00 -1.45347757e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50168992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.52, Y:-145.35, Z:0.04 [[ 9.95765250e-01 9.19323990e-02 0.00000000e+00 5.68524671e+02] [-9.19323990e-02 9.95765250e-01 0.00000000e+00 -1.45347247e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77401767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.851400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:568.55, Y:-145.35, Z:0.04 [[ 9.95766899e-01 9.19145433e-02 0.00000000e+00 5.68552349e+02] [-9.19145433e-02 9.95766899e-01 0.00000000e+00 -1.45346940e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.94355617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.881400513 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:568.58, Y:-145.35, Z:0.04 [[ 9.95875040e-01 9.07353502e-02 0.00000000e+00 5.68579386e+02] [-9.07353502e-02 9.95875040e-01 0.00000000e+00 -1.45347253e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91620543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.911400513 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:568.61, Y:-145.35, Z:0.04 [[ 9.95876608e-01 9.07181419e-02 0.00000000e+00 5.68607257e+02] [-9.07181419e-02 9.95876608e-01 0.00000000e+00 -1.45347846e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82471663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.941400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:568.63, Y:-145.35, Z:0.04 [[ 9.95842507e-01 9.10917236e-02 0.00000000e+00 5.68634571e+02] [-9.10917236e-02 9.95842507e-01 0.00000000e+00 -1.45348327e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91110111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.971400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:568.66, Y:-145.35, Z:0.04 [[ 9.95735858e-01 9.22502111e-02 0.00000000e+00 5.68661936e+02] [-9.22502111e-02 9.95735858e-01 0.00000000e+00 -1.45347662e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.03821737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.001400513 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:568.69, Y:-145.35, Z:0.04 [[ 9.95642018e-01 9.32575568e-02 0.00000000e+00 5.68689873e+02] [-9.32575568e-02 9.95642018e-01 0.00000000e+00 -1.45347709e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14003880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.031400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:568.72, Y:-145.35, Z:0.04 [[ 9.95452295e-01 9.52613656e-02 0.00000000e+00 5.68717510e+02] [-9.52613656e-02 9.95452295e-01 0.00000000e+00 -1.45348341e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08062627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.061400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:568.75, Y:-145.35, Z:0.04 [[ 9.95492018e-01 9.48453577e-02 0.00000000e+00 5.68745467e+02] [-9.48453577e-02 9.95492018e-01 0.00000000e+00 -1.45348767e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93296586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.091400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:568.77, Y:-145.35, Z:0.04 [[ 9.95738120e-01 9.22257955e-02 0.00000000e+00 5.68773544e+02] [-9.22257955e-02 9.95738120e-01 0.00000000e+00 -1.45348824e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97419878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.121400513 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:568.80, Y:-145.35, Z:0.04 [[ 9.95985758e-01 8.95118382e-02 0.00000000e+00 5.68800587e+02] [-8.95118382e-02 9.95985758e-01 0.00000000e+00 -1.45348263e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88958234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.83, Y:-145.35, Z:0.04 [[ 9.96178866e-01 8.73365114e-02 0.00000000e+00 5.68828292e+02] [-8.73365114e-02 9.96178866e-01 0.00000000e+00 -1.45348442e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97161283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.86, Y:-145.35, Z:0.04 [[ 9.96504859e-01 8.35348137e-02 0.00000000e+00 5.68856422e+02] [-8.35348137e-02 9.96504859e-01 0.00000000e+00 -1.45348719e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91391973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.88, Y:-145.35, Z:0.04 [[ 9.96640842e-01 8.18964747e-02 0.00000000e+00 5.68883735e+02] [-8.18964747e-02 9.96640842e-01 0.00000000e+00 -1.45348685e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83434871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.241400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:568.91, Y:-145.35, Z:0.04 [[ 9.96893534e-01 7.87609194e-02 0.00000000e+00 5.68911908e+02] [-7.87609194e-02 9.96893534e-01 0.00000000e+00 -1.45348620e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70553255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.94, Y:-145.35, Z:0.04 [[ 9.97015898e-01 7.71965014e-02 0.00000000e+00 5.68940125e+02] [-7.71965014e-02 9.97015898e-01 0.00000000e+00 -1.45348752e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66189181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.301400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:568.97, Y:-145.35, Z:0.04 [[ 9.97118979e-01 7.58534285e-02 0.00000000e+00 5.68967838e+02] [-7.58534285e-02 9.97118979e-01 0.00000000e+00 -1.45348560e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61929746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.331400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:568.99, Y:-145.35, Z:0.04 [[ 9.97012431e-01 7.72412568e-02 0.00000000e+00 5.68994402e+02] [-7.72412568e-02 9.97012431e-01 0.00000000e+00 -1.45349089e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62528301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.02, Y:-145.35, Z:0.04 [[ 9.96846361e-01 7.93557291e-02 0.00000000e+00 5.69021829e+02] [-7.93557291e-02 9.96846361e-01 0.00000000e+00 -1.45349301e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76855932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.391400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:569.05, Y:-145.35, Z:0.04 [[ 9.96863658e-01 7.91381552e-02 0.00000000e+00 5.69048761e+02] [-7.91381552e-02 9.96863658e-01 0.00000000e+00 -1.45348271e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81769124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.08, Y:-145.35, Z:0.04 [[ 9.96958546e-01 7.79336688e-02 0.00000000e+00 5.69075955e+02] [-7.79336688e-02 9.96958546e-01 0.00000000e+00 -1.45348399e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.92866460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.451400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:569.10, Y:-145.35, Z:0.04 [[ 9.97017222e-01 7.71793892e-02 0.00000000e+00 5.69104189e+02] [-7.71793892e-02 9.97017222e-01 0.00000000e+00 -1.45348095e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78907568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.481400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:569.13, Y:-145.35, Z:0.04 [[ 9.97011630e-01 7.72515951e-02 0.00000000e+00 5.69132254e+02] [-7.72515951e-02 9.97011630e-01 0.00000000e+00 -1.45348754e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65927866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.16, Y:-145.35, Z:0.04 [[ 9.97019223e-01 7.71535438e-02 0.00000000e+00 5.69159037e+02] [-7.71535438e-02 9.97019223e-01 0.00000000e+00 -1.45349745e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56039403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.541400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:569.19, Y:-145.35, Z:0.04 [[ 9.97033290e-01 7.69715426e-02 0.00000000e+00 5.69186883e+02] [-7.69715426e-02 9.97033290e-01 0.00000000e+00 -1.45349362e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75454367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.571400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:569.21, Y:-145.35, Z:0.04 [[ 9.97037999e-01 7.69105267e-02 0.00000000e+00 5.69214201e+02] [-7.69105267e-02 9.97037999e-01 0.00000000e+00 -1.45349020e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97534764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.24, Y:-145.35, Z:0.04 [[ 9.96984702e-01 7.75983475e-02 0.00000000e+00 5.69241309e+02] [-7.75983475e-02 9.96984702e-01 0.00000000e+00 -1.45348648e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06323823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.631400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:569.27, Y:-145.35, Z:0.04 [[ 9.96969046e-01 7.77992398e-02 0.00000000e+00 5.69269391e+02] [-7.77992398e-02 9.96969046e-01 0.00000000e+00 -1.45348978e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99675688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.661400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:569.30, Y:-145.35, Z:0.04 [[ 9.96971179e-01 7.77718993e-02 0.00000000e+00 5.69296864e+02] [-7.77718993e-02 9.96971179e-01 0.00000000e+00 -1.45350134e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82200928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.691400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:569.32, Y:-145.35, Z:0.04 [[ 9.97004809e-01 7.73395776e-02 0.00000000e+00 5.69324477e+02] [-7.73395776e-02 9.97004809e-01 0.00000000e+00 -1.45349908e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71202052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.721400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:569.35, Y:-145.35, Z:0.04 [[ 9.97048886e-01 7.67692540e-02 0.00000000e+00 5.69350869e+02] [-7.67692540e-02 9.97048886e-01 0.00000000e+00 -1.45350323e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83403333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.751400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:569.38, Y:-145.35, Z:0.04 [[ 9.97079540e-01 7.63700948e-02 0.00000000e+00 5.69377933e+02] [-7.63700948e-02 9.97079540e-01 0.00000000e+00 -1.45349836e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90182251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.781400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:569.41, Y:-145.35, Z:0.04 [[ 9.97166024e-01 7.52324390e-02 0.00000000e+00 5.69405753e+02] [-7.52324390e-02 9.97166024e-01 0.00000000e+00 -1.45349841e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95440546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.43, Y:-145.35, Z:0.04 [[ 9.97196695e-01 7.48248021e-02 0.00000000e+00 5.69433691e+02] [-7.48248021e-02 9.97196695e-01 0.00000000e+00 -1.45350051e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72352538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.841400513 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:569.46, Y:-145.35, Z:0.04 [[ 9.97271715e-01 7.38181932e-02 0.00000000e+00 5.69461229e+02] [-7.38181932e-02 9.97271715e-01 0.00000000e+00 -1.45349581e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58242524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.49, Y:-145.35, Z:0.04 [[ 9.97277230e-01 7.37436517e-02 0.00000000e+00 5.69487830e+02] [-7.37436517e-02 9.97277230e-01 0.00000000e+00 -1.45350331e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74869585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.901400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:569.52, Y:-145.35, Z:0.04 [[ 9.97244675e-01 7.41825970e-02 0.00000000e+00 5.69515243e+02] [-7.41825970e-02 9.97244675e-01 0.00000000e+00 -1.45349965e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86426031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.931400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:569.54, Y:-145.35, Z:0.04 [[ 9.96998469e-01 7.74212703e-02 0.00000000e+00 5.69542732e+02] [-7.74212703e-02 9.96998469e-01 0.00000000e+00 -1.45350385e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.92250522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.57, Y:-145.35, Z:0.04 [[ 9.96889966e-01 7.88060596e-02 0.00000000e+00 5.69571024e+02] [-7.88060596e-02 9.96889966e-01 0.00000000e+00 -1.45351189e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89191592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.991400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:569.60, Y:-145.35, Z:0.04 [[ 9.96854491e-01 7.92535348e-02 0.00000000e+00 5.69598151e+02] [-7.92535348e-02 9.96854491e-01 0.00000000e+00 -1.45351191e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93308353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.021400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:569.63, Y:-145.35, Z:0.04 [[ 9.96896687e-01 7.87209956e-02 0.00000000e+00 5.69625937e+02] [-7.87209956e-02 9.96896687e-01 0.00000000e+00 -1.45351012e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02098418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.65, Y:-145.35, Z:0.04 [[ 9.96891722e-01 7.87838433e-02 0.00000000e+00 5.69652393e+02] [-7.87838433e-02 9.96891722e-01 0.00000000e+00 -1.45351028e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11333890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.081400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:569.68, Y:-145.35, Z:0.04 [[ 9.96933200e-01 7.82572386e-02 0.00000000e+00 5.69679069e+02] [-7.82572386e-02 9.96933200e-01 0.00000000e+00 -1.45351367e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.13573630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.71, Y:-145.35, Z:0.04 [[ 9.96925578e-01 7.83542682e-02 0.00000000e+00 5.69706898e+02] [-7.83542682e-02 9.96925578e-01 0.00000000e+00 -1.45350766e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.07601461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.73, Y:-145.35, Z:0.04 [[ 9.96969839e-01 7.77890700e-02 0.00000000e+00 5.69734625e+02] [-7.77890700e-02 9.96969839e-01 0.00000000e+00 -1.45350658e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08043927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.171400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:569.76, Y:-145.35, Z:0.04 [[ 9.97069713e-01 7.64982780e-02 0.00000000e+00 5.69761196e+02] [-7.64982780e-02 9.97069713e-01 0.00000000e+00 -1.45350271e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.17894746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.201400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:569.79, Y:-145.35, Z:0.04 [[ 9.97145910e-01 7.54985700e-02 0.00000000e+00 5.69788733e+02] [-7.54985700e-02 9.97145910e-01 0.00000000e+00 -1.45350214e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24807282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.82, Y:-145.35, Z:0.04 [[ 9.97276404e-01 7.37548270e-02 0.00000000e+00 5.69816511e+02] [-7.37548270e-02 9.97276404e-01 0.00000000e+00 -1.45350791e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15901502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.261400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:569.84, Y:-145.35, Z:0.04 [[ 9.97336487e-01 7.29378609e-02 0.00000000e+00 5.69843881e+02] [-7.29378609e-02 9.97336487e-01 0.00000000e+00 -1.45350653e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.16589847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.291400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:569.87, Y:-145.35, Z:0.04 [[ 9.97350460e-01 7.27465466e-02 0.00000000e+00 5.69872195e+02] [-7.27465466e-02 9.97350460e-01 0.00000000e+00 -1.45350600e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.16589847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.321400513 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:569.90, Y:-145.35, Z:0.04 [[ 9.97446623e-01 7.14159300e-02 0.00000000e+00 5.69898983e+02] [-7.14159300e-02 9.97446623e-01 0.00000000e+00 -1.45349762e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.21079148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.351400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:569.93, Y:-145.35, Z:0.04 [[ 9.97585222e-01 6.94530342e-02 0.00000000e+00 5.69927154e+02] [-6.94530342e-02 9.97585222e-01 0.00000000e+00 -1.45349506e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.44024610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.381400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:569.95, Y:-145.35, Z:0.04 [[ 9.97822866e-01 6.59509535e-02 0.00000000e+00 5.69954673e+02] [-6.59509535e-02 9.97822866e-01 0.00000000e+00 -1.45348592e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.47472099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.411400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:569.98, Y:-145.35, Z:0.05 [[ 9.97944470e-01 6.40845907e-02 0.00000000e+00 5.69982497e+02] [-6.40845907e-02 9.97944470e-01 0.00000000e+00 -1.45348651e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.56952238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.441400513 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:570.01, Y:-145.35, Z:0.05 [[ 9.98033584e-01 6.26814512e-02 0.00000000e+00 5.70010016e+02] [-6.26814512e-02 9.98033584e-01 0.00000000e+00 -1.45347829e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.60100303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.471400513 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:570.04, Y:-145.35, Z:0.05 [[ 9.98112523e-01 6.14116509e-02 0.00000000e+00 5.70038207e+02] [-6.14116509e-02 9.98112523e-01 0.00000000e+00 -1.45347965e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.77285276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.501400513 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:570.07, Y:-145.35, Z:0.05 [[ 9.98219652e-01 5.96449958e-02 0.00000000e+00 5.70066508e+02] [-5.96449958e-02 9.98219652e-01 0.00000000e+00 -1.45348179e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.79604951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.531400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:570.10, Y:-145.35, Z:0.04 [[ 9.98380871e-01 5.68826601e-02 0.00000000e+00 5.70095346e+02] [-5.68826601e-02 9.98380871e-01 0.00000000e+00 -1.45348866e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36507295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.561400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:570.12, Y:-145.35, Z:0.04 [[ 9.98441118e-01 5.58151726e-02 0.00000000e+00 5.70122785e+02] [-5.58151726e-02 9.98441118e-01 0.00000000e+00 -1.45349149e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.19033986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.591400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:570.15, Y:-145.35, Z:0.04 [[ 9.98427675e-01 5.60551321e-02 0.00000000e+00 5.70151070e+02] [-5.60551321e-02 9.98427675e-01 0.00000000e+00 -1.45349408e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22055097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.621400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:570.18, Y:-145.35, Z:0.04 [[ 9.98337093e-01 5.76458957e-02 0.00000000e+00 5.70178796e+02] [-5.76458957e-02 9.98337093e-01 0.00000000e+00 -1.45349204e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.26684906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.21, Y:-145.35, Z:0.05 [[ 9.98056875e-01 6.23095005e-02 0.00000000e+00 5.70207423e+02] [-6.23095005e-02 9.98056875e-01 0.00000000e+00 -1.45349989e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.52029660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.681400513 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:570.24, Y:-145.35, Z:0.05 [[ 9.97984926e-01 6.34514552e-02 0.00000000e+00 5.70235953e+02] [-6.34514552e-02 9.97984926e-01 0.00000000e+00 -1.45350094e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.51007826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.711400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:570.26, Y:-145.35, Z:0.05 [[ 9.97930100e-01 6.43079681e-02 0.00000000e+00 5.70262787e+02] [-6.43079681e-02 9.97930100e-01 0.00000000e+00 -1.45350647e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.64412762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.741400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:570.29, Y:-145.35, Z:0.05 [[ 9.98012178e-01 6.30213660e-02 0.00000000e+00 5.70290398e+02] [-6.30213660e-02 9.98012178e-01 0.00000000e+00 -1.45351218e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.66096449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.771400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:570.32, Y:-145.35, Z:0.05 [[ 9.98057234e-01 6.23037533e-02 0.00000000e+00 5.70318046e+02] [-6.23037533e-02 9.98057234e-01 0.00000000e+00 -1.45350988e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.63571103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.801400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:570.35, Y:-145.35, Z:0.05 [[ 9.98073979e-01 6.20349310e-02 0.00000000e+00 5.70345807e+02] [-6.20349310e-02 9.98073979e-01 0.00000000e+00 -1.45350364e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.59056521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.831400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:570.37, Y:-145.35, Z:0.05 [[ 9.98156859e-01 6.06867840e-02 0.00000000e+00 5.70373313e+02] [-6.06867840e-02 9.98156859e-01 0.00000000e+00 -1.45351055e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.59935318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.861400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:570.40, Y:-145.35, Z:0.04 [[ 9.98198413e-01 5.99993968e-02 0.00000000e+00 5.70402212e+02] [-5.99993968e-02 9.98198413e-01 0.00000000e+00 -1.45351064e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39164323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.891400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:570.43, Y:-145.35, Z:0.04 [[ 9.98272138e-01 5.87600002e-02 0.00000000e+00 5.70428731e+02] [-5.87600002e-02 9.98272138e-01 0.00000000e+00 -1.45351204e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.47410935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.921400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:570.46, Y:-145.35, Z:0.04 [[ 9.98337494e-01 5.76389480e-02 0.00000000e+00 5.70456711e+02] [-5.76389480e-02 9.98337494e-01 0.00000000e+00 -1.45350819e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36623135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.951400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:570.48, Y:-145.35, Z:0.05 [[ 9.98486407e-01 5.49990500e-02 0.00000000e+00 5.70484518e+02] [-5.49990500e-02 9.98486407e-01 0.00000000e+00 -1.45349981e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.57729333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.981400513 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:570.51, Y:-145.35, Z:0.05 [[ 9.98555079e-01 5.37378355e-02 0.00000000e+00 5.70512361e+02] [-5.37378355e-02 9.98555079e-01 0.00000000e+00 -1.45349498e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.50847029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.011400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:570.54, Y:-145.35, Z:0.04 [[ 9.98617520e-01 5.25647078e-02 0.00000000e+00 5.70540506e+02] [-5.25647078e-02 9.98617520e-01 0.00000000e+00 -1.45349747e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.46735209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.041400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:570.57, Y:-145.35, Z:0.04 [[ 9.98681883e-01 5.13273400e-02 0.00000000e+00 5.70568085e+02] [-5.13273400e-02 9.98681883e-01 0.00000000e+00 -1.45350054e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.35979401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.071400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:570.60, Y:-145.35, Z:0.04 [[ 9.98707486e-01 5.08267328e-02 0.00000000e+00 5.70595671e+02] [-5.08267328e-02 9.98707486e-01 0.00000000e+00 -1.45350689e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.21482948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.101400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:570.62, Y:-145.35, Z:0.04 [[ 9.98719655e-01 5.05870648e-02 0.00000000e+00 5.70623762e+02] [-5.05870648e-02 9.98719655e-01 0.00000000e+00 -1.45351662e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08240927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.131400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:570.65, Y:-145.35, Z:0.04 [[ 9.98692486e-01 5.11206216e-02 0.00000000e+00 5.70650205e+02] [-5.11206216e-02 9.98692486e-01 0.00000000e+00 -1.45351881e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.09670058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.161400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:570.68, Y:-145.35, Z:0.04 [[ 9.98683145e-01 5.13027847e-02 0.00000000e+00 5.70678451e+02] [-5.13027847e-02 9.98683145e-01 0.00000000e+00 -1.45352259e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11565868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.191400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:570.71, Y:-145.35, Z:0.04 [[ 9.98632570e-01 5.22780071e-02 0.00000000e+00 5.70706319e+02] [-5.22780071e-02 9.98632570e-01 0.00000000e+00 -1.45352557e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97596120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.221400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:570.73, Y:-145.35, Z:0.04 [[ 9.98521544e-01 5.43573986e-02 0.00000000e+00 5.70733778e+02] [-5.43573986e-02 9.98521544e-01 0.00000000e+00 -1.45354276e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83777747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.251400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:570.76, Y:-145.36, Z:0.04 [[ 9.98263518e-01 5.89062722e-02 0.00000000e+00 5.70760456e+02] [-5.89062722e-02 9.98263518e-01 0.00000000e+00 -1.45356438e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65930870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.281400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:570.79, Y:-145.36, Z:0.04 [[ 9.98150412e-01 6.07927300e-02 0.00000000e+00 5.70787777e+02] [-6.07927300e-02 9.98150412e-01 0.00000000e+00 -1.45356946e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70130469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.81, Y:-145.36, Z:0.04 [[ 9.98028277e-01 6.27659034e-02 0.00000000e+00 5.70814961e+02] [-6.27659034e-02 9.98028277e-01 0.00000000e+00 -1.45357892e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80073750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.85, Y:-145.36, Z:0.04 [[ 9.97924145e-01 6.44003185e-02 0.00000000e+00 5.70851727e+02] [-6.44003185e-02 9.97924145e-01 0.00000000e+00 -1.45363240e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99946112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.87, Y:-145.36, Z:0.03 [[ 9.98080670e-01 6.19271841e-02 0.00000000e+00 5.70871983e+02] [-6.19271841e-02 9.98080670e-01 0.00000000e+00 -1.45359834e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38128707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.90, Y:-145.36, Z:0.03 [[ 9.98185052e-01 6.02212714e-02 0.00000000e+00 5.70898848e+02] [-6.02212714e-02 9.98185052e-01 0.00000000e+00 -1.45360770e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19479756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.431400513 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:570.93, Y:-145.36, Z:0.03 [[ 9.98249550e-01 5.91425105e-02 0.00000000e+00 5.70933045e+02] [-5.91425105e-02 9.98249550e-01 0.00000000e+00 -1.45363770e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31513079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.96, Y:-145.36, Z:0.03 [[ 9.98251075e-01 5.91167620e-02 0.00000000e+00 5.70961948e+02] [-5.91167620e-02 9.98251075e-01 0.00000000e+00 -1.45364552e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47126234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.99, Y:-145.37, Z:0.04 [[ 9.98277326e-01 5.86717974e-02 0.00000000e+00 5.70991310e+02] [-5.86717974e-02 9.98277326e-01 0.00000000e+00 -1.45365066e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79583346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.02, Y:-145.37, Z:0.04 [[ 9.98277714e-01 5.86652087e-02 0.00000000e+00 5.71024293e+02] [-5.86652087e-02 9.98277714e-01 0.00000000e+00 -1.45368231e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79894433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.551400513 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:571.05, Y:-145.37, Z:0.04 [[ 9.98463337e-01 5.54162763e-02 0.00000000e+00 5.71047347e+02] [-5.54162763e-02 9.98463337e-01 0.00000000e+00 -1.45365099e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71645277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.581400513 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:571.08, Y:-145.37, Z:0.04 [[ 9.98538883e-01 5.40379396e-02 0.00000000e+00 5.71076471e+02] [-5.40379396e-02 9.98538883e-01 0.00000000e+00 -1.45366601e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65820027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.10, Y:-145.37, Z:0.04 [[ 9.98664620e-01 5.16621368e-02 0.00000000e+00 5.71103538e+02] [-5.16621368e-02 9.98664620e-01 0.00000000e+00 -1.45366074e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77036166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.641400513 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:571.13, Y:-145.37, Z:0.04 [[ 9.98886938e-01 4.71686772e-02 0.00000000e+00 5.71134292e+02] [-4.71686772e-02 9.98886938e-01 0.00000000e+00 -1.45367921e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80220225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.16, Y:-145.37, Z:0.04 [[ 9.99009391e-01 4.44998448e-02 0.00000000e+00 5.71163522e+02] [-4.44998448e-02 9.99009391e-01 0.00000000e+00 -1.45368336e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.94662743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.19, Y:-145.37, Z:0.04 [[ 9.99074959e-01 4.30026221e-02 0.00000000e+00 5.71190289e+02] [-4.30026221e-02 9.99074959e-01 0.00000000e+00 -1.45367337e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72170218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.731400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:571.22, Y:-145.37, Z:0.03 [[ 9.99054033e-01 4.34860869e-02 0.00000000e+00 5.71221774e+02] [-4.34860869e-02 9.99054033e-01 0.00000000e+00 -1.45370501e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37431409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.761400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:571.25, Y:-145.37, Z:0.03 [[ 9.99135452e-01 4.15734188e-02 0.00000000e+00 5.71245724e+02] [-4.15734188e-02 9.99135452e-01 0.00000000e+00 -1.45365955e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31754479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.791400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:571.29, Y:-145.37, Z:0.03 [[ 9.98800541e-01 4.89640553e-02 0.00000000e+00 5.71285273e+02] [-4.89640553e-02 9.98800541e-01 0.00000000e+00 -1.45369171e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46909104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.31, Y:-145.37, Z:0.04 [[ 9.98786103e-01 4.92576940e-02 0.00000000e+00 5.71312530e+02] [-4.92576940e-02 9.98786103e-01 0.00000000e+00 -1.45368336e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69084849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.851400513 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:571.34, Y:-145.37, Z:0.04 [[ 9.98731346e-01 5.03557208e-02 0.00000000e+00 5.71341268e+02] [-5.03557208e-02 9.98731346e-01 0.00000000e+00 -1.45367249e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93732615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.881400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:571.37, Y:-145.36, Z:0.04 [[ 9.98756202e-01 4.98602862e-02 0.00000000e+00 5.71368109e+02] [-4.98602862e-02 9.98756202e-01 0.00000000e+00 -1.45364435e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88183780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.911400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:571.40, Y:-145.36, Z:0.04 [[ 9.99010821e-01 4.44677440e-02 0.00000000e+00 5.71397136e+02] [-4.44677440e-02 9.99010821e-01 0.00000000e+00 -1.45361929e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72765502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.941400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:571.43, Y:-145.36, Z:0.04 [[ 9.99183438e-01 4.04036883e-02 0.00000000e+00 5.71426373e+02] [-4.04036883e-02 9.99183438e-01 0.00000000e+00 -1.45360251e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67894118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.971400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:571.45, Y:-145.36, Z:0.04 [[ 9.99321559e-01 3.68296420e-02 0.00000000e+00 5.71453209e+02] [-3.68296420e-02 9.99321559e-01 0.00000000e+00 -1.45357754e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76828342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.001400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:571.48, Y:-145.35, Z:0.04 [[ 9.99542094e-01 3.02589096e-02 0.00000000e+00 5.71481299e+02] [-3.02589096e-02 9.99542094e-01 0.00000000e+00 -1.45354842e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77472635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.031400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:571.51, Y:-145.35, Z:0.04 [[ 9.99616723e-01 2.76840631e-02 0.00000000e+00 5.71509329e+02] [-2.76840631e-02 9.99616723e-01 0.00000000e+00 -1.45352762e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84200726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.54, Y:-145.35, Z:0.04 [[ 9.99672581e-01 2.55877049e-02 0.00000000e+00 5.71536192e+02] [-2.55877049e-02 9.99672581e-01 0.00000000e+00 -1.45351659e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88498171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.091400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:571.56, Y:-145.35, Z:0.04 [[ 9.99688933e-01 2.49406898e-02 0.00000000e+00 5.71562495e+02] [-2.49406898e-02 9.99688933e-01 0.00000000e+00 -1.45352039e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68559695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.121400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:571.59, Y:-145.35, Z:0.04 [[ 9.99814349e-01 1.92682810e-02 0.00000000e+00 5.71594404e+02] [-1.92682810e-02 9.99814349e-01 0.00000000e+00 -1.45349524e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63438524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.151400513 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:571.62, Y:-145.35, Z:0.04 [[ 9.99825349e-01 1.86888031e-02 0.00000000e+00 5.71622007e+02] [-1.86888031e-02 9.99825349e-01 0.00000000e+00 -1.45347451e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53154553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.181400513 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:571.65, Y:-145.35, Z:0.04 [[ 9.99840450e-01 1.78626378e-02 0.00000000e+00 5.71650606e+02] [-1.78626378e-02 9.99840450e-01 0.00000000e+00 -1.45346312e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53154553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.68, Y:-145.34, Z:0.04 [[ 9.99852518e-01 1.71739085e-02 0.00000000e+00 5.71676002e+02] [-1.71739085e-02 9.99852518e-01 0.00000000e+00 -1.45343335e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68740852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.70, Y:-145.34, Z:0.04 [[ 9.99836596e-01 1.80770851e-02 0.00000000e+00 5.71702675e+02] [-1.80770851e-02 9.99836596e-01 0.00000000e+00 -1.45340813e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77683892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.271400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:571.73, Y:-145.34, Z:0.04 [[ 9.99849280e-01 1.73613688e-02 0.00000000e+00 5.71733989e+02] [-1.73613688e-02 9.99849280e-01 0.00000000e+00 -1.45339333e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.32662561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.301400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:571.76, Y:-145.34, Z:0.05 [[ 9.99842779e-01 1.77318130e-02 0.00000000e+00 5.71760583e+02] [-1.77318130e-02 9.99842779e-01 0.00000000e+00 -1.45337506e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.57563567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.331400513 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:571.79, Y:-145.34, Z:0.05 [[ 9.99864090e-01 1.64863910e-02 0.00000000e+00 5.71788368e+02] [-1.64863910e-02 9.99864090e-01 0.00000000e+00 -1.45335697e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.61403263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.82, Y:-145.34, Z:0.04 [[ 9.99890973e-01 1.47662343e-02 0.00000000e+00 5.71817343e+02] [-1.47662343e-02 9.99890973e-01 0.00000000e+00 -1.45335168e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.33051697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.85, Y:-145.33, Z:0.04 [[ 9.99907253e-01 1.36193103e-02 0.00000000e+00 5.71845706e+02] [-1.36193103e-02 9.99907253e-01 0.00000000e+00 -1.45333495e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14529495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.87, Y:-145.33, Z:0.04 [[ 9.99939451e-01 1.10043047e-02 0.00000000e+00 5.71872882e+02] [-1.10043047e-02 9.99939451e-01 0.00000000e+00 -1.45331593e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.98348009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.451400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:571.90, Y:-145.33, Z:0.04 [[ 9.99954132e-01 9.57775316e-03 0.00000000e+00 5.71899798e+02] [-9.57775316e-03 9.99954132e-01 0.00000000e+00 -1.45329368e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.92921327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.481400513 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:571.93, Y:-145.33, Z:0.04 [[ 9.99968338e-01 7.95759953e-03 0.00000000e+00 5.71926954e+02] [-7.95759953e-03 9.99968338e-01 0.00000000e+00 -1.45327790e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.98313006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.511400513 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:571.95, Y:-145.33, Z:0.04 [[ 9.99982585e-01 5.90170949e-03 0.00000000e+00 5.71954709e+02] [-5.90170949e-03 9.99982585e-01 0.00000000e+00 -1.45326162e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70082091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.98, Y:-145.32, Z:0.04 [[ 9.99986252e-01 5.24369230e-03 0.00000000e+00 5.71982289e+02] [-5.24369230e-03 9.99986252e-01 0.00000000e+00 -1.45324760e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62568344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.571400513 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:572.01, Y:-145.32, Z:0.04 [[ 9.99982502e-01 5.91571474e-03 0.00000000e+00 5.72011301e+02] [-5.91571474e-03 9.99982502e-01 0.00000000e+00 -1.45324460e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67772026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.04, Y:-145.32, Z:0.04 [[ 9.99982805e-01 5.86419618e-03 0.00000000e+00 5.72037619e+02] [-5.86419618e-03 9.99982805e-01 0.00000000e+00 -1.45321119e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80851626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.631400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:572.07, Y:-145.32, Z:0.04 [[ 9.99978107e-01 6.61706339e-03 0.00000000e+00 5.72066132e+02] [-6.61706339e-03 9.99978107e-01 0.00000000e+00 -1.45318797e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.94667482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.661400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:572.09, Y:-145.32, Z:0.04 [[ 9.99979730e-01 6.36706394e-03 0.00000000e+00 5.72092717e+02] [-6.36706394e-03 9.99979730e-01 0.00000000e+00 -1.45316624e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80330552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.691400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:572.12, Y:-145.32, Z:0.04 [[ 9.99983848e-01 5.68369160e-03 0.00000000e+00 5.72121058e+02] [-5.68369160e-03 9.99983848e-01 0.00000000e+00 -1.45316323e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64822135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.721400513 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:572.15, Y:-145.31, Z:0.04 [[ 9.99988961e-01 4.69876647e-03 0.00000000e+00 5.72147513e+02] [-4.69876647e-03 9.99988961e-01 0.00000000e+00 -1.45313766e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55378464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.17, Y:-145.31, Z:0.04 [[ 9.99994584e-01 3.29122148e-03 0.00000000e+00 5.72174127e+02] [-3.29122148e-03 9.99994584e-01 0.00000000e+00 -1.45310839e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65334703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.781400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:572.20, Y:-145.31, Z:0.04 [[ 9.99991095e-01 4.22014058e-03 0.00000000e+00 5.72203571e+02] [-4.22014058e-03 9.99991095e-01 0.00000000e+00 -1.45311269e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63560319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.23, Y:-145.31, Z:0.04 [[ 9.99980659e-01 6.21942413e-03 0.00000000e+00 5.72234589e+02] [-6.21942413e-03 9.99980659e-01 0.00000000e+00 -1.45308208e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97405999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.841400513 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:572.26, Y:-145.31, Z:0.04 [[ 9.99971984e-01 7.48536895e-03 0.00000000e+00 5.72257328e+02] [-7.48536895e-03 9.99971984e-01 0.00000000e+00 -1.45305417e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.07188659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.29, Y:-145.30, Z:0.04 [[ 9.99951742e-01 9.82416801e-03 0.00000000e+00 5.72285821e+02] [-9.82416801e-03 9.99951742e-01 0.00000000e+00 -1.45303432e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08689810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.901400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:572.31, Y:-145.30, Z:0.04 [[ 9.99943258e-01 1.06526992e-02 0.00000000e+00 5.72312847e+02] [-1.06526992e-02 9.99943258e-01 0.00000000e+00 -1.45302389e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10265114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.931400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:572.34, Y:-145.30, Z:0.04 [[ 9.99898180e-01 1.42699083e-02 0.00000000e+00 5.72340870e+02] [-1.42699083e-02 9.99898180e-01 0.00000000e+00 -1.45301707e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95835023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.37, Y:-145.30, Z:0.04 [[ 9.99878267e-01 1.56028972e-02 0.00000000e+00 5.72367677e+02] [-1.56028972e-02 9.99878267e-01 0.00000000e+00 -1.45299762e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97949660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.39, Y:-145.30, Z:0.04 [[ 9.99843323e-01 1.77010928e-02 0.00000000e+00 5.72393705e+02] [-1.77010928e-02 9.99843323e-01 0.00000000e+00 -1.45298298e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97797515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.021400513 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:572.42, Y:-145.30, Z:0.04 [[ 9.99809776e-01 1.95041593e-02 0.00000000e+00 5.72420394e+02] [-1.95041593e-02 9.99809776e-01 0.00000000e+00 -1.45296520e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04615003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.051400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:572.45, Y:-145.29, Z:0.04 [[ 9.99766533e-01 2.16074141e-02 0.00000000e+00 5.72452965e+02] [-2.16074141e-02 9.99766533e-01 0.00000000e+00 -1.45294251e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.17382311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.081400513 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:572.47, Y:-145.29, Z:0.04 [[ 9.99739014e-01 2.28452038e-02 0.00000000e+00 5.72473597e+02] [-2.28452038e-02 9.99739014e-01 0.00000000e+00 -1.45291767e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.34978825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.51, Y:-145.29, Z:0.04 [[ 9.99636975e-01 2.69428540e-02 0.00000000e+00 5.72510091e+02] [-2.69428540e-02 9.99636975e-01 0.00000000e+00 -1.45292547e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.32795093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.54, Y:-145.29, Z:0.04 [[ 9.99622826e-01 2.74628039e-02 0.00000000e+00 5.72539067e+02] [-2.74628039e-02 9.99622826e-01 0.00000000e+00 -1.45291307e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.29829353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.57, Y:-145.29, Z:0.04 [[ 9.99671817e-01 2.56175568e-02 0.00000000e+00 5.72565578e+02] [-2.56175568e-02 9.99671817e-01 0.00000000e+00 -1.45289264e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14638297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.59, Y:-145.29, Z:0.04 [[ 9.99747055e-01 2.24905744e-02 0.00000000e+00 5.72592796e+02] [-2.24905744e-02 9.99747055e-01 0.00000000e+00 -1.45287061e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14383148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.61, Y:-145.28, Z:0.05 [[ 9.99810140e-01 1.94854773e-02 0.00000000e+00 5.72611176e+02] [-1.94854773e-02 9.99810140e-01 0.00000000e+00 -1.45282250e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.50178094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.261400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:572.65, Y:-145.28, Z:0.04 [[ 9.99798674e-01 2.00651639e-02 0.00000000e+00 5.72646116e+02] [-2.00651639e-02 9.99798674e-01 0.00000000e+00 -1.45282643e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.85973116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.291400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:572.67, Y:-145.28, Z:0.04 [[ 9.99811409e-01 1.94202573e-02 0.00000000e+00 5.72667483e+02] [-1.94202573e-02 9.99811409e-01 0.00000000e+00 -1.45278516e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.41895749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.321400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:572.70, Y:-145.28, Z:0.04 [[ 9.99762195e-01 2.18071944e-02 0.00000000e+00 5.72702690e+02] [-2.18071944e-02 9.99762195e-01 0.00000000e+00 -1.45279746e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27739711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.351400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:572.73, Y:-145.28, Z:0.04 [[ 9.99781991e-01 2.08798911e-02 0.00000000e+00 5.72729327e+02] [-2.08798911e-02 9.99781991e-01 0.00000000e+00 -1.45276063e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.44028890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.381400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:572.76, Y:-145.27, Z:0.04 [[ 9.99816158e-01 1.91742273e-02 0.00000000e+00 5.72756523e+02] [-1.91742273e-02 9.99816158e-01 0.00000000e+00 -1.45274123e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89457028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.411400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:572.78, Y:-145.27, Z:0.04 [[ 9.99880633e-01 1.54505686e-02 0.00000000e+00 5.72775956e+02] [-1.54505686e-02 9.99880633e-01 0.00000000e+00 -1.45269707e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.47105909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.441400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:572.80, Y:-145.27, Z:0.04 [[ 9.99909323e-01 1.34664585e-02 0.00000000e+00 5.72804240e+02] [-1.34664585e-02 9.99909323e-01 0.00000000e+00 -1.45267683e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.31534751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.471400513 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:572.83, Y:-145.27, Z:0.04 [[ 9.99937671e-01 1.11648779e-02 0.00000000e+00 5.72832509e+02] [-1.11648779e-02 9.99937671e-01 0.00000000e+00 -1.45265933e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15733282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.501400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:572.86, Y:-145.27, Z:0.04 [[ 9.99919671e-01 1.26748606e-02 0.00000000e+00 5.72858886e+02] [-1.26748606e-02 9.99919671e-01 0.00000000e+00 -1.45265047e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80866919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.531400513 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:572.86, Y:-145.26, Z:0.04 [[ 9.99801067e-01 1.99455633e-02 0.00000000e+00 5.72862218e+02] [-1.99455633e-02 9.99801067e-01 0.00000000e+00 -1.45261183e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52035994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.561400513 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:572.89, Y:-145.26, Z:0.03 [[ 9.99782308e-01 2.08647316e-02 0.00000000e+00 5.72889320e+02] [-2.08647316e-02 9.99782308e-01 0.00000000e+00 -1.45259465e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47438634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.94, Y:-145.26, Z:0.04 [[ 9.99916846e-01 1.28957834e-02 0.00000000e+00 5.72944016e+02] [-1.28957834e-02 9.99916846e-01 0.00000000e+00 -1.45257623e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76251783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.621400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:572.97, Y:-145.26, Z:0.03 [[ 9.99934145e-01 1.14763445e-02 0.00000000e+00 5.72970852e+02] [-1.14763445e-02 9.99934145e-01 0.00000000e+00 -1.45256521e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46035546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.98, Y:-145.26, Z:0.03 [[ 9.99800079e-01 1.99950571e-02 0.00000000e+00 5.72975566e+02] [-1.99950571e-02 9.99800079e-01 0.00000000e+00 -1.45255843e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46209873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.681400513 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:573.00, Y:-145.25, Z:0.03 [[ 9.99741306e-01 2.27446924e-02 0.00000000e+00 5.73002335e+02] [-2.27446924e-02 9.99741306e-01 0.00000000e+00 -1.45254902e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44332568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.03, Y:-145.25, Z:0.04 [[ 9.99637869e-01 2.69096703e-02 0.00000000e+00 5.73030055e+02] [-2.69096703e-02 9.99637869e-01 0.00000000e+00 -1.45252976e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89887751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.741400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:573.08, Y:-145.25, Z:0.04 [[ 9.99791003e-01 2.04438391e-02 0.00000000e+00 5.73081692e+02] [-2.04438391e-02 9.99791003e-01 0.00000000e+00 -1.45250937e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97230359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.09, Y:-145.25, Z:0.04 [[ 9.99566013e-01 2.94582018e-02 0.00000000e+00 5.73087436e+02] [-2.94582018e-02 9.99566013e-01 0.00000000e+00 -1.45250940e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11491390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.14, Y:-145.25, Z:0.04 [[ 9.99783217e-01 2.08211288e-02 0.00000000e+00 5.73140056e+02] [-2.08211288e-02 9.99783217e-01 0.00000000e+00 -1.45248441e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04144748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.831400513 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:573.15, Y:-145.25, Z:0.04 [[ 9.99561940e-01 2.95960683e-02 0.00000000e+00 5.73145572e+02] [-2.95960683e-02 9.99561940e-01 0.00000000e+00 -1.45249615e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95782968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.861400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:573.17, Y:-145.25, Z:0.04 [[ 9.99548468e-01 3.00476414e-02 0.00000000e+00 5.73172862e+02] [-3.00476414e-02 9.99548468e-01 0.00000000e+00 -1.45248284e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81848316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.20, Y:-145.25, Z:0.04 [[ 9.99547162e-01 3.00910377e-02 0.00000000e+00 5.73200809e+02] [-3.00910377e-02 9.99547162e-01 0.00000000e+00 -1.45247200e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01954479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.23, Y:-145.25, Z:0.04 [[ 9.99510589e-01 3.12822942e-02 0.00000000e+00 5.73228077e+02] [-3.12822942e-02 9.99510589e-01 0.00000000e+00 -1.45245902e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.05550204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.951400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:573.25, Y:-145.24, Z:0.04 [[ 9.99501861e-01 3.15599280e-02 0.00000000e+00 5.73254944e+02] [-3.15599280e-02 9.99501861e-01 0.00000000e+00 -1.45244787e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15295817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.981400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:573.28, Y:-145.24, Z:0.04 [[ 9.99415390e-01 3.41888751e-02 0.00000000e+00 5.73282743e+02] [-3.41888751e-02 9.99415390e-01 0.00000000e+00 -1.45243517e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.16364408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.011400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:573.31, Y:-145.24, Z:0.04 [[ 9.99447868e-01 3.32258772e-02 0.00000000e+00 5.73310081e+02] [-3.32258772e-02 9.99447868e-01 0.00000000e+00 -1.45242553e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15766923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.041400513 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:573.34, Y:-145.24, Z:0.04 [[ 9.99440730e-01 3.34399183e-02 0.00000000e+00 5.73338072e+02] [-3.34399183e-02 9.99440730e-01 0.00000000e+00 -1.45241759e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.94253933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.37, Y:-145.24, Z:0.04 [[ 9.99498984e-01 3.16509263e-02 0.00000000e+00 5.73365836e+02] [-3.16509263e-02 9.99498984e-01 0.00000000e+00 -1.45240354e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.94598397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.101400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:573.39, Y:-145.24, Z:0.04 [[ 9.99493270e-01 3.18308591e-02 0.00000000e+00 5.73393476e+02] [-3.18308591e-02 9.99493270e-01 0.00000000e+00 -1.45239676e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58884019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.131400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:573.42, Y:-145.24, Z:0.04 [[ 9.99499428e-01 3.16368873e-02 0.00000000e+00 5.73421752e+02] [-3.16368873e-02 9.99499428e-01 0.00000000e+00 -1.45238205e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58884019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.45, Y:-145.24, Z:0.04 [[ 9.99496505e-01 3.17290964e-02 0.00000000e+00 5.73448990e+02] [-3.17290964e-02 9.99496505e-01 0.00000000e+00 -1.45236637e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69381204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.191400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:573.48, Y:-145.24, Z:0.04 [[ 9.99479689e-01 3.22544828e-02 0.00000000e+00 5.73476983e+02] [-3.22544828e-02 9.99479689e-01 0.00000000e+00 -1.45235227e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65998985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.221400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:573.50, Y:-145.23, Z:0.04 [[ 9.99458377e-01 3.29082453e-02 0.00000000e+00 5.73504591e+02] [-3.29082453e-02 9.99458377e-01 0.00000000e+00 -1.45234073e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53407722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.53, Y:-145.23, Z:0.04 [[ 9.99468822e-01 3.25894653e-02 0.00000000e+00 5.73532428e+02] [-3.25894653e-02 9.99468822e-01 0.00000000e+00 -1.45232892e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51518513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.281400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:573.56, Y:-145.23, Z:0.03 [[ 9.99511860e-01 3.12416635e-02 0.00000000e+00 5.73559413e+02] [-3.12416635e-02 9.99511860e-01 0.00000000e+00 -1.45231827e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26282497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.311400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:573.59, Y:-145.23, Z:0.03 [[ 9.99536540e-01 3.04418440e-02 0.00000000e+00 5.73587122e+02] [-3.04418440e-02 9.99536540e-01 0.00000000e+00 -1.45230227e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25050868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.61, Y:-145.23, Z:0.03 [[ 9.99559076e-01 2.96926617e-02 0.00000000e+00 5.73613852e+02] [-2.96926617e-02 9.99559076e-01 0.00000000e+00 -1.45228754e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22687596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.371400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:573.64, Y:-145.23, Z:0.03 [[ 9.99555302e-01 2.98194391e-02 0.00000000e+00 5.73641229e+02] [-2.98194391e-02 9.99555302e-01 0.00000000e+00 -1.45227002e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16485671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.67, Y:-145.23, Z:0.03 [[ 9.99559227e-01 2.96875844e-02 0.00000000e+00 5.73668450e+02] [-2.96875844e-02 9.99559227e-01 0.00000000e+00 -1.45225234e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26186435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.431400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:573.70, Y:-145.22, Z:0.04 [[ 9.99501208e-01 3.15806202e-02 0.00000000e+00 5.73696207e+02] [-3.15806202e-02 9.99501208e-01 0.00000000e+00 -1.45223336e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50081270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.461400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:573.72, Y:-145.22, Z:0.04 [[ 9.99486193e-01 3.20523089e-02 0.00000000e+00 5.73722641e+02] [-3.20523089e-02 9.99486193e-01 0.00000000e+00 -1.45222117e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63320812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.491400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:573.75, Y:-145.22, Z:0.04 [[ 9.99472822e-01 3.24665823e-02 0.00000000e+00 5.73750838e+02] [-3.24665823e-02 9.99472822e-01 0.00000000e+00 -1.45220479e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71491530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.521400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:573.78, Y:-145.22, Z:0.04 [[ 9.99452140e-01 3.30971131e-02 0.00000000e+00 5.73777663e+02] [-3.30971131e-02 9.99452140e-01 0.00000000e+00 -1.45218955e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69775291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.551400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:573.80, Y:-145.22, Z:0.04 [[ 9.99447215e-01 3.32455124e-02 0.00000000e+00 5.73804211e+02] [-3.32455124e-02 9.99447215e-01 0.00000000e+00 -1.45218426e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84830487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.581400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:573.83, Y:-145.22, Z:0.04 [[ 9.99390460e-01 3.49100167e-02 0.00000000e+00 5.73831712e+02] [-3.49100167e-02 9.99390460e-01 0.00000000e+00 -1.45216397e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65378564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.86, Y:-145.22, Z:0.04 [[ 9.99408386e-01 3.43930019e-02 0.00000000e+00 5.73859156e+02] [-3.43930019e-02 9.99408386e-01 0.00000000e+00 -1.45215494e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71199208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.641400513 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:573.89, Y:-145.21, Z:0.04 [[ 9.99420063e-01 3.40519718e-02 0.00000000e+00 5.73886040e+02] [-3.40519718e-02 9.99420063e-01 0.00000000e+00 -1.45213919e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53763022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.671400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:573.91, Y:-145.21, Z:0.04 [[ 9.99388593e-01 3.49634214e-02 0.00000000e+00 5.73913436e+02] [-3.49634214e-02 9.99388593e-01 0.00000000e+00 -1.45212437e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67121914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.701400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:573.94, Y:-145.21, Z:0.04 [[ 9.99416766e-01 3.41486125e-02 0.00000000e+00 5.73940099e+02] [-3.41486125e-02 9.99416766e-01 0.00000000e+00 -1.45210438e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.94683863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.731400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:573.97, Y:-145.21, Z:0.04 [[ 9.99462861e-01 3.27717852e-02 0.00000000e+00 5.73966613e+02] [-3.27717852e-02 9.99462861e-01 0.00000000e+00 -1.45208626e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04051209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.761400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:573.99, Y:-145.21, Z:0.04 [[ 9.99543529e-01 3.02114772e-02 0.00000000e+00 5.73994235e+02] [-3.02114772e-02 9.99543529e-01 0.00000000e+00 -1.45206764e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89524318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.02, Y:-145.21, Z:0.04 [[ 9.99585475e-01 2.87902589e-02 0.00000000e+00 5.74020846e+02] [-2.87902589e-02 9.99585475e-01 0.00000000e+00 -1.45205827e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74095808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.821400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:574.05, Y:-145.20, Z:0.04 [[ 9.99627477e-01 2.72929968e-02 0.00000000e+00 5.74048110e+02] [-2.72929968e-02 9.99627477e-01 0.00000000e+00 -1.45204224e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60914873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.851400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:574.08, Y:-145.20, Z:0.04 [[ 9.99594643e-01 2.84701413e-02 0.00000000e+00 5.74075369e+02] [-2.84701413e-02 9.99594643e-01 0.00000000e+00 -1.45199477e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87091408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.881400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:574.10, Y:-145.20, Z:0.04 [[ 9.99534818e-01 3.04983204e-02 0.00000000e+00 5.74102336e+02] [-3.04983204e-02 9.99534818e-01 0.00000000e+00 -1.45197543e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02576363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.911400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:574.13, Y:-145.20, Z:0.04 [[ 9.99514394e-01 3.11605026e-02 0.00000000e+00 5.74128954e+02] [-3.11605026e-02 9.99514394e-01 0.00000000e+00 -1.45196777e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01104892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.16, Y:-145.20, Z:0.04 [[ 9.99418613e-01 3.40945251e-02 0.00000000e+00 5.74156360e+02] [-3.40945251e-02 9.99418613e-01 0.00000000e+00 -1.45195382e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81313686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.971400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:574.18, Y:-145.19, Z:0.04 [[ 9.99321896e-01 3.68204739e-02 0.00000000e+00 5.74183715e+02] [-3.68204739e-02 9.99321896e-01 0.00000000e+00 -1.45194415e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69471123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.001400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:574.21, Y:-145.19, Z:0.04 [[ 9.99282751e-01 3.78679864e-02 0.00000000e+00 5.74210969e+02] [-3.78679864e-02 9.99282751e-01 0.00000000e+00 -1.45192392e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96311222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.031400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:574.24, Y:-145.19, Z:0.04 [[ 9.99266175e-01 3.83028791e-02 0.00000000e+00 5.74238314e+02] [-3.83028791e-02 9.99266175e-01 0.00000000e+00 -1.45189957e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.19298649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.061400513 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:574.27, Y:-145.19, Z:0.04 [[ 9.99288962e-01 3.77037085e-02 0.00000000e+00 5.74265735e+02] [-3.77037085e-02 9.99288962e-01 0.00000000e+00 -1.45187639e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24966076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.091400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:574.29, Y:-145.19, Z:0.04 [[ 9.99236034e-01 3.90812978e-02 0.00000000e+00 5.74292499e+02] [-3.90812978e-02 9.99236034e-01 0.00000000e+00 -1.45186979e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.16262982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.121400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:574.32, Y:-145.19, Z:0.04 [[ 9.99209297e-01 3.97590465e-02 0.00000000e+00 5.74319102e+02] [-3.97590465e-02 9.99209297e-01 0.00000000e+00 -1.45185483e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90671435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.35, Y:-145.18, Z:0.04 [[ 9.99186879e-01 4.03184937e-02 0.00000000e+00 5.74347109e+02] [-4.03184937e-02 9.99186879e-01 0.00000000e+00 -1.45184141e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86434292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.181400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:574.37, Y:-145.18, Z:0.04 [[ 9.99151758e-01 4.11796645e-02 0.00000000e+00 5.74374588e+02] [-4.11796645e-02 9.99151758e-01 0.00000000e+00 -1.45181752e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83767732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.211400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:574.40, Y:-145.18, Z:0.04 [[ 9.99082827e-01 4.28194426e-02 0.00000000e+00 5.74401230e+02] [-4.28194426e-02 9.99082827e-01 0.00000000e+00 -1.45179922e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93718655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.241400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:574.43, Y:-145.18, Z:0.04 [[ 9.98958808e-01 4.56212621e-02 0.00000000e+00 5.74429118e+02] [-4.56212621e-02 9.98958808e-01 0.00000000e+00 -1.45176997e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.41341483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.271400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:574.46, Y:-145.18, Z:0.05 [[ 9.98914401e-01 4.65834611e-02 0.00000000e+00 5.74455942e+02] [-4.65834611e-02 9.98914401e-01 0.00000000e+00 -1.45175368e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.61712347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.301400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:574.48, Y:-145.17, Z:0.05 [[ 9.98936050e-01 4.61168951e-02 0.00000000e+00 5.74482929e+02] [-4.61168951e-02 9.98936050e-01 0.00000000e+00 -1.45173985e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.51531485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.331400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:574.51, Y:-145.17, Z:0.04 [[ 9.98949273e-01 4.58295817e-02 0.00000000e+00 5.74510423e+02] [-4.58295817e-02 9.98949273e-01 0.00000000e+00 -1.45173039e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.34909350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.361400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:574.54, Y:-145.17, Z:0.04 [[ 9.98961159e-01 4.55697527e-02 0.00000000e+00 5.74537730e+02] [-4.55697527e-02 9.98961159e-01 0.00000000e+00 -1.45171771e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10221864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.56, Y:-145.17, Z:0.04 [[ 9.98991021e-01 4.49103472e-02 0.00000000e+00 5.74564596e+02] [-4.49103472e-02 9.98991021e-01 0.00000000e+00 -1.45170103e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.07560528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.59, Y:-145.17, Z:0.04 [[ 9.99017018e-01 4.43282842e-02 0.00000000e+00 5.74591699e+02] [-4.43282842e-02 9.99017018e-01 0.00000000e+00 -1.45168669e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01840222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.451400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:574.62, Y:-145.17, Z:0.04 [[ 9.99035063e-01 4.39197281e-02 0.00000000e+00 5.74619339e+02] [-4.39197281e-02 9.99035063e-01 0.00000000e+00 -1.45166487e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.85152077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.65, Y:-145.16, Z:0.04 [[ 9.98996190e-01 4.47952346e-02 0.00000000e+00 5.74646020e+02] [-4.47952346e-02 9.98996190e-01 0.00000000e+00 -1.45164615e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87182292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.511400513 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:574.67, Y:-145.16, Z:0.04 [[ 9.98953919e-01 4.57281923e-02 0.00000000e+00 5.74674176e+02] [-4.57281923e-02 9.98953919e-01 0.00000000e+00 -1.45162282e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86658878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.70, Y:-145.16, Z:0.04 [[ 9.98846499e-01 4.80174137e-02 0.00000000e+00 5.74701595e+02] [-4.80174137e-02 9.98846499e-01 0.00000000e+00 -1.45161206e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.07465750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.571400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:574.73, Y:-145.16, Z:0.04 [[ 9.98758764e-01 4.98089548e-02 0.00000000e+00 5.74727987e+02] [-4.98089548e-02 9.98758764e-01 0.00000000e+00 -1.45158982e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14340457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.601400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:574.76, Y:-145.16, Z:0.04 [[ 9.98843994e-01 4.80694893e-02 0.00000000e+00 5.74755700e+02] [-4.80694893e-02 9.98843994e-01 0.00000000e+00 -1.45157072e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18044463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.631400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:574.78, Y:-145.15, Z:0.04 [[ 9.98947332e-01 4.58718610e-02 0.00000000e+00 5.74783166e+02] [-4.58718610e-02 9.98947332e-01 0.00000000e+00 -1.45154418e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06490699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.661400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:574.81, Y:-145.15, Z:0.04 [[ 9.99044505e-01 4.37044373e-02 0.00000000e+00 5.74809569e+02] [-4.37044373e-02 9.99044505e-01 0.00000000e+00 -1.45152938e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.07713388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.691400513 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:574.84, Y:-145.15, Z:0.04 [[ 9.99171981e-01 4.06860259e-02 0.00000000e+00 5.74837561e+02] [-4.06860259e-02 9.99171981e-01 0.00000000e+00 -1.45150503e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90735315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.721400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:574.87, Y:-145.15, Z:0.04 [[ 9.99242013e-01 3.89281194e-02 0.00000000e+00 5.74865639e+02] [-3.89281194e-02 9.99242013e-01 0.00000000e+00 -1.45148681e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80054921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.89, Y:-145.15, Z:0.04 [[ 9.99473369e-01 3.24497319e-02 0.00000000e+00 5.74892191e+02] [-3.24497319e-02 9.99473369e-01 0.00000000e+00 -1.45145988e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.20023260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.781400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:574.92, Y:-145.14, Z:0.04 [[ 9.99556862e-01 2.97670818e-02 0.00000000e+00 5.74919501e+02] [-2.97670818e-02 9.99556862e-01 0.00000000e+00 -1.45142612e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.33681510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.811400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:574.95, Y:-145.14, Z:0.04 [[ 9.99586719e-01 2.87470103e-02 0.00000000e+00 5.74946651e+02] [-2.87470103e-02 9.99586719e-01 0.00000000e+00 -1.45140798e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.43086177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.97, Y:-145.14, Z:0.04 [[ 9.99591836e-01 2.85685411e-02 0.00000000e+00 5.74973785e+02] [-2.85685411e-02 9.99591836e-01 0.00000000e+00 -1.45139096e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.44031233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.00, Y:-145.14, Z:0.04 [[ 9.99584159e-01 2.88359118e-02 0.00000000e+00 5.75001149e+02] [-2.88359118e-02 9.99584159e-01 0.00000000e+00 -1.45137238e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39666495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.901400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:575.03, Y:-145.14, Z:0.05 [[ 9.99642248e-01 2.67465117e-02 0.00000000e+00 5.75029062e+02] [-2.67465117e-02 9.99642248e-01 0.00000000e+00 -1.45135566e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.51543042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.931400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:575.06, Y:-145.13, Z:0.04 [[ 9.99695030e-01 2.46950867e-02 0.00000000e+00 5.75056483e+02] [-2.46950867e-02 9.99695030e-01 0.00000000e+00 -1.45133259e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.44556076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.961400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:575.08, Y:-145.13, Z:0.04 [[ 9.99745026e-01 2.25805920e-02 0.00000000e+00 5.75084017e+02] [-2.25805920e-02 9.99745026e-01 0.00000000e+00 -1.45131127e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28642667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.991400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:575.11, Y:-145.13, Z:0.04 [[ 9.99746678e-01 2.25073105e-02 0.00000000e+00 5.75112396e+02] [-2.25073105e-02 9.99746678e-01 0.00000000e+00 -1.45129435e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28642667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.021400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:575.14, Y:-145.13, Z:0.04 [[ 9.99842072e-01 1.77716582e-02 0.00000000e+00 5.75138898e+02] [-1.77716582e-02 9.99842072e-01 0.00000000e+00 -1.45127438e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.16565298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.051400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:575.17, Y:-145.12, Z:0.04 [[ 9.99848466e-01 1.74082080e-02 0.00000000e+00 5.75166757e+02] [-1.74082080e-02 9.99848466e-01 0.00000000e+00 -1.45124565e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.25389795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.20, Y:-145.12, Z:0.05 [[ 9.99853670e-01 1.71067008e-02 0.00000000e+00 5.75195493e+02] [-1.71067008e-02 9.99853670e-01 0.00000000e+00 -1.45123287e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.50797301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.111400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:575.22, Y:-145.12, Z:0.05 [[ 9.99866686e-01 1.63281956e-02 0.00000000e+00 5.75223565e+02] [-1.63281956e-02 9.99866686e-01 0.00000000e+00 -1.45121038e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.53477204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.141400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:575.25, Y:-145.12, Z:0.05 [[ 9.99878199e-01 1.56072548e-02 0.00000000e+00 5.75250305e+02] [-1.56072548e-02 9.99878199e-01 0.00000000e+00 -1.45119906e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.57966238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.28, Y:-145.12, Z:0.05 [[ 9.99882688e-01 1.53170051e-02 0.00000000e+00 5.75279319e+02] [-1.53170051e-02 9.99882688e-01 0.00000000e+00 -1.45117996e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.54097259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.201400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:575.31, Y:-145.12, Z:0.04 [[ 9.99890427e-01 1.48031705e-02 0.00000000e+00 5.75306709e+02] [-1.48031705e-02 9.99890427e-01 0.00000000e+00 -1.45115319e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.47072116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.231400513 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:575.33, Y:-145.11, Z:0.05 [[ 9.99897904e-01 1.42892080e-02 0.00000000e+00 5.75334208e+02] [-1.42892080e-02 9.99897904e-01 0.00000000e+00 -1.45113272e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.57221831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.261400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:575.36, Y:-145.11, Z:0.05 [[ 9.99887832e-01 1.49774251e-02 0.00000000e+00 5.75360929e+02] [-1.49774251e-02 9.99887832e-01 0.00000000e+00 -1.45112005e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.68361713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.291400513 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:575.39, Y:-145.11, Z:0.05 [[ 9.99889119e-01 1.48912842e-02 0.00000000e+00 5.75388696e+02] [-1.48912842e-02 9.99889119e-01 0.00000000e+00 -1.45110269e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.61130850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.321400513 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:575.42, Y:-145.11, Z:0.04 [[ 9.99892086e-01 1.46907205e-02 0.00000000e+00 5.75416667e+02] [-1.46907205e-02 9.99892086e-01 0.00000000e+00 -1.45108432e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.43700295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.44, Y:-145.11, Z:0.04 [[ 9.99883916e-01 1.52366330e-02 0.00000000e+00 5.75444324e+02] [-1.52366330e-02 9.99883916e-01 0.00000000e+00 -1.45107057e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.49381250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.381400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:575.47, Y:-145.10, Z:0.04 [[ 9.99869969e-01 1.61259291e-02 0.00000000e+00 5.75470701e+02] [-1.61259291e-02 9.99869969e-01 0.00000000e+00 -1.45104733e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.40899224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.50, Y:-145.10, Z:0.04 [[ 9.99855438e-01 1.70030368e-02 0.00000000e+00 5.75499042e+02] [-1.70030368e-02 9.99855438e-01 0.00000000e+00 -1.45102940e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27778724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.441400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:575.53, Y:-145.10, Z:0.04 [[ 9.99835331e-01 1.81468992e-02 0.00000000e+00 5.75526696e+02] [-1.81468992e-02 9.99835331e-01 0.00000000e+00 -1.45101069e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.41659279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.55, Y:-145.10, Z:0.05 [[ 9.99833953e-01 1.82226841e-02 0.00000000e+00 5.75553979e+02] [-1.82226841e-02 9.99833953e-01 0.00000000e+00 -1.45098625e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.50788807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.58, Y:-145.10, Z:0.05 [[ 9.99847053e-01 1.74891376e-02 0.00000000e+00 5.75581750e+02] [-1.74891376e-02 9.99847053e-01 0.00000000e+00 -1.45096935e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.67469476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.531400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:575.61, Y:-145.09, Z:0.05 [[ 9.99858221e-01 1.68385594e-02 0.00000000e+00 5.75608487e+02] [-1.68385594e-02 9.99858221e-01 0.00000000e+00 -1.45093854e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.66046769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.561400513 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:575.64, Y:-145.09, Z:0.05 [[ 9.99874936e-01 1.58149707e-02 0.00000000e+00 5.75636766e+02] [-1.58149707e-02 9.99874936e-01 0.00000000e+00 -1.45091532e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.66221143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.591400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:575.66, Y:-145.09, Z:0.05 [[ 9.99889083e-01 1.48936768e-02 0.00000000e+00 5.75664412e+02] [-1.48936768e-02 9.99889083e-01 0.00000000e+00 -1.45089899e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.67239506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.69, Y:-145.09, Z:0.05 [[ 9.99901764e-01 1.40164873e-02 0.00000000e+00 5.75691663e+02] [-1.40164873e-02 9.99901764e-01 0.00000000e+00 -1.45088665e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.68913110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.651400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:575.72, Y:-145.09, Z:0.05 [[ 9.99911831e-01 1.32789369e-02 0.00000000e+00 5.75718640e+02] [-1.32789369e-02 9.99911831e-01 0.00000000e+00 -1.45085934e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.66438607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.681400513 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:575.75, Y:-145.08, Z:0.05 [[ 9.99934919e-01 1.14086790e-02 0.00000000e+00 5.75746650e+02] [-1.14086790e-02 9.99934919e-01 0.00000000e+00 -1.45084700e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.72319153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.77, Y:-145.08, Z:0.05 [[ 9.99915918e-01 1.29675012e-02 0.00000000e+00 5.75774441e+02] [-1.29675012e-02 9.99915918e-01 0.00000000e+00 -1.45082577e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.59590976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.80, Y:-145.08, Z:0.04 [[ 9.99896193e-01 1.44084424e-02 0.00000000e+00 5.75801567e+02] [-1.44084424e-02 9.99896193e-01 0.00000000e+00 -1.45081961e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.48001823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.771400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:575.83, Y:-145.08, Z:0.05 [[ 9.99863007e-01 1.65519527e-02 0.00000000e+00 5.75829121e+02] [-1.65519527e-02 9.99863007e-01 0.00000000e+00 -1.45080361e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.58184439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.801400513 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:575.86, Y:-145.08, Z:0.05 [[ 9.99805478e-01 1.97232521e-02 0.00000000e+00 5.75857437e+02] [-1.97232521e-02 9.99805478e-01 0.00000000e+00 -1.45078014e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.73447683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.831400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:575.89, Y:-145.08, Z:0.05 [[ 9.99700479e-01 2.44734885e-02 0.00000000e+00 5.75886155e+02] [-2.44734885e-02 9.99700479e-01 0.00000000e+00 -1.45075764e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.38392953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.861400513 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:575.91, Y:-145.07, Z:0.05 [[ 9.99676725e-01 2.54252894e-02 0.00000000e+00 5.75913439e+02] [-2.54252894e-02 9.99676725e-01 0.00000000e+00 -1.45074028e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.43823089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.891400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:575.94, Y:-145.07, Z:0.05 [[ 9.99674158e-01 2.55260215e-02 0.00000000e+00 5.75942533e+02] [-2.55260215e-02 9.99674158e-01 0.00000000e+00 -1.45072347e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.11204719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.97, Y:-145.07, Z:0.05 [[ 9.99754760e-01 2.21454171e-02 0.00000000e+00 5.75970649e+02] [-2.21454171e-02 9.99754760e-01 0.00000000e+00 -1.45071939e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.52492015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.951400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:576.00, Y:-145.07, Z:0.05 [[ 9.99809020e-01 1.95428746e-02 0.00000000e+00 5.75998466e+02] [-1.95428746e-02 9.99809020e-01 0.00000000e+00 -1.45069858e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.57942463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.981400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:576.03, Y:-145.07, Z:0.05 [[ 9.99826671e-01 1.86179590e-02 0.00000000e+00 5.76025488e+02] [-1.86179590e-02 9.99826671e-01 0.00000000e+00 -1.45067461e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.70875862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.011400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:576.05, Y:-145.07, Z:0.05 [[ 9.99830162e-01 1.84295048e-02 0.00000000e+00 5.76053283e+02] [-1.84295048e-02 9.99830162e-01 0.00000000e+00 -1.45065037e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.70870994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.08, Y:-145.06, Z:0.05 [[ 9.99838302e-01 1.79824852e-02 0.00000000e+00 5.76080775e+02] [-1.79824852e-02 9.99838302e-01 0.00000000e+00 -1.45063531e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.64315867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.11, Y:-145.06, Z:0.05 [[ 9.99864216e-01 1.64787575e-02 0.00000000e+00 5.76107464e+02] [-1.64787575e-02 9.99864216e-01 0.00000000e+00 -1.45060832e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.65731567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.101400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:576.14, Y:-145.06, Z:0.05 [[ 9.99922100e-01 1.24817386e-02 0.00000000e+00 5.76135048e+02] [-1.24817386e-02 9.99922100e-01 0.00000000e+00 -1.45058614e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.85694219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.131400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:576.16, Y:-145.06, Z:0.05 [[ 9.99958808e-01 9.07641554e-03 0.00000000e+00 5.76161486e+02] [-9.07641554e-03 9.99958808e-01 0.00000000e+00 -1.45056208e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.90239566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.19, Y:-145.05, Z:0.05 [[ 9.99978187e-01 6.60489903e-03 0.00000000e+00 5.76188866e+02] [-6.60489903e-03 9.99978187e-01 0.00000000e+00 -1.45054482e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.70508362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.191400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:576.22, Y:-145.05, Z:0.04 [[ 9.99999717e-01 7.52418542e-04 0.00000000e+00 5.76217384e+02] [-7.52418542e-04 9.99999717e-01 0.00000000e+00 -1.45052927e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.25672866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.25, Y:-145.05, Z:0.04 [[ 9.99999531e-01 -9.68495771e-04 0.00000000e+00 5.76246635e+02] [ 9.68495771e-04 9.99999531e-01 0.00000000e+00 -1.45051029e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12434533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.251400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:576.28, Y:-145.05, Z:0.04 [[ 9.99994971e-01 -3.17144561e-03 0.00000000e+00 5.76276533e+02] [ 3.17144561e-03 9.99994971e-01 0.00000000e+00 -1.45048251e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.16481487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.281400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:576.31, Y:-145.05, Z:0.04 [[ 9.99994792e-01 -3.22752662e-03 0.00000000e+00 5.76308483e+02] [ 3.22752662e-03 9.99994792e-01 0.00000000e+00 -1.45045852e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.35655192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.311400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:576.34, Y:-145.04, Z:0.05 [[ 9.99986083e-01 -5.27572153e-03 0.00000000e+00 5.76341152e+02] [ 5.27572153e-03 9.99986083e-01 0.00000000e+00 -1.45044687e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.50395599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.341400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:576.37, Y:-145.04, Z:0.04 [[ 9.99986686e-01 -5.16016642e-03 0.00000000e+00 5.76372960e+02] [ 5.16016642e-03 9.99986686e-01 0.00000000e+00 -1.45042511e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27874413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.371400513 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:576.40, Y:-145.04, Z:0.04 [[ 9.99973796e-01 -7.23927640e-03 0.00000000e+00 5.76404796e+02] [ 7.23927640e-03 9.99973796e-01 0.00000000e+00 -1.45040894e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14931105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.44, Y:-145.04, Z:0.04 [[ 9.99964336e-01 -8.44550217e-03 0.00000000e+00 5.76441315e+02] [ 8.44550217e-03 9.99964336e-01 0.00000000e+00 -1.45042134e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.13027946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.431400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:576.47, Y:-145.04, Z:0.04 [[ 9.99938707e-01 -1.10716660e-02 0.00000000e+00 5.76468582e+02] [ 1.10716660e-02 9.99938707e-01 0.00000000e+00 -1.45037139e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02783778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.461400513 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:576.50, Y:-145.04, Z:0.04 [[ 9.99917958e-01 -1.28092682e-02 0.00000000e+00 5.76501780e+02] [ 1.28092682e-02 9.99917958e-01 0.00000000e+00 -1.45035246e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.20120915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.491400513 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:576.53, Y:-145.03, Z:0.04 [[ 9.99900316e-01 -1.41193870e-02 0.00000000e+00 5.76534236e+02] [ 1.41193870e-02 9.99900316e-01 0.00000000e+00 -1.45033107e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15014862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.57, Y:-145.03, Z:0.04 [[ 9.99920079e-01 -1.26426150e-02 0.00000000e+00 5.76566419e+02] [ 1.26426150e-02 9.99920079e-01 0.00000000e+00 -1.45033671e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.26714245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.61, Y:-145.03, Z:0.04 [[ 9.99931423e-01 -1.17110952e-02 0.00000000e+00 5.76605218e+02] [ 1.17110952e-02 9.99931423e-01 0.00000000e+00 -1.45033856e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.37754004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.581400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:576.63, Y:-145.03, Z:0.04 [[ 9.99925057e-01 -1.22425813e-02 0.00000000e+00 5.76629525e+02] [ 1.22425813e-02 9.99925057e-01 0.00000000e+00 -1.45029750e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.40854100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.611400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:576.67, Y:-145.04, Z:0.05 [[ 9.99959356e-01 -9.01585695e-03 0.00000000e+00 5.76671373e+02] [ 9.01585695e-03 9.99959356e-01 0.00000000e+00 -1.45036320e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.60388216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.70, Y:-145.03, Z:0.05 [[ 9.99953657e-01 -9.62720007e-03 0.00000000e+00 5.76703331e+02] [ 9.62720007e-03 9.99953657e-01 0.00000000e+00 -1.45034190e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.60961633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.671400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:576.74, Y:-145.03, Z:0.04 [[ 9.99971333e-01 -7.57185408e-03 0.00000000e+00 5.76735441e+02] [ 7.57185408e-03 9.99971333e-01 0.00000000e+00 -1.45032443e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.47006356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.77, Y:-145.03, Z:0.04 [[ 9.99978098e-01 -6.61842975e-03 0.00000000e+00 5.76769087e+02] [ 6.61842975e-03 9.99978098e-01 0.00000000e+00 -1.45032500e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.48288328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.80, Y:-145.03, Z:0.05 [[ 9.99979081e-01 -6.46827022e-03 0.00000000e+00 5.76797362e+02] [ 6.46827022e-03 9.99979081e-01 0.00000000e+00 -1.45027956e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.68139232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.761400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:576.83, Y:-145.03, Z:0.05 [[ 9.99995472e-01 -3.00915177e-03 0.00000000e+00 5.76833405e+02] [ 3.00915177e-03 9.99995472e-01 0.00000000e+00 -1.45033628e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.93874381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.86, Y:-145.03, Z:0.05 [[ 9.99969119e-01 -7.85887243e-03 0.00000000e+00 5.76856897e+02] [ 7.85887243e-03 9.99969119e-01 0.00000000e+00 -1.45025574e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.10656891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.821400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:576.90, Y:-145.03, Z:0.05 [[ 9.99993144e-01 -3.70286750e-03 0.00000000e+00 5.76895061e+02] [ 3.70286750e-03 9.99993144e-01 0.00000000e+00 -1.45031007e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.00798999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.93, Y:-145.03, Z:0.05 [[ 9.99985339e-01 -5.41494746e-03 0.00000000e+00 5.76928300e+02] [ 5.41494746e-03 9.99985339e-01 0.00000000e+00 -1.45030788e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.97290598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.881400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:576.96, Y:-145.03, Z:0.05 [[ 9.99977210e-01 -6.75125415e-03 0.00000000e+00 5.76960903e+02] [ 6.75125415e-03 9.99977210e-01 0.00000000e+00 -1.45027978e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.91997298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.911400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:576.99, Y:-145.03, Z:0.05 [[ 9.99973466e-01 -7.28467740e-03 0.00000000e+00 5.76993011e+02] [ 7.28467740e-03 9.99973466e-01 0.00000000e+00 -1.45025402e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.91997298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.941400513 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:577.02, Y:-145.02, Z:0.05 [[ 9.99967330e-01 -8.08323444e-03 0.00000000e+00 5.77023897e+02] [ 8.08323444e-03 9.99967330e-01 0.00000000e+00 -1.45023294e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.81088474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.971400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:577.06, Y:-145.02, Z:0.05 [[ 9.99966087e-01 -8.23553595e-03 0.00000000e+00 5.77055062e+02] [ 8.23553595e-03 9.99966087e-01 0.00000000e+00 -1.45022003e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.64984027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.001400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:577.09, Y:-145.02, Z:0.04 [[ 9.99976670e-01 -6.83073764e-03 0.00000000e+00 5.77086672e+02] [ 6.83073764e-03 9.99976670e-01 0.00000000e+00 -1.45020832e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.25108344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.12, Y:-145.02, Z:0.04 [[ 9.99982755e-01 -5.87282389e-03 0.00000000e+00 5.77119621e+02] [ 5.87282389e-03 9.99982755e-01 0.00000000e+00 -1.45015863e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24193695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.061400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:577.15, Y:-145.01, Z:0.04 [[ 9.99990763e-01 -4.29808343e-03 0.00000000e+00 5.77150573e+02] [ 4.29808343e-03 9.99990763e-01 0.00000000e+00 -1.45014473e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.42410102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.091400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:577.18, Y:-145.01, Z:0.05 [[ 9.99994199e-01 -3.40616622e-03 0.00000000e+00 5.77182567e+02] [ 3.40616622e-03 9.99994199e-01 0.00000000e+00 -1.45011488e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.68612797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.121400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:577.21, Y:-145.01, Z:0.05 [[ 9.99997735e-01 -2.12858364e-03 0.00000000e+00 5.77214151e+02] [ 2.12858364e-03 9.99997735e-01 0.00000000e+00 -1.45006683e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.73944958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.151400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:577.25, Y:-145.00, Z:0.05 [[ 9.99995863e-01 -2.87649758e-03 0.00000000e+00 5.77245454e+02] [ 2.87649758e-03 9.99995863e-01 0.00000000e+00 -1.45002916e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.62190730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.28, Y:-145.00, Z:0.05 [[ 9.99996927e-01 -2.47918961e-03 0.00000000e+00 5.77277352e+02] [ 2.47918961e-03 9.99996927e-01 0.00000000e+00 -1.45000164e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.57671475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.31, Y:-145.00, Z:0.05 [[ 9.99997853e-01 -2.07200228e-03 0.00000000e+00 5.77308333e+02] [ 2.07200228e-03 9.99997853e-01 0.00000000e+00 -1.44996038e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.68065459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.241400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:577.34, Y:-144.99, Z:0.05 [[ 9.99999223e-01 -1.24658810e-03 0.00000000e+00 5.77339997e+02] [ 1.24658810e-03 9.99999223e-01 0.00000000e+00 -1.44991962e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.69587171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.37, Y:-144.99, Z:0.05 [[ 9.99999843e-01 -5.60387478e-04 0.00000000e+00 5.77371012e+02] [ 5.60387478e-04 9.99999843e-01 0.00000000e+00 -1.44988869e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.85844339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.301400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:577.40, Y:-144.99, Z:0.05 [[ 9.99999400e-01 1.09567799e-03 0.00000000e+00 5.77400823e+02] [-1.09567799e-03 9.99999400e-01 0.00000000e+00 -1.44985499e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.05734209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.331400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:577.43, Y:-144.98, Z:0.05 [[ 9.99994281e-01 3.38189227e-03 0.00000000e+00 5.77430172e+02] [-3.38189227e-03 9.99994281e-01 0.00000000e+00 -1.44981257e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.42203129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.46, Y:-144.98, Z:0.06 [[ 9.99995114e-01 3.12608957e-03 0.00000000e+00 5.77458164e+02] [-3.12608957e-03 9.99995114e-01 0.00000000e+00 -1.44976954e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.58512197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.391400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:577.49, Y:-144.97, Z:0.06 [[ 9.99992512e-01 3.86999478e-03 0.00000000e+00 5.77487102e+02] [-3.86999478e-03 9.99992512e-01 0.00000000e+00 -1.44973921e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.50913041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.421400513 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:577.52, Y:-144.97, Z:0.05 [[ 9.99998789e-01 1.55630583e-03 0.00000000e+00 5.77516571e+02] [-1.55630583e-03 9.99998789e-01 0.00000000e+00 -1.44971232e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.38700348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.451400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:577.55, Y:-144.97, Z:0.05 [[ 9.99999644e-01 -8.44303627e-04 0.00000000e+00 5.77546049e+02] [ 8.44303627e-04 9.99999644e-01 0.00000000e+00 -1.44966070e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.42572082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.58, Y:-144.96, Z:0.06 [[ 9.99998164e-01 -1.91647912e-03 0.00000000e+00 5.77577180e+02] [ 1.91647912e-03 9.99998164e-01 0.00000000e+00 -1.44962323e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.63217964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.511400513 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:577.61, Y:-144.96, Z:0.06 [[ 9.99995353e-01 -3.04874337e-03 0.00000000e+00 5.77607703e+02] [ 3.04874337e-03 9.99995353e-01 0.00000000e+00 -1.44958574e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.75920267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.541400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:577.64, Y:-144.95, Z:0.06 [[ 9.99997757e-01 -2.11813464e-03 0.00000000e+00 5.77638266e+02] [ 2.11813464e-03 9.99997757e-01 0.00000000e+00 -1.44954762e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.72702607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.571400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:577.67, Y:-144.95, Z:0.06 [[ 9.99993225e-01 -3.68114512e-03 0.00000000e+00 5.77666733e+02] [ 3.68114512e-03 9.99993225e-01 0.00000000e+00 -1.44951032e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.63411189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.601400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:577.70, Y:-144.95, Z:0.06 [[ 9.99991913e-01 -4.02163403e-03 0.00000000e+00 5.77699487e+02] [ 4.02163403e-03 9.99991913e-01 0.00000000e+00 -1.44947287e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.64203659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.73, Y:-144.94, Z:0.05 [[ 9.99994373e-01 -3.35483689e-03 0.00000000e+00 5.77729517e+02] [ 3.35483689e-03 9.99994373e-01 0.00000000e+00 -1.44944334e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.48100786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.661400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:577.76, Y:-144.94, Z:0.05 [[ 9.99980122e-01 -6.30527517e-03 0.00000000e+00 5.77759648e+02] [ 6.30527517e-03 9.99980122e-01 0.00000000e+00 -1.44940233e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.42622989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.79, Y:-144.94, Z:0.05 [[ 9.99968079e-01 -7.99002312e-03 0.00000000e+00 5.77790456e+02] [ 7.99002312e-03 9.99968079e-01 0.00000000e+00 -1.44936848e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.33139739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.721400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:577.82, Y:-144.93, Z:0.05 [[ 9.99967242e-01 -8.09417741e-03 0.00000000e+00 5.77821367e+02] [ 8.09417741e-03 9.99967242e-01 0.00000000e+00 -1.44932829e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.39788054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.85, Y:-144.93, Z:0.05 [[ 9.99978030e-01 -6.62873226e-03 0.00000000e+00 5.77851031e+02] [ 6.62873226e-03 9.99978030e-01 0.00000000e+00 -1.44929117e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.39379549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.88, Y:-144.93, Z:0.05 [[ 9.99976282e-01 -6.88726889e-03 0.00000000e+00 5.77883236e+02] [ 6.88726889e-03 9.99976282e-01 0.00000000e+00 -1.44925179e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.48363273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.91, Y:-144.92, Z:0.05 [[ 9.99994762e-01 -3.23681027e-03 0.00000000e+00 5.77912774e+02] [ 3.23681027e-03 9.99994762e-01 0.00000000e+00 -1.44921580e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.30325755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.94, Y:-144.92, Z:0.05 [[ 9.99998735e-01 -1.59063017e-03 0.00000000e+00 5.77943117e+02] [ 1.59063017e-03 9.99998735e-01 0.00000000e+00 -1.44917638e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.31566824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.871400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:577.97, Y:-144.91, Z:0.05 [[ 9.99999849e-01 5.48712238e-04 0.00000000e+00 5.77972830e+02] [-5.48712238e-04 9.99999849e-01 0.00000000e+00 -1.44913074e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.28532292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.901400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:578.00, Y:-144.91, Z:0.05 [[ 9.99997696e-01 2.14680814e-03 0.00000000e+00 5.78003788e+02] [-2.14680814e-03 9.99997696e-01 0.00000000e+00 -1.44910715e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.19151331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.931400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:578.03, Y:-144.91, Z:0.06 [[ 9.99999837e-01 5.71106293e-04 0.00000000e+00 5.78031057e+02] [-5.71106293e-04 9.99999837e-01 0.00000000e+00 -1.44906476e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.59175386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.06, Y:-144.90, Z:0.06 [[ 9.99999796e-01 -6.38854054e-04 0.00000000e+00 5.78060592e+02] [ 6.38854054e-04 9.99999796e-01 0.00000000e+00 -1.44901876e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.66882751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.09, Y:-144.90, Z:0.06 [[ 9.99993288e-01 -3.66391412e-03 0.00000000e+00 5.78089377e+02] [ 3.66391412e-03 9.99993288e-01 0.00000000e+00 -1.44897793e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.80403732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.12, Y:-144.89, Z:0.06 [[ 9.99985572e-01 -5.37173262e-03 0.00000000e+00 5.78121210e+02] [ 5.37173262e-03 9.99985572e-01 0.00000000e+00 -1.44893421e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.73993943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.051400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:578.15, Y:-144.89, Z:0.06 [[ 9.99967080e-01 -8.11412912e-03 0.00000000e+00 5.78150909e+02] [ 8.11412912e-03 9.99967080e-01 0.00000000e+00 -1.44888686e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.65861562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.081400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:578.18, Y:-144.88, Z:0.06 [[ 9.99949631e-01 -1.00366987e-02 0.00000000e+00 5.78183391e+02] [ 1.00366987e-02 9.99949631e-01 0.00000000e+00 -1.44884973e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.71131058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.111400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:578.21, Y:-144.88, Z:0.06 [[ 9.99932291e-01 -1.16366962e-02 0.00000000e+00 5.78214634e+02] [ 1.16366962e-02 9.99932291e-01 0.00000000e+00 -1.44880820e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.81078957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.141400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:578.24, Y:-144.88, Z:0.06 [[ 9.99901207e-01 -1.40561861e-02 0.00000000e+00 5.78243634e+02] [ 1.40561861e-02 9.99901207e-01 0.00000000e+00 -1.44876136e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.99321927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.171400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:578.27, Y:-144.87, Z:0.06 [[ 9.99878507e-01 -1.55875176e-02 0.00000000e+00 5.78274957e+02] [ 1.55875176e-02 9.99878507e-01 0.00000000e+00 -1.44871636e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.02678994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.31, Y:-144.87, Z:0.06 [[ 9.99845634e-01 -1.75700676e-02 0.00000000e+00 5.78306187e+02] [ 1.75700676e-02 9.99845634e-01 0.00000000e+00 -1.44867423e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.01108681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.34, Y:-144.86, Z:0.06 [[ 9.99817968e-01 -1.90796019e-02 0.00000000e+00 5.78335857e+02] [ 1.90796019e-02 9.99817968e-01 0.00000000e+00 -1.44863186e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.12023551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.37, Y:-144.86, Z:0.06 [[ 9.99796067e-01 -2.01946787e-02 0.00000000e+00 5.78368451e+02] [ 2.01946787e-02 9.99796067e-01 0.00000000e+00 -1.44858933e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.25684527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.291400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:578.40, Y:-144.85, Z:0.06 [[ 9.99757753e-01 -2.20098716e-02 0.00000000e+00 5.78398405e+02] [ 2.20098716e-02 9.99757753e-01 0.00000000e+00 -1.44854952e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.39915032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.321400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:578.43, Y:-144.85, Z:0.06 [[ 9.99682233e-01 -2.52077895e-02 0.00000000e+00 5.78427619e+02] [ 2.52077895e-02 9.99682233e-01 0.00000000e+00 -1.44850704e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.19544164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.351400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:578.46, Y:-144.85, Z:0.06 [[ 9.99653343e-01 -2.63285789e-02 0.00000000e+00 5.78458603e+02] [ 2.63285789e-02 9.99653343e-01 0.00000000e+00 -1.44847334e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.93116866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.381400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:578.49, Y:-144.84, Z:0.06 [[ 9.99657786e-01 -2.61593326e-02 0.00000000e+00 5.78491041e+02] [ 2.61593326e-02 9.99657786e-01 0.00000000e+00 -1.44844168e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.77168475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.52, Y:-144.84, Z:0.06 [[ 9.99660339e-01 -2.60615883e-02 0.00000000e+00 5.78519541e+02] [ 2.60615883e-02 9.99660339e-01 0.00000000e+00 -1.44840446e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.62720957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.55, Y:-144.84, Z:0.06 [[ 9.99755669e-01 -2.21043460e-02 0.00000000e+00 5.78551959e+02] [ 2.21043460e-02 9.99755669e-01 0.00000000e+00 -1.44837179e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.63376766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.58, Y:-144.83, Z:0.06 [[ 9.99803754e-01 -1.98104493e-02 0.00000000e+00 5.78581922e+02] [ 1.98104493e-02 9.99803754e-01 0.00000000e+00 -1.44833248e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.65112864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.61, Y:-144.83, Z:0.06 [[ 9.99837568e-01 -1.80232296e-02 0.00000000e+00 5.78612163e+02] [ 1.80232296e-02 9.99837568e-01 0.00000000e+00 -1.44829015e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.64185174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.64, Y:-144.82, Z:0.06 [[ 9.99856918e-01 -1.69157575e-02 0.00000000e+00 5.78642722e+02] [ 1.69157575e-02 9.99856918e-01 0.00000000e+00 -1.44824567e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.61030956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.561400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:578.67, Y:-144.82, Z:0.06 [[ 9.99833132e-01 -1.82676567e-02 0.00000000e+00 5.78674339e+02] [ 1.82676567e-02 9.99833132e-01 0.00000000e+00 -1.44820086e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.62086146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.71, Y:-144.82, Z:0.06 [[ 9.99796721e-01 -2.01622719e-02 0.00000000e+00 5.78708639e+02] [ 2.01622719e-02 9.99796721e-01 0.00000000e+00 -1.44815744e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.69250978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.621400513 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:578.74, Y:-144.81, Z:0.06 [[ 9.99755449e-01 -2.21142781e-02 0.00000000e+00 5.78736000e+02] [ 2.21142781e-02 9.99755449e-01 0.00000000e+00 -1.44811782e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.76103725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.77, Y:-144.81, Z:0.06 [[ 9.99712232e-01 -2.39886109e-02 0.00000000e+00 5.78766861e+02] [ 2.39886109e-02 9.99712232e-01 0.00000000e+00 -1.44807396e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.77561680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.681400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:578.80, Y:-144.80, Z:0.06 [[ 9.99718753e-01 -2.37152876e-02 0.00000000e+00 5.78797558e+02] [ 2.37152876e-02 9.99718753e-01 0.00000000e+00 -1.44803664e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.79535528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.711400513 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:578.83, Y:-144.80, Z:0.06 [[ 9.99724748e-01 -2.34612159e-02 0.00000000e+00 5.78827890e+02] [ 2.34612159e-02 9.99724748e-01 0.00000000e+00 -1.44798428e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.87529962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.86, Y:-144.79, Z:0.06 [[ 9.99750159e-01 -2.23521901e-02 0.00000000e+00 5.78858466e+02] [ 2.23521901e-02 9.99750159e-01 0.00000000e+00 -1.44794701e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.99793325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.88, Y:-144.79, Z:0.06 [[ 9.99812664e-01 -1.93555209e-02 0.00000000e+00 5.78884123e+02] [ 1.93555209e-02 9.99812664e-01 0.00000000e+00 -1.44791002e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.19156611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.92, Y:-144.79, Z:0.06 [[ 9.99802421e-01 -1.98775900e-02 0.00000000e+00 5.78916096e+02] [ 1.98775900e-02 9.99802421e-01 0.00000000e+00 -1.44786963e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.19156611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.831400513 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:578.95, Y:-144.78, Z:0.06 [[ 9.99809801e-01 -1.95028777e-02 0.00000000e+00 5.78949956e+02] [ 1.95028777e-02 9.99809801e-01 0.00000000e+00 -1.44782541e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.19009636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.861400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:578.98, Y:-144.78, Z:0.07 [[ 9.99793890e-01 -2.03021559e-02 0.00000000e+00 5.78981532e+02] [ 2.03021559e-02 9.99793890e-01 0.00000000e+00 -1.44777890e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.55903319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.01, Y:-144.77, Z:0.07 [[ 9.99774626e-01 -2.12296297e-02 0.00000000e+00 5.79013156e+02] [ 2.12296297e-02 9.99774626e-01 0.00000000e+00 -1.44773684e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.78715289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.04, Y:-144.77, Z:0.07 [[ 9.99751436e-01 -2.22949973e-02 0.00000000e+00 5.79039749e+02] [ 2.22949973e-02 9.99751436e-01 0.00000000e+00 -1.44769555e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.85827369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.951400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:579.07, Y:-144.77, Z:0.07 [[ 9.99716646e-01 -2.38039379e-02 0.00000000e+00 5.79074191e+02] [ 2.38039379e-02 9.99716646e-01 0.00000000e+00 -1.44765200e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.95260558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.11, Y:-144.76, Z:0.07 [[ 9.99677939e-01 -2.53775071e-02 0.00000000e+00 5.79106934e+02] [ 2.53775071e-02 9.99677939e-01 0.00000000e+00 -1.44762040e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.97784460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.011400513 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:579.13, Y:-144.76, Z:0.07 [[ 9.99695658e-01 -2.46696522e-02 0.00000000e+00 5.79134256e+02] [ 2.46696522e-02 9.99695658e-01 0.00000000e+00 -1.44757086e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.82211168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.041400513 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:579.16, Y:-144.76, Z:0.07 [[ 9.99700293e-01 -2.44810808e-02 0.00000000e+00 5.79160947e+02] [ 2.44810808e-02 9.99700293e-01 0.00000000e+00 -1.44755079e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.76200748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.071400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:579.19, Y:-144.75, Z:0.07 [[ 9.99663429e-01 -2.59428109e-02 0.00000000e+00 5.79194432e+02] [ 2.59428109e-02 9.99663429e-01 0.00000000e+00 -1.44751468e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.58332400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.22, Y:-144.75, Z:0.06 [[ 9.99706818e-01 -2.42131844e-02 0.00000000e+00 5.79224219e+02] [ 2.42131844e-02 9.99706818e-01 0.00000000e+00 -1.44748905e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.41918047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.131400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:579.26, Y:-144.74, Z:0.06 [[ 9.99712810e-01 -2.39645021e-02 0.00000000e+00 5.79258107e+02] [ 2.39645021e-02 9.99712810e-01 0.00000000e+00 -1.44744203e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.46278362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.28, Y:-144.74, Z:0.06 [[ 9.99778655e-01 -2.10390475e-02 0.00000000e+00 5.79284270e+02] [ 2.10390475e-02 9.99778655e-01 0.00000000e+00 -1.44741583e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.41685003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.191400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:579.32, Y:-144.74, Z:0.06 [[ 9.99787438e-01 -2.06174205e-02 0.00000000e+00 5.79318789e+02] [ 2.06174205e-02 9.99787438e-01 0.00000000e+00 -1.44736369e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.28535388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.221400513 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:579.32, Y:-144.74, Z:0.06 [[ 9.99994127e-01 -3.42719369e-03 0.00000000e+00 5.79320289e+02] [ 3.42719369e-03 9.99994127e-01 0.00000000e+00 -1.44740186e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.25645841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.251400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:579.37, Y:-144.73, Z:0.06 [[ 9.99900092e-01 -1.41352979e-02 0.00000000e+00 5.79374406e+02] [ 1.41352979e-02 9.99900092e-01 0.00000000e+00 -1.44730527e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.39628460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.40, Y:-144.73, Z:0.07 [[ 9.99944579e-01 -1.05279660e-02 0.00000000e+00 5.79402711e+02] [ 1.05279660e-02 9.99944579e-01 0.00000000e+00 -1.44727627e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.59280691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.311400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:579.41, Y:-144.73, Z:0.06 [[ 9.99995736e-01 2.92019062e-03 0.00000000e+00 5.79407282e+02] [-2.92019062e-03 9.99995736e-01 0.00000000e+00 -1.44730390e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.46800572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.341400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:579.43, Y:-144.73, Z:0.06 [[ 9.99988980e-01 4.69467182e-03 0.00000000e+00 5.79434946e+02] [-4.69467182e-03 9.99988980e-01 0.00000000e+00 -1.44728356e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.24389922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.46, Y:-144.73, Z:0.06 [[ 9.99970556e-01 7.67385453e-03 0.00000000e+00 5.79462856e+02] [-7.67385453e-03 9.99970556e-01 0.00000000e+00 -1.44725926e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.05487149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.401400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:579.49, Y:-144.72, Z:0.06 [[ 9.99938989e-01 1.10461813e-02 0.00000000e+00 5.79489654e+02] [-1.10461813e-02 9.99938989e-01 0.00000000e+00 -1.44722568e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.04734445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.431400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:579.52, Y:-144.72, Z:0.06 [[ 9.99944651e-01 1.05212007e-02 0.00000000e+00 5.79517744e+02] [-1.05212007e-02 9.99944651e-01 0.00000000e+00 -1.44719692e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.99808052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.461400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:579.56, Y:-144.71, Z:0.06 [[ 1.00000000e+00 3.15750408e-05 0.00000000e+00 5.79563565e+02] [-3.15750408e-05 1.00000000e+00 0.00000000e+00 -1.44711924e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.71527535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.491400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:579.58, Y:-144.71, Z:0.06 [[ 9.99983309e-01 5.77764914e-03 0.00000000e+00 5.79576142e+02] [-5.77764914e-03 9.99983309e-01 0.00000000e+00 -1.44712881e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.77805590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.521400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:579.60, Y:-144.71, Z:0.06 [[ 9.99995067e-01 3.14096880e-03 0.00000000e+00 5.79603290e+02] [-3.14096880e-03 9.99995067e-01 0.00000000e+00 -1.44709262e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.12722023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.63, Y:-144.71, Z:0.07 [[ 9.99999446e-01 1.05291570e-03 0.00000000e+00 5.79631068e+02] [-1.05291570e-03 9.99999446e-01 0.00000000e+00 -1.44705046e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.51977197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.66, Y:-144.70, Z:0.07 [[ 9.99996272e-01 -2.73065218e-03 0.00000000e+00 5.79660074e+02] [ 2.73065218e-03 9.99996272e-01 0.00000000e+00 -1.44701000e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.83294614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.69, Y:-144.70, Z:0.07 [[ 9.99988455e-01 -4.80523800e-03 0.00000000e+00 5.79691556e+02] [ 4.80523800e-03 9.99988455e-01 0.00000000e+00 -1.44696981e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.76139764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.72, Y:-144.69, Z:0.07 [[ 9.99978855e-01 -6.50301929e-03 0.00000000e+00 5.79723925e+02] [ 6.50301929e-03 9.99978855e-01 0.00000000e+00 -1.44693691e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.71990771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.76, Y:-144.69, Z:0.07 [[ 9.99961876e-01 -8.73197353e-03 0.00000000e+00 5.79755786e+02] [ 8.73197353e-03 9.99961876e-01 0.00000000e+00 -1.44690735e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.74907855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.701400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:579.79, Y:-144.69, Z:0.07 [[ 9.99957400e-01 -9.23024718e-03 0.00000000e+00 5.79786549e+02] [ 9.23024718e-03 9.99957400e-01 0.00000000e+00 -1.44686965e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.95373228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.731400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:579.82, Y:-144.68, Z:0.07 [[ 9.99941331e-01 -1.08320901e-02 0.00000000e+00 5.79818470e+02] [ 1.08320901e-02 9.99941331e-01 0.00000000e+00 -1.44683547e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.81506550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.761400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:579.85, Y:-144.68, Z:0.07 [[ 9.99948104e-01 -1.01876719e-02 0.00000000e+00 5.79849444e+02] [ 1.01876719e-02 9.99948104e-01 0.00000000e+00 -1.44680158e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.81549775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.791400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:579.88, Y:-144.68, Z:0.07 [[ 9.99957291e-01 -9.24213842e-03 0.00000000e+00 5.79882029e+02] [ 9.24213842e-03 9.99957291e-01 0.00000000e+00 -1.44676762e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.80436699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.821400513 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:579.91, Y:-144.67, Z:0.07 [[ 9.99972072e-01 -7.47367683e-03 0.00000000e+00 5.79914185e+02] [ 7.47367683e-03 9.99972072e-01 0.00000000e+00 -1.44673397e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.80707366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.851400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:579.95, Y:-144.67, Z:0.07 [[ 9.99979454e-01 -6.41028997e-03 0.00000000e+00 5.79946396e+02] [ 6.41028997e-03 9.99979454e-01 0.00000000e+00 -1.44670342e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.77378972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.98, Y:-144.67, Z:0.07 [[ 9.99994369e-01 -3.35575639e-03 0.00000000e+00 5.79977968e+02] [ 3.35575639e-03 9.99994369e-01 0.00000000e+00 -1.44667110e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.74011843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.911400513 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:580.01, Y:-144.66, Z:0.07 [[ 9.99996975e-01 -2.45984139e-03 0.00000000e+00 5.80008633e+02] [ 2.45984139e-03 9.99996975e-01 0.00000000e+00 -1.44663409e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.87761801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.04, Y:-144.66, Z:0.07 [[ 9.99997879e-01 -2.05953661e-03 0.00000000e+00 5.80041069e+02] [ 2.05953661e-03 9.99997879e-01 0.00000000e+00 -1.44661013e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.91680927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.07, Y:-144.66, Z:0.07 [[ 9.99999986e-01 -1.67402435e-04 0.00000000e+00 5.80072737e+02] [ 1.67402435e-04 9.99999986e-01 0.00000000e+00 -1.44657864e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.81731119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.001400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:580.10, Y:-144.65, Z:0.07 [[ 9.99999669e-01 8.13043698e-04 0.00000000e+00 5.80103222e+02] [-8.13043698e-04 9.99999669e-01 0.00000000e+00 -1.44654734e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.68371135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.13, Y:-144.65, Z:0.07 [[ 9.99999350e-01 1.14060675e-03 0.00000000e+00 5.80132405e+02] [-1.14060675e-03 9.99999350e-01 0.00000000e+00 -1.44651565e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.53122432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.061400513 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:580.16, Y:-144.65, Z:0.06 [[ 9.99999786e-01 6.54145244e-04 0.00000000e+00 5.80160725e+02] [-6.54145244e-04 9.99999786e-01 0.00000000e+00 -1.44648118e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.46365727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.091400513 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:580.19, Y:-144.65, Z:0.06 [[ 9.99992391e-01 -3.90095624e-03 0.00000000e+00 5.80190445e+02] [ 3.90095624e-03 9.99992391e-01 0.00000000e+00 -1.44645351e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.25954058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.22, Y:-144.64, Z:0.06 [[ 9.99981605e-01 -6.06545182e-03 0.00000000e+00 5.80222027e+02] [ 6.06545182e-03 9.99981605e-01 0.00000000e+00 -1.44641979e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.08041815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.151400513 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:580.25, Y:-144.64, Z:0.06 [[ 9.99963088e-01 -8.59198222e-03 0.00000000e+00 5.80254147e+02] [ 8.59198222e-03 9.99963088e-01 0.00000000e+00 -1.44638468e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.99658271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.181400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:580.29, Y:-144.63, Z:0.06 [[ 9.99938333e-01 -1.11054074e-02 0.00000000e+00 5.80287224e+02] [ 1.11054074e-02 9.99938333e-01 0.00000000e+00 -1.44634825e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.03786931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.211400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:580.32, Y:-144.63, Z:0.06 [[ 9.99909373e-01 -1.34627385e-02 0.00000000e+00 5.80317983e+02] [ 1.34627385e-02 9.99909373e-01 0.00000000e+00 -1.44629881e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.37673846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.241400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:580.35, Y:-144.63, Z:0.07 [[ 9.99878341e-01 -1.55981619e-02 0.00000000e+00 5.80349784e+02] [ 1.55981619e-02 9.99878341e-01 0.00000000e+00 -1.44626298e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.60522019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.271400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:580.38, Y:-144.62, Z:0.07 [[ 9.99828038e-01 -1.85444146e-02 0.00000000e+00 5.80381959e+02] [ 1.85444146e-02 9.99828038e-01 0.00000000e+00 -1.44622223e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.67822379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.301400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:580.41, Y:-144.62, Z:0.07 [[ 9.99609441e-01 -2.79457689e-02 0.00000000e+00 5.80413212e+02] [ 2.79457689e-02 9.99609441e-01 0.00000000e+00 -1.44617528e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.76429811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.331400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:580.45, Y:-144.61, Z:0.07 [[ 9.99458532e-01 -3.29035420e-02 0.00000000e+00 5.80446443e+02] [ 3.29035420e-02 9.99458532e-01 0.00000000e+00 -1.44613600e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.67254349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.48, Y:-144.61, Z:0.07 [[ 9.99280506e-01 -3.79271782e-02 0.00000000e+00 5.80477619e+02] [ 3.79271782e-02 9.99280506e-01 0.00000000e+00 -1.44609983e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.56097159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.51, Y:-144.61, Z:0.06 [[ 9.99080385e-01 -4.28763726e-02 0.00000000e+00 5.80510966e+02] [ 4.28763726e-02 9.99080385e-01 0.00000000e+00 -1.44606389e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.40765138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.54, Y:-144.60, Z:0.06 [[ 9.98927695e-01 -4.62975234e-02 0.00000000e+00 5.80542951e+02] [ 4.62975234e-02 9.98927695e-01 0.00000000e+00 -1.44602337e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.36944094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.57, Y:-144.60, Z:0.06 [[ 9.98716437e-01 -5.06505432e-02 0.00000000e+00 5.80574605e+02] [ 5.06505432e-02 9.98716437e-01 0.00000000e+00 -1.44598152e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.39202879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.481400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:580.61, Y:-144.59, Z:0.06 [[ 9.98626755e-01 -5.23889773e-02 0.00000000e+00 5.80607769e+02] [ 5.23889773e-02 9.98626755e-01 0.00000000e+00 -1.44594502e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.31545232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.511400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:580.64, Y:-144.59, Z:0.06 [[ 9.98555191e-01 -5.37357503e-02 0.00000000e+00 5.80639574e+02] [ 5.37357503e-02 9.98555191e-01 0.00000000e+00 -1.44591283e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.12321843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.541400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:580.67, Y:-144.59, Z:0.06 [[ 9.98473794e-01 -5.52275452e-02 0.00000000e+00 5.80672352e+02] [ 5.52275452e-02 9.98473794e-01 0.00000000e+00 -1.44588066e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.02423474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.571400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:580.71, Y:-144.58, Z:0.06 [[ 9.98328969e-01 -5.77864063e-02 0.00000000e+00 5.80705337e+02] [ 5.77864063e-02 9.98328969e-01 0.00000000e+00 -1.44583254e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.24251679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.601400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:580.74, Y:-144.58, Z:0.06 [[ 9.98255571e-01 -5.90407943e-02 0.00000000e+00 5.80737189e+02] [ 5.90407943e-02 9.98255571e-01 0.00000000e+00 -1.44578989e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.29697440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.77, Y:-144.58, Z:0.06 [[ 9.98226959e-01 -5.95225900e-02 0.00000000e+00 5.80770598e+02] [ 5.95225900e-02 9.98226959e-01 0.00000000e+00 -1.44575809e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.24184177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.80, Y:-144.57, Z:0.06 [[ 9.98260126e-01 -5.89637319e-02 0.00000000e+00 5.80803907e+02] [ 5.89637319e-02 9.98260126e-01 0.00000000e+00 -1.44573270e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.02966521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.691400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:580.84, Y:-144.57, Z:0.06 [[ 9.98413706e-01 -5.63033828e-02 0.00000000e+00 5.80837323e+02] [ 5.63033828e-02 9.98413706e-01 0.00000000e+00 -1.44569922e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.88474796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.87, Y:-144.57, Z:0.06 [[ 9.98518492e-01 -5.44134317e-02 0.00000000e+00 5.80869416e+02] [ 5.44134317e-02 9.98518492e-01 0.00000000e+00 -1.44566443e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.13154451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.90, Y:-144.56, Z:0.06 [[ 9.98527367e-01 -5.42503149e-02 0.00000000e+00 5.80902900e+02] [ 5.42503149e-02 9.98527367e-01 0.00000000e+00 -1.44562949e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.13154451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.94, Y:-144.56, Z:0.06 [[ 9.98636282e-01 -5.22070533e-02 0.00000000e+00 5.80935526e+02] [ 5.22070533e-02 9.98636282e-01 0.00000000e+00 -1.44559058e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.29027644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.97, Y:-144.56, Z:0.06 [[ 9.98775701e-01 -4.94681602e-02 0.00000000e+00 5.80969002e+02] [ 4.94681602e-02 9.98775701e-01 0.00000000e+00 -1.44555802e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.29951687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.00, Y:-144.55, Z:0.06 [[ 9.98884904e-01 -4.72117431e-02 0.00000000e+00 5.81001465e+02] [ 4.72117431e-02 9.98884904e-01 0.00000000e+00 -1.44553407e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.40225679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.03, Y:-144.55, Z:0.07 [[ 9.99070553e-01 -4.31048688e-02 0.00000000e+00 5.81032383e+02] [ 4.31048688e-02 9.99070553e-01 0.00000000e+00 -1.44550893e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.73995963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.901400513 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:581.07, Y:-144.55, Z:0.07 [[ 9.99159261e-01 -4.09971997e-02 0.00000000e+00 5.81065444e+02] [ 4.09971997e-02 9.99159261e-01 0.00000000e+00 -1.44546375e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.75045182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.931400513 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:581.10, Y:-144.54, Z:0.07 [[ 9.99201164e-01 -3.99628993e-02 0.00000000e+00 5.81097241e+02] [ 3.99628993e-02 9.99201164e-01 0.00000000e+00 -1.44543405e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.77440776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.961400513 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:581.13, Y:-144.54, Z:0.07 [[ 9.99253088e-01 -3.86428032e-02 0.00000000e+00 5.81130306e+02] [ 3.86428032e-02 9.99253088e-01 0.00000000e+00 -1.44540346e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.80533924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.16, Y:-144.54, Z:0.07 [[ 9.99304406e-01 -3.72921473e-02 0.00000000e+00 5.81162549e+02] [ 3.72921473e-02 9.99304406e-01 0.00000000e+00 -1.44537431e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.84696060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.021400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:581.20, Y:-144.53, Z:0.07 [[ 9.99294793e-01 -3.75488550e-02 0.00000000e+00 5.81195821e+02] [ 3.75488550e-02 9.99294793e-01 0.00000000e+00 -1.44533963e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.80749213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.23, Y:-144.53, Z:0.07 [[ 9.99300659e-01 -3.73924221e-02 0.00000000e+00 5.81227966e+02] [ 3.73924221e-02 9.99300659e-01 0.00000000e+00 -1.44530999e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.81853943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.081400513 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:581.26, Y:-144.53, Z:0.07 [[ 9.99269726e-01 -3.82101306e-02 0.00000000e+00 5.81261389e+02] [ 3.82101306e-02 9.99269726e-01 0.00000000e+00 -1.44527454e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.61121281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.29, Y:-144.52, Z:0.07 [[ 9.99237910e-01 -3.90333158e-02 0.00000000e+00 5.81293808e+02] [ 3.90333158e-02 9.99237910e-01 0.00000000e+00 -1.44524863e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.64942159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.33, Y:-144.52, Z:0.07 [[ 9.99172155e-01 -4.06817399e-02 0.00000000e+00 5.81326313e+02] [ 4.06817399e-02 9.99172155e-01 0.00000000e+00 -1.44521165e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.69579340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.36, Y:-144.52, Z:0.07 [[ 9.99154429e-01 -4.11148127e-02 0.00000000e+00 5.81358615e+02] [ 4.11148127e-02 9.99154429e-01 0.00000000e+00 -1.44517853e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.50738946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.201400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:581.39, Y:-144.51, Z:0.06 [[ 9.99150794e-01 -4.12030516e-02 0.00000000e+00 5.81391361e+02] [ 4.12030516e-02 9.99150794e-01 0.00000000e+00 -1.44514944e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.31137789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.231400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:581.42, Y:-144.51, Z:0.06 [[ 9.99162582e-01 -4.09161802e-02 0.00000000e+00 5.81422966e+02] [ 4.09161802e-02 9.99162582e-01 0.00000000e+00 -1.44512005e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.11276337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.261400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:581.45, Y:-144.51, Z:0.06 [[ 9.99167025e-01 -4.08075496e-02 0.00000000e+00 5.81454965e+02] [ 4.08075496e-02 9.99167025e-01 0.00000000e+00 -1.44509765e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.94806329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.291400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:581.49, Y:-144.51, Z:0.06 [[ 9.99193732e-01 -4.01482874e-02 0.00000000e+00 5.81488348e+02] [ 4.01482874e-02 9.99193732e-01 0.00000000e+00 -1.44506662e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.75852936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.321400513 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:581.52, Y:-144.50, Z:0.06 [[ 9.99208314e-01 -3.97837417e-02 0.00000000e+00 5.81520970e+02] [ 3.97837417e-02 9.99208314e-01 0.00000000e+00 -1.44503258e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.62488030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.55, Y:-144.50, Z:0.06 [[ 9.99233076e-01 -3.91568715e-02 0.00000000e+00 5.81552742e+02] [ 3.91568715e-02 9.99233076e-01 0.00000000e+00 -1.44500712e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.59398993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.381400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:581.59, Y:-144.50, Z:0.06 [[ 9.99272164e-01 -3.81463346e-02 0.00000000e+00 5.81585554e+02] [ 3.81463346e-02 9.99272164e-01 0.00000000e+00 -1.44496426e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.70940129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.411400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:581.62, Y:-144.49, Z:0.06 [[ 9.99298964e-01 -3.74376808e-02 0.00000000e+00 5.81618953e+02] [ 3.74376808e-02 9.99298964e-01 0.00000000e+00 -1.44492908e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.83897156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.441400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:581.65, Y:-144.49, Z:0.06 [[ 9.99360827e-01 -3.57482524e-02 0.00000000e+00 5.81651896e+02] [ 3.57482524e-02 9.99360827e-01 0.00000000e+00 -1.44488945e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.00168118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.471400513 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:581.68, Y:-144.49, Z:0.06 [[ 9.99444323e-01 -3.33323312e-02 0.00000000e+00 5.81684416e+02] [ 3.33323312e-02 9.99444323e-01 0.00000000e+00 -1.44485753e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.30880242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.501400513 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:581.72, Y:-144.48, Z:0.07 [[ 9.99489489e-01 -3.19493580e-02 0.00000000e+00 5.81716096e+02] [ 3.19493580e-02 9.99489489e-01 0.00000000e+00 -1.44482583e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.54712714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.531400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:581.75, Y:-144.48, Z:0.07 [[ 9.99558044e-01 -2.97273636e-02 0.00000000e+00 5.81749213e+02] [ 2.97273636e-02 9.99558044e-01 0.00000000e+00 -1.44479581e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.58746728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.561400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:581.78, Y:-144.48, Z:0.07 [[ 9.99602355e-01 -2.81980743e-02 0.00000000e+00 5.81780963e+02] [ 2.81980743e-02 9.99602355e-01 0.00000000e+00 -1.44476368e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.55870652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.81, Y:-144.47, Z:0.07 [[ 9.99643781e-01 -2.66891499e-02 0.00000000e+00 5.81813222e+02] [ 2.66891499e-02 9.99643781e-01 0.00000000e+00 -1.44473981e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.89048503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.621400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:581.85, Y:-144.47, Z:0.07 [[ 9.99738250e-01 -2.28786238e-02 0.00000000e+00 5.81846476e+02] [ 2.28786238e-02 9.99738250e-01 0.00000000e+00 -1.44470161e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.82396372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.88, Y:-144.47, Z:0.07 [[ 9.99803114e-01 -1.98426967e-02 0.00000000e+00 5.81879245e+02] [ 1.98426967e-02 9.99803114e-01 0.00000000e+00 -1.44467319e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.95741645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.681400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:581.91, Y:-144.46, Z:0.07 [[ 9.99852455e-01 -1.71775600e-02 0.00000000e+00 5.81911129e+02] [ 1.71775600e-02 9.99852455e-01 0.00000000e+00 -1.44463841e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.10298191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.711400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:581.94, Y:-144.46, Z:0.07 [[ 9.99907723e-01 -1.35847823e-02 0.00000000e+00 5.81943508e+02] [ 1.35847823e-02 9.99907723e-01 0.00000000e+00 -1.44462483e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.01851188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.98, Y:-144.46, Z:0.07 [[ 9.99918691e-01 -1.27519026e-02 0.00000000e+00 5.81976140e+02] [ 1.27519026e-02 9.99918691e-01 0.00000000e+00 -1.44460413e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.88441151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.01, Y:-144.46, Z:0.07 [[ 9.99918088e-01 -1.27991480e-02 0.00000000e+00 5.82007436e+02] [ 1.27991480e-02 9.99918088e-01 0.00000000e+00 -1.44457665e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.85556025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.801400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:582.04, Y:-144.45, Z:0.07 [[ 9.99910963e-01 -1.33441570e-02 0.00000000e+00 5.82040502e+02] [ 1.33441570e-02 9.99910963e-01 0.00000000e+00 -1.44454457e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.66336983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.831400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:582.07, Y:-144.45, Z:0.07 [[ 9.99908026e-01 -1.35624280e-02 0.00000000e+00 5.82073819e+02] [ 1.35624280e-02 9.99908026e-01 0.00000000e+00 -1.44451434e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.62248973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.861400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:582.11, Y:-144.45, Z:0.07 [[ 9.99912627e-01 -1.32188502e-02 0.00000000e+00 5.82105906e+02] [ 1.32188502e-02 9.99912627e-01 0.00000000e+00 -1.44448880e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.67547486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.891400513 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:582.14, Y:-144.45, Z:0.07 [[ 9.99909615e-01 -1.34447971e-02 0.00000000e+00 5.82138371e+02] [ 1.34447971e-02 9.99909615e-01 0.00000000e+00 -1.44446197e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.70098811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.921400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:582.17, Y:-144.44, Z:0.07 [[ 9.99914180e-01 -1.31008738e-02 0.00000000e+00 5.82170606e+02] [ 1.31008738e-02 9.99914180e-01 0.00000000e+00 -1.44443307e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.50770116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.951400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:582.20, Y:-144.44, Z:0.06 [[ 9.99917490e-01 -1.28457761e-02 0.00000000e+00 5.82202375e+02] [ 1.28457761e-02 9.99917490e-01 0.00000000e+00 -1.44440115e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.33514639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.23, Y:-144.44, Z:0.06 [[ 9.99924607e-01 -1.22792549e-02 0.00000000e+00 5.82233503e+02] [ 1.22792549e-02 9.99924607e-01 0.00000000e+00 -1.44437231e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.44844229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.27, Y:-144.43, Z:0.07 [[ 9.99927577e-01 -1.20349748e-02 0.00000000e+00 5.82266719e+02] [ 1.20349748e-02 9.99927577e-01 0.00000000e+00 -1.44433736e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.51322714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.30, Y:-144.43, Z:0.06 [[ 9.99918917e-01 -1.27341443e-02 0.00000000e+00 5.82299156e+02] [ 1.27341443e-02 9.99918917e-01 0.00000000e+00 -1.44430873e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.38503663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.071400513 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:582.33, Y:-144.43, Z:0.06 [[ 9.99906135e-01 -1.37011270e-02 0.00000000e+00 5.82331612e+02] [ 1.37011270e-02 9.99906135e-01 0.00000000e+00 -1.44427482e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.29185707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.101400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:582.36, Y:-144.42, Z:0.06 [[ 9.99891728e-01 -1.47150138e-02 0.00000000e+00 5.82362669e+02] [ 1.47150138e-02 9.99891728e-01 0.00000000e+00 -1.44424299e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.17333958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.131400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:582.40, Y:-144.42, Z:0.06 [[ 9.99881245e-01 -1.54109311e-02 0.00000000e+00 5.82395173e+02] [ 1.54109311e-02 9.99881245e-01 0.00000000e+00 -1.44421000e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.19128889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.161400513 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:582.43, Y:-144.42, Z:0.06 [[ 9.99873010e-01 -1.59362161e-02 0.00000000e+00 5.82427864e+02] [ 1.59362161e-02 9.99873010e-01 0.00000000e+00 -1.44417371e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.27684789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.191400513 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:582.46, Y:-144.41, Z:0.07 [[ 9.99858644e-01 -1.68134696e-02 0.00000000e+00 5.82459501e+02] [ 1.68134696e-02 9.99858644e-01 0.00000000e+00 -1.44413922e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.56489849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.49, Y:-144.41, Z:0.06 [[ 9.99854573e-01 -1.70538005e-02 0.00000000e+00 5.82491263e+02] [ 1.70538005e-02 9.99854573e-01 0.00000000e+00 -1.44411271e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.33227132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.251400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:582.52, Y:-144.41, Z:0.06 [[ 9.99833720e-01 -1.82354433e-02 0.00000000e+00 5.82522589e+02] [ 1.82354433e-02 9.99833720e-01 0.00000000e+00 -1.44408270e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.37112020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.56, Y:-144.41, Z:0.06 [[ 9.99824154e-01 -1.87526310e-02 0.00000000e+00 5.82555802e+02] [ 1.87526310e-02 9.99824154e-01 0.00000000e+00 -1.44405518e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.46215255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.59, Y:-144.40, Z:0.07 [[ 9.99822512e-01 -1.88399941e-02 0.00000000e+00 5.82588059e+02] [ 1.88399941e-02 9.99822512e-01 0.00000000e+00 -1.44402027e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.57037343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.341400513 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:582.62, Y:-144.40, Z:0.07 [[ 9.99810064e-01 -1.94893617e-02 0.00000000e+00 5.82619912e+02] [ 1.94893617e-02 9.99810064e-01 0.00000000e+00 -1.44398901e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.53019357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.65, Y:-144.40, Z:0.06 [[ 9.99794227e-01 -2.02855621e-02 0.00000000e+00 5.82652705e+02] [ 2.02855621e-02 9.99794227e-01 0.00000000e+00 -1.44397071e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.31795009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.68, Y:-144.39, Z:0.06 [[ 9.99768321e-01 -2.15244939e-02 0.00000000e+00 5.82684375e+02] [ 2.15244939e-02 9.99768321e-01 0.00000000e+00 -1.44393971e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.32006036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.431400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:582.72, Y:-144.39, Z:0.06 [[ 9.99725298e-01 -2.34377744e-02 0.00000000e+00 5.82716522e+02] [ 2.34377744e-02 9.99725298e-01 0.00000000e+00 -1.44390747e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.37506169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.461400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:582.75, Y:-144.39, Z:0.06 [[ 9.99704319e-01 -2.43161453e-02 0.00000000e+00 5.82749782e+02] [ 2.43161453e-02 9.99704319e-01 0.00000000e+00 -1.44387295e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.32746287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.491400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:582.78, Y:-144.39, Z:0.06 [[ 9.99679885e-01 -2.53007573e-02 0.00000000e+00 5.82780653e+02] [ 2.53007573e-02 9.99679885e-01 0.00000000e+00 -1.44385520e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.14177432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.521400513 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:582.81, Y:-144.38, Z:0.06 [[ 9.99673098e-01 -2.55674851e-02 0.00000000e+00 5.82813813e+02] [ 2.55674851e-02 9.99673098e-01 0.00000000e+00 -1.44382041e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.00966823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.551400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:582.85, Y:-144.38, Z:0.06 [[ 9.99700314e-01 -2.44802529e-02 0.00000000e+00 5.82845775e+02] [ 2.44802529e-02 9.99700314e-01 0.00000000e+00 -1.44379442e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.24932232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.581400513 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:582.88, Y:-144.38, Z:0.06 [[ 9.99718434e-01 -2.37287342e-02 0.00000000e+00 5.82878220e+02] [ 2.37287342e-02 9.99718434e-01 0.00000000e+00 -1.44376337e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.41084121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.611400513 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:582.91, Y:-144.37, Z:0.06 [[ 9.99722877e-01 -2.35407929e-02 0.00000000e+00 5.82911754e+02] [ 2.35407929e-02 9.99722877e-01 0.00000000e+00 -1.44373158e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.41084121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.641400513 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:582.94, Y:-144.37, Z:0.06 [[ 9.99752521e-01 -2.22462573e-02 0.00000000e+00 5.82943640e+02] [ 2.22462573e-02 9.99752521e-01 0.00000000e+00 -1.44370030e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.45700022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.671400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:582.98, Y:-144.37, Z:0.06 [[ 9.99814039e-01 -1.92843768e-02 0.00000000e+00 5.82976330e+02] [ 1.92843768e-02 9.99814039e-01 0.00000000e+00 -1.44369278e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.07481591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.701400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:583.01, Y:-144.37, Z:0.06 [[ 9.99845151e-01 -1.75975558e-02 0.00000000e+00 5.83008592e+02] [ 1.75975558e-02 9.99845151e-01 0.00000000e+00 -1.44367305e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.94873448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.04, Y:-144.36, Z:0.06 [[ 9.99866789e-01 -1.63218970e-02 0.00000000e+00 5.83040281e+02] [ 1.63218970e-02 9.99866789e-01 0.00000000e+00 -1.44364733e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.92676033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.761400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:583.07, Y:-144.36, Z:0.06 [[ 9.99857785e-01 -1.68644405e-02 0.00000000e+00 5.83073389e+02] [ 1.68644405e-02 9.99857785e-01 0.00000000e+00 -1.44361329e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.84070406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.791400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:583.11, Y:-144.36, Z:0.06 [[ 9.99857976e-01 -1.68531343e-02 0.00000000e+00 5.83105269e+02] [ 1.68531343e-02 9.99857976e-01 0.00000000e+00 -1.44358739e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.77858068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.821400513 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:583.14, Y:-144.36, Z:0.06 [[ 9.99830003e-01 -1.84381603e-02 0.00000000e+00 5.83137057e+02] [ 1.84381603e-02 9.99830003e-01 0.00000000e+00 -1.44356871e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.63287247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.17, Y:-144.36, Z:0.06 [[ 9.99830476e-01 -1.84124952e-02 0.00000000e+00 5.83173966e+02] [ 1.84124952e-02 9.99830476e-01 0.00000000e+00 -1.44357114e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.75090823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.20, Y:-144.35, Z:0.06 [[ 9.99836476e-01 -1.80837161e-02 0.00000000e+00 5.83200005e+02] [ 1.80837161e-02 9.99836476e-01 0.00000000e+00 -1.44352883e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.81598349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.24, Y:-144.35, Z:0.06 [[ 9.99825262e-01 -1.86934795e-02 0.00000000e+00 5.83239709e+02] [ 1.86934795e-02 9.99825262e-01 0.00000000e+00 -1.44352408e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.92137773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.27, Y:-144.35, Z:0.06 [[ 9.99809765e-01 -1.95047021e-02 0.00000000e+00 5.83271595e+02] [ 1.95047021e-02 9.99809765e-01 0.00000000e+00 -1.44349754e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.97630139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.971400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:583.30, Y:-144.35, Z:0.06 [[ 9.99693658e-01 -2.47505720e-02 0.00000000e+00 5.83303123e+02] [ 2.47505720e-02 9.99693658e-01 0.00000000e+00 -1.44346477e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.85556384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.34, Y:-144.34, Z:0.06 [[ 9.99643647e-01 -2.66941697e-02 0.00000000e+00 5.83337122e+02] [ 2.66941697e-02 9.99643647e-01 0.00000000e+00 -1.44344970e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.74537599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.031400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:583.37, Y:-144.34, Z:0.06 [[ 9.99569257e-01 -2.93479137e-02 0.00000000e+00 5.83369691e+02] [ 2.93479137e-02 9.99569257e-01 0.00000000e+00 -1.44342192e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.56901560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.40, Y:-144.34, Z:0.06 [[ 9.99474650e-01 -3.24102502e-02 0.00000000e+00 5.83401476e+02] [ 3.24102502e-02 9.99474650e-01 0.00000000e+00 -1.44339406e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.78728502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.091400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:583.44, Y:-144.34, Z:0.06 [[ 9.99182624e-01 -4.04237988e-02 0.00000000e+00 5.83435245e+02] [ 4.04237988e-02 9.99182624e-01 0.00000000e+00 -1.44335799e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.90075565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.47, Y:-144.34, Z:0.06 [[ 9.99086799e-01 -4.27266675e-02 0.00000000e+00 5.83471962e+02] [ 4.27266675e-02 9.99086799e-01 0.00000000e+00 -1.44335624e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.93285093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.50, Y:-144.33, Z:0.06 [[ 9.98759944e-01 -4.97852836e-02 0.00000000e+00 5.83499056e+02] [ 4.97852836e-02 9.98759944e-01 0.00000000e+00 -1.44330164e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.57226241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.181400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:583.53, Y:-144.33, Z:0.05 [[ 9.98579750e-01 -5.32774068e-02 0.00000000e+00 5.83530269e+02] [ 5.32774068e-02 9.98579750e-01 0.00000000e+00 -1.44326385e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.37179785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.211400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:583.56, Y:-144.33, Z:0.05 [[ 9.98513935e-01 -5.44969963e-02 0.00000000e+00 5.83564735e+02] [ 5.44969963e-02 9.98513935e-01 0.00000000e+00 -1.44326428e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.43800260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.241400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:583.60, Y:-144.32, Z:0.05 [[ 9.98219252e-01 -5.96517009e-02 0.00000000e+00 5.83595431e+02] [ 5.96517009e-02 9.98219252e-01 0.00000000e+00 -1.44321229e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.29301519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.271400513 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:583.63, Y:-144.32, Z:0.05 [[ 9.97879353e-01 -6.50906764e-02 0.00000000e+00 5.83627285e+02] [ 6.50906764e-02 9.97879353e-01 0.00000000e+00 -1.44317451e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.20880481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.301400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:583.66, Y:-144.31, Z:0.05 [[ 9.97776128e-01 -6.66543247e-02 0.00000000e+00 5.83658845e+02] [ 6.66543247e-02 9.97776128e-01 0.00000000e+00 -1.44314279e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.37346147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.331400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:583.69, Y:-144.31, Z:0.05 [[ 9.97731066e-01 -6.73254765e-02 0.00000000e+00 5.83692515e+02] [ 6.73254765e-02 9.97731066e-01 0.00000000e+00 -1.44310826e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.25088086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.72, Y:-144.31, Z:0.05 [[ 9.97844410e-01 -6.56241860e-02 0.00000000e+00 5.83723415e+02] [ 6.56241860e-02 9.97844410e-01 0.00000000e+00 -1.44305722e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.87167058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.391400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:583.76, Y:-144.31, Z:0.05 [[ 9.98173073e-01 -6.04195101e-02 0.00000000e+00 5.83760577e+02] [ 6.04195101e-02 9.98173073e-01 0.00000000e+00 -1.44306107e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.77114384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.79, Y:-144.30, Z:0.05 [[ 9.98177418e-01 -6.03476786e-02 0.00000000e+00 5.83792849e+02] [ 6.03476786e-02 9.98177418e-01 0.00000000e+00 -1.44301130e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.91450441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.451400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:583.82, Y:-144.30, Z:0.05 [[ 9.98211597e-01 -5.97796531e-02 0.00000000e+00 5.83823755e+02] [ 5.97796531e-02 9.98211597e-01 0.00000000e+00 -1.44295769e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.08919523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.481400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:583.86, Y:-144.29, Z:0.05 [[ 9.98073896e-01 -6.20362643e-02 0.00000000e+00 5.83855784e+02] [ 6.20362643e-02 9.98073896e-01 0.00000000e+00 -1.44290814e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.36229806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.511400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:583.89, Y:-144.29, Z:0.05 [[ 9.97930629e-01 -6.42997658e-02 0.00000000e+00 5.83887275e+02] [ 6.42997658e-02 9.97930629e-01 0.00000000e+00 -1.44285479e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.47299567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.92, Y:-144.28, Z:0.05 [[ 9.97726515e-01 -6.73928838e-02 0.00000000e+00 5.83917949e+02] [ 6.73928838e-02 9.97726515e-01 0.00000000e+00 -1.44279625e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.49107250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.95, Y:-144.28, Z:0.05 [[ 9.97276632e-01 -7.37517422e-02 0.00000000e+00 5.83947544e+02] [ 7.37517422e-02 9.97276632e-01 0.00000000e+00 -1.44275303e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.35026843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.98, Y:-144.27, Z:0.05 [[ 9.96925467e-01 -7.83556785e-02 0.00000000e+00 5.83977647e+02] [ 7.83556785e-02 9.96925467e-01 0.00000000e+00 -1.44270232e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.34822092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.631400513 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:584.01, Y:-144.26, Z:0.05 [[ 9.96583087e-01 -8.25963113e-02 0.00000000e+00 5.84009472e+02] [ 8.25963113e-02 9.96583087e-01 0.00000000e+00 -1.44264755e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.45835130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.661400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:584.04, Y:-144.26, Z:0.06 [[ 9.95858121e-01 -9.09208616e-02 0.00000000e+00 5.84039359e+02] [ 9.09208616e-02 9.95858121e-01 0.00000000e+00 -1.44258666e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.57485349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.691400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:584.07, Y:-144.25, Z:0.06 [[ 9.95430792e-01 -9.54858053e-02 0.00000000e+00 5.84072485e+02] [ 9.54858053e-02 9.95430792e-01 0.00000000e+00 -1.44253661e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.57412337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.721400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:584.10, Y:-144.25, Z:0.05 [[ 9.95035473e-01 -9.95208878e-02 0.00000000e+00 5.84102559e+02] [ 9.95208878e-02 9.95035473e-01 0.00000000e+00 -1.44249138e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.28050299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.13, Y:-144.24, Z:0.05 [[ 9.94654813e-01 -1.03256011e-01 0.00000000e+00 5.84134200e+02] [ 1.03256011e-01 9.94654813e-01 0.00000000e+00 -1.44244451e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.12944006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.781400513 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:584.17, Y:-144.24, Z:0.05 [[ 9.94240961e-01 -1.07167683e-01 0.00000000e+00 5.84165444e+02] [ 1.07167683e-01 9.94240961e-01 0.00000000e+00 -1.44239392e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.08858792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.20, Y:-144.23, Z:0.05 [[ 9.93850256e-01 -1.10732422e-01 0.00000000e+00 5.84196324e+02] [ 1.10732422e-01 9.93850256e-01 0.00000000e+00 -1.44234178e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.25482289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.23, Y:-144.23, Z:0.05 [[ 9.93132635e-01 -1.16993882e-01 0.00000000e+00 5.84226243e+02] [ 1.16993882e-01 9.93132635e-01 0.00000000e+00 -1.44227652e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.28872046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.26, Y:-144.22, Z:0.05 [[ 9.92725982e-01 -1.20395697e-01 0.00000000e+00 5.84257906e+02] [ 1.20395697e-01 9.92725982e-01 0.00000000e+00 -1.44223004e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.24641145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.901400513 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:584.29, Y:-144.22, Z:0.05 [[ 9.92493500e-01 -1.22297392e-01 0.00000000e+00 5.84287838e+02] [ 1.22297392e-01 9.92493500e-01 0.00000000e+00 -1.44218348e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.20672727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.32, Y:-144.21, Z:0.05 [[ 9.92043736e-01 -1.25893708e-01 0.00000000e+00 5.84317932e+02] [ 1.25893708e-01 9.92043736e-01 0.00000000e+00 -1.44213871e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.15995488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.961400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:584.35, Y:-144.21, Z:0.05 [[ 9.91746513e-01 -1.28214092e-01 0.00000000e+00 5.84349712e+02] [ 1.28214092e-01 9.91746513e-01 0.00000000e+00 -1.44210069e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.01149287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.991400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:584.38, Y:-144.21, Z:0.05 [[ 9.91667171e-01 -1.28826328e-01 0.00000000e+00 5.84381997e+02] [ 1.28826328e-01 9.91667171e-01 0.00000000e+00 -1.44206061e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.87948743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.41, Y:-144.20, Z:0.05 [[ 9.91641091e-01 -1.29026921e-01 0.00000000e+00 5.84412750e+02] [ 1.29026921e-01 9.91641091e-01 0.00000000e+00 -1.44201202e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.60661260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.44, Y:-144.20, Z:0.05 [[ 9.91140969e-01 -1.32814078e-01 0.00000000e+00 5.84443939e+02] [ 1.32814078e-01 9.91140969e-01 0.00000000e+00 -1.44195908e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.55135068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.081400513 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:584.48, Y:-144.19, Z:0.05 [[ 9.91057726e-01 -1.33433817e-01 0.00000000e+00 5.84476140e+02] [ 1.33433817e-01 9.91057726e-01 0.00000000e+00 -1.44190688e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.60834955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.111400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:584.51, Y:-144.19, Z:0.05 [[ 9.90893189e-01 -1.34650243e-01 0.00000000e+00 5.84508158e+02] [ 1.34650243e-01 9.90893189e-01 0.00000000e+00 -1.44185809e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.76275205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.141400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:584.54, Y:-144.18, Z:0.05 [[ 9.90683799e-01 -1.36182270e-01 0.00000000e+00 5.84538640e+02] [ 1.36182270e-01 9.90683799e-01 0.00000000e+00 -1.44180711e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.07299715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.57, Y:-144.17, Z:0.05 [[ 9.90613549e-01 -1.36692342e-01 0.00000000e+00 5.84569275e+02] [ 1.36692342e-01 9.90613549e-01 0.00000000e+00 -1.44174500e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.10847418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.201400513 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:584.60, Y:-144.17, Z:0.05 [[ 9.90464008e-01 -1.37771729e-01 0.00000000e+00 5.84600177e+02] [ 1.37771729e-01 9.90464008e-01 0.00000000e+00 -1.44169766e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.18980520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.231400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:584.63, Y:-144.16, Z:0.05 [[ 9.89992510e-01 -1.41119912e-01 0.00000000e+00 5.84630386e+02] [ 1.41119912e-01 9.89992510e-01 0.00000000e+00 -1.44164377e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.08897660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.261400513 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:584.66, Y:-144.16, Z:0.05 [[ 9.89508138e-01 -1.44477141e-01 0.00000000e+00 5.84661424e+02] [ 1.44477141e-01 9.89508138e-01 0.00000000e+00 -1.44159405e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.18737837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.291400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:584.69, Y:-144.15, Z:0.05 [[ 9.89239447e-01 -1.46305558e-01 0.00000000e+00 5.84692617e+02] [ 1.46305558e-01 9.89239447e-01 0.00000000e+00 -1.44153141e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.17137541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.321400513 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:584.72, Y:-144.15, Z:0.05 [[ 9.88708248e-01 -1.49853261e-01 0.00000000e+00 5.84723564e+02] [ 1.49853261e-01 9.88708248e-01 0.00000000e+00 -1.44147745e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.27364588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.351400513 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:584.75, Y:-144.14, Z:0.05 [[ 9.88490116e-01 -1.51285459e-01 0.00000000e+00 5.84754042e+02] [ 1.51285459e-01 9.88490116e-01 0.00000000e+00 -1.44142412e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.30590014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.381400513 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:584.79, Y:-144.14, Z:0.05 [[ 9.88461111e-01 -1.51474856e-01 0.00000000e+00 5.84785654e+02] [ 1.51474856e-01 9.88461111e-01 0.00000000e+00 -1.44137824e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.48914959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.82, Y:-144.13, Z:0.05 [[ 9.88148248e-01 -1.53502576e-01 0.00000000e+00 5.84816642e+02] [ 1.53502576e-01 9.88148248e-01 0.00000000e+00 -1.44132167e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.49396777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.85, Y:-144.13, Z:0.05 [[ 9.87988010e-01 -1.54530556e-01 0.00000000e+00 5.84846529e+02] [ 1.54530556e-01 9.87988010e-01 0.00000000e+00 -1.44128684e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.15701477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.471400513 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:584.88, Y:-144.12, Z:0.05 [[ 9.87887472e-01 -1.55171980e-01 0.00000000e+00 5.84876417e+02] [ 1.55171980e-01 9.87887472e-01 0.00000000e+00 -1.44123782e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.93944769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.501400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:584.91, Y:-144.12, Z:0.05 [[ 9.87572017e-01 -1.57167146e-01 0.00000000e+00 5.84907962e+02] [ 1.57167146e-01 9.87572017e-01 0.00000000e+00 -1.44120772e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.97627159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.531400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:584.94, Y:-144.12, Z:0.05 [[ 9.87484904e-01 -1.57713551e-01 0.00000000e+00 5.84938838e+02] [ 1.57713551e-01 9.87484904e-01 0.00000000e+00 -1.44116358e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.97627159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.561400513 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:584.97, Y:-144.11, Z:0.05 [[ 9.87499141e-01 -1.57624381e-01 0.00000000e+00 5.84970358e+02] [ 1.57624381e-01 9.87499141e-01 0.00000000e+00 -1.44112860e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.89649475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.591400513 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:585.00, Y:-144.11, Z:0.05 [[ 9.87873696e-01 -1.55259654e-01 0.00000000e+00 5.85000475e+02] [ 1.55259654e-01 9.87873696e-01 0.00000000e+00 -1.44105584e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.77394829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.621400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:585.03, Y:-144.10, Z:0.05 [[ 9.87759525e-01 -1.55984361e-01 0.00000000e+00 5.85031203e+02] [ 1.55984361e-01 9.87759525e-01 0.00000000e+00 -1.44101281e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.95880280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.651400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:585.06, Y:-144.10, Z:0.05 [[ 9.87666588e-01 -1.56571744e-01 0.00000000e+00 5.85062165e+02] [ 1.56571744e-01 9.87666588e-01 0.00000000e+00 -1.44096700e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.11618172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.681400513 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:585.09, Y:-144.09, Z:0.05 [[ 9.87804464e-01 -1.55699522e-01 0.00000000e+00 5.85092988e+02] [ 1.55699522e-01 9.87804464e-01 0.00000000e+00 -1.44092719e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.62098016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.711400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:585.13, Y:-144.09, Z:0.05 [[ 9.87304431e-01 -1.58839419e-01 0.00000000e+00 5.85125067e+02] [ 1.58839419e-01 9.87304431e-01 0.00000000e+00 -1.44088385e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.60847020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.16, Y:-144.08, Z:0.04 [[ 9.86874294e-01 -1.61490336e-01 0.00000000e+00 5.85156114e+02] [ 1.61490336e-01 9.86874294e-01 0.00000000e+00 -1.44084159e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.38533623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.771400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:585.19, Y:-144.08, Z:0.04 [[ 9.86750098e-01 -1.62247475e-01 0.00000000e+00 5.85187950e+02] [ 1.62247475e-01 9.86750098e-01 0.00000000e+00 -1.44080207e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91702229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.22, Y:-144.07, Z:0.04 [[ 9.87520255e-01 -1.57492051e-01 0.00000000e+00 5.85216974e+02] [ 1.57492051e-01 9.87520255e-01 0.00000000e+00 -1.44074788e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.07099043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.831400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:585.25, Y:-144.07, Z:0.04 [[ 9.88156817e-01 -1.53447405e-01 0.00000000e+00 5.85247236e+02] [ 1.53447405e-01 9.88156817e-01 0.00000000e+00 -1.44067854e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.43769712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.861400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:585.28, Y:-144.06, Z:0.05 [[ 9.88583494e-01 -1.50674073e-01 0.00000000e+00 5.85278434e+02] [ 1.50674073e-01 9.88583494e-01 0.00000000e+00 -1.44062837e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.04628460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.31, Y:-144.06, Z:0.05 [[ 9.88921077e-01 -1.48442256e-01 0.00000000e+00 5.85307729e+02] [ 1.48442256e-01 9.88921077e-01 0.00000000e+00 -1.44057841e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.26660710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.34, Y:-144.05, Z:0.05 [[ 9.88983382e-01 -1.48026583e-01 0.00000000e+00 5.85340064e+02] [ 1.48026583e-01 9.88983382e-01 0.00000000e+00 -1.44051811e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.36194266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.951400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:585.37, Y:-144.05, Z:0.05 [[ 9.88650464e-01 -1.50234016e-01 0.00000000e+00 5.85369296e+02] [ 1.50234016e-01 9.88650464e-01 0.00000000e+00 -1.44046101e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.38467633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.40, Y:-144.04, Z:0.05 [[ 9.88535313e-01 -1.50989852e-01 0.00000000e+00 5.85399759e+02] [ 1.50989852e-01 9.88535313e-01 0.00000000e+00 -1.44040746e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.41056556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.011400513 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:585.43, Y:-144.03, Z:0.06 [[ 9.88388117e-01 -1.51950421e-01 0.00000000e+00 5.85429823e+02] [ 1.51950421e-01 9.88388117e-01 0.00000000e+00 -1.44034896e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.55253495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.041400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:585.46, Y:-144.03, Z:0.06 [[ 9.88599279e-01 -1.50570466e-01 0.00000000e+00 5.85462719e+02] [ 1.50570466e-01 9.88599279e-01 0.00000000e+00 -1.44030477e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.65618404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.071400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:585.49, Y:-144.03, Z:0.06 [[ 9.89234431e-01 -1.46339473e-01 0.00000000e+00 5.85492431e+02] [ 1.46339473e-01 9.89234431e-01 0.00000000e+00 -1.44025631e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.73028667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.101400513 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:585.52, Y:-144.02, Z:0.06 [[ 9.89326673e-01 -1.45714563e-01 0.00000000e+00 5.85521288e+02] [ 1.45714563e-01 9.89326673e-01 0.00000000e+00 -1.44021196e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.81938468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.131400513 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:585.55, Y:-144.02, Z:0.06 [[ 9.89519447e-01 -1.44399668e-01 0.00000000e+00 5.85552915e+02] [ 1.44399668e-01 9.89519447e-01 0.00000000e+00 -1.44017010e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.87020682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.161400513 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:585.58, Y:-144.01, Z:0.06 [[ 9.89555445e-01 -1.44152770e-01 0.00000000e+00 5.85583978e+02] [ 1.44152770e-01 9.89555445e-01 0.00000000e+00 -1.44011508e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.81481827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.191400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:585.62, Y:-144.01, Z:0.06 [[ 9.89839307e-01 -1.42190529e-01 0.00000000e+00 5.85615447e+02] [ 1.42190529e-01 9.89839307e-01 0.00000000e+00 -1.44006513e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.71227437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.65, Y:-144.00, Z:0.06 [[ 9.90017407e-01 -1.40945145e-01 0.00000000e+00 5.85646603e+02] [ 1.40945145e-01 9.90017407e-01 0.00000000e+00 -1.44003018e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.56533724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.251400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:585.68, Y:-144.00, Z:0.05 [[ 9.90268579e-01 -1.39169470e-01 0.00000000e+00 5.85678533e+02] [ 1.39169470e-01 9.90268579e-01 0.00000000e+00 -1.43998908e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.34421840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.71, Y:-144.00, Z:0.05 [[ 9.90783781e-01 -1.35452941e-01 0.00000000e+00 5.85709722e+02] [ 1.35452941e-01 9.90783781e-01 0.00000000e+00 -1.43997125e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.10900096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.311400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:585.74, Y:-143.99, Z:0.05 [[ 9.91228357e-01 -1.32160298e-01 0.00000000e+00 5.85738542e+02] [ 1.32160298e-01 9.91228357e-01 0.00000000e+00 -1.43990792e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.22794246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.77, Y:-143.99, Z:0.05 [[ 9.91619940e-01 -1.29189375e-01 0.00000000e+00 5.85769492e+02] [ 1.29189375e-01 9.91619940e-01 0.00000000e+00 -1.43986271e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.25385443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.371400513 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:585.80, Y:-143.98, Z:0.05 [[ 9.92401128e-01 -1.23044711e-01 0.00000000e+00 5.85804210e+02] [ 1.23044711e-01 9.92401128e-01 0.00000000e+00 -1.43982738e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.11768485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.401400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:585.83, Y:-143.98, Z:0.05 [[ 9.92719236e-01 -1.20451310e-01 0.00000000e+00 5.85829188e+02] [ 1.20451310e-01 9.92719236e-01 0.00000000e+00 -1.43977814e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.26619633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.431400513 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:585.86, Y:-143.98, Z:0.05 [[ 9.93914209e-01 -1.10156911e-01 0.00000000e+00 5.85863733e+02] [ 1.10156911e-01 9.93914209e-01 0.00000000e+00 -1.43978058e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.66438431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.90, Y:-143.97, Z:0.05 [[ 9.94504522e-01 -1.04693623e-01 0.00000000e+00 5.85898238e+02] [ 1.04693623e-01 9.94504522e-01 0.00000000e+00 -1.43974971e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.75076682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.491400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:585.90, Y:-143.98, Z:0.05 [[ 9.95898278e-01 -9.04799370e-02 0.00000000e+00 5.85899189e+02] [ 9.04799370e-02 9.95898278e-01 0.00000000e+00 -1.43975681e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.64276128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.521400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:585.93, Y:-143.97, Z:0.05 [[ 9.96325070e-01 -8.56525266e-02 0.00000000e+00 5.85930796e+02] [ 8.56525266e-02 9.96325070e-01 0.00000000e+00 -1.43971687e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.87624285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.96, Y:-143.97, Z:0.05 [[ 9.96684274e-01 -8.13661977e-02 0.00000000e+00 5.85964066e+02] [ 8.13661977e-02 9.96684274e-01 0.00000000e+00 -1.43967026e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.21156082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.581400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:586.00, Y:-143.96, Z:0.05 [[ 9.97150953e-01 -7.54319313e-02 0.00000000e+00 5.85996003e+02] [ 7.54319313e-02 9.97150953e-01 0.00000000e+00 -1.43963750e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.44775464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.611400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:586.03, Y:-143.96, Z:0.05 [[ 9.97415474e-01 -7.18496516e-02 0.00000000e+00 5.86029386e+02] [ 7.18496516e-02 9.97415474e-01 0.00000000e+00 -1.43960380e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.23952458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.06, Y:-143.96, Z:0.05 [[ 9.97609316e-01 -6.91060951e-02 0.00000000e+00 5.86062337e+02] [ 6.91060951e-02 9.97609316e-01 0.00000000e+00 -1.43956320e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.17806670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.12, Y:-143.95, Z:0.05 [[ 9.97386840e-01 -7.22460527e-02 0.00000000e+00 5.86116702e+02] [ 7.22460527e-02 9.97386840e-01 0.00000000e+00 -1.43951976e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.33260590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.701400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:586.13, Y:-143.95, Z:0.06 [[ 9.98122766e-01 -6.12449505e-02 0.00000000e+00 5.86125117e+02] [ 6.12449505e-02 9.98122766e-01 0.00000000e+00 -1.43949120e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.58755281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.731400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:586.16, Y:-143.95, Z:0.06 [[ 9.98515660e-01 -5.44653766e-02 0.00000000e+00 5.86157075e+02] [ 5.44653766e-02 9.98515660e-01 0.00000000e+00 -1.43945187e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.93325014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.761400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:586.19, Y:-143.94, Z:0.06 [[ 9.98695877e-01 -5.10543428e-02 0.00000000e+00 5.86190263e+02] [ 5.10543428e-02 9.98695877e-01 0.00000000e+00 -1.43941097e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.80240546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.22, Y:-143.94, Z:0.06 [[ 9.98761051e-01 -4.97630605e-02 0.00000000e+00 5.86222066e+02] [ 4.97630605e-02 9.98761051e-01 0.00000000e+00 -1.43937267e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.87781381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.821400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:586.25, Y:-143.93, Z:0.06 [[ 9.98829366e-01 -4.83724810e-02 0.00000000e+00 5.86253628e+02] [ 4.83724810e-02 9.98829366e-01 0.00000000e+00 -1.43933849e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.90469174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.851400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:586.29, Y:-143.93, Z:0.06 [[ 9.98920806e-01 -4.64459153e-02 0.00000000e+00 5.86285714e+02] [ 4.64459153e-02 9.98920806e-01 0.00000000e+00 -1.43930374e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.61414930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.32, Y:-143.93, Z:0.05 [[ 9.98958805e-01 -4.56213405e-02 0.00000000e+00 5.86318982e+02] [ 4.56213405e-02 9.98958805e-01 0.00000000e+00 -1.43926451e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.45540560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.35, Y:-143.92, Z:0.05 [[ 9.99017329e-01 -4.43212752e-02 0.00000000e+00 5.86351297e+02] [ 4.43212752e-02 9.99017329e-01 0.00000000e+00 -1.43922726e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.37881615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.941400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:586.38, Y:-143.92, Z:0.05 [[ 9.99172574e-01 -4.06714656e-02 0.00000000e+00 5.86383268e+02] [ 4.06714656e-02 9.99172574e-01 0.00000000e+00 -1.43919778e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.36639991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.42, Y:-143.92, Z:0.05 [[ 9.99200920e-01 -3.99690008e-02 0.00000000e+00 5.86415821e+02] [ 3.99690008e-02 9.99200920e-01 0.00000000e+00 -1.43915542e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.35955816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.45, Y:-143.91, Z:0.05 [[ 9.99198764e-01 -4.00228713e-02 0.00000000e+00 5.86447294e+02] [ 4.00228713e-02 9.99198764e-01 0.00000000e+00 -1.43911774e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.37726486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.48, Y:-143.91, Z:0.05 [[ 9.99180779e-01 -4.04693829e-02 0.00000000e+00 5.86478735e+02] [ 4.04693829e-02 9.99180779e-01 0.00000000e+00 -1.43907605e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.37766451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.51, Y:-143.90, Z:0.05 [[ 9.99097802e-01 -4.24685949e-02 0.00000000e+00 5.86512020e+02] [ 4.24685949e-02 9.99097802e-01 0.00000000e+00 -1.43903783e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.03024367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.55, Y:-143.90, Z:0.05 [[ 9.99065649e-01 -4.32183776e-02 0.00000000e+00 5.86545079e+02] [ 4.32183776e-02 9.99065649e-01 0.00000000e+00 -1.43899485e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.03953883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.58, Y:-143.90, Z:0.05 [[ 9.99095664e-01 -4.25188600e-02 0.00000000e+00 5.86577873e+02] [ 4.25188600e-02 9.99095664e-01 0.00000000e+00 -1.43895124e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.16300020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.151400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:586.61, Y:-143.89, Z:0.05 [[ 9.99089264e-01 -4.26689927e-02 0.00000000e+00 5.86609564e+02] [ 4.26689927e-02 9.99089264e-01 0.00000000e+00 -1.43890211e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.43213794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.181400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:586.64, Y:-143.89, Z:0.05 [[ 9.99088608e-01 -4.26843345e-02 0.00000000e+00 5.86642917e+02] [ 4.26843345e-02 9.99088608e-01 0.00000000e+00 -1.43885474e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.38187456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.67, Y:-143.88, Z:0.05 [[ 9.99055827e-01 -4.34448388e-02 0.00000000e+00 5.86674926e+02] [ 4.34448388e-02 9.99055827e-01 0.00000000e+00 -1.43881758e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.24009384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.71, Y:-143.88, Z:0.05 [[ 9.99010444e-01 -4.44762141e-02 0.00000000e+00 5.86707865e+02] [ 4.44762141e-02 9.99010444e-01 0.00000000e+00 -1.43877476e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.14177525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.74, Y:-143.87, Z:0.05 [[ 9.98875967e-01 -4.74004582e-02 0.00000000e+00 5.86740389e+02] [ 4.74004582e-02 9.98875967e-01 0.00000000e+00 -1.43872431e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.25652528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.77, Y:-143.87, Z:0.05 [[ 9.98833822e-01 -4.82803959e-02 0.00000000e+00 5.86772841e+02] [ 4.82803959e-02 9.98833822e-01 0.00000000e+00 -1.43868129e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.21737578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.331400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:586.81, Y:-143.86, Z:0.05 [[ 9.98783556e-01 -4.93093078e-02 0.00000000e+00 5.86805108e+02] [ 4.93093078e-02 9.98783556e-01 0.00000000e+00 -1.43864380e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.24752495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.84, Y:-143.86, Z:0.05 [[ 9.98782385e-01 -4.93330325e-02 0.00000000e+00 5.86836875e+02] [ 4.93330325e-02 9.98782385e-01 0.00000000e+00 -1.43860155e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.18358633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.87, Y:-143.86, Z:0.05 [[ 9.98789863e-01 -4.91813969e-02 0.00000000e+00 5.86869851e+02] [ 4.91813969e-02 9.98789863e-01 0.00000000e+00 -1.43855009e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.06389013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.90, Y:-143.85, Z:0.05 [[ 9.98798504e-01 -4.90055946e-02 0.00000000e+00 5.86903262e+02] [ 4.90055946e-02 9.98798504e-01 0.00000000e+00 -1.43850783e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.06389013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.451400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:586.94, Y:-143.85, Z:0.05 [[ 9.98832834e-01 -4.83008157e-02 0.00000000e+00 5.86936599e+02] [ 4.83008157e-02 9.98832834e-01 0.00000000e+00 -1.43846344e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.95684060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.97, Y:-143.84, Z:0.05 [[ 9.98844207e-01 -4.80650542e-02 0.00000000e+00 5.86969911e+02] [ 4.80650542e-02 9.98844207e-01 0.00000000e+00 -1.43842833e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.13006660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.511400513 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:587.00, Y:-143.84, Z:0.06 [[ 9.98905526e-01 -4.67733919e-02 0.00000000e+00 5.87001109e+02] [ 4.67733919e-02 9.98905526e-01 0.00000000e+00 -1.43837381e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.54238780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.03, Y:-143.83, Z:0.06 [[ 9.98925631e-01 -4.63420354e-02 0.00000000e+00 5.87033465e+02] [ 4.63420354e-02 9.98925631e-01 0.00000000e+00 -1.43833253e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.74865082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.07, Y:-143.83, Z:0.06 [[ 9.98934099e-01 -4.61591417e-02 0.00000000e+00 5.87066500e+02] [ 4.61591417e-02 9.98934099e-01 0.00000000e+00 -1.43829015e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.88559862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.601400513 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:587.10, Y:-143.82, Z:0.06 [[ 9.98905608e-01 -4.67716506e-02 0.00000000e+00 5.87098906e+02] [ 4.67716506e-02 9.98905608e-01 0.00000000e+00 -1.43824727e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.67608379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.13, Y:-143.82, Z:0.05 [[ 9.98904195e-01 -4.68018145e-02 0.00000000e+00 5.87131693e+02] [ 4.68018145e-02 9.98904195e-01 0.00000000e+00 -1.43821334e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.38865324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.16, Y:-143.82, Z:0.05 [[ 9.98973271e-01 -4.53034630e-02 0.00000000e+00 5.87163239e+02] [ 4.53034630e-02 9.98973271e-01 0.00000000e+00 -1.43817591e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.39244523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.691400513 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:587.20, Y:-143.81, Z:0.05 [[ 9.99161216e-01 -4.09495318e-02 0.00000000e+00 5.87196292e+02] [ 4.09495318e-02 9.99161216e-01 0.00000000e+00 -1.43814031e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.27740652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.23, Y:-143.81, Z:0.05 [[ 9.99274192e-01 -3.80931533e-02 0.00000000e+00 5.87229103e+02] [ 3.80931533e-02 9.99274192e-01 0.00000000e+00 -1.43809923e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.39589579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.26, Y:-143.81, Z:0.06 [[ 9.99349254e-01 -3.60703377e-02 0.00000000e+00 5.87260240e+02] [ 3.60703377e-02 9.99349254e-01 0.00000000e+00 -1.43805743e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.68093484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.781400513 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:587.29, Y:-143.80, Z:0.06 [[ 9.99465849e-01 -3.26805217e-02 0.00000000e+00 5.87292250e+02] [ 3.26805217e-02 9.99465849e-01 0.00000000e+00 -1.43801231e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.80492662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.811400513 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:587.32, Y:-143.80, Z:0.06 [[ 9.99511588e-01 -3.12503619e-02 0.00000000e+00 5.87323938e+02] [ 3.12503619e-02 9.99511588e-01 0.00000000e+00 -1.43798135e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.70618341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.841400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:587.36, Y:-143.79, Z:0.05 [[ 9.99527769e-01 -3.07284841e-02 0.00000000e+00 5.87357223e+02] [ 3.07284841e-02 9.99527769e-01 0.00000000e+00 -1.43794221e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.48348601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.871400513 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:587.39, Y:-143.79, Z:0.05 [[ 9.99538909e-01 -3.03639631e-02 0.00000000e+00 5.87390325e+02] [ 3.03639631e-02 9.99538909e-01 0.00000000e+00 -1.43790402e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.31163409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.42, Y:-143.79, Z:0.05 [[ 9.99499757e-01 -3.16265142e-02 0.00000000e+00 5.87422515e+02] [ 3.16265142e-02 9.99499757e-01 0.00000000e+00 -1.43786807e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.32347567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.931400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:587.46, Y:-143.78, Z:0.05 [[ 9.99526347e-01 -3.07746794e-02 0.00000000e+00 5.87455573e+02] [ 3.07746794e-02 9.99526347e-01 0.00000000e+00 -1.43782281e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.26129887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.961400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:587.49, Y:-143.78, Z:0.05 [[ 9.99559041e-01 -2.96938170e-02 0.00000000e+00 5.87488857e+02] [ 2.96938170e-02 9.99559041e-01 0.00000000e+00 -1.43778230e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.31895458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.52, Y:-143.77, Z:0.05 [[ 9.99593616e-01 -2.85061723e-02 0.00000000e+00 5.87522191e+02] [ 2.85061723e-02 9.99593616e-01 0.00000000e+00 -1.43774161e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.46857966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.56, Y:-143.77, Z:0.06 [[ 9.99629436e-01 -2.72211328e-02 0.00000000e+00 5.87555407e+02] [ 2.72211328e-02 9.99629436e-01 0.00000000e+00 -1.43770230e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.58007253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.051400513 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:587.59, Y:-143.77, Z:0.06 [[ 9.99658340e-01 -2.61381692e-02 0.00000000e+00 5.87588532e+02] [ 2.61381692e-02 9.99658340e-01 0.00000000e+00 -1.43766025e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.61098340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.081400513 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:587.62, Y:-143.76, Z:0.06 [[ 9.99721495e-01 -2.35994263e-02 0.00000000e+00 5.87620269e+02] [ 2.35994263e-02 9.99721495e-01 0.00000000e+00 -1.43762003e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.79273061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.111400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:587.65, Y:-143.76, Z:0.06 [[ 9.99739418e-01 -2.28275108e-02 0.00000000e+00 5.87653711e+02] [ 2.28275108e-02 9.99739418e-01 0.00000000e+00 -1.43758531e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.64862649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.141400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:587.69, Y:-143.76, Z:0.06 [[ 9.99763487e-01 -2.17478541e-02 0.00000000e+00 5.87686045e+02] [ 2.17478541e-02 9.99763487e-01 0.00000000e+00 -1.43755177e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.69179168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.171400513 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:587.72, Y:-143.75, Z:0.06 [[ 9.99780343e-01 -2.09586600e-02 0.00000000e+00 5.87717786e+02] [ 2.09586600e-02 9.99780343e-01 0.00000000e+00 -1.43751137e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.65311792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.201400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:587.75, Y:-143.75, Z:0.06 [[ 9.99855309e-01 -1.70106010e-02 0.00000000e+00 5.87749510e+02] [ 1.70106010e-02 9.99855309e-01 0.00000000e+00 -1.43747798e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.86416300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.231400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:587.78, Y:-143.74, Z:0.06 [[ 9.99886674e-01 -1.50545264e-02 0.00000000e+00 5.87781533e+02] [ 1.50545264e-02 9.99886674e-01 0.00000000e+00 -1.43744009e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.57981806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.261400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:587.81, Y:-143.74, Z:0.06 [[ 9.99910036e-01 -1.34133885e-02 0.00000000e+00 5.87813271e+02] [ 1.34133885e-02 9.99910036e-01 0.00000000e+00 -1.43740759e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.50462618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.85, Y:-143.74, Z:0.05 [[ 9.99931979e-01 -1.16635477e-02 0.00000000e+00 5.87845899e+02] [ 1.16635477e-02 9.99931979e-01 0.00000000e+00 -1.43737254e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.45294569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.321400513 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:587.88, Y:-143.73, Z:0.06 [[ 9.99948860e-01 -1.01132737e-02 0.00000000e+00 5.87877471e+02] [ 1.01132737e-02 9.99948860e-01 0.00000000e+00 -1.43732894e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.53047522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.91, Y:-143.73, Z:0.06 [[ 9.99958352e-01 -9.12653081e-03 0.00000000e+00 5.87910042e+02] [ 9.12653081e-03 9.99958352e-01 0.00000000e+00 -1.43729375e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.58097294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.94, Y:-143.73, Z:0.05 [[ 9.99967868e-01 -8.01640199e-03 0.00000000e+00 5.87943301e+02] [ 8.01640199e-03 9.99967868e-01 0.00000000e+00 -1.43725517e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.49264366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.411400513 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:587.97, Y:-143.72, Z:0.05 [[ 9.99974104e-01 -7.19667713e-03 0.00000000e+00 5.87974701e+02] [ 7.19667713e-03 9.99974104e-01 0.00000000e+00 -1.43721670e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.47458870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.441400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:588.01, Y:-143.72, Z:0.05 [[ 9.99980585e-01 -6.23137130e-03 0.00000000e+00 5.88006752e+02] [ 6.23137130e-03 9.99980585e-01 0.00000000e+00 -1.43718220e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.35770049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.471400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:588.04, Y:-143.71, Z:0.05 [[ 9.99979059e-01 -6.47156511e-03 0.00000000e+00 5.88039520e+02] [ 6.47156511e-03 9.99979059e-01 0.00000000e+00 -1.43713740e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.33878754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.501400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:588.07, Y:-143.71, Z:0.05 [[ 9.99978030e-01 -6.62871140e-03 0.00000000e+00 5.88072447e+02] [ 6.62871140e-03 9.99978030e-01 0.00000000e+00 -1.43709324e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.30196445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.10, Y:-143.71, Z:0.05 [[ 9.99978137e-01 -6.61248653e-03 0.00000000e+00 5.88104062e+02] [ 6.61248653e-03 9.99978137e-01 0.00000000e+00 -1.43706031e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.35975002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.561400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:588.14, Y:-143.70, Z:0.05 [[ 9.99976371e-01 -6.87437000e-03 0.00000000e+00 5.88136746e+02] [ 6.87437000e-03 9.99976371e-01 0.00000000e+00 -1.43702625e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.20324693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.17, Y:-143.70, Z:0.05 [[ 9.99977811e-01 -6.66157039e-03 0.00000000e+00 5.88168676e+02] [ 6.66157039e-03 9.99977811e-01 0.00000000e+00 -1.43698756e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.26165382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.20, Y:-143.70, Z:0.05 [[ 9.99965423e-01 -8.31585336e-03 0.00000000e+00 5.88200416e+02] [ 8.31585336e-03 9.99965423e-01 0.00000000e+00 -1.43695381e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.43808213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.651400513 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:588.23, Y:-143.69, Z:0.05 [[ 9.99968670e-01 -7.91577074e-03 0.00000000e+00 5.88233070e+02] [ 7.91577074e-03 9.99968670e-01 0.00000000e+00 -1.43689976e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.47244066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.681400513 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:588.27, Y:-143.69, Z:0.05 [[ 9.99967639e-01 -8.04499140e-03 0.00000000e+00 5.88265305e+02] [ 8.04499140e-03 9.99967639e-01 0.00000000e+00 -1.43685752e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.43449833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.30, Y:-143.68, Z:0.05 [[ 9.99963758e-01 -8.51371456e-03 0.00000000e+00 5.88298394e+02] [ 8.51371456e-03 9.99963758e-01 0.00000000e+00 -1.43682929e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.36596145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.33, Y:-143.68, Z:0.06 [[ 9.99955208e-01 -9.46477757e-03 0.00000000e+00 5.88330532e+02] [ 9.46477757e-03 9.99955208e-01 0.00000000e+00 -1.43678920e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.53961003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.36, Y:-143.67, Z:0.06 [[ 9.99959201e-01 -9.03309436e-03 0.00000000e+00 5.88363207e+02] [ 9.03309436e-03 9.99959201e-01 0.00000000e+00 -1.43674184e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.69190621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.40, Y:-143.67, Z:0.06 [[ 9.99970730e-01 -7.65112010e-03 0.00000000e+00 5.88396254e+02] [ 7.65112010e-03 9.99970730e-01 0.00000000e+00 -1.43670020e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.61840287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.43, Y:-143.67, Z:0.06 [[ 9.99980705e-01 -6.21199528e-03 0.00000000e+00 5.88428535e+02] [ 6.21199528e-03 9.99980705e-01 0.00000000e+00 -1.43667460e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.53619380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.861400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:588.46, Y:-143.66, Z:0.05 [[ 9.99994731e-01 -3.24630485e-03 0.00000000e+00 5.88459346e+02] [ 3.24630485e-03 9.99994731e-01 0.00000000e+00 -1.43664517e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.45176510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.891400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:588.49, Y:-143.66, Z:0.05 [[ 9.99999973e-01 2.33766964e-04 0.00000000e+00 5.88491056e+02] [-2.33766964e-04 9.99999973e-01 0.00000000e+00 -1.43660895e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.37562238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.52, Y:-143.66, Z:0.06 [[ 9.99993234e-01 3.67860430e-03 0.00000000e+00 5.88521011e+02] [-3.67860430e-03 9.99993234e-01 0.00000000e+00 -1.43657038e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.91540878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.951400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:588.55, Y:-143.65, Z:0.06 [[ 9.99991966e-01 4.00857560e-03 0.00000000e+00 5.88548184e+02] [-4.00857560e-03 9.99991966e-01 0.00000000e+00 -1.43652406e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.05269188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.981400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:588.58, Y:-143.65, Z:0.06 [[ 9.99995262e-01 3.07834663e-03 0.00000000e+00 5.88576848e+02] [-3.07834663e-03 9.99995262e-01 0.00000000e+00 -1.43649449e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.79535801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.61, Y:-143.65, Z:0.05 [[ 9.99994769e-01 3.23450444e-03 0.00000000e+00 5.88605561e+02] [-3.23450444e-03 9.99994769e-01 0.00000000e+00 -1.43647718e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.33233702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.041400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:588.63, Y:-143.64, Z:0.05 [[ 9.99995157e-01 3.11208157e-03 0.00000000e+00 5.88634075e+02] [-3.11208157e-03 9.99995157e-01 0.00000000e+00 -1.43643788e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.40469574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.071400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:588.66, Y:-143.64, Z:0.06 [[ 9.99994159e-01 3.41787468e-03 0.00000000e+00 5.88661490e+02] [-3.41787468e-03 9.99994159e-01 0.00000000e+00 -1.43639521e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.73473763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.69, Y:-143.64, Z:0.06 [[ 9.99989434e-01 4.59692786e-03 0.00000000e+00 5.88690508e+02] [-4.59692786e-03 9.99989434e-01 0.00000000e+00 -1.43635786e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.87898221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.131400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:588.72, Y:-143.63, Z:0.06 [[ 9.99979518e-01 6.40025522e-03 0.00000000e+00 5.88718852e+02] [-6.40025522e-03 9.99979518e-01 0.00000000e+00 -1.43632036e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.67633623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.161400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:588.75, Y:-143.63, Z:0.05 [[ 9.99972842e-01 7.36985209e-03 0.00000000e+00 5.88746084e+02] [-7.36985209e-03 9.99972842e-01 0.00000000e+00 -1.43629978e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.47936434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.77, Y:-143.63, Z:0.05 [[ 9.99955329e-01 9.45193808e-03 0.00000000e+00 5.88774417e+02] [-9.45193808e-03 9.99955329e-01 0.00000000e+00 -1.43626504e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.33440887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.221400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:588.80, Y:-143.62, Z:0.05 [[ 9.99951095e-01 9.88977861e-03 0.00000000e+00 5.88802787e+02] [-9.88977861e-03 9.99951095e-01 0.00000000e+00 -1.43622935e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.46288829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.83, Y:-143.62, Z:0.06 [[ 9.99948348e-01 1.01636816e-02 0.00000000e+00 5.88831595e+02] [-1.01636816e-02 9.99948348e-01 0.00000000e+00 -1.43619645e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.68886948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.86, Y:-143.62, Z:0.06 [[ 9.99936845e-01 1.12386329e-02 0.00000000e+00 5.88858481e+02] [-1.12386329e-02 9.99936845e-01 0.00000000e+00 -1.43616010e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.83117134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.311400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:588.89, Y:-143.61, Z:0.05 [[ 9.99892821e-01 1.46405719e-02 0.00000000e+00 5.88887258e+02] [-1.46405719e-02 9.99892821e-01 0.00000000e+00 -1.43612627e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.40865026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.341400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:588.91, Y:-143.61, Z:0.05 [[ 9.99881363e-01 1.54032121e-02 0.00000000e+00 5.88914990e+02] [-1.54032121e-02 9.99881363e-01 0.00000000e+00 -1.43609508e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.40386695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.371400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:588.94, Y:-143.61, Z:0.05 [[ 9.99882542e-01 1.53265063e-02 0.00000000e+00 5.88943182e+02] [-1.53265063e-02 9.99882542e-01 0.00000000e+00 -1.43605875e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.40386695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.97, Y:-143.60, Z:0.06 [[ 9.99864440e-01 1.64651426e-02 0.00000000e+00 5.88969456e+02] [-1.64651426e-02 9.99864440e-01 0.00000000e+00 -1.43601730e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.58806503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.00, Y:-143.60, Z:0.06 [[ 9.99875258e-01 1.57945560e-02 0.00000000e+00 5.88997972e+02] [-1.57945560e-02 9.99875258e-01 0.00000000e+00 -1.43597706e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.75368326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.02, Y:-143.59, Z:0.06 [[ 9.99900141e-01 1.41318172e-02 0.00000000e+00 5.89024569e+02] [-1.41318172e-02 9.99900141e-01 0.00000000e+00 -1.43594213e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.87633246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.491400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:589.05, Y:-143.59, Z:0.06 [[ 9.99913552e-01 1.31487292e-02 0.00000000e+00 5.89052851e+02] [-1.31487292e-02 9.99913552e-01 0.00000000e+00 -1.43589890e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.66242549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.521400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:589.08, Y:-143.59, Z:0.06 [[ 9.99928790e-01 1.19337570e-02 0.00000000e+00 5.89079582e+02] [-1.19337570e-02 9.99928790e-01 0.00000000e+00 -1.43586910e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.53991344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.11, Y:-143.58, Z:0.06 [[ 9.99943414e-01 1.06380506e-02 0.00000000e+00 5.89108234e+02] [-1.06380506e-02 9.99943414e-01 0.00000000e+00 -1.43584076e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.62824554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.13, Y:-143.58, Z:0.06 [[ 9.99952979e-01 9.69740442e-03 0.00000000e+00 5.89134436e+02] [-9.69740442e-03 9.99952979e-01 0.00000000e+00 -1.43580177e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.79584376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.16, Y:-143.58, Z:0.06 [[ 9.99962348e-01 8.67768724e-03 0.00000000e+00 5.89162701e+02] [-8.67768724e-03 9.99962348e-01 0.00000000e+00 -1.43575749e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.65401658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.641400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:589.19, Y:-143.57, Z:0.06 [[ 9.99978963e-01 6.48637933e-03 0.00000000e+00 5.89190804e+02] [-6.48637933e-03 9.99978963e-01 0.00000000e+00 -1.43571955e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.51729211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.22, Y:-143.57, Z:0.06 [[ 9.99992431e-01 3.89063446e-03 0.00000000e+00 5.89218897e+02] [-3.89063446e-03 9.99992431e-01 0.00000000e+00 -1.43567941e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.62992684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.25, Y:-143.56, Z:0.06 [[ 9.99997156e-01 2.38511801e-03 0.00000000e+00 5.89246072e+02] [-2.38511801e-03 9.99997156e-01 0.00000000e+00 -1.43564025e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.76101591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.731400513 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:589.27, Y:-143.56, Z:0.06 [[ 9.99999842e-01 5.62195080e-04 0.00000000e+00 5.89274254e+02] [-5.62195080e-04 9.99999842e-01 0.00000000e+00 -1.43560387e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.67484591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.761400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:589.30, Y:-143.56, Z:0.05 [[ 9.99999397e-01 -1.09848303e-03 0.00000000e+00 5.89303315e+02] [ 1.09848303e-03 9.99999397e-01 0.00000000e+00 -1.43557450e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.49290763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.791400513 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:589.33, Y:-143.55, Z:0.05 [[ 9.99993752e-01 -3.53485736e-03 0.00000000e+00 5.89332978e+02] [ 3.53485736e-03 9.99993752e-01 0.00000000e+00 -1.43553751e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.28329347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.821400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:589.36, Y:-143.55, Z:0.05 [[ 9.99989194e-01 -4.64883116e-03 0.00000000e+00 5.89364862e+02] [ 4.64883116e-03 9.99989194e-01 0.00000000e+00 -1.43550151e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.31442227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.40, Y:-143.55, Z:0.05 [[ 9.99979963e-01 -6.33041691e-03 0.00000000e+00 5.89396895e+02] [ 6.33041691e-03 9.99979963e-01 0.00000000e+00 -1.43546363e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.30819052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.43, Y:-143.54, Z:0.05 [[ 9.99957860e-01 -9.18034418e-03 0.00000000e+00 5.89429575e+02] [ 9.18034418e-03 9.99957860e-01 0.00000000e+00 -1.43544088e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.26597898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.911400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:589.46, Y:-143.54, Z:0.05 [[ 9.99918725e-01 -1.27492122e-02 0.00000000e+00 5.89462090e+02] [ 1.27492122e-02 9.99918725e-01 0.00000000e+00 -1.43540902e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.03069022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.941400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:589.49, Y:-143.54, Z:0.05 [[ 9.99923402e-01 -1.23769815e-02 0.00000000e+00 5.89494628e+02] [ 1.23769815e-02 9.99923402e-01 0.00000000e+00 -1.43536819e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.92219641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.971400513 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:589.53, Y:-143.53, Z:0.05 [[ 9.99928008e-01 -1.19990804e-02 0.00000000e+00 5.89525468e+02] [ 1.19990804e-02 9.99928008e-01 0.00000000e+00 -1.43532230e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.09738263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.001400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:589.56, Y:-143.53, Z:0.05 [[ 9.99950790e-01 -9.92059620e-03 0.00000000e+00 5.89557650e+02] [ 9.92059620e-03 9.99950790e-01 0.00000000e+00 -1.43528103e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.21480333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.59, Y:-143.52, Z:0.05 [[ 9.99960095e-01 -8.93360974e-03 0.00000000e+00 5.89588455e+02] [ 8.93360974e-03 9.99960095e-01 0.00000000e+00 -1.43524772e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.40201769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.061400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:589.62, Y:-143.52, Z:0.05 [[ 9.99965898e-01 -8.25845925e-03 0.00000000e+00 5.89620028e+02] [ 8.25845925e-03 9.99965898e-01 0.00000000e+00 -1.43520631e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.40802315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.65, Y:-143.52, Z:0.05 [[ 9.99961281e-01 -8.79981817e-03 0.00000000e+00 5.89651806e+02] [ 8.79981817e-03 9.99961281e-01 0.00000000e+00 -1.43517824e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.38664602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.121400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:589.68, Y:-143.51, Z:0.05 [[ 9.99951508e-01 -9.84788604e-03 0.00000000e+00 5.89684494e+02] [ 9.84788604e-03 9.99951508e-01 0.00000000e+00 -1.43513603e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.44402265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.151400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:589.72, Y:-143.51, Z:0.05 [[ 9.99942165e-01 -1.07548879e-02 0.00000000e+00 5.89716733e+02] [ 1.07548879e-02 9.99942165e-01 0.00000000e+00 -1.43509875e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.34625266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.75, Y:-143.51, Z:0.05 [[ 9.99952972e-01 -9.69816065e-03 0.00000000e+00 5.89748558e+02] [ 9.69816065e-03 9.99952972e-01 0.00000000e+00 -1.43507490e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.11612675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.211400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:589.78, Y:-143.50, Z:0.05 [[ 9.99962390e-01 -8.67285423e-03 0.00000000e+00 5.89780861e+02] [ 8.67285423e-03 9.99962390e-01 0.00000000e+00 -1.43504822e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.00843510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.81, Y:-143.50, Z:0.05 [[ 9.99972856e-01 -7.36800559e-03 0.00000000e+00 5.89814178e+02] [ 7.36800559e-03 9.99972856e-01 0.00000000e+00 -1.43501448e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.12613183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.85, Y:-143.50, Z:0.05 [[ 9.99981014e-01 -6.16212103e-03 0.00000000e+00 5.89846566e+02] [ 6.16212103e-03 9.99981014e-01 0.00000000e+00 -1.43497162e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.29199419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.301400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:589.88, Y:-143.49, Z:0.06 [[ 9.99982754e-01 -5.87298832e-03 0.00000000e+00 5.89877092e+02] [ 5.87298832e-03 9.99982754e-01 0.00000000e+00 -1.43493128e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.55618320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.331400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:589.91, Y:-143.49, Z:0.05 [[ 9.99992866e-01 -3.77739027e-03 0.00000000e+00 5.89909415e+02] [ 3.77739027e-03 9.99992866e-01 0.00000000e+00 -1.43489620e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.30907020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.361400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:589.94, Y:-143.49, Z:0.05 [[ 9.99993762e-01 -3.53206182e-03 0.00000000e+00 5.89941085e+02] [ 3.53206182e-03 9.99993762e-01 0.00000000e+00 -1.43486801e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.06589978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.97, Y:-143.49, Z:0.05 [[ 9.99995809e-01 -2.89525397e-03 0.00000000e+00 5.89973596e+02] [ 2.89525397e-03 9.99995809e-01 0.00000000e+00 -1.43485533e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.98767510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.421400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:590.01, Y:-143.48, Z:0.05 [[ 9.99995844e-01 -2.88314119e-03 0.00000000e+00 5.90005792e+02] [ 2.88314119e-03 9.99995844e-01 0.00000000e+00 -1.43481684e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.04326049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.451400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:590.04, Y:-143.48, Z:0.05 [[ 9.99999304e-01 -1.17988794e-03 0.00000000e+00 5.90037373e+02] [ 1.17988794e-03 9.99999304e-01 0.00000000e+00 -1.43475975e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.05222638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.481400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:590.07, Y:-143.47, Z:0.05 [[ 9.99999925e-01 3.86227788e-04 0.00000000e+00 5.90067808e+02] [-3.86227788e-04 9.99999925e-01 0.00000000e+00 -1.43471513e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.96038813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.511400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:590.10, Y:-143.47, Z:0.05 [[ 9.99999737e-01 7.24613350e-04 0.00000000e+00 5.90098140e+02] [-7.24613350e-04 9.99999737e-01 0.00000000e+00 -1.43468510e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.99180831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:590.13, Y:-143.46, Z:0.05 [[ 1.00000000e+00 1.85871420e-05 0.00000000e+00 5.90127679e+02] [-1.85871420e-05 1.00000000e+00 0.00000000e+00 -1.43464822e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.13995728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:590.16, Y:-143.46, Z:0.05 [[ 9.99998769e-01 -1.56908842e-03 0.00000000e+00 5.90157507e+02] [ 1.56908842e-03 9.99998769e-01 0.00000000e+00 -1.43460038e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.26264602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:590.19, Y:-143.46, Z:0.05 [[ 9.99971593e-01 -7.53750792e-03 0.00000000e+00 5.90188407e+02] [ 7.53750792e-03 9.99971593e-01 0.00000000e+00 -1.43455340e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.47527910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.631400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:590.23, Y:-143.45, Z:0.05 [[ 9.99926347e-01 -1.21367495e-02 0.00000000e+00 5.90225256e+02] [ 1.21367495e-02 9.99926347e-01 0.00000000e+00 -1.43450574e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.29797111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:590.25, Y:-143.45, Z:0.05 [[ 9.99907358e-01 -1.36116167e-02 0.00000000e+00 5.90251799e+02] [ 1.36116167e-02 9.99907358e-01 0.00000000e+00 -1.43447257e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.08859876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:590.28, Y:-143.44, Z:0.05 [[ 9.99879005e-01 -1.55555453e-02 0.00000000e+00 5.90284187e+02] [ 1.55555453e-02 9.99879005e-01 0.00000000e+00 -1.43442848e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.98407386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.721400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:590.32, Y:-143.44, Z:0.05 [[ 9.99845404e-01 -1.75832026e-02 0.00000000e+00 5.90316267e+02] [ 1.75832026e-02 9.99845404e-01 0.00000000e+00 -1.43437782e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.93592181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.751400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:590.35, Y:-143.43, Z:0.05 [[ 9.99832367e-01 -1.83095071e-02 0.00000000e+00 5.90349126e+02] [ 1.83095071e-02 9.99832367e-01 0.00000000e+00 -1.43432907e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.04388469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:590.38, Y:-143.43, Z:0.05 [[ 9.99850033e-01 -1.73179307e-02 0.00000000e+00 5.90381072e+02] [ 1.73179307e-02 9.99850033e-01 0.00000000e+00 -1.43430107e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.04872638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:590.41, Y:-143.43, Z:0.05 [[ 9.99871170e-01 -1.60512698e-02 0.00000000e+00 5.90413702e+02] [ 1.60512698e-02 9.99871170e-01 0.00000000e+00 -1.43426225e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.04784011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:590.45, Y:-143.42, Z:0.05 [[ 9.99897380e-01 -1.43258592e-02 0.00000000e+00 5.90445220e+02] [ 1.43258592e-02 9.99897380e-01 0.00000000e+00 -1.43422863e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.04763255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.871400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:590.48, Y:-143.42, Z:0.05 [[ 9.99913789e-01 -1.31306883e-02 0.00000000e+00 5.90476591e+02] [ 1.31306883e-02 9.99913789e-01 0.00000000e+00 -1.43418715e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.15248009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.901400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:590.51, Y:-143.41, Z:0.06 [[ 9.99934000e-01 -1.14889216e-02 0.00000000e+00 5.90508817e+02] [ 1.14889216e-02 9.99934000e-01 0.00000000e+00 -1.43414253e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.52690025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.931400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:590.54, Y:-143.41, Z:0.05 [[ 9.99929595e-01 -1.18661663e-02 0.00000000e+00 5.90542102e+02] [ 1.18661663e-02 9.99929595e-01 0.00000000e+00 -1.43409741e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.45151712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:590.57, Y:-143.41, Z:0.05 [[ 9.99932378e-01 -1.16292609e-02 0.00000000e+00 5.90573966e+02] [ 1.16292609e-02 9.99932378e-01 0.00000000e+00 -1.43406257e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.39881711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:590.61, Y:-143.40, Z:0.05 [[ 9.99921684e-01 -1.25150626e-02 0.00000000e+00 5.90607042e+02] [ 1.25150626e-02 9.99921684e-01 0.00000000e+00 -1.43402725e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.43637312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.021400513 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:590.64, Y:-143.40, Z:0.05 [[ 9.99924908e-01 -1.22547341e-02 0.00000000e+00 5.90638805e+02] [ 1.22547341e-02 9.99924908e-01 0.00000000e+00 -1.43397602e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.49153121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.051400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:590.67, Y:-143.39, Z:0.06 [[ 9.99932777e-01 -1.15948959e-02 0.00000000e+00 5.90670812e+02] [ 1.15948959e-02 9.99932777e-01 0.00000000e+00 -1.43394880e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.52621156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:590.70, Y:-143.39, Z:0.05 [[ 9.99956160e-01 -9.36360546e-03 0.00000000e+00 5.90703480e+02] [ 9.36360546e-03 9.99956160e-01 0.00000000e+00 -1.43391655e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.41242026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.111400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:590.74, Y:-143.39, Z:0.05 [[ 9.99972972e-01 -7.35223367e-03 0.00000000e+00 5.90735665e+02] [ 7.35223367e-03 9.99972972e-01 0.00000000e+00 -1.43387779e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.15380517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.141400513 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:590.77, Y:-143.38, Z:0.05 [[ 9.99983449e-01 -5.75338533e-03 0.00000000e+00 5.90767140e+02] [ 5.75338533e-03 9.99983449e-01 0.00000000e+00 -1.43384245e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.09893763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.171400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:590.80, Y:-143.38, Z:0.06 [[ 9.99980562e-01 -6.23504424e-03 0.00000000e+00 5.90803722e+02] [ 6.23504424e-03 9.99980562e-01 0.00000000e+00 -1.43379464e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.94461440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.201400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:590.83, Y:-143.38, Z:0.06 [[ 9.99993012e-01 -3.73853397e-03 0.00000000e+00 5.90825436e+02] [ 3.73853397e-03 9.99993012e-01 0.00000000e+00 -1.43375597e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.79165455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.231400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:590.86, Y:-143.37, Z:0.06 [[ 9.99995106e-01 -3.12861550e-03 0.00000000e+00 5.90856211e+02] [ 3.12861550e-03 9.99995106e-01 0.00000000e+00 -1.43372236e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.91860167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.261400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:590.89, Y:-143.37, Z:0.06 [[ 9.99995255e-01 -3.08062500e-03 0.00000000e+00 5.90888694e+02] [ 3.08062500e-03 9.99995255e-01 0.00000000e+00 -1.43368360e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.91860167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.291400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:590.92, Y:-143.36, Z:0.06 [[ 9.99997092e-01 -2.41181605e-03 0.00000000e+00 5.90921111e+02] [ 2.41181605e-03 9.99997092e-01 0.00000000e+00 -1.43364790e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.71003350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:590.95, Y:-143.36, Z:0.06 [[ 9.99993656e-01 -3.56194037e-03 0.00000000e+00 5.90952864e+02] [ 3.56194037e-03 9.99993656e-01 0.00000000e+00 -1.43361830e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.69838498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.351400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:590.98, Y:-143.36, Z:0.06 [[ 9.99989141e-01 -4.66020002e-03 0.00000000e+00 5.90984683e+02] [ 4.66020002e-03 9.99989141e-01 0.00000000e+00 -1.43356924e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.66449564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.381400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:591.02, Y:-143.35, Z:0.06 [[ 9.99968044e-01 -7.99437552e-03 0.00000000e+00 5.91021323e+02] [ 7.99437552e-03 9.99968044e-01 0.00000000e+00 -1.43352253e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.91856987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:591.04, Y:-143.35, Z:0.06 [[ 9.99989019e-01 -4.68633611e-03 0.00000000e+00 5.91043290e+02] [ 4.68633611e-03 9.99989019e-01 0.00000000e+00 -1.43349421e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.72913429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:591.07, Y:-143.35, Z:0.06 [[ 9.99997115e-01 -2.40199537e-03 0.00000000e+00 5.91074607e+02] [ 2.40199537e-03 9.99997115e-01 0.00000000e+00 -1.43346872e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.58167069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:591.11, Y:-143.34, Z:0.06 [[ 9.99991912e-01 -4.02202681e-03 0.00000000e+00 5.91111978e+02] [ 4.02202681e-03 9.99991912e-01 0.00000000e+00 -1.43342154e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.96543804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.501400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:591.13, Y:-143.34, Z:0.06 [[ 9.99999620e-01 -8.71878404e-04 0.00000000e+00 5.91133170e+02] [ 8.71878404e-04 9.99999620e-01 0.00000000e+00 -1.43338713e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.75643070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:591.16, Y:-143.34, Z:0.06 [[ 9.99999563e-01 -9.35030222e-04 0.00000000e+00 5.91164974e+02] [ 9.35030222e-04 9.99999563e-01 0.00000000e+00 -1.43336473e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.75533162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.561400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:591.20, Y:-143.33, Z:0.06 [[ 9.99999610e-01 -8.83343511e-04 0.00000000e+00 5.91196518e+02] [ 8.83343511e-04 9.99999610e-01 0.00000000e+00 -1.43332821e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.50476608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.591400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:591.23, Y:-143.33, Z:0.05 [[ 9.99999742e-01 -7.18848448e-04 0.00000000e+00 5.91227469e+02] [ 7.18848448e-04 9.99999742e-01 0.00000000e+00 -1.43329711e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.42558001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:591.26, Y:-143.33, Z:0.06 [[ 9.99999227e-01 -1.24299548e-03 0.00000000e+00 5.91257135e+02] [ 1.24299548e-03 9.99999227e-01 0.00000000e+00 -1.43326210e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.62808722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.651400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:591.29, Y:-143.32, Z:0.06 [[ 9.99994352e-01 -3.36087802e-03 0.00000000e+00 5.91287816e+02] [ 3.36087802e-03 9.99994352e-01 0.00000000e+00 -1.43321569e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.68051995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.681400513 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:591.32, Y:-143.32, Z:0.06 [[ 9.99986069e-01 -5.27841684e-03 0.00000000e+00 5.91320472e+02] [ 5.27841684e-03 9.99986069e-01 0.00000000e+00 -1.43317974e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.56311402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.711400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:591.35, Y:-143.31, Z:0.06 [[ 9.99976598e-01 -6.84134573e-03 0.00000000e+00 5.91353090e+02] [ 6.84134573e-03 9.99976598e-01 0.00000000e+00 -1.43314595e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.55264318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:591.39, Y:-143.31, Z:0.06 [[ 9.99963621e-01 -8.52980313e-03 0.00000000e+00 5.91385075e+02] [ 8.52980313e-03 9.99963621e-01 0.00000000e+00 -1.43311000e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.61181244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.771400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:591.42, Y:-143.31, Z:0.06 [[ 9.99907324e-01 -1.36140809e-02 0.00000000e+00 5.91417169e+02] [ 1.36140809e-02 9.99907324e-01 0.00000000e+00 -1.43306065e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.50471990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.801400513 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:591.45, Y:-143.30, Z:0.06 [[ 9.99838987e-01 -1.79443829e-02 0.00000000e+00 5.91450449e+02] [ 1.79443829e-02 9.99838987e-01 0.00000000e+00 -1.43301829e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.58023832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:591.49, Y:-143.30, Z:0.06 [[ 9.99658934e-01 -2.61154456e-02 0.00000000e+00 5.91491736e+02] [ 2.61154456e-02 9.99658934e-01 0.00000000e+00 -1.43296228e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.92971773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.861400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:591.51, Y:-143.29, Z:0.06 [[ 9.99616378e-01 -2.76965031e-02 0.00000000e+00 5.91512129e+02] [ 2.76965031e-02 9.99616378e-01 0.00000000e+00 -1.43292768e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.62870568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.891400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:591.54, Y:-143.29, Z:0.05 [[ 9.99369985e-01 -3.54913208e-02 0.00000000e+00 5.91544787e+02] [ 3.54913208e-02 9.99369985e-01 0.00000000e+00 -1.43288689e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.47933969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.921400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:591.58, Y:-143.28, Z:0.05 [[ 9.99242872e-01 -3.89060782e-02 0.00000000e+00 5.91577885e+02] [ 3.89060782e-02 9.99242872e-01 0.00000000e+00 -1.43284698e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.35319161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:591.61, Y:-143.28, Z:0.06 [[ 9.99113802e-01 -4.20905102e-02 0.00000000e+00 5.91611055e+02] [ 4.20905102e-02 9.99113802e-01 0.00000000e+00 -1.43280723e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.58291302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.981400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:591.64, Y:-143.28, Z:0.06 [[ 9.98996962e-01 -4.47780176e-02 0.00000000e+00 5.91642912e+02] [ 4.47780176e-02 9.98996962e-01 0.00000000e+00 -1.43276514e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.58003386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.011400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:591.67, Y:-143.27, Z:0.06 [[ 9.98883256e-01 -4.72466030e-02 0.00000000e+00 5.91674946e+02] [ 4.72466030e-02 9.98883256e-01 0.00000000e+00 -1.43272484e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.50382812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:591.71, Y:-143.27, Z:0.06 [[ 9.98893308e-01 -4.70335943e-02 0.00000000e+00 5.91708283e+02] [ 4.70335943e-02 9.98893308e-01 0.00000000e+00 -1.43268834e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.52216083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:591.74, Y:-143.26, Z:0.05 [[ 9.98969704e-01 -4.53820405e-02 0.00000000e+00 5.91741618e+02] [ 4.53820405e-02 9.98969704e-01 0.00000000e+00 -1.43264929e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.47638033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.101400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:591.77, Y:-143.26, Z:0.05 [[ 9.99039395e-01 -4.38210882e-02 0.00000000e+00 5.91773803e+02] [ 4.38210882e-02 9.99039395e-01 0.00000000e+00 -1.43261533e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.30679027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:591.81, Y:-143.26, Z:0.06 [[ 9.99131702e-01 -4.16634417e-02 0.00000000e+00 5.91806451e+02] [ 4.16634417e-02 9.99131702e-01 0.00000000e+00 -1.43257774e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.57716761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.161400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:591.84, Y:-143.25, Z:0.06 [[ 9.99208660e-01 -3.97750435e-02 0.00000000e+00 5.91839665e+02] [ 3.97750435e-02 9.99208660e-01 0.00000000e+00 -1.43254385e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.76123068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:591.87, Y:-143.25, Z:0.06 [[ 9.99390739e-01 -3.49020313e-02 0.00000000e+00 5.91871636e+02] [ 3.49020313e-02 9.99390739e-01 0.00000000e+00 -1.43252132e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.59039201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.221400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:591.90, Y:-143.25, Z:0.05 [[ 9.99460956e-01 -3.28298378e-02 0.00000000e+00 5.91904167e+02] [ 3.28298378e-02 9.99460956e-01 0.00000000e+00 -1.43249272e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.42507044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.251400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:591.94, Y:-143.25, Z:0.05 [[ 9.99549114e-01 -3.00261405e-02 0.00000000e+00 5.91936319e+02] [ 3.00261405e-02 9.99549114e-01 0.00000000e+00 -1.43246105e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.35517756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.281400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:591.97, Y:-143.24, Z:0.06 [[ 9.99632627e-01 -2.71037267e-02 0.00000000e+00 5.91969653e+02] [ 2.71037267e-02 9.99632627e-01 0.00000000e+00 -1.43242705e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.65577089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.311400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:592.00, Y:-143.24, Z:0.06 [[ 9.99687014e-01 -2.50174834e-02 0.00000000e+00 5.92002127e+02] [ 2.50174834e-02 9.99687014e-01 0.00000000e+00 -1.43238762e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.83427674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.341400513 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:592.03, Y:-143.23, Z:0.06 [[ 9.99727322e-01 -2.33512657e-02 0.00000000e+00 5.92034202e+02] [ 2.33512657e-02 9.99727322e-01 0.00000000e+00 -1.43234720e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.00206255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.371400513 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:592.07, Y:-143.23, Z:0.06 [[ 9.99742479e-01 -2.26930758e-02 0.00000000e+00 5.92066933e+02] [ 2.26930758e-02 9.99742479e-01 0.00000000e+00 -1.43231719e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.75867533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.401400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:592.10, Y:-143.23, Z:0.05 [[ 9.99774486e-01 -2.12362044e-02 0.00000000e+00 5.92098664e+02] [ 2.12362044e-02 9.99774486e-01 0.00000000e+00 -1.43228733e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.39949506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.431400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:592.13, Y:-143.23, Z:0.06 [[ 9.99785351e-01 -2.07184022e-02 0.00000000e+00 5.92131990e+02] [ 2.07184022e-02 9.99785351e-01 0.00000000e+00 -1.43225118e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.66716082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.461400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:592.16, Y:-143.22, Z:0.06 [[ 9.99808988e-01 -1.95445176e-02 0.00000000e+00 5.92164062e+02] [ 1.95445176e-02 9.99808988e-01 0.00000000e+00 -1.43220999e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.90589935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.491400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:592.20, Y:-143.22, Z:0.06 [[ 9.99865070e-01 -1.64268907e-02 0.00000000e+00 5.92197251e+02] [ 1.64268907e-02 9.99865070e-01 0.00000000e+00 -1.43217844e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.99460954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.521400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:592.23, Y:-143.21, Z:0.06 [[ 9.99886853e-01 -1.50426422e-02 0.00000000e+00 5.92230049e+02] [ 1.50426422e-02 9.99886853e-01 0.00000000e+00 -1.43214756e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.85676530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.551400513 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:592.26, Y:-143.21, Z:0.06 [[ 9.99914318e-01 -1.30903414e-02 0.00000000e+00 5.92262657e+02] [ 1.30903414e-02 9.99914318e-01 0.00000000e+00 -1.43211419e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.78134167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:592.30, Y:-143.21, Z:0.06 [[ 9.99926724e-01 -1.21056606e-02 0.00000000e+00 5.92295446e+02] [ 1.21056606e-02 9.99926724e-01 0.00000000e+00 -1.43208209e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.94168347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.611400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:592.33, Y:-143.20, Z:0.06 [[ 9.99919897e-01 -1.26569586e-02 0.00000000e+00 5.92327631e+02] [ 1.26569586e-02 9.99919897e-01 0.00000000e+00 -1.43204105e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.04571527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:592.36, Y:-143.20, Z:0.06 [[ 9.99929853e-01 -1.18443910e-02 0.00000000e+00 5.92360562e+02] [ 1.18443910e-02 9.99929853e-01 0.00000000e+00 -1.43200751e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.91971656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.671400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:592.39, Y:-143.20, Z:0.06 [[ 9.99940794e-01 -1.08815270e-02 0.00000000e+00 5.92393088e+02] [ 1.08815270e-02 9.99940794e-01 0.00000000e+00 -1.43197628e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.76620938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.701400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:592.43, Y:-143.19, Z:0.06 [[ 9.99957623e-01 -9.20608037e-03 0.00000000e+00 5.92425967e+02] [ 9.20608037e-03 9.99957623e-01 0.00000000e+00 -1.43194500e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.72071287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.731400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:592.46, Y:-143.19, Z:0.06 [[ 9.99973650e-01 -7.25943137e-03 0.00000000e+00 5.92458914e+02] [ 7.25943137e-03 9.99973650e-01 0.00000000e+00 -1.43190939e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.76318957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.761400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:592.49, Y:-143.19, Z:0.06 [[ 9.99988763e-01 -4.74057729e-03 0.00000000e+00 5.92490384e+02] [ 4.74057729e-03 9.99988763e-01 0.00000000e+00 -1.43187873e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.10976119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:592.52, Y:-143.18, Z:0.06 [[ 9.99996087e-01 -2.79732139e-03 0.00000000e+00 5.92522453e+02] [ 2.79732139e-03 9.99996087e-01 0.00000000e+00 -1.43184705e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.19112124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.821400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:592.55, Y:-143.18, Z:0.06 [[ 9.99999183e-01 -1.27834570e-03 0.00000000e+00 5.92553349e+02] [ 1.27834570e-03 9.99999183e-01 0.00000000e+00 -1.43180925e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.15115514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:592.58, Y:-143.18, Z:0.06 [[ 9.99999356e-01 -1.13455846e-03 0.00000000e+00 5.92584431e+02] [ 1.13455846e-03 9.99999356e-01 0.00000000e+00 -1.43177326e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.10567431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.881400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:592.62, Y:-143.17, Z:0.06 [[ 9.99998014e-01 -1.99275012e-03 0.00000000e+00 5.92615000e+02] [ 1.99275012e-03 9.99998014e-01 0.00000000e+00 -1.43173290e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.19191162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:592.65, Y:-143.17, Z:0.06 [[ 9.99997406e-01 -2.27792084e-03 0.00000000e+00 5.92647160e+02] [ 2.27792084e-03 9.99997406e-01 0.00000000e+00 -1.43169868e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.23189187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.941400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:592.68, Y:-143.17, Z:0.06 [[ 9.99993237e-01 -3.67778739e-03 0.00000000e+00 5.92678577e+02] [ 3.67778739e-03 9.99993237e-01 0.00000000e+00 -1.43166193e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.27485002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.971400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:592.71, Y:-143.16, Z:0.06 [[ 9.99987633e-01 -4.97336669e-03 0.00000000e+00 5.92709991e+02] [ 4.97336669e-03 9.99987633e-01 0.00000000e+00 -1.43162052e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.13590822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.001400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:592.74, Y:-143.16, Z:0.06 [[ 9.99982684e-01 -5.88487864e-03 0.00000000e+00 5.92741669e+02] [ 5.88487864e-03 9.99982684e-01 0.00000000e+00 -1.43158893e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.03630756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.031400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:592.77, Y:-143.16, Z:0.06 [[ 9.99976337e-01 -6.87931682e-03 0.00000000e+00 5.92774109e+02] [ 6.87931682e-03 9.99976337e-01 0.00000000e+00 -1.43155946e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.95613435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:592.81, Y:-143.15, Z:0.06 [[ 9.99982112e-01 -5.98130500e-03 0.00000000e+00 5.92806716e+02] [ 5.98130500e-03 9.99982112e-01 0.00000000e+00 -1.43152081e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.88619417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:592.84, Y:-143.15, Z:0.06 [[ 9.99983369e-01 -5.76735227e-03 0.00000000e+00 5.92838324e+02] [ 5.76735227e-03 9.99983369e-01 0.00000000e+00 -1.43148547e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.04282238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:592.87, Y:-143.14, Z:0.06 [[ 9.99987893e-01 -4.92072802e-03 0.00000000e+00 5.92870428e+02] [ 4.92072802e-03 9.99987893e-01 0.00000000e+00 -1.43144808e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.13758447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:592.90, Y:-143.14, Z:0.06 [[ 9.99988132e-01 -4.87200613e-03 0.00000000e+00 5.92902934e+02] [ 4.87200613e-03 9.99988132e-01 0.00000000e+00 -1.43141124e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.13758447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.181400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:592.94, Y:-143.14, Z:0.06 [[ 9.99993252e-01 -3.67363215e-03 0.00000000e+00 5.92935047e+02] [ 3.67363215e-03 9.99993252e-01 0.00000000e+00 -1.43138417e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.95503216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.211400513 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:592.97, Y:-143.13, Z:0.06 [[ 9.99986528e-01 -5.19073743e-03 0.00000000e+00 5.92967254e+02] [ 5.19073743e-03 9.99986528e-01 0.00000000e+00 -1.43134953e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.82348682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.241400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:593.00, Y:-143.13, Z:0.06 [[ 9.99981363e-01 -6.10518266e-03 0.00000000e+00 5.92999431e+02] [ 6.10518266e-03 9.99981363e-01 0.00000000e+00 -1.43131245e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.92878958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.271400513 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:593.03, Y:-143.13, Z:0.06 [[ 9.99972025e-01 -7.47994935e-03 0.00000000e+00 5.93031872e+02] [ 7.47994935e-03 9.99972025e-01 0.00000000e+00 -1.43126811e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.07348024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.301400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:593.06, Y:-143.12, Z:0.06 [[ 9.99974781e-01 -7.10193786e-03 0.00000000e+00 5.93063868e+02] [ 7.10193786e-03 9.99974781e-01 0.00000000e+00 -1.43122989e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.18548474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.331400513 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:593.10, Y:-143.12, Z:0.06 [[ 9.99990089e-01 -4.45207400e-03 0.00000000e+00 5.93096185e+02] [ 4.45207400e-03 9.99990089e-01 0.00000000e+00 -1.43120738e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.03011713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.361400513 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:593.13, Y:-143.12, Z:0.06 [[ 9.99998188e-01 -1.90370513e-03 0.00000000e+00 5.93126900e+02] [ 1.90370513e-03 9.99998188e-01 0.00000000e+00 -1.43117924e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.81353621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.391400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:593.16, Y:-143.12, Z:0.06 [[ 9.99999415e-01 1.08188744e-03 0.00000000e+00 5.93158802e+02] [-1.08188744e-03 9.99999415e-01 0.00000000e+00 -1.43115397e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.79979370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.421400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:593.19, Y:-143.11, Z:0.06 [[ 9.99988819e-01 4.72880108e-03 0.00000000e+00 5.93186878e+02] [-4.72880108e-03 9.99988819e-01 0.00000000e+00 -1.43112319e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.09548500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:593.22, Y:-143.11, Z:0.06 [[ 9.99974100e-01 7.19717668e-03 0.00000000e+00 5.93217526e+02] [-7.19717668e-03 9.99974100e-01 0.00000000e+00 -1.43109380e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.93518017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.481400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:593.25, Y:-143.11, Z:0.06 [[ 9.99957574e-01 9.21146877e-03 0.00000000e+00 5.93245709e+02] [-9.21146877e-03 9.99957574e-01 0.00000000e+00 -1.43107001e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.04426097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.511400513 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:593.27, Y:-143.11, Z:0.06 [[ 9.99923591e-01 1.23616816e-02 0.00000000e+00 5.93273564e+02] [-1.23616816e-02 9.99923591e-01 0.00000000e+00 -1.43106142e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.26868266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:593.30, Y:-143.10, Z:0.06 [[ 9.99908497e-01 1.35276519e-02 0.00000000e+00 5.93300287e+02] [-1.35276519e-02 9.99908497e-01 0.00000000e+00 -1.43104619e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.29808610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.571400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:593.33, Y:-143.10, Z:0.06 [[ 9.99932622e-01 1.16082590e-02 0.00000000e+00 5.93327842e+02] [-1.16082590e-02 9.99932622e-01 0.00000000e+00 -1.43103597e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.23138798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:593.36, Y:-143.10, Z:0.06 [[ 9.99956119e-01 9.36799709e-03 0.00000000e+00 5.93355660e+02] [-9.36799709e-03 9.99956119e-01 0.00000000e+00 -1.43101808e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.15374266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.631400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:593.38, Y:-143.10, Z:0.06 [[ 9.99977359e-01 6.72918708e-03 0.00000000e+00 5.93380871e+02] [-6.72918708e-03 9.99977359e-01 0.00000000e+00 -1.43100849e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.25306197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:593.41, Y:-143.10, Z:0.06 [[ 9.99997666e-01 2.16069028e-03 0.00000000e+00 5.93412848e+02] [-2.16069028e-03 9.99997666e-01 0.00000000e+00 -1.43099441e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.04835748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:593.44, Y:-143.10, Z:0.06 [[ 9.99998324e-01 -1.83070495e-03 0.00000000e+00 5.93441895e+02] [ 1.83070495e-03 9.99998324e-01 0.00000000e+00 -1.43097880e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.06124890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:593.47, Y:-143.10, Z:0.06 [[ 9.99987797e-01 -4.94026725e-03 0.00000000e+00 5.93474252e+02] [ 4.94026725e-03 9.99987797e-01 0.00000000e+00 -1.43095554e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.19856773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:593.51, Y:-143.09, Z:0.06 [[ 9.99952435e-01 -9.75337832e-03 0.00000000e+00 5.93506485e+02] [ 9.75337832e-03 9.99952435e-01 0.00000000e+00 -1.43093081e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.39647061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.781400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:593.54, Y:-143.09, Z:0.06 [[ 9.99938165e-01 -1.11204853e-02 0.00000000e+00 5.93539017e+02] [ 1.11204853e-02 9.99938165e-01 0.00000000e+00 -1.43089327e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.42251165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.811400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:593.57, Y:-143.09, Z:0.06 [[ 9.99921693e-01 -1.25142794e-02 0.00000000e+00 5.93571764e+02] [ 1.25142794e-02 9.99921693e-01 0.00000000e+00 -1.43085093e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.35804122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:593.60, Y:-143.08, Z:0.06 [[ 9.99919309e-01 -1.27033595e-02 0.00000000e+00 5.93603899e+02] [ 1.27033595e-02 9.99919309e-01 0.00000000e+00 -1.43079822e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.32932485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:593.64, Y:-143.07, Z:0.06 [[ 9.99900207e-01 -1.41271469e-02 0.00000000e+00 5.93635912e+02] [ 1.41271469e-02 9.99900207e-01 0.00000000e+00 -1.43072291e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.12053966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.901400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:593.67, Y:-143.07, Z:0.06 [[ 9.99883380e-01 -1.52717387e-02 0.00000000e+00 5.93668636e+02] [ 1.52717387e-02 9.99883380e-01 0.00000000e+00 -1.43067245e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.97159149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.931400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:593.70, Y:-143.06, Z:0.06 [[ 9.99866559e-01 -1.63359935e-02 0.00000000e+00 5.93696005e+02] [ 1.63359935e-02 9.99866559e-01 0.00000000e+00 -1.43062049e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.22503462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:593.73, Y:-143.06, Z:0.06 [[ 9.99829589e-01 -1.84605686e-02 0.00000000e+00 5.93732250e+02] [ 1.84605686e-02 9.99829589e-01 0.00000000e+00 -1.43056687e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.98520078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.991400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:593.76, Y:-143.05, Z:0.06 [[ 9.99793223e-01 -2.03349846e-02 0.00000000e+00 5.93764180e+02] [ 2.03349846e-02 9.99793223e-01 0.00000000e+00 -1.43049871e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.07781559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:593.80, Y:-143.04, Z:0.06 [[ 9.99733504e-01 -2.30850835e-02 0.00000000e+00 5.93796801e+02] [ 2.30850835e-02 9.99733504e-01 0.00000000e+00 -1.43040112e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.04173210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:593.83, Y:-143.03, Z:0.06 [[ 9.99681845e-01 -2.52231902e-02 0.00000000e+00 5.93829838e+02] [ 2.52231902e-02 9.99681845e-01 0.00000000e+00 -1.43034441e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.87447414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.081400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:593.86, Y:-143.03, Z:0.06 [[ 9.99550291e-01 -2.99869215e-02 0.00000000e+00 5.93861299e+02] [ 2.99869215e-02 9.99550291e-01 0.00000000e+00 -1.43030874e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.81847044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.111400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:593.89, Y:-143.03, Z:0.06 [[ 9.99389822e-01 -3.49282763e-02 0.00000000e+00 5.93893995e+02] [ 3.49282763e-02 9.99389822e-01 0.00000000e+00 -1.43026673e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.93896366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:593.93, Y:-143.02, Z:0.06 [[ 9.99122390e-01 -4.18861489e-02 0.00000000e+00 5.93927088e+02] [ 4.18861489e-02 9.99122390e-01 0.00000000e+00 -1.43021418e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.05794901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.171400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:593.96, Y:-143.02, Z:0.06 [[ 9.99039243e-01 -4.38245546e-02 0.00000000e+00 5.93960124e+02] [ 4.38245546e-02 9.99039243e-01 0.00000000e+00 -1.43017559e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.01314419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.201400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:593.99, Y:-143.01, Z:0.06 [[ 9.99044310e-01 -4.37088928e-02 0.00000000e+00 5.93992002e+02] [ 4.37088928e-02 9.99044310e-01 0.00000000e+00 -1.43014108e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.96121883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.231400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:594.03, Y:-143.01, Z:0.06 [[ 9.99072126e-01 -4.30684052e-02 0.00000000e+00 5.94025466e+02] [ 4.30684052e-02 9.99072126e-01 0.00000000e+00 -1.43010621e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.07424437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.261400513 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:594.06, Y:-143.01, Z:0.06 [[ 9.99189667e-01 -4.02493382e-02 0.00000000e+00 5.94058688e+02] [ 4.02493382e-02 9.99189667e-01 0.00000000e+00 -1.43006994e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.11323616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.291400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:594.09, Y:-143.00, Z:0.06 [[ 9.99382711e-01 -3.51311262e-02 0.00000000e+00 5.94091232e+02] [ 3.51311262e-02 9.99382711e-01 0.00000000e+00 -1.43004288e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.14810887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.321400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:594.12, Y:-143.00, Z:0.06 [[ 9.99487561e-01 -3.20096069e-02 0.00000000e+00 5.94123056e+02] [ 3.20096069e-02 9.99487561e-01 0.00000000e+00 -1.43001001e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.24158366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.351400513 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:594.16, Y:-143.00, Z:0.06 [[ 9.99518813e-01 -3.10184307e-02 0.00000000e+00 5.94155995e+02] [ 3.10184307e-02 9.99518813e-01 0.00000000e+00 -1.42997148e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.28891259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.381400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:594.19, Y:-142.99, Z:0.06 [[ 9.99566184e-01 -2.94523914e-02 0.00000000e+00 5.94188568e+02] [ 2.94523914e-02 9.99566184e-01 0.00000000e+00 -1.42993569e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.46114667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.411400513 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:594.22, Y:-142.99, Z:0.06 [[ 9.99587903e-01 -2.87058331e-02 0.00000000e+00 5.94220715e+02] [ 2.87058331e-02 9.99587903e-01 0.00000000e+00 -1.42990380e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.41911358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:594.25, Y:-142.99, Z:0.06 [[ 9.99703042e-01 -2.43685857e-02 0.00000000e+00 5.94254108e+02] [ 2.43685857e-02 9.99703042e-01 0.00000000e+00 -1.42988748e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.16956228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.471400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:594.29, Y:-142.99, Z:0.06 [[ 9.99746578e-01 -2.25117621e-02 0.00000000e+00 5.94286166e+02] [ 2.25117621e-02 9.99746578e-01 0.00000000e+00 -1.42986197e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.01719625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:594.32, Y:-142.98, Z:0.06 [[ 9.99794617e-01 -2.02663106e-02 0.00000000e+00 5.94319045e+02] [ 2.02663106e-02 9.99794617e-01 0.00000000e+00 -1.42984312e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.00222917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.531400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:594.35, Y:-142.98, Z:0.06 [[ 9.99775675e-01 -2.11801808e-02 0.00000000e+00 5.94352285e+02] [ 2.11801808e-02 9.99775675e-01 0.00000000e+00 -1.42982378e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.13257310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.561400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:594.39, Y:-142.98, Z:0.06 [[ 9.99737710e-01 -2.29022157e-02 0.00000000e+00 5.94385650e+02] [ 2.29022157e-02 9.99737710e-01 0.00000000e+00 -1.42978566e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.22671301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.591400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:594.42, Y:-142.97, Z:0.06 [[ 9.99737161e-01 -2.29261740e-02 0.00000000e+00 5.94417482e+02] [ 2.29261740e-02 9.99737161e-01 0.00000000e+00 -1.42974661e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.28512379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:594.45, Y:-142.97, Z:0.06 [[ 9.99749127e-01 -2.23982850e-02 0.00000000e+00 5.94450661e+02] [ 2.23982850e-02 9.99749127e-01 0.00000000e+00 -1.42972093e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.22587455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:594.48, Y:-142.97, Z:0.06 [[ 9.99713589e-01 -2.39319955e-02 0.00000000e+00 5.94482811e+02] [ 2.39319955e-02 9.99713589e-01 0.00000000e+00 -1.42971126e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.06684095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.681400513 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:594.52, Y:-142.97, Z:0.06 [[ 9.99704152e-01 -2.43229876e-02 0.00000000e+00 5.94515937e+02] [ 2.43229876e-02 9.99704152e-01 0.00000000e+00 -1.42966041e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.89098759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:594.55, Y:-142.96, Z:0.06 [[ 9.99753224e-01 -2.22146815e-02 0.00000000e+00 5.94547948e+02] [ 2.22146815e-02 9.99753224e-01 0.00000000e+00 -1.42961131e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.78039035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.741400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:594.58, Y:-142.96, Z:0.06 [[ 9.99763846e-01 -2.17313865e-02 0.00000000e+00 5.94580788e+02] [ 2.17313865e-02 9.99763846e-01 0.00000000e+00 -1.42956348e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.53168530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.771400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:594.61, Y:-142.95, Z:0.06 [[ 9.99765544e-01 -2.16531033e-02 0.00000000e+00 5.94612609e+02] [ 2.16531033e-02 9.99765544e-01 0.00000000e+00 -1.42953641e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.54581736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.801400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:594.65, Y:-142.95, Z:0.06 [[ 9.99768971e-01 -2.14942768e-02 0.00000000e+00 5.94645857e+02] [ 2.14942768e-02 9.99768971e-01 0.00000000e+00 -1.42950041e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.69477417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.831400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:594.68, Y:-142.95, Z:0.06 [[ 9.99651546e-01 -2.63967281e-02 0.00000000e+00 5.94677549e+02] [ 2.63967281e-02 9.99651546e-01 0.00000000e+00 -1.42945036e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.87602592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.861400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:594.71, Y:-142.94, Z:0.06 [[ 9.99557403e-01 -2.97489341e-02 0.00000000e+00 5.94710319e+02] [ 2.97489341e-02 9.99557403e-01 0.00000000e+00 -1.42941566e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.92384490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.891400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:594.74, Y:-142.94, Z:0.06 [[ 9.99491947e-01 -3.18723818e-02 0.00000000e+00 5.94742452e+02] [ 3.18723818e-02 9.99491947e-01 0.00000000e+00 -1.42938250e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.99287230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:594.78, Y:-142.94, Z:0.06 [[ 9.99394397e-01 -3.47971011e-02 0.00000000e+00 5.94775439e+02] [ 3.47971011e-02 9.99394397e-01 0.00000000e+00 -1.42935179e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.91718252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:594.81, Y:-142.93, Z:0.06 [[ 9.99396879e-01 -3.47257539e-02 0.00000000e+00 5.94807581e+02] [ 3.47257539e-02 9.99396879e-01 0.00000000e+00 -1.42931160e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.93844320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.981400513 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:594.84, Y:-142.93, Z:0.06 [[ 9.99360572e-01 -3.57553746e-02 0.00000000e+00 5.94840569e+02] [ 3.57553746e-02 9.99360572e-01 0.00000000e+00 -1.42927734e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.83538024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.011400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:594.87, Y:-142.92, Z:0.06 [[ 9.99424090e-01 -3.39335832e-02 0.00000000e+00 5.94872860e+02] [ 3.39335832e-02 9.99424090e-01 0.00000000e+00 -1.42924730e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.94406741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.041400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:594.91, Y:-142.92, Z:0.06 [[ 9.99430171e-01 -3.37540197e-02 0.00000000e+00 5.94906350e+02] [ 3.37540197e-02 9.99430171e-01 0.00000000e+00 -1.42921184e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.94406741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.071400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:594.94, Y:-142.92, Z:0.06 [[ 9.99434541e-01 -3.36243789e-02 0.00000000e+00 5.94937977e+02] [ 3.36243789e-02 9.99434541e-01 0.00000000e+00 -1.42917719e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.87680854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.101400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:594.97, Y:-142.91, Z:0.06 [[ 9.99459706e-01 -3.28678525e-02 0.00000000e+00 5.94970882e+02] [ 3.28678525e-02 9.99459706e-01 0.00000000e+00 -1.42914653e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.04439530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.00, Y:-142.91, Z:0.06 [[ 9.99579520e-01 -2.89962506e-02 0.00000000e+00 5.95003559e+02] [ 2.89962506e-02 9.99579520e-01 0.00000000e+00 -1.42911103e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.25474928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.04, Y:-142.91, Z:0.06 [[ 9.99651597e-01 -2.63947840e-02 0.00000000e+00 5.95036473e+02] [ 2.63947840e-02 9.99651597e-01 0.00000000e+00 -1.42908919e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.26894286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.07, Y:-142.91, Z:0.06 [[ 9.99723542e-01 -2.35125376e-02 0.00000000e+00 5.95069817e+02] [ 2.35125376e-02 9.99723542e-01 0.00000000e+00 -1.42907011e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.31257873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.221400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:595.10, Y:-142.91, Z:0.07 [[ 9.99837315e-01 -1.80373023e-02 0.00000000e+00 5.95101745e+02] [ 1.80373023e-02 9.99837315e-01 0.00000000e+00 -1.42906672e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.52148337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.14, Y:-142.91, Z:0.07 [[ 9.99864791e-01 -1.64438614e-02 0.00000000e+00 5.95135029e+02] [ 1.64438614e-02 9.99864791e-01 0.00000000e+00 -1.42905559e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.61260011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.17, Y:-142.90, Z:0.06 [[ 9.99890280e-01 -1.48131041e-02 0.00000000e+00 5.95168528e+02] [ 1.48131041e-02 9.99890280e-01 0.00000000e+00 -1.42904134e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.43071595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.20, Y:-142.90, Z:0.06 [[ 9.99921124e-01 -1.25596665e-02 0.00000000e+00 5.95200341e+02] [ 1.25596665e-02 9.99921124e-01 0.00000000e+00 -1.42903135e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.34017061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.341400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:595.23, Y:-142.90, Z:0.06 [[ 9.99950194e-01 -9.98042354e-03 0.00000000e+00 5.95232884e+02] [ 9.98042354e-03 9.99950194e-01 0.00000000e+00 -1.42900721e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.26548988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.27, Y:-142.90, Z:0.06 [[ 9.99979498e-01 -6.40339647e-03 0.00000000e+00 5.95265064e+02] [ 6.40339647e-03 9.99979498e-01 0.00000000e+00 -1.42898030e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.31653272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.30, Y:-142.90, Z:0.06 [[ 9.99999951e-01 -3.13323390e-04 0.00000000e+00 5.95295834e+02] [ 3.13323390e-04 9.99999951e-01 0.00000000e+00 -1.42896909e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.34836678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.33, Y:-142.89, Z:0.06 [[ 9.99996929e-01 2.47830438e-03 0.00000000e+00 5.95326674e+02] [-2.47830438e-03 9.99996929e-01 0.00000000e+00 -1.42894623e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.33447640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.36, Y:-142.89, Z:0.06 [[ 9.99991119e-01 4.21440570e-03 0.00000000e+00 5.95355597e+02] [-4.21440570e-03 9.99991119e-01 0.00000000e+00 -1.42891821e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.27331323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.38, Y:-142.89, Z:0.06 [[ 9.99986863e-01 5.12576244e-03 0.00000000e+00 5.95383896e+02] [-5.12576244e-03 9.99986863e-01 0.00000000e+00 -1.42889267e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.15480376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.41, Y:-142.89, Z:0.06 [[ 9.99993607e-01 3.57587804e-03 0.00000000e+00 5.95411259e+02] [-3.57587804e-03 9.99993607e-01 0.00000000e+00 -1.42887659e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.86082750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.551400513 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:595.44, Y:-142.89, Z:0.06 [[ 9.99999843e-01 5.61178950e-04 0.00000000e+00 5.95440450e+02] [-5.61178950e-04 9.99999843e-01 0.00000000e+00 -1.42885111e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.70216130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.581400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:595.47, Y:-142.88, Z:0.06 [[ 9.99999499e-01 -1.00050463e-03 0.00000000e+00 5.95469432e+02] [ 1.00050463e-03 9.99999499e-01 0.00000000e+00 -1.42882759e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.65495118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.611400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:595.50, Y:-142.88, Z:0.06 [[ 9.99996627e-01 -2.59714979e-03 0.00000000e+00 5.95501096e+02] [ 2.59714979e-03 9.99996627e-01 0.00000000e+00 -1.42880519e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.83139616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.641400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:595.53, Y:-142.88, Z:0.06 [[ 9.99993695e-01 -3.55107774e-03 0.00000000e+00 5.95532844e+02] [ 3.55107774e-03 9.99993695e-01 0.00000000e+00 -1.42877362e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.89441492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.671400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:595.56, Y:-142.87, Z:0.06 [[ 9.99996738e-01 -2.55428526e-03 0.00000000e+00 5.95563365e+02] [ 2.55428526e-03 9.99996738e-01 0.00000000e+00 -1.42873680e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.99714585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.701400513 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:595.60, Y:-142.87, Z:0.06 [[ 9.99995238e-01 -3.08606936e-03 0.00000000e+00 5.95595061e+02] [ 3.08606936e-03 9.99995238e-01 0.00000000e+00 -1.42869206e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.93997464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.63, Y:-142.87, Z:0.06 [[ 9.99999783e-01 -6.58362904e-04 0.00000000e+00 5.95626825e+02] [ 6.58362904e-04 9.99999783e-01 0.00000000e+00 -1.42865305e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.00484727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.761400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:595.66, Y:-142.86, Z:0.06 [[ 9.99999994e-01 -1.07516493e-04 0.00000000e+00 5.95658377e+02] [ 1.07516493e-04 9.99999994e-01 0.00000000e+00 -1.42860912e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.96333757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.69, Y:-142.86, Z:0.06 [[ 9.99994432e-01 3.33703576e-03 0.00000000e+00 5.95688083e+02] [-3.33703576e-03 9.99994432e-01 0.00000000e+00 -1.42857319e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.06508896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.72, Y:-142.85, Z:0.06 [[ 9.99994434e-01 3.33638134e-03 0.00000000e+00 5.95716419e+02] [-3.33638134e-03 9.99994434e-01 0.00000000e+00 -1.42854303e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.14876359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.74, Y:-142.85, Z:0.06 [[ 9.99995707e-01 2.93028183e-03 0.00000000e+00 5.95743852e+02] [-2.93028183e-03 9.99995707e-01 0.00000000e+00 -1.42851180e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.29659325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.881400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:595.77, Y:-142.85, Z:0.06 [[ 9.99999482e-01 1.01742463e-03 0.00000000e+00 5.95771954e+02] [-1.01742463e-03 9.99999482e-01 0.00000000e+00 -1.42847143e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.48716242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.911400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:595.80, Y:-142.84, Z:0.07 [[ 9.99999798e-01 6.35110566e-04 0.00000000e+00 5.95801474e+02] [-6.35110566e-04 9.99999798e-01 0.00000000e+00 -1.42843397e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.82585733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.83, Y:-142.84, Z:0.06 [[ 9.99999569e-01 -9.28140311e-04 0.00000000e+00 5.95830933e+02] [ 9.28140311e-04 9.99999569e-01 0.00000000e+00 -1.42840961e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.42862244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.971400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:595.86, Y:-142.84, Z:0.06 [[ 9.99991522e-01 -4.11778920e-03 0.00000000e+00 5.95862415e+02] [ 4.11778920e-03 9.99991522e-01 0.00000000e+00 -1.42837645e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.27410831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.89, Y:-142.84, Z:0.06 [[ 9.99977121e-01 -6.76442615e-03 0.00000000e+00 5.95894510e+02] [ 6.76442615e-03 9.99977121e-01 0.00000000e+00 -1.42836192e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.29498937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.031400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:595.93, Y:-142.83, Z:0.06 [[ 9.99956160e-01 -9.36368349e-03 0.00000000e+00 5.95926967e+02] [ 9.36368349e-03 9.99956160e-01 0.00000000e+00 -1.42833762e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.13477960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:595.96, Y:-142.83, Z:0.06 [[ 9.99956191e-01 -9.36030424e-03 0.00000000e+00 5.95959824e+02] [ 9.36030424e-03 9.99956191e-01 0.00000000e+00 -1.42831394e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.13191342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.091400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:595.99, Y:-142.83, Z:0.06 [[ 9.99942938e-01 -1.06826855e-02 0.00000000e+00 5.95993110e+02] [ 1.06826855e-02 9.99942938e-01 0.00000000e+00 -1.42827552e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.04850288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:596.03, Y:-142.82, Z:0.06 [[ 9.99942154e-01 -1.07558650e-02 0.00000000e+00 5.96025923e+02] [ 1.07558650e-02 9.99942154e-01 0.00000000e+00 -1.42822950e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.94423695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.151400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:596.06, Y:-142.82, Z:0.06 [[ 9.99947055e-01 -1.02901566e-02 0.00000000e+00 5.96058998e+02] [ 1.02901566e-02 9.99947055e-01 0.00000000e+00 -1.42819224e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.91274720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:596.09, Y:-142.82, Z:0.06 [[ 9.99960337e-01 -8.90637233e-03 0.00000000e+00 5.96092190e+02] [ 8.90637233e-03 9.99960337e-01 0.00000000e+00 -1.42816068e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.93729325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:596.13, Y:-142.81, Z:0.06 [[ 9.99969839e-01 -7.76661430e-03 0.00000000e+00 5.96125173e+02] [ 7.76661430e-03 9.99969839e-01 0.00000000e+00 -1.42812672e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.95782983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:596.16, Y:-142.81, Z:0.06 [[ 9.99977782e-01 -6.66602243e-03 0.00000000e+00 5.96156664e+02] [ 6.66602243e-03 9.99977782e-01 0.00000000e+00 -1.42808952e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.95880307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.271400513 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:596.19, Y:-142.80, Z:0.06 [[ 9.99980418e-01 -6.25806701e-03 0.00000000e+00 5.96189190e+02] [ 6.25806701e-03 9.99980418e-01 0.00000000e+00 -1.42802342e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.78884466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:596.22, Y:-142.80, Z:0.06 [[ 9.99991644e-01 -4.08800072e-03 0.00000000e+00 5.96220875e+02] [ 4.08800072e-03 9.99991644e-01 0.00000000e+00 -1.42798070e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.87863183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:596.25, Y:-142.79, Z:0.06 [[ 9.99992372e-01 -3.90596598e-03 0.00000000e+00 5.96252714e+02] [ 3.90596598e-03 9.99992372e-01 0.00000000e+00 -1.42794325e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.79828847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.361400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:596.28, Y:-142.79, Z:0.06 [[ 9.99990795e-01 -4.29057574e-03 0.00000000e+00 5.96284910e+02] [ 4.29057574e-03 9.99990795e-01 0.00000000e+00 -1.42790205e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.69481202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.391400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:596.32, Y:-142.79, Z:0.06 [[ 9.99993218e-01 -3.68296992e-03 0.00000000e+00 5.96315957e+02] [ 3.68296992e-03 9.99993218e-01 0.00000000e+00 -1.42785681e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.76949453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.421400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:596.35, Y:-142.78, Z:0.06 [[ 9.99986313e-01 -5.23199350e-03 0.00000000e+00 5.96348991e+02] [ 5.23199350e-03 9.99986313e-01 0.00000000e+00 -1.42781295e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.77009763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:596.38, Y:-142.78, Z:0.06 [[ 9.99975816e-01 -6.95470517e-03 0.00000000e+00 5.96379983e+02] [ 6.95470517e-03 9.99975816e-01 0.00000000e+00 -1.42777910e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.20992805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.481400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:596.41, Y:-142.78, Z:0.06 [[ 9.99950823e-01 -9.91723243e-03 0.00000000e+00 5.96413312e+02] [ 9.91723243e-03 9.99950823e-01 0.00000000e+00 -1.42775150e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.86549917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.511400513 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:596.45, Y:-142.77, Z:0.06 [[ 9.99910702e-01 -1.33636476e-02 0.00000000e+00 5.96445368e+02] [ 1.33636476e-02 9.99910702e-01 0.00000000e+00 -1.42771703e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.76620665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.541400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:596.48, Y:-142.77, Z:0.06 [[ 9.99914725e-01 -1.30592124e-02 0.00000000e+00 5.96478411e+02] [ 1.30592124e-02 9.99914725e-01 0.00000000e+00 -1.42768724e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.91681184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.571400513 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:596.51, Y:-142.76, Z:0.06 [[ 9.99891024e-01 -1.47627860e-02 0.00000000e+00 5.96510911e+02] [ 1.47627860e-02 9.99891024e-01 0.00000000e+00 -1.42764860e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.86885519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.601400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:596.54, Y:-142.76, Z:0.06 [[ 9.99897902e-01 -1.42893500e-02 0.00000000e+00 5.96543611e+02] [ 1.42893500e-02 9.99897902e-01 0.00000000e+00 -1.42762418e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.96701030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.631400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:596.58, Y:-142.76, Z:0.06 [[ 9.99910137e-01 -1.34058925e-02 0.00000000e+00 5.96575232e+02] [ 1.34058925e-02 9.99910137e-01 0.00000000e+00 -1.42759287e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.98765070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:596.61, Y:-142.76, Z:0.06 [[ 9.99939336e-01 -1.10147640e-02 0.00000000e+00 5.96608426e+02] [ 1.10147640e-02 9.99939336e-01 0.00000000e+00 -1.42756037e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.23711362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:596.64, Y:-142.75, Z:0.06 [[ 9.99953548e-01 -9.63857176e-03 0.00000000e+00 5.96641218e+02] [ 9.63857176e-03 9.99953548e-01 0.00000000e+00 -1.42751820e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.22498374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.721400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:596.67, Y:-142.75, Z:0.06 [[ 9.99962200e-01 -8.69470936e-03 0.00000000e+00 5.96673278e+02] [ 8.69470936e-03 9.99962200e-01 0.00000000e+00 -1.42747098e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.11104741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.751400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:596.71, Y:-142.74, Z:0.06 [[ 9.99978785e-01 -6.51374406e-03 0.00000000e+00 5.96706414e+02] [ 6.51374406e-03 9.99978785e-01 0.00000000e+00 -1.42743334e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.05958055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.781400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:596.74, Y:-142.74, Z:0.06 [[ 9.99992858e-01 -3.77932066e-03 0.00000000e+00 5.96738812e+02] [ 3.77932066e-03 9.99992858e-01 0.00000000e+00 -1.42740257e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.26876027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.811400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:596.77, Y:-142.74, Z:0.06 [[ 9.99986379e-01 -5.21937217e-03 0.00000000e+00 5.96771454e+02] [ 5.21937217e-03 9.99986379e-01 0.00000000e+00 -1.42735976e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.34252911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.841400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:596.80, Y:-142.73, Z:0.06 [[ 9.99988887e-01 -4.71439581e-03 0.00000000e+00 5.96803477e+02] [ 4.71439581e-03 9.99988887e-01 0.00000000e+00 -1.42732526e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.43239473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:596.84, Y:-142.73, Z:0.06 [[ 9.99981742e-01 -6.04276733e-03 0.00000000e+00 5.96835097e+02] [ 6.04276733e-03 9.99981742e-01 0.00000000e+00 -1.42729916e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.26835272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.901400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:596.87, Y:-142.73, Z:0.06 [[ 9.99965916e-01 -8.25628681e-03 0.00000000e+00 5.96867762e+02] [ 8.25628681e-03 9.99965916e-01 0.00000000e+00 -1.42728335e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.79475889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.931400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:596.90, Y:-142.73, Z:0.06 [[ 9.99977541e-01 -6.70202062e-03 0.00000000e+00 5.96900586e+02] [ 6.70202062e-03 9.99977541e-01 0.00000000e+00 -1.42725951e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.84846783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.961400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:596.93, Y:-142.72, Z:0.06 [[ 9.99978040e-01 -6.62721543e-03 0.00000000e+00 5.96933987e+02] [ 6.62721543e-03 9.99978040e-01 0.00000000e+00 -1.42722566e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.84846783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:596.96, Y:-142.72, Z:0.06 [[ 9.99987880e-01 -4.92338424e-03 0.00000000e+00 5.96964935e+02] [ 4.92338424e-03 9.99987880e-01 0.00000000e+00 -1.42720137e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.93871567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.021400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:597.00, Y:-142.72, Z:0.06 [[ 9.99991128e-01 -4.21245563e-03 0.00000000e+00 5.96996765e+02] [ 4.21245563e-03 9.99991128e-01 0.00000000e+00 -1.42717151e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.93654194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.051400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:597.03, Y:-142.72, Z:0.06 [[ 9.99998391e-01 -1.79379530e-03 0.00000000e+00 5.97028764e+02] [ 1.79379530e-03 9.99998391e-01 0.00000000e+00 -1.42715226e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.95034182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.081400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:597.06, Y:-142.71, Z:0.06 [[ 9.99995485e-01 3.00515718e-03 0.00000000e+00 5.97058653e+02] [-3.00515718e-03 9.99995485e-01 0.00000000e+00 -1.42713660e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.88763421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.111400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:597.09, Y:-142.71, Z:0.06 [[ 9.99986174e-01 5.25842929e-03 0.00000000e+00 5.97086328e+02] [-5.25842929e-03 9.99986174e-01 0.00000000e+00 -1.42710589e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.89140466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.141400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:597.11, Y:-142.71, Z:0.06 [[ 9.99977066e-01 6.77253439e-03 0.00000000e+00 5.97113788e+02] [-6.77253439e-03 9.99977066e-01 0.00000000e+00 -1.42707163e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.94701533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:597.14, Y:-142.70, Z:0.06 [[ 9.99961814e-01 8.73905160e-03 0.00000000e+00 5.97140308e+02] [-8.73905160e-03 9.99961814e-01 0.00000000e+00 -1.42703729e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.15806750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:597.17, Y:-142.70, Z:0.06 [[ 9.99964753e-01 8.39597092e-03 0.00000000e+00 5.97168609e+02] [-8.39597092e-03 9.99964753e-01 0.00000000e+00 -1.42701138e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.10230313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:597.20, Y:-142.70, Z:0.06 [[ 9.99974476e-01 7.14473273e-03 0.00000000e+00 5.97196205e+02] [-7.14473273e-03 9.99974476e-01 0.00000000e+00 -1.42698677e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.99050169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:597.22, Y:-142.70, Z:0.06 [[ 9.99986719e-01 5.15387695e-03 0.00000000e+00 5.97224095e+02] [-5.15387695e-03 9.99986719e-01 0.00000000e+00 -1.42695826e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.83109902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:597.25, Y:-142.69, Z:0.06 [[ 9.99998928e-01 -1.46402017e-03 0.00000000e+00 5.97251368e+02] [ 1.46402017e-03 9.99998928e-01 0.00000000e+00 -1.42693049e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.00042808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:597.28, Y:-142.69, Z:0.06 [[ 9.99985478e-01 -5.38917599e-03 0.00000000e+00 5.97283181e+02] [ 5.38917599e-03 9.99985478e-01 0.00000000e+00 -1.42691506e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.87455274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.351400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:597.32, Y:-142.69, Z:0.06 [[ 9.99946972e-01 -1.02981774e-02 0.00000000e+00 5.97315602e+02] [ 1.02981774e-02 9.99946972e-01 0.00000000e+00 -1.42690384e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.86640265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.381400513 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:597.35, Y:-142.69, Z:0.06 [[ 9.99886809e-01 -1.50455979e-02 0.00000000e+00 5.97348940e+02] [ 1.50455979e-02 9.99886809e-01 0.00000000e+00 -1.42689275e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.91284133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.411400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:597.38, Y:-142.69, Z:0.06 [[ 9.99826754e-01 -1.86135098e-02 0.00000000e+00 5.97381227e+02] [ 1.86135098e-02 9.99826754e-01 0.00000000e+00 -1.42688330e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.94613714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.441400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:597.41, Y:-142.69, Z:0.06 [[ 9.99654545e-01 -2.62829012e-02 0.00000000e+00 5.97413801e+02] [ 2.62829012e-02 9.99654545e-01 0.00000000e+00 -1.42688291e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.63092226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.471400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:597.45, Y:-142.69, Z:0.06 [[ 9.99588337e-01 -2.86906923e-02 0.00000000e+00 5.97447362e+02] [ 2.86906923e-02 9.99588337e-01 0.00000000e+00 -1.42686895e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.72242133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.501400513 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:597.48, Y:-142.69, Z:0.06 [[ 9.99527379e-01 -3.07411650e-02 0.00000000e+00 5.97479967e+02] [ 3.07411650e-02 9.99527379e-01 0.00000000e+00 -1.42685774e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.69265258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.531400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:597.51, Y:-142.68, Z:0.06 [[ 9.99513464e-01 -3.11903012e-02 0.00000000e+00 5.97513573e+02] [ 3.11903012e-02 9.99513464e-01 0.00000000e+00 -1.42684440e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.02529888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.561400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:597.55, Y:-142.68, Z:0.06 [[ 9.99487463e-01 -3.20126849e-02 0.00000000e+00 5.97546229e+02] [ 3.20126849e-02 9.99487463e-01 0.00000000e+00 -1.42682195e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.17434733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.591400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:597.58, Y:-142.68, Z:0.06 [[ 9.99485679e-01 -3.20683233e-02 0.00000000e+00 5.97577712e+02] [ 3.20683233e-02 9.99485679e-01 0.00000000e+00 -1.42679130e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.42907261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.621400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:597.61, Y:-142.67, Z:0.06 [[ 9.99463538e-01 -3.27511196e-02 0.00000000e+00 5.97608335e+02] [ 3.27511196e-02 9.99463538e-01 0.00000000e+00 -1.42674023e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.33130935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.651400513 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:597.64, Y:-142.67, Z:0.06 [[ 9.99442950e-01 -3.33735024e-02 0.00000000e+00 5.97640500e+02] [ 3.33735024e-02 9.99442950e-01 0.00000000e+00 -1.42670918e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.21785277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.681400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:597.67, Y:-142.67, Z:0.06 [[ 9.99435364e-01 -3.35999130e-02 0.00000000e+00 5.97673689e+02] [ 3.35999130e-02 9.99435364e-01 0.00000000e+00 -1.42666717e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.24704662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.711400513 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:597.71, Y:-142.66, Z:0.06 [[ 9.99408673e-01 -3.43846554e-02 0.00000000e+00 5.97705041e+02] [ 3.43846554e-02 9.99408673e-01 0.00000000e+00 -1.42661697e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.22711153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.741400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:597.74, Y:-142.66, Z:0.06 [[ 9.99393732e-01 -3.48162001e-02 0.00000000e+00 5.97738323e+02] [ 3.48162001e-02 9.99393732e-01 0.00000000e+00 -1.42656664e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.26132980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.771400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:597.77, Y:-142.65, Z:0.06 [[ 9.99364917e-01 -3.56337226e-02 0.00000000e+00 5.97770157e+02] [ 3.56337226e-02 9.99364917e-01 0.00000000e+00 -1.42651833e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.23003828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.801400513 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:597.80, Y:-142.65, Z:0.06 [[ 9.99323142e-01 -3.67866486e-02 0.00000000e+00 5.97802767e+02] [ 3.67866486e-02 9.99323142e-01 0.00000000e+00 -1.42646789e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.37432354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.831400513 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:597.84, Y:-142.64, Z:0.06 [[ 9.99139625e-01 -4.14730035e-02 0.00000000e+00 5.97835359e+02] [ 4.14730035e-02 9.99139625e-01 0.00000000e+00 -1.42639845e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.30195575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.861400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:597.87, Y:-142.64, Z:0.06 [[ 9.99038806e-01 -4.38344994e-02 0.00000000e+00 5.97868625e+02] [ 4.38344994e-02 9.99038806e-01 0.00000000e+00 -1.42635806e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.25848605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.891400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:597.90, Y:-142.63, Z:0.06 [[ 9.98880650e-01 -4.73016666e-02 0.00000000e+00 5.97901394e+02] [ 4.73016666e-02 9.98880650e-01 0.00000000e+00 -1.42631512e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.05502684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.921400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:597.93, Y:-142.63, Z:0.06 [[ 9.98724161e-01 -5.04980201e-02 0.00000000e+00 5.97933140e+02] [ 5.04980201e-02 9.98724161e-01 0.00000000e+00 -1.42627420e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.98058430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.951400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:597.97, Y:-142.62, Z:0.06 [[ 9.98579279e-01 -5.32862437e-02 0.00000000e+00 5.97965875e+02] [ 5.32862437e-02 9.98579279e-01 0.00000000e+00 -1.42622972e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.03109918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.981400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:598.00, Y:-142.62, Z:0.06 [[ 9.98342299e-01 -5.75556525e-02 0.00000000e+00 5.97998192e+02] [ 5.75556525e-02 9.98342299e-01 0.00000000e+00 -1.42617218e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.35067685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.03, Y:-142.61, Z:0.07 [[ 9.98269827e-01 -5.87992516e-02 0.00000000e+00 5.98030761e+02] [ 5.87992516e-02 9.98269827e-01 0.00000000e+00 -1.42613482e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.52450339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.06, Y:-142.61, Z:0.06 [[ 9.98188987e-01 -6.01560134e-02 0.00000000e+00 5.98063196e+02] [ 6.01560134e-02 9.98188987e-01 0.00000000e+00 -1.42609827e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.46621327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.10, Y:-142.61, Z:0.07 [[ 9.98121382e-01 -6.12675028e-02 0.00000000e+00 5.98095607e+02] [ 6.12675028e-02 9.98121382e-01 0.00000000e+00 -1.42605713e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.53362984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.101400513 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:598.13, Y:-142.60, Z:0.07 [[ 9.98029235e-01 -6.27506596e-02 0.00000000e+00 5.98128124e+02] [ 6.27506596e-02 9.98029235e-01 0.00000000e+00 -1.42600795e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.50595793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.131400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:598.16, Y:-142.60, Z:0.07 [[ 9.97930487e-01 -6.43019620e-02 0.00000000e+00 5.98161387e+02] [ 6.43019620e-02 9.97930487e-01 0.00000000e+00 -1.42595368e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.66506360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.161400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:598.19, Y:-142.59, Z:0.07 [[ 9.97845999e-01 -6.56000246e-02 0.00000000e+00 5.98194150e+02] [ 6.56000246e-02 9.97845999e-01 0.00000000e+00 -1.42590619e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.76570427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.191400513 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:598.23, Y:-142.59, Z:0.07 [[ 9.97770474e-01 -6.67389060e-02 0.00000000e+00 5.98226454e+02] [ 6.67389060e-02 9.97770474e-01 0.00000000e+00 -1.42586049e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.89666469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.221400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:598.26, Y:-142.58, Z:0.07 [[ 9.97646057e-01 -6.85736440e-02 0.00000000e+00 5.98258894e+02] [ 6.85736440e-02 9.97646057e-01 0.00000000e+00 -1.42580242e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.12172359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.251400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:598.29, Y:-142.58, Z:0.07 [[ 9.97606092e-01 -6.91526156e-02 0.00000000e+00 5.98290409e+02] [ 6.91526156e-02 9.97606092e-01 0.00000000e+00 -1.42576431e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.13375836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.32, Y:-142.57, Z:0.07 [[ 9.97547627e-01 -6.99909366e-02 0.00000000e+00 5.98323322e+02] [ 6.99909366e-02 9.97547627e-01 0.00000000e+00 -1.42572228e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.10046471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.35, Y:-142.57, Z:0.07 [[ 9.97475997e-01 -7.10044693e-02 0.00000000e+00 5.98354847e+02] [ 7.10044693e-02 9.97475997e-01 0.00000000e+00 -1.42567790e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.03945091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.341400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:598.39, Y:-142.56, Z:0.07 [[ 9.97288042e-01 -7.35972974e-02 0.00000000e+00 5.98387556e+02] [ 7.35972974e-02 9.97288042e-01 0.00000000e+00 -1.42560426e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.84874586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.42, Y:-142.56, Z:0.07 [[ 9.97221327e-01 -7.44958051e-02 0.00000000e+00 5.98420389e+02] [ 7.44958051e-02 9.97221327e-01 0.00000000e+00 -1.42556439e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.81152740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.45, Y:-142.55, Z:0.07 [[ 9.97146570e-01 -7.54898466e-02 0.00000000e+00 5.98453249e+02] [ 7.54898466e-02 9.97146570e-01 0.00000000e+00 -1.42553162e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.74076808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.49, Y:-142.55, Z:0.07 [[ 9.97057970e-01 -7.66511836e-02 0.00000000e+00 5.98486046e+02] [ 7.66511836e-02 9.97057970e-01 0.00000000e+00 -1.42550050e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.69617736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.461400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:598.52, Y:-142.55, Z:0.07 [[ 9.96970879e-01 -7.77757433e-02 0.00000000e+00 5.98517543e+02] [ 7.77757433e-02 9.96970879e-01 0.00000000e+00 -1.42546476e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.74046469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.55, Y:-142.54, Z:0.07 [[ 9.96893611e-01 -7.87599383e-02 0.00000000e+00 5.98550434e+02] [ 7.87599383e-02 9.96893611e-01 0.00000000e+00 -1.42541669e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.92530905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.58, Y:-142.53, Z:0.07 [[ 9.96819003e-01 -7.96986584e-02 0.00000000e+00 5.98581674e+02] [ 7.96986584e-02 9.96819003e-01 0.00000000e+00 -1.42534909e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.09611316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.551400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:598.61, Y:-142.53, Z:0.07 [[ 9.96796066e-01 -7.99850198e-02 0.00000000e+00 5.98613922e+02] [ 7.99850198e-02 9.96796066e-01 0.00000000e+00 -1.42530749e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.96141751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.581400513 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:598.64, Y:-142.53, Z:0.07 [[ 9.96777771e-01 -8.02126935e-02 0.00000000e+00 5.98643316e+02] [ 8.02126935e-02 9.96777771e-01 0.00000000e+00 -1.42525043e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.90429558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.68, Y:-142.52, Z:0.07 [[ 9.96855239e-01 -7.92441356e-02 0.00000000e+00 5.98677442e+02] [ 7.92441356e-02 9.96855239e-01 0.00000000e+00 -1.42522328e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.03811413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.641400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:598.71, Y:-142.52, Z:0.07 [[ 9.96908616e-01 -7.85697855e-02 0.00000000e+00 5.98709600e+02] [ 7.85697855e-02 9.96908616e-01 0.00000000e+00 -1.42515719e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.27225042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.671400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:598.74, Y:-142.51, Z:0.07 [[ 9.96921910e-01 -7.84009299e-02 0.00000000e+00 5.98742375e+02] [ 7.84009299e-02 9.96921910e-01 0.00000000e+00 -1.42511116e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.29034240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.77, Y:-142.51, Z:0.07 [[ 9.96870942e-01 -7.90463457e-02 0.00000000e+00 5.98773992e+02] [ 7.90463457e-02 9.96870942e-01 0.00000000e+00 -1.42507094e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.11887923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.731400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:598.81, Y:-142.50, Z:0.07 [[ 9.96661469e-01 -8.16450673e-02 0.00000000e+00 5.98806128e+02] [ 8.16450673e-02 9.96661469e-01 0.00000000e+00 -1.42504414e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.93808696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.761400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:598.84, Y:-142.50, Z:0.07 [[ 9.96081242e-01 -8.84429690e-02 0.00000000e+00 5.98837980e+02] [ 8.84429690e-02 9.96081242e-01 0.00000000e+00 -1.42500505e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.22908543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.791400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:598.87, Y:-142.50, Z:0.07 [[ 9.95905256e-01 -9.04031031e-02 0.00000000e+00 5.98871198e+02] [ 9.04031031e-02 9.95905256e-01 0.00000000e+00 -1.42495865e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.22803723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.821400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:598.90, Y:-142.49, Z:0.07 [[ 9.95570739e-01 -9.40154472e-02 0.00000000e+00 5.98904194e+02] [ 9.40154472e-02 9.95570739e-01 0.00000000e+00 -1.42493391e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.22040517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.94, Y:-142.49, Z:0.07 [[ 9.95014489e-01 -9.97304699e-02 0.00000000e+00 5.98936407e+02] [ 9.97304699e-02 9.95014489e-01 0.00000000e+00 -1.42494946e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.70167325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:598.97, Y:-142.49, Z:0.07 [[ 9.95032137e-01 -9.95542401e-02 0.00000000e+00 5.98969940e+02] [ 9.95542401e-02 9.95032137e-01 0.00000000e+00 -1.42491825e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.70167325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:599.00, Y:-142.49, Z:0.06 [[ 9.94611930e-01 -1.03668261e-01 0.00000000e+00 5.99003406e+02] [ 1.03668261e-01 9.94611930e-01 0.00000000e+00 -1.42492600e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.37508335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.941400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:599.04, Y:-142.49, Z:0.06 [[ 9.94279686e-01 -1.06807801e-01 0.00000000e+00 5.99035408e+02] [ 1.06807801e-01 9.94279686e-01 0.00000000e+00 -1.42491432e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.35635551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.971400513 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:599.07, Y:-142.50, Z:0.06 [[ 9.92970817e-01 -1.18359439e-01 0.00000000e+00 5.99067247e+02] [ 1.18359439e-01 9.92970817e-01 0.00000000e+00 -1.42498122e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.80843366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:599.10, Y:-142.50, Z:0.06 [[ 9.92264231e-01 -1.24143850e-01 0.00000000e+00 5.99101238e+02] [ 1.24143850e-01 9.92264231e-01 0.00000000e+00 -1.42501527e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.85653680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.031400513 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:599.13, Y:-142.50, Z:0.06 [[ 9.91697465e-01 -1.28592918e-01 0.00000000e+00 5.99132234e+02] [ 1.28592918e-01 9.91697465e-01 0.00000000e+00 -1.42502766e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.05807536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:599.16, Y:-142.50, Z:0.06 [[ 9.91377008e-01 -1.31040558e-01 0.00000000e+00 5.99164746e+02] [ 1.31040558e-01 9.91377008e-01 0.00000000e+00 -1.42503585e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.46000763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.091400513 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:599.20, Y:-142.50, Z:0.07 [[ 9.91180562e-01 -1.32518273e-01 0.00000000e+00 5.99198009e+02] [ 1.32518273e-01 9.91180562e-01 0.00000000e+00 -1.42504329e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.67870857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.121400513 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:599.23, Y:-142.51, Z:0.07 [[ 9.91180835e-01 -1.32516233e-01 0.00000000e+00 5.99231274e+02] [ 1.32516233e-01 9.91180835e-01 0.00000000e+00 -1.42506670e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.77414923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.151400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:599.26, Y:-142.51, Z:0.07 [[ 9.91352968e-01 -1.31222307e-01 0.00000000e+00 5.99263814e+02] [ 1.31222307e-01 9.91352968e-01 0.00000000e+00 -1.42513048e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.61325237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:599.30, Y:-142.51, Z:0.07 [[ 9.91529334e-01 -1.29882948e-01 0.00000000e+00 5.99297201e+02] [ 1.29882948e-01 9.91529334e-01 0.00000000e+00 -1.42512411e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.62464171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:599.33, Y:-142.51, Z:0.07 [[ 9.91767133e-01 -1.28054497e-01 0.00000000e+00 5.99329076e+02] [ 1.28054497e-01 9.91767133e-01 0.00000000e+00 -1.42511390e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.67399183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.241400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:599.36, Y:-142.51, Z:0.07 [[ 9.92046174e-01 -1.25874494e-01 0.00000000e+00 5.99362326e+02] [ 1.25874494e-01 9.92046174e-01 0.00000000e+00 -1.42510913e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.74517382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.271400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:599.39, Y:-142.51, Z:0.07 [[ 9.92632704e-01 -1.21162346e-01 0.00000000e+00 5.99394827e+02] [ 1.21162346e-01 9.92632704e-01 0.00000000e+00 -1.42513434e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.69515790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.301400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:599.43, Y:-142.51, Z:0.07 [[ 9.92992133e-01 -1.18180468e-01 0.00000000e+00 5.99426999e+02] [ 1.18180468e-01 9.92992133e-01 0.00000000e+00 -1.42512020e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.70447558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.331400513 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:599.46, Y:-142.51, Z:0.07 [[ 9.93344402e-01 -1.15182029e-01 0.00000000e+00 5.99460203e+02] [ 1.15182029e-01 9.93344402e-01 0.00000000e+00 -1.42509960e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.71804260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.361400513 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:599.49, Y:-142.51, Z:0.07 [[ 9.93864401e-01 -1.10605391e-01 0.00000000e+00 5.99492874e+02] [ 1.10605391e-01 9.93864401e-01 0.00000000e+00 -1.42510173e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.80892979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.391400513 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:599.53, Y:-142.51, Z:0.07 [[ 9.94050807e-01 -1.08917367e-01 0.00000000e+00 5.99526360e+02] [ 1.08917367e-01 9.94050807e-01 0.00000000e+00 -1.42508293e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.95133049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.421400513 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:599.56, Y:-142.51, Z:0.07 [[ 9.94216949e-01 -1.07390219e-01 0.00000000e+00 5.99559454e+02] [ 1.07390219e-01 9.94216949e-01 0.00000000e+00 -1.42505780e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.07739651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.451400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:599.59, Y:-142.50, Z:0.07 [[ 9.94382332e-01 -1.05847901e-01 0.00000000e+00 5.99591723e+02] [ 1.05847901e-01 9.94382332e-01 0.00000000e+00 -1.42502370e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.11552151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.481400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:599.62, Y:-142.50, Z:0.07 [[ 9.94465425e-01 -1.05064354e-01 0.00000000e+00 5.99624363e+02] [ 1.05064354e-01 9.94465425e-01 0.00000000e+00 -1.42498288e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.02554357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.511400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:599.66, Y:-142.49, Z:0.07 [[ 9.94436146e-01 -1.05341124e-01 0.00000000e+00 5.99657523e+02] [ 1.05341124e-01 9.94436146e-01 0.00000000e+00 -1.42492830e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.99485496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.541400513 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:599.69, Y:-142.49, Z:0.07 [[ 9.94350557e-01 -1.06145988e-01 0.00000000e+00 5.99689394e+02] [ 1.06145988e-01 9.94350557e-01 0.00000000e+00 -1.42488912e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.00283639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:599.72, Y:-142.48, Z:0.07 [[ 9.94187177e-01 -1.07665486e-01 0.00000000e+00 5.99721534e+02] [ 1.07665486e-01 9.94187177e-01 0.00000000e+00 -1.42484940e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.04984097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:599.75, Y:-142.48, Z:0.07 [[ 9.93935748e-01 -1.09962396e-01 0.00000000e+00 5.99753287e+02] [ 1.09962396e-01 9.93935748e-01 0.00000000e+00 -1.42481269e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.99807226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:599.79, Y:-142.48, Z:0.07 [[ 9.93590890e-01 -1.13036029e-01 0.00000000e+00 5.99785984e+02] [ 1.13036029e-01 9.93590890e-01 0.00000000e+00 -1.42477494e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.87801459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.661400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:599.82, Y:-142.47, Z:0.07 [[ 9.92763194e-01 -1.20088472e-01 0.00000000e+00 5.99819156e+02] [ 1.20088472e-01 9.92763194e-01 0.00000000e+00 -1.42471308e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.74568965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:599.85, Y:-142.47, Z:0.07 [[ 9.92381640e-01 -1.23201791e-01 0.00000000e+00 5.99850856e+02] [ 1.23201791e-01 9.92381640e-01 0.00000000e+00 -1.42466820e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.69776810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:599.88, Y:-142.46, Z:0.07 [[ 9.92093397e-01 -1.25501761e-01 0.00000000e+00 5.99883520e+02] [ 1.25501761e-01 9.92093397e-01 0.00000000e+00 -1.42462511e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.73855547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.751400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:599.92, Y:-142.46, Z:0.07 [[ 9.91892746e-01 -1.27077854e-01 0.00000000e+00 5.99916050e+02] [ 1.27077854e-01 9.91892746e-01 0.00000000e+00 -1.42456206e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.01279157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:599.95, Y:-142.45, Z:0.07 [[ 9.92063371e-01 -1.25738886e-01 0.00000000e+00 5.99947604e+02] [ 1.25738886e-01 9.92063371e-01 0.00000000e+00 -1.42451076e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.10841400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:599.98, Y:-142.45, Z:0.07 [[ 9.92354460e-01 -1.23420528e-01 0.00000000e+00 5.99980429e+02] [ 1.23420528e-01 9.92354460e-01 0.00000000e+00 -1.42446130e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.04466917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.841400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:600.01, Y:-142.44, Z:0.07 [[ 9.92722306e-01 -1.20426011e-01 0.00000000e+00 6.00012064e+02] [ 1.20426011e-01 9.92722306e-01 0.00000000e+00 -1.42441723e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.88806915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.871400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:600.04, Y:-142.43, Z:0.07 [[ 9.93664356e-01 -1.12388382e-01 0.00000000e+00 6.00043411e+02] [ 1.12388382e-01 9.93664356e-01 0.00000000e+00 -1.42434296e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.00541304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.901400513 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:600.08, Y:-142.43, Z:0.07 [[ 9.94237120e-01 -1.07203310e-01 0.00000000e+00 6.00075617e+02] [ 1.07203310e-01 9.94237120e-01 0.00000000e+00 -1.42427350e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.19191986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:600.11, Y:-142.42, Z:0.07 [[ 9.94884086e-01 -1.01023039e-01 0.00000000e+00 6.00108504e+02] [ 1.01023039e-01 9.94884086e-01 0.00000000e+00 -1.42420203e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.30935523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.961400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:600.14, Y:-142.41, Z:0.07 [[ 9.95465976e-01 -9.51183001e-02 0.00000000e+00 6.00140185e+02] [ 9.51183001e-02 9.95465976e-01 0.00000000e+00 -1.42413515e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.35843761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:600.17, Y:-142.40, Z:0.07 [[ 9.96433292e-01 -8.43842137e-02 0.00000000e+00 6.00171643e+02] [ 8.43842137e-02 9.96433292e-01 0.00000000e+00 -1.42404988e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.33274460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.021400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:600.20, Y:-142.40, Z:0.07 [[ 9.96829385e-01 -7.95687007e-02 0.00000000e+00 6.00203386e+02] [ 7.95687007e-02 9.96829385e-01 0.00000000e+00 -1.42397908e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.45013134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.051400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:600.24, Y:-142.39, Z:0.08 [[ 9.97177814e-01 -7.50760157e-02 0.00000000e+00 6.00236020e+02] [ 7.50760157e-02 9.97177814e-01 0.00000000e+00 -1.42389909e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.51837634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.081400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:600.27, Y:-142.38, Z:0.08 [[ 9.97436783e-01 -7.15532253e-02 0.00000000e+00 6.00268039e+02] [ 7.15532253e-02 9.97436783e-01 0.00000000e+00 -1.42381993e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.54948350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.111400513 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:600.30, Y:-142.38, Z:0.07 [[ 9.97644873e-01 -6.85908716e-02 0.00000000e+00 6.00299360e+02] [ 6.85908716e-02 9.97644873e-01 0.00000000e+00 -1.42375183e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.30047484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.141400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:600.33, Y:-142.37, Z:0.07 [[ 9.97378885e-01 -7.23557911e-02 0.00000000e+00 6.00332019e+02] [ 7.23557911e-02 9.97378885e-01 0.00000000e+00 -1.42371298e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.26364926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.171400513 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:600.36, Y:-142.37, Z:0.08 [[ 9.97096327e-01 -7.61506072e-02 0.00000000e+00 6.00364217e+02] [ 7.61506072e-02 9.97096327e-01 0.00000000e+00 -1.42367839e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.51460398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.201400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:600.40, Y:-142.36, Z:0.08 [[ 9.96993534e-01 -7.74847954e-02 0.00000000e+00 6.00396460e+02] [ 7.74847954e-02 9.96993534e-01 0.00000000e+00 -1.42363490e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.65470756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.231400513 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:600.43, Y:-142.36, Z:0.07 [[ 9.96777967e-01 -8.02102571e-02 0.00000000e+00 6.00428835e+02] [ 8.02102571e-02 9.96777967e-01 0.00000000e+00 -1.42362013e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.05131937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.261400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:600.46, Y:-142.36, Z:0.07 [[ 9.96847535e-01 -7.93409825e-02 0.00000000e+00 6.00460720e+02] [ 7.93409825e-02 9.96847535e-01 0.00000000e+00 -1.42360334e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.85697041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:600.49, Y:-142.36, Z:0.07 [[ 9.97017752e-01 -7.71725522e-02 0.00000000e+00 6.00493762e+02] [ 7.71725522e-02 9.97017752e-01 0.00000000e+00 -1.42357555e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.79980661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.321400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:600.52, Y:-142.35, Z:0.07 [[ 9.97211812e-01 -7.46230679e-02 0.00000000e+00 6.00524422e+02] [ 7.46230679e-02 9.97211812e-01 0.00000000e+00 -1.42354703e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.28085499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.351400513 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:600.56, Y:-142.35, Z:0.07 [[ 9.97358040e-01 -7.26425522e-02 0.00000000e+00 6.00557112e+02] [ 7.26425522e-02 9.97358040e-01 0.00000000e+00 -1.42351036e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.28545088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.381400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:600.59, Y:-142.35, Z:0.07 [[ 9.97480571e-01 -7.09401851e-02 0.00000000e+00 6.00590261e+02] [ 7.09401851e-02 9.97480571e-01 0.00000000e+00 -1.42349460e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.18225987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.411400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:600.62, Y:-142.35, Z:0.07 [[ 9.97683445e-01 -6.80275203e-02 0.00000000e+00 6.00622172e+02] [ 6.80275203e-02 9.97683445e-01 0.00000000e+00 -1.42350566e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.04635235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.441400513 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:600.66, Y:-142.35, Z:0.07 [[ 9.97859119e-01 -6.54001491e-02 0.00000000e+00 6.00655233e+02] [ 6.54001491e-02 9.97859119e-01 0.00000000e+00 -1.42348580e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.09611398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.471400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:600.69, Y:-142.35, Z:0.07 [[ 9.98085375e-01 -6.18513049e-02 0.00000000e+00 6.00688352e+02] [ 6.18513049e-02 9.98085375e-01 0.00000000e+00 -1.42346033e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.20925739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.501400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:600.72, Y:-142.34, Z:0.07 [[ 9.98340131e-01 -5.75932447e-02 0.00000000e+00 6.00721059e+02] [ 5.75932447e-02 9.98340131e-01 0.00000000e+00 -1.42343470e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.33404205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.531400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:600.75, Y:-142.34, Z:0.08 [[ 9.98846126e-01 -4.80251655e-02 0.00000000e+00 6.00752219e+02] [ 4.80251655e-02 9.98846126e-01 0.00000000e+00 -1.42341677e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.67177593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.561400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:600.79, Y:-142.34, Z:0.08 [[ 9.99062916e-01 -4.32815240e-02 0.00000000e+00 6.00785534e+02] [ 4.32815240e-02 9.99062916e-01 0.00000000e+00 -1.42339714e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.64943257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:600.82, Y:-142.34, Z:0.08 [[ 9.99248533e-01 -3.87604159e-02 0.00000000e+00 6.00818796e+02] [ 3.87604159e-02 9.99248533e-01 0.00000000e+00 -1.42337980e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.60974084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.621400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:600.85, Y:-142.34, Z:0.08 [[ 9.99386174e-01 -3.50324945e-02 0.00000000e+00 6.00852261e+02] [ 3.50324945e-02 9.99386174e-01 0.00000000e+00 -1.42335715e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.56522817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.651400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:600.89, Y:-142.33, Z:0.07 [[ 9.99632409e-01 -2.71117303e-02 0.00000000e+00 6.00885028e+02] [ 2.71117303e-02 9.99632409e-01 0.00000000e+00 -1.42333752e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.48755454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:600.92, Y:-142.33, Z:0.07 [[ 9.99740287e-01 -2.27894358e-02 0.00000000e+00 6.00917737e+02] [ 2.27894358e-02 9.99740287e-01 0.00000000e+00 -1.42332241e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.32942671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.711400513 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:600.95, Y:-142.33, Z:0.07 [[ 9.99808743e-01 -1.95570225e-02 0.00000000e+00 6.00950177e+02] [ 1.95570225e-02 9.99808743e-01 0.00000000e+00 -1.42330309e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.33577319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.741400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:600.98, Y:-142.33, Z:0.07 [[ 9.99855829e-01 -1.69800420e-02 0.00000000e+00 6.00982635e+02] [ 1.69800420e-02 9.99855829e-01 0.00000000e+00 -1.42328055e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.28829530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.771400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:601.02, Y:-142.33, Z:0.07 [[ 9.99856946e-01 -1.69140975e-02 0.00000000e+00 6.01016085e+02] [ 1.69140975e-02 9.99856946e-01 0.00000000e+00 -1.42325283e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.28829530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.801400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:601.05, Y:-142.32, Z:0.07 [[ 9.99864367e-01 -1.64695726e-02 0.00000000e+00 6.01048483e+02] [ 1.64695726e-02 9.99864367e-01 0.00000000e+00 -1.42321712e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.30765458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:601.08, Y:-142.32, Z:0.07 [[ 9.99837938e-01 -1.80026937e-02 0.00000000e+00 6.01081002e+02] [ 1.80026937e-02 9.99837938e-01 0.00000000e+00 -1.42318612e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.22425932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:601.11, Y:-142.32, Z:0.07 [[ 9.99796467e-01 -2.01748461e-02 0.00000000e+00 6.01112996e+02] [ 2.01748461e-02 9.99796467e-01 0.00000000e+00 -1.42316312e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.17525996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.891400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:601.15, Y:-142.31, Z:0.07 [[ 9.99751974e-01 -2.22708511e-02 0.00000000e+00 6.01146536e+02] [ 2.22708511e-02 9.99751974e-01 0.00000000e+00 -1.42314591e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.03344369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.921400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:601.18, Y:-142.31, Z:0.07 [[ 9.99638880e-01 -2.68720922e-02 0.00000000e+00 6.01178662e+02] [ 2.68720922e-02 9.99638880e-01 0.00000000e+00 -1.42314019e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.91331410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.951400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:601.21, Y:-142.31, Z:0.07 [[ 9.99564792e-01 -2.94996198e-02 0.00000000e+00 6.01210697e+02] [ 2.94996198e-02 9.99564792e-01 0.00000000e+00 -1.42311580e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.89657337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.981400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:601.24, Y:-142.31, Z:0.07 [[ 9.99486314e-01 -3.20485284e-02 0.00000000e+00 6.01244015e+02] [ 3.20485284e-02 9.99486314e-01 0.00000000e+00 -1.42309200e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.88247241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:601.28, Y:-142.31, Z:0.07 [[ 9.99271526e-01 -3.81630346e-02 0.00000000e+00 6.01277667e+02] [ 3.81630346e-02 9.99271526e-01 0.00000000e+00 -1.42309030e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.85371934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:601.31, Y:-142.31, Z:0.07 [[ 9.99134014e-01 -4.16079604e-02 0.00000000e+00 6.01310896e+02] [ 4.16079604e-02 9.99134014e-01 0.00000000e+00 -1.42308207e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.83303421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.071400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:601.34, Y:-142.31, Z:0.07 [[ 9.98975050e-01 -4.52642163e-02 0.00000000e+00 6.01342812e+02] [ 4.52642163e-02 9.98975050e-01 0.00000000e+00 -1.42307009e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.90662470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.101400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:601.38, Y:-142.31, Z:0.07 [[ 9.98811365e-01 -4.87427669e-02 0.00000000e+00 6.01376349e+02] [ 4.87427669e-02 9.98811365e-01 0.00000000e+00 -1.42305673e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.87957491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.131400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:601.41, Y:-142.30, Z:0.07 [[ 9.98658008e-01 -5.17897995e-02 0.00000000e+00 6.01409689e+02] [ 5.17897995e-02 9.98658008e-01 0.00000000e+00 -1.42304693e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.86119162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.161400513 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:601.44, Y:-142.30, Z:0.07 [[ 9.98503535e-01 -5.46872114e-02 0.00000000e+00 6.01442038e+02] [ 5.46872114e-02 9.98503535e-01 0.00000000e+00 -1.42303388e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.95714534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.191400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:601.47, Y:-142.30, Z:0.07 [[ 9.98293307e-01 -5.83992510e-02 0.00000000e+00 6.01474683e+02] [ 5.83992510e-02 9.98293307e-01 0.00000000e+00 -1.42303604e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.01348692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.221400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:601.51, Y:-142.30, Z:0.07 [[ 9.98215769e-01 -5.97099549e-02 0.00000000e+00 6.01507904e+02] [ 5.97099549e-02 9.98215769e-01 0.00000000e+00 -1.42301943e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.05251080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.251400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:601.54, Y:-142.30, Z:0.07 [[ 9.98160829e-01 -6.06214372e-02 0.00000000e+00 6.01539646e+02] [ 6.06214372e-02 9.98160829e-01 0.00000000e+00 -1.42300084e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.02221948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.281400513 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:601.57, Y:-142.30, Z:0.07 [[ 9.98099138e-01 -6.16288208e-02 0.00000000e+00 6.01572730e+02] [ 6.16288208e-02 9.98099138e-01 0.00000000e+00 -1.42297446e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.98580820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.311400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:601.61, Y:-142.29, Z:0.07 [[ 9.98016076e-01 -6.29596082e-02 0.00000000e+00 6.01605006e+02] [ 6.29596082e-02 9.98016076e-01 0.00000000e+00 -1.42294529e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.89710153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:601.64, Y:-142.29, Z:0.07 [[ 9.97976252e-01 -6.35877339e-02 0.00000000e+00 6.01637800e+02] [ 6.35877339e-02 9.97976252e-01 0.00000000e+00 -1.42292354e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.82730854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:601.67, Y:-142.29, Z:0.07 [[ 9.97941076e-01 -6.41374159e-02 0.00000000e+00 6.01671365e+02] [ 6.41374159e-02 9.97941076e-01 0.00000000e+00 -1.42289871e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.78134025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.401400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:601.70, Y:-142.29, Z:0.07 [[ 9.97864266e-01 -6.53215561e-02 0.00000000e+00 6.01704761e+02] [ 6.53215561e-02 9.97864266e-01 0.00000000e+00 -1.42286011e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.80220849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.431400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:601.74, Y:-142.28, Z:0.07 [[ 9.97824673e-01 -6.59236079e-02 0.00000000e+00 6.01737054e+02] [ 6.59236079e-02 9.97824673e-01 0.00000000e+00 -1.42282648e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.76961270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:601.77, Y:-142.28, Z:0.07 [[ 9.97795986e-01 -6.63563872e-02 0.00000000e+00 6.01769413e+02] [ 6.63563872e-02 9.97795986e-01 0.00000000e+00 -1.42279866e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.78492677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:601.80, Y:-142.28, Z:0.07 [[ 9.97748866e-01 -6.70611642e-02 0.00000000e+00 6.01802079e+02] [ 6.70611642e-02 9.97748866e-01 0.00000000e+00 -1.42276875e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.73302602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.521400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:601.84, Y:-142.27, Z:0.07 [[ 9.97617228e-01 -6.89917794e-02 0.00000000e+00 6.01835420e+02] [ 6.89917794e-02 9.97617228e-01 0.00000000e+00 -1.42274566e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.55747410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.551400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:601.87, Y:-142.27, Z:0.07 [[ 9.97540595e-01 -7.00910910e-02 0.00000000e+00 6.01867993e+02] [ 7.00910910e-02 9.97540595e-01 0.00000000e+00 -1.42272577e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.52838916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.581400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:601.90, Y:-142.27, Z:0.07 [[ 9.97437102e-01 -7.15487747e-02 0.00000000e+00 6.01900859e+02] [ 7.15487747e-02 9.97437102e-01 0.00000000e+00 -1.42270217e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.55153185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.611400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:601.93, Y:-142.27, Z:0.07 [[ 9.97332116e-01 -7.29976040e-02 0.00000000e+00 6.01934021e+02] [ 7.29976040e-02 9.97332116e-01 0.00000000e+00 -1.42267823e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.71678760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:601.97, Y:-142.27, Z:0.07 [[ 9.97190554e-01 -7.49065971e-02 0.00000000e+00 6.01967697e+02] [ 7.49065971e-02 9.97190554e-01 0.00000000e+00 -1.42266686e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.80378207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.671400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:602.00, Y:-142.27, Z:0.07 [[ 9.97182571e-01 -7.50127977e-02 0.00000000e+00 6.01999918e+02] [ 7.50127977e-02 9.97182571e-01 0.00000000e+00 -1.42265159e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.81936345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:602.03, Y:-142.26, Z:0.07 [[ 9.97227514e-01 -7.44129403e-02 0.00000000e+00 6.02033493e+02] [ 7.44129403e-02 9.97227514e-01 0.00000000e+00 -1.42264100e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.91034493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.731400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:602.07, Y:-142.26, Z:0.07 [[ 9.97240599e-01 -7.42373744e-02 0.00000000e+00 6.02067101e+02] [ 7.42373744e-02 9.97240599e-01 0.00000000e+00 -1.42262365e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.94690205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.761400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:602.10, Y:-142.26, Z:0.07 [[ 9.97217487e-01 -7.45471851e-02 0.00000000e+00 6.02099579e+02] [ 7.45471851e-02 9.97217487e-01 0.00000000e+00 -1.42261403e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.08896033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.791400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:602.13, Y:-142.26, Z:0.07 [[ 9.97220653e-01 -7.45048290e-02 0.00000000e+00 6.02132541e+02] [ 7.45048290e-02 9.97220653e-01 0.00000000e+00 -1.42259840e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.89866284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:602.17, Y:-142.26, Z:0.07 [[ 9.97229516e-01 -7.43861035e-02 0.00000000e+00 6.02165861e+02] [ 7.43861035e-02 9.97229516e-01 0.00000000e+00 -1.42258271e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.85701130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.851400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:602.20, Y:-142.26, Z:0.07 [[ 9.97227495e-01 -7.44131941e-02 0.00000000e+00 6.02198462e+02] [ 7.44131941e-02 9.97227495e-01 0.00000000e+00 -1.42256189e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.72574143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.881400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:602.23, Y:-142.25, Z:0.07 [[ 9.97153661e-01 -7.53961306e-02 0.00000000e+00 6.02230477e+02] [ 7.53961306e-02 9.97153661e-01 0.00000000e+00 -1.42253765e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.65798719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.911400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:602.26, Y:-142.25, Z:0.07 [[ 9.97079769e-01 -7.63671023e-02 0.00000000e+00 6.02263382e+02] [ 7.63671023e-02 9.97079769e-01 0.00000000e+00 -1.42251656e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.65752852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:602.30, Y:-142.25, Z:0.07 [[ 9.96976307e-01 -7.77061349e-02 0.00000000e+00 6.02296981e+02] [ 7.77061349e-02 9.96976307e-01 0.00000000e+00 -1.42250097e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.63953533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.971400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:602.33, Y:-142.25, Z:0.06 [[ 9.96623879e-01 -8.21026451e-02 0.00000000e+00 6.02330519e+02] [ 8.21026451e-02 9.96623879e-01 0.00000000e+00 -1.42249079e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.47637134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.001400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:602.36, Y:-142.25, Z:0.06 [[ 9.96389677e-01 -8.48976527e-02 0.00000000e+00 6.02362256e+02] [ 8.48976527e-02 9.96389677e-01 0.00000000e+00 -1.42246988e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.45495043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.031400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:602.40, Y:-142.25, Z:0.06 [[ 9.96126615e-01 -8.79304648e-02 0.00000000e+00 6.02395499e+02] [ 8.79304648e-02 9.96126615e-01 0.00000000e+00 -1.42245396e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.34068157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.061400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:602.43, Y:-142.24, Z:0.06 [[ 9.95834910e-01 -9.11747285e-02 0.00000000e+00 6.02428866e+02] [ 9.11747285e-02 9.95834910e-01 0.00000000e+00 -1.42244198e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.32854951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:602.46, Y:-142.24, Z:0.07 [[ 9.95314837e-01 -9.66869982e-02 0.00000000e+00 6.02460703e+02] [ 9.66869982e-02 9.95314837e-01 0.00000000e+00 -1.42243241e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.56363346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.121400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:602.49, Y:-142.24, Z:0.07 [[ 9.95112493e-01 -9.87477891e-02 0.00000000e+00 6.02492710e+02] [ 9.87477891e-02 9.95112493e-01 0.00000000e+00 -1.42241588e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.69339970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.151400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:602.53, Y:-142.24, Z:0.07 [[ 9.94913972e-01 -1.00728294e-01 0.00000000e+00 6.02526378e+02] [ 1.00728294e-01 9.94913972e-01 0.00000000e+00 -1.42240279e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.71599274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.181400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:602.56, Y:-142.24, Z:0.07 [[ 9.94766529e-01 -1.02174134e-01 0.00000000e+00 6.02559448e+02] [ 1.02174134e-01 9.94766529e-01 0.00000000e+00 -1.42239913e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.50772684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:602.59, Y:-142.24, Z:0.06 [[ 9.94580203e-01 -1.03972211e-01 0.00000000e+00 6.02591669e+02] [ 1.03972211e-01 9.94580203e-01 0.00000000e+00 -1.42242073e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.36845987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:602.62, Y:-142.24, Z:0.06 [[ 9.94540643e-01 -1.04349941e-01 0.00000000e+00 6.02624908e+02] [ 1.04349941e-01 9.94540643e-01 0.00000000e+00 -1.42240852e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.45610330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.271400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:602.66, Y:-142.24, Z:0.07 [[ 9.94497794e-01 -1.04757516e-01 0.00000000e+00 6.02657697e+02] [ 1.04757516e-01 9.94497794e-01 0.00000000e+00 -1.42238837e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.51521462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.301400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:602.69, Y:-142.24, Z:0.07 [[ 9.94436885e-01 -1.05334141e-01 0.00000000e+00 6.02689932e+02] [ 1.05334141e-01 9.94436885e-01 0.00000000e+00 -1.42237875e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.55683813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:602.72, Y:-142.24, Z:0.07 [[ 9.94207534e-01 -1.07477347e-01 0.00000000e+00 6.02723601e+02] [ 1.07477347e-01 9.94207534e-01 0.00000000e+00 -1.42240568e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.50354147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:602.76, Y:-142.24, Z:0.07 [[ 9.94089229e-01 -1.08566135e-01 0.00000000e+00 6.02755525e+02] [ 1.08566135e-01 9.94089229e-01 0.00000000e+00 -1.42240707e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.54724902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.391400513 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:602.79, Y:-142.24, Z:0.07 [[ 9.93954169e-01 -1.09795766e-01 0.00000000e+00 6.02788378e+02] [ 1.09795766e-01 9.93954169e-01 0.00000000e+00 -1.42239318e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.51655334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:602.82, Y:-142.24, Z:0.07 [[ 9.93847301e-01 -1.10758941e-01 0.00000000e+00 6.02820208e+02] [ 1.10758941e-01 9.93847301e-01 0.00000000e+00 -1.42237747e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.60025791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:602.85, Y:-142.24, Z:0.07 [[ 9.93722138e-01 -1.11876327e-01 0.00000000e+00 6.02853890e+02] [ 1.11876327e-01 9.93722138e-01 0.00000000e+00 -1.42237980e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.56738540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:602.89, Y:-142.24, Z:0.07 [[ 9.93708035e-01 -1.12001521e-01 0.00000000e+00 6.02886074e+02] [ 1.12001521e-01 9.93708035e-01 0.00000000e+00 -1.42237954e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.58615822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.511400513 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:602.92, Y:-142.24, Z:0.07 [[ 9.93712592e-01 -1.11961082e-01 0.00000000e+00 6.02919024e+02] [ 1.11961082e-01 9.93712592e-01 0.00000000e+00 -1.42237601e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.61145682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:602.95, Y:-142.24, Z:0.07 [[ 9.93745806e-01 -1.11665902e-01 0.00000000e+00 6.02952358e+02] [ 1.11665902e-01 9.93745806e-01 0.00000000e+00 -1.42236435e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.75645955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.571400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:602.98, Y:-142.24, Z:0.07 [[ 9.93813939e-01 -1.11057892e-01 0.00000000e+00 6.02984440e+02] [ 1.11057892e-01 9.93813939e-01 0.00000000e+00 -1.42235149e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.60930989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:603.02, Y:-142.23, Z:0.06 [[ 9.93923771e-01 -1.10070602e-01 0.00000000e+00 6.03017850e+02] [ 1.10070602e-01 9.93923771e-01 0.00000000e+00 -1.42234086e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.38997369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:603.05, Y:-142.23, Z:0.06 [[ 9.94003664e-01 -1.09346773e-01 0.00000000e+00 6.03050572e+02] [ 1.09346773e-01 9.94003664e-01 0.00000000e+00 -1.42233907e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.16085549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:603.08, Y:-142.23, Z:0.06 [[ 9.94022998e-01 -1.09170871e-01 0.00000000e+00 6.03084149e+02] [ 1.09170871e-01 9.94022998e-01 0.00000000e+00 -1.42231492e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.16085549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.691400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:603.12, Y:-142.23, Z:0.06 [[ 9.94039705e-01 -1.09018647e-01 0.00000000e+00 6.03117194e+02] [ 1.09018647e-01 9.94039705e-01 0.00000000e+00 -1.42230499e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.05549163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.721400513 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:603.15, Y:-142.23, Z:0.06 [[ 9.94037479e-01 -1.09038943e-01 0.00000000e+00 6.03150298e+02] [ 1.09038943e-01 9.94037479e-01 0.00000000e+00 -1.42228918e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.33584541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:603.18, Y:-142.23, Z:0.06 [[ 9.94067949e-01 -1.08760806e-01 0.00000000e+00 6.03183382e+02] [ 1.08760806e-01 9.94067949e-01 0.00000000e+00 -1.42227559e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.44257595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.781400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:603.22, Y:-142.23, Z:0.06 [[ 9.94105352e-01 -1.08418400e-01 0.00000000e+00 6.03215496e+02] [ 1.08418400e-01 9.94105352e-01 0.00000000e+00 -1.42226978e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.30930926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.811400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:603.25, Y:-142.23, Z:0.06 [[ 9.94181964e-01 -1.07713614e-01 0.00000000e+00 6.03248524e+02] [ 1.07713614e-01 9.94181964e-01 0.00000000e+00 -1.42225473e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.25483057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.841400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:603.28, Y:-142.22, Z:0.06 [[ 9.94564435e-01 -1.04122930e-01 0.00000000e+00 6.03281070e+02] [ 1.04122930e-01 9.94564435e-01 0.00000000e+00 -1.42220255e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.43607465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.871400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:603.31, Y:-142.22, Z:0.07 [[ 9.94881778e-01 -1.01045774e-01 0.00000000e+00 6.03314046e+02] [ 1.01045774e-01 9.94881778e-01 0.00000000e+00 -1.42215838e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.51250959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.901400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:603.35, Y:-142.21, Z:0.07 [[ 9.95260857e-01 -9.72410772e-02 0.00000000e+00 6.03346799e+02] [ 9.72410772e-02 9.95260857e-01 0.00000000e+00 -1.42212813e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.56714950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:603.38, Y:-142.21, Z:0.07 [[ 9.95669936e-01 -9.29590182e-02 0.00000000e+00 6.03378943e+02] [ 9.29590182e-02 9.95669936e-01 0.00000000e+00 -1.42211166e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.62556767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.961400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:603.41, Y:-142.21, Z:0.07 [[ 9.96415022e-01 -8.45996694e-02 0.00000000e+00 6.03411962e+02] [ 8.45996694e-02 9.96415022e-01 0.00000000e+00 -1.42207810e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.65677944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.991400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:603.44, Y:-142.20, Z:0.07 [[ 9.96787042e-01 -8.00973999e-02 0.00000000e+00 6.03443724e+02] [ 8.00973999e-02 9.96787042e-01 0.00000000e+00 -1.42203042e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.75108363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.021400513 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:603.48, Y:-142.20, Z:0.07 [[ 9.97128847e-01 -7.57235913e-02 0.00000000e+00 6.03476549e+02] [ 7.57235913e-02 9.97128847e-01 0.00000000e+00 -1.42198152e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.71455273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.051400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:603.51, Y:-142.19, Z:0.07 [[ 9.97464244e-01 -7.11693847e-02 0.00000000e+00 6.03509211e+02] [ 7.11693847e-02 9.97464244e-01 0.00000000e+00 -1.42194147e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.74688450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:603.54, Y:-142.19, Z:0.07 [[ 9.98126944e-01 -6.11768194e-02 0.00000000e+00 6.03540829e+02] [ 6.11768194e-02 9.98126944e-01 0.00000000e+00 -1.42189831e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.89390757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.111400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:603.57, Y:-142.19, Z:0.07 [[ 9.98416312e-01 -5.62571557e-02 0.00000000e+00 6.03573323e+02] [ 5.62571557e-02 9.98416312e-01 0.00000000e+00 -1.42185184e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.97013618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.141400513 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:603.61, Y:-142.18, Z:0.07 [[ 9.98664636e-01 -5.16618309e-02 0.00000000e+00 6.03605031e+02] [ 5.16618309e-02 9.98664636e-01 0.00000000e+00 -1.42180151e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.13436787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.171400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:603.64, Y:-142.18, Z:0.07 [[ 9.98883606e-01 -4.72391992e-02 0.00000000e+00 6.03638116e+02] [ 4.72391992e-02 9.98883606e-01 0.00000000e+00 -1.42175557e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.99502718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.201400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:603.67, Y:-142.17, Z:0.07 [[ 9.99188152e-01 -4.02869423e-02 0.00000000e+00 6.03670499e+02] [ 4.02869423e-02 9.99188152e-01 0.00000000e+00 -1.42168791e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.74015048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.231400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:603.70, Y:-142.16, Z:0.07 [[ 9.99312454e-01 -3.70758716e-02 0.00000000e+00 6.03702657e+02] [ 3.70758716e-02 9.99312454e-01 0.00000000e+00 -1.42164433e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.89684028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.261400513 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:603.73, Y:-142.16, Z:0.07 [[ 9.99497483e-01 -3.16983012e-02 0.00000000e+00 6.03734502e+02] [ 3.16983012e-02 9.99497483e-01 0.00000000e+00 -1.42158252e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.98418721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:603.77, Y:-142.15, Z:0.07 [[ 9.99578423e-01 -2.90340662e-02 0.00000000e+00 6.03767303e+02] [ 2.90340662e-02 9.99578423e-01 0.00000000e+00 -1.42154713e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.98823227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.321400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:603.80, Y:-142.15, Z:0.07 [[ 9.99629444e-01 -2.72208681e-02 0.00000000e+00 6.03800584e+02] [ 2.72208681e-02 9.99629444e-01 0.00000000e+00 -1.42150988e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.76269390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.351400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:603.83, Y:-142.15, Z:0.07 [[ 9.99658864e-01 -2.61180915e-02 0.00000000e+00 6.03833872e+02] [ 2.61180915e-02 9.99658864e-01 0.00000000e+00 -1.42147335e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.76445272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:603.87, Y:-142.14, Z:0.07 [[ 9.99674877e-01 -2.54978579e-02 0.00000000e+00 6.03865956e+02] [ 2.54978579e-02 9.99674877e-01 0.00000000e+00 -1.42142735e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.92431806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.411400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:603.90, Y:-142.14, Z:0.07 [[ 9.99676446e-01 -2.54362715e-02 0.00000000e+00 6.03899053e+02] [ 2.54362715e-02 9.99676446e-01 0.00000000e+00 -1.42139723e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.82916935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.441400513 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:603.93, Y:-142.14, Z:0.07 [[ 9.99676599e-01 -2.54302404e-02 0.00000000e+00 6.03931712e+02] [ 2.54302404e-02 9.99676599e-01 0.00000000e+00 -1.42136599e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.69326584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.471400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:603.96, Y:-142.13, Z:0.07 [[ 9.99682106e-01 -2.52128274e-02 0.00000000e+00 6.03963754e+02] [ 2.52128274e-02 9.99682106e-01 0.00000000e+00 -1.42133722e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.64295877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.501400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:604.00, Y:-142.13, Z:0.07 [[ 9.99682661e-01 -2.51908031e-02 0.00000000e+00 6.03996644e+02] [ 2.51908031e-02 9.99682661e-01 0.00000000e+00 -1.42130193e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.65573790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.531400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:604.03, Y:-142.13, Z:0.07 [[ 9.99685228e-01 -2.50887594e-02 0.00000000e+00 6.04029560e+02] [ 2.50887594e-02 9.99685228e-01 0.00000000e+00 -1.42127112e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.66824267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.561400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:604.06, Y:-142.12, Z:0.07 [[ 9.99696093e-01 -2.46520245e-02 0.00000000e+00 6.04061384e+02] [ 2.46520245e-02 9.99696093e-01 0.00000000e+00 -1.42124346e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.80968487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.591400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:604.09, Y:-142.12, Z:0.07 [[ 9.99721999e-01 -2.35780613e-02 0.00000000e+00 6.04093434e+02] [ 2.35780613e-02 9.99721999e-01 0.00000000e+00 -1.42122383e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.60367302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:604.13, Y:-142.12, Z:0.06 [[ 9.99748779e-01 -2.24138238e-02 0.00000000e+00 6.04127077e+02] [ 2.24138238e-02 9.99748779e-01 0.00000000e+00 -1.42120912e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.49927563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.651400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:604.16, Y:-142.12, Z:0.06 [[ 9.99773502e-01 -2.12825158e-02 0.00000000e+00 6.04159861e+02] [ 2.12825158e-02 9.99773502e-01 0.00000000e+00 -1.42118934e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.41609910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:604.19, Y:-142.12, Z:0.07 [[ 9.99806510e-01 -1.96708373e-02 0.00000000e+00 6.04192564e+02] [ 1.96708373e-02 9.99806510e-01 0.00000000e+00 -1.42116410e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.54776403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.711400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:604.22, Y:-142.11, Z:0.07 [[ 9.99878916e-01 -1.55612857e-02 0.00000000e+00 6.04223659e+02] [ 1.55612857e-02 9.99878916e-01 0.00000000e+00 -1.42113361e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.91136252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.741400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:604.26, Y:-142.11, Z:0.07 [[ 9.99918173e-01 -1.27924829e-02 0.00000000e+00 6.04255663e+02] [ 1.27924829e-02 9.99918173e-01 0.00000000e+00 -1.42111344e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.02149959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:604.29, Y:-142.11, Z:0.07 [[ 9.99951813e-01 -9.81686325e-03 0.00000000e+00 6.04287645e+02] [ 9.81686325e-03 9.99951813e-01 0.00000000e+00 -1.42109713e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.99936957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:604.32, Y:-142.11, Z:0.07 [[ 9.99989263e-01 -4.63397982e-03 0.00000000e+00 6.04319087e+02] [ 4.63397982e-03 9.99989263e-01 0.00000000e+00 -1.42108488e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.84452252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:604.35, Y:-142.11, Z:0.07 [[ 9.99996323e-01 -2.71196436e-03 0.00000000e+00 6.04350220e+02] [ 2.71196436e-03 9.99996323e-01 0.00000000e+00 -1.42107145e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.82687176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:604.38, Y:-142.11, Z:0.07 [[ 9.99998900e-01 -1.48322791e-03 0.00000000e+00 6.04382223e+02] [ 1.48322791e-03 9.99998900e-01 0.00000000e+00 -1.42105632e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.82568418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.891400513 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:604.41, Y:-142.10, Z:0.07 [[ 9.99999574e-01 -9.22560476e-04 0.00000000e+00 6.04413850e+02] [ 9.22560476e-04 9.99999574e-01 0.00000000e+00 -1.42104119e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.85799046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.921400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:604.45, Y:-142.10, Z:0.07 [[ 9.99999342e-01 -1.14731218e-03 0.00000000e+00 6.04445448e+02] [ 1.14731218e-03 9.99999342e-01 0.00000000e+00 -1.42102566e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.78865386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.951400513 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:604.48, Y:-142.10, Z:0.07 [[ 9.99998231e-01 -1.88110460e-03 0.00000000e+00 6.04475869e+02] [ 1.88110460e-03 9.99998231e-01 0.00000000e+00 -1.42103302e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.64819483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.981400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:604.51, Y:-142.10, Z:0.07 [[ 9.99997143e-01 -2.39055973e-03 0.00000000e+00 6.04507039e+02] [ 2.39055973e-03 9.99997143e-01 0.00000000e+00 -1.42103031e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.62852693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:604.54, Y:-142.10, Z:0.07 [[ 9.99994912e-01 -3.18999865e-03 0.00000000e+00 6.04539702e+02] [ 3.18999865e-03 9.99994912e-01 0.00000000e+00 -1.42102881e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.73323987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:604.57, Y:-142.10, Z:0.07 [[ 9.99990465e-01 -4.36688796e-03 0.00000000e+00 6.04572271e+02] [ 4.36688796e-03 9.99990465e-01 0.00000000e+00 -1.42102704e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.84291810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:604.60, Y:-142.11, Z:0.06 [[ 9.99973102e-01 -7.33455359e-03 0.00000000e+00 6.04603539e+02] [ 7.33455359e-03 9.99973102e-01 0.00000000e+00 -1.42105011e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.47378348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:604.64, Y:-142.11, Z:0.06 [[ 9.99960216e-01 -8.91997537e-03 0.00000000e+00 6.04636057e+02] [ 8.91997537e-03 9.99960216e-01 0.00000000e+00 -1.42105517e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.33549495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.131400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:604.67, Y:-142.11, Z:0.06 [[ 9.99943320e-01 -1.06469122e-02 0.00000000e+00 6.04669048e+02] [ 1.06469122e-02 9.99943320e-01 0.00000000e+00 -1.42105677e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.35939420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.161400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:604.70, Y:-142.11, Z:0.07 [[ 9.99929022e-01 -1.19142953e-02 0.00000000e+00 6.04701274e+02] [ 1.19142953e-02 9.99929022e-01 0.00000000e+00 -1.42105416e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.52558166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.191400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:604.73, Y:-142.11, Z:0.06 [[ 9.99899416e-01 -1.41830000e-02 0.00000000e+00 6.04733887e+02] [ 1.41830000e-02 9.99899416e-01 0.00000000e+00 -1.42106599e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.36401758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.221400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:604.77, Y:-142.11, Z:0.06 [[ 9.99884656e-01 -1.51879496e-02 0.00000000e+00 6.04766124e+02] [ 1.51879496e-02 9.99884656e-01 0.00000000e+00 -1.42106398e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.16746020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.251400513 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:604.80, Y:-142.11, Z:0.06 [[ 9.99868742e-01 -1.62018290e-02 0.00000000e+00 6.04799589e+02] [ 1.62018290e-02 9.99868742e-01 0.00000000e+00 -1.42106119e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.97993741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.281400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:604.83, Y:-142.11, Z:0.06 [[ 9.99852466e-01 -1.71768910e-02 0.00000000e+00 6.04832632e+02] [ 1.71768910e-02 9.99852466e-01 0.00000000e+00 -1.42105301e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.04267220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.311400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:604.86, Y:-142.10, Z:0.06 [[ 9.99829750e-01 -1.84518443e-02 0.00000000e+00 6.04864961e+02] [ 1.84518443e-02 9.99829750e-01 0.00000000e+00 -1.42104828e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.30226129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:604.90, Y:-142.10, Z:0.06 [[ 9.99833784e-01 -1.82319497e-02 0.00000000e+00 6.04897633e+02] [ 1.82319497e-02 9.99833784e-01 0.00000000e+00 -1.42103699e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.41738664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.371400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:604.93, Y:-142.10, Z:0.06 [[ 9.99837710e-01 -1.80153512e-02 0.00000000e+00 6.04930271e+02] [ 1.80153512e-02 9.99837710e-01 0.00000000e+00 -1.42102855e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.43489039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.401400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:604.96, Y:-142.10, Z:0.06 [[ 9.99830903e-01 -1.83892989e-02 0.00000000e+00 6.04962901e+02] [ 1.83892989e-02 9.99830903e-01 0.00000000e+00 -1.42102371e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.45053612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.431400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:605.00, Y:-142.10, Z:0.07 [[ 9.99835548e-01 -1.81349451e-02 0.00000000e+00 6.04995033e+02] [ 1.81349451e-02 9.99835548e-01 0.00000000e+00 -1.42100743e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.60868485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:605.03, Y:-142.10, Z:0.07 [[ 9.99831586e-01 -1.83521055e-02 0.00000000e+00 6.05028378e+02] [ 1.83521055e-02 9.99831586e-01 0.00000000e+00 -1.42098874e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.71051094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:605.06, Y:-142.10, Z:0.07 [[ 9.99812818e-01 -1.93475736e-02 0.00000000e+00 6.05060533e+02] [ 1.93475736e-02 9.99812818e-01 0.00000000e+00 -1.42096883e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.58414425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.521400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:605.09, Y:-142.09, Z:0.06 [[ 9.99783741e-01 -2.07959255e-02 0.00000000e+00 6.05092633e+02] [ 2.07959255e-02 9.99783741e-01 0.00000000e+00 -1.42094411e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.39687080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.551400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:605.13, Y:-142.09, Z:0.06 [[ 9.99717352e-01 -2.37742618e-02 0.00000000e+00 6.05125299e+02] [ 2.37742618e-02 9.99717352e-01 0.00000000e+00 -1.42090543e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.33788943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.581400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:605.16, Y:-142.09, Z:0.06 [[ 9.99721663e-01 -2.35923043e-02 0.00000000e+00 6.05158899e+02] [ 2.35923043e-02 9.99721663e-01 0.00000000e+00 -1.42088405e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.33788943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.611400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:605.19, Y:-142.09, Z:0.06 [[ 9.99667375e-01 -2.57903119e-02 0.00000000e+00 6.05191391e+02] [ 2.57903119e-02 9.99667375e-01 0.00000000e+00 -1.42085404e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.35644887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:605.22, Y:-142.08, Z:0.06 [[ 9.99597287e-01 -2.83771781e-02 0.00000000e+00 6.05224108e+02] [ 2.83771781e-02 9.99597287e-01 0.00000000e+00 -1.42082725e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.44757688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.671400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:605.26, Y:-142.08, Z:0.07 [[ 9.99509184e-01 -3.13271649e-02 0.00000000e+00 6.05256062e+02] [ 3.13271649e-02 9.99509184e-01 0.00000000e+00 -1.42079764e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.50517001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.701400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:605.29, Y:-142.08, Z:0.07 [[ 9.99328343e-01 -3.66450940e-02 0.00000000e+00 6.05287796e+02] [ 3.66450940e-02 9.99328343e-01 0.00000000e+00 -1.42076341e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.73838353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:605.32, Y:-142.07, Z:0.07 [[ 9.99220982e-01 -3.94642846e-02 0.00000000e+00 6.05320412e+02] [ 3.94642846e-02 9.99220982e-01 0.00000000e+00 -1.42074167e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.62700930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.761400513 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:605.35, Y:-142.07, Z:0.06 [[ 9.99091862e-01 -4.26081221e-02 0.00000000e+00 6.05353142e+02] [ 4.26081221e-02 9.99091862e-01 0.00000000e+00 -1.42072319e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.46455124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.791400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:605.39, Y:-142.07, Z:0.06 [[ 9.98778085e-01 -4.94200109e-02 0.00000000e+00 6.05385156e+02] [ 4.94200109e-02 9.98778085e-01 0.00000000e+00 -1.42071183e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.49617578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.821400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:605.42, Y:-142.07, Z:0.06 [[ 9.98585400e-01 -5.31714160e-02 0.00000000e+00 6.05418735e+02] [ 5.31714160e-02 9.98585400e-01 0.00000000e+00 -1.42070000e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.43266311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.851400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:605.45, Y:-142.07, Z:0.06 [[ 9.98389054e-01 -5.67388558e-02 0.00000000e+00 6.05451866e+02] [ 5.67388558e-02 9.98389054e-01 0.00000000e+00 -1.42069203e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.46492756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:605.49, Y:-142.07, Z:0.06 [[ 9.98187930e-01 -6.01735502e-02 0.00000000e+00 6.05485054e+02] [ 6.01735502e-02 9.98187930e-01 0.00000000e+00 -1.42068147e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.42369994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.911400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:605.52, Y:-142.07, Z:0.06 [[ 9.97823185e-01 -6.59461255e-02 0.00000000e+00 6.05517234e+02] [ 6.59461255e-02 9.97823185e-01 0.00000000e+00 -1.42068817e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.28455867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.941400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:605.55, Y:-142.07, Z:0.06 [[ 9.97664021e-01 -6.83117886e-02 0.00000000e+00 6.05548922e+02] [ 6.83117886e-02 9.97664021e-01 0.00000000e+00 -1.42068588e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.21866063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:605.58, Y:-142.07, Z:0.06 [[ 9.97517803e-01 -7.04147240e-02 0.00000000e+00 6.05580946e+02] [ 7.04147240e-02 9.97517803e-01 0.00000000e+00 -1.42068004e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.24764394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:605.61, Y:-142.07, Z:0.06 [[ 9.97276254e-01 -7.37568554e-02 0.00000000e+00 6.05613860e+02] [ 7.37568554e-02 9.97276254e-01 0.00000000e+00 -1.42067061e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.49591412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.031400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:605.65, Y:-142.07, Z:0.07 [[ 9.97220102e-01 -7.45121968e-02 0.00000000e+00 6.05647466e+02] [ 7.45121968e-02 9.97220102e-01 0.00000000e+00 -1.42065154e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.56224501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.061400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:605.68, Y:-142.06, Z:0.06 [[ 9.97096584e-01 -7.61472449e-02 0.00000000e+00 6.05679907e+02] [ 7.61472449e-02 9.97096584e-01 0.00000000e+00 -1.42063821e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.42626752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:605.71, Y:-142.06, Z:0.06 [[ 9.97032328e-01 -7.69840036e-02 0.00000000e+00 6.05713328e+02] [ 7.69840036e-02 9.97032328e-01 0.00000000e+00 -1.42062112e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.32580630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.121400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:605.75, Y:-142.06, Z:0.06 [[ 9.96960033e-01 -7.79146435e-02 0.00000000e+00 6.05746062e+02] [ 7.79146435e-02 9.96960033e-01 0.00000000e+00 -1.42060078e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.29147300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:605.78, Y:-142.06, Z:0.06 [[ 9.96885412e-01 -7.88636549e-02 0.00000000e+00 6.05778589e+02] [ 7.88636549e-02 9.96885412e-01 0.00000000e+00 -1.42058818e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.36642321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:605.81, Y:-142.06, Z:0.06 [[ 9.96796367e-01 -7.99812600e-02 0.00000000e+00 6.05810528e+02] [ 7.99812600e-02 9.96796367e-01 0.00000000e+00 -1.42057800e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.39165511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:605.84, Y:-142.06, Z:0.06 [[ 9.96648457e-01 -8.18037427e-02 0.00000000e+00 6.05843361e+02] [ 8.18037427e-02 9.96648457e-01 0.00000000e+00 -1.42056000e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.40823075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:605.87, Y:-142.05, Z:0.06 [[ 9.96589482e-01 -8.25191098e-02 0.00000000e+00 6.05874870e+02] [ 8.25191098e-02 9.96589482e-01 0.00000000e+00 -1.42052665e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.39312098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:605.91, Y:-142.05, Z:0.06 [[ 9.96565097e-01 -8.28130820e-02 0.00000000e+00 6.05907429e+02] [ 8.28130820e-02 9.96565097e-01 0.00000000e+00 -1.42049689e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.24312546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.301400513 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:605.94, Y:-142.05, Z:0.06 [[ 9.96534495e-01 -8.31805244e-02 0.00000000e+00 6.05939773e+02] [ 8.31805244e-02 9.96534495e-01 0.00000000e+00 -1.42046752e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.03454227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:605.97, Y:-142.04, Z:0.06 [[ 9.96483860e-01 -8.37849390e-02 0.00000000e+00 6.05972576e+02] [ 8.37849390e-02 9.96483860e-01 0.00000000e+00 -1.42044595e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.18314198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:606.01, Y:-142.04, Z:0.06 [[ 9.96363008e-01 -8.52100713e-02 0.00000000e+00 6.06005252e+02] [ 8.52100713e-02 9.96363008e-01 0.00000000e+00 -1.42041911e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.26997769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:606.04, Y:-142.04, Z:0.06 [[ 9.96060460e-01 -8.86767168e-02 0.00000000e+00 6.06037263e+02] [ 8.86767168e-02 9.96060460e-01 0.00000000e+00 -1.42038670e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.30453918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.421400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:606.07, Y:-142.04, Z:0.06 [[ 9.95983423e-01 -8.95378243e-02 0.00000000e+00 6.06070834e+02] [ 8.95378243e-02 9.95983423e-01 0.00000000e+00 -1.42036393e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.22952187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:606.10, Y:-142.03, Z:0.06 [[ 9.95956914e-01 -8.98322025e-02 0.00000000e+00 6.06104375e+02] [ 8.98322025e-02 9.95956914e-01 0.00000000e+00 -1.42034030e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.14363686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:606.14, Y:-142.03, Z:0.06 [[ 9.95909317e-01 -9.03583591e-02 0.00000000e+00 6.06137624e+02] [ 9.03583591e-02 9.95909317e-01 0.00000000e+00 -1.42031187e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.00122789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.511400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:606.17, Y:-142.03, Z:0.06 [[ 9.95846591e-01 -9.10470565e-02 0.00000000e+00 6.06171080e+02] [ 9.10470565e-02 9.95846591e-01 0.00000000e+00 -1.42028468e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.87926061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:606.20, Y:-142.03, Z:0.06 [[ 9.95666761e-01 -9.29930207e-02 0.00000000e+00 6.06202719e+02] [ 9.29930207e-02 9.95666761e-01 0.00000000e+00 -1.42025115e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.93432921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.571400513 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:606.24, Y:-142.02, Z:0.06 [[ 9.95584091e-01 -9.38739456e-02 0.00000000e+00 6.06235715e+02] [ 9.38739456e-02 9.95584091e-01 0.00000000e+00 -1.42022804e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.95580751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.601400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:606.27, Y:-142.02, Z:0.06 [[ 9.95340156e-01 -9.64260001e-02 0.00000000e+00 6.06267268e+02] [ 9.64260001e-02 9.95340156e-01 0.00000000e+00 -1.42019822e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.15703238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:606.30, Y:-142.02, Z:0.06 [[ 9.95244612e-01 -9.74072026e-02 0.00000000e+00 6.06300705e+02] [ 9.74072026e-02 9.95244612e-01 0.00000000e+00 -1.42016858e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.07202861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.661400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:606.33, Y:-142.01, Z:0.06 [[ 9.95149599e-01 -9.83731486e-02 0.00000000e+00 6.06333926e+02] [ 9.83731486e-02 9.95149599e-01 0.00000000e+00 -1.42013823e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.92256998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.691400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:606.37, Y:-142.01, Z:0.06 [[ 9.95085969e-01 -9.90147147e-02 0.00000000e+00 6.06367376e+02] [ 9.90147147e-02 9.95085969e-01 0.00000000e+00 -1.42010916e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.96943210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.721400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:606.40, Y:-142.01, Z:0.06 [[ 9.94815850e-01 -1.01692797e-01 0.00000000e+00 6.06400490e+02] [ 1.01692797e-01 9.94815850e-01 0.00000000e+00 -1.42007466e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.06864690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.751400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:606.43, Y:-142.01, Z:0.06 [[ 9.94674831e-01 -1.03062997e-01 0.00000000e+00 6.06432982e+02] [ 1.03062997e-01 9.94674831e-01 0.00000000e+00 -1.42005055e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.03018905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.781400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:606.47, Y:-142.00, Z:0.06 [[ 9.94557641e-01 -1.04187805e-01 0.00000000e+00 6.06466243e+02] [ 1.04187805e-01 9.94557641e-01 0.00000000e+00 -1.42001939e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.02419266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.811400513 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:606.50, Y:-142.00, Z:0.06 [[ 9.94424303e-01 -1.05452859e-01 0.00000000e+00 6.06499731e+02] [ 1.05452859e-01 9.94424303e-01 0.00000000e+00 -1.41998592e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.89386497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.841400513 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:606.53, Y:-141.99, Z:0.06 [[ 9.94265206e-01 -1.06942509e-01 0.00000000e+00 6.06531712e+02] [ 1.06942509e-01 9.94265206e-01 0.00000000e+00 -1.41994089e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.72230695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.871400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:606.56, Y:-141.99, Z:0.06 [[ 9.94342562e-01 -1.06220856e-01 0.00000000e+00 6.06563912e+02] [ 1.06220856e-01 9.94342562e-01 0.00000000e+00 -1.41990281e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.87458749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.901400513 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:606.60, Y:-141.99, Z:0.06 [[ 9.94475132e-01 -1.04972437e-01 0.00000000e+00 6.06596802e+02] [ 1.04972437e-01 9.94475132e-01 0.00000000e+00 -1.41985678e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.99566271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.931400513 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:606.63, Y:-141.98, Z:0.06 [[ 9.94634418e-01 -1.03452281e-01 0.00000000e+00 6.06629857e+02] [ 1.03452281e-01 9.94634418e-01 0.00000000e+00 -1.41980775e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.17619159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.961400513 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:606.66, Y:-141.97, Z:0.06 [[ 9.95063066e-01 -9.92446165e-02 0.00000000e+00 6.06662216e+02] [ 9.92446165e-02 9.95063066e-01 0.00000000e+00 -1.41973942e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.98271147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:606.69, Y:-141.97, Z:0.06 [[ 9.95333608e-01 -9.64935673e-02 0.00000000e+00 6.06694370e+02] [ 9.64935673e-02 9.95333608e-01 0.00000000e+00 -1.41969220e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.98065403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.021400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:606.73, Y:-141.96, Z:0.06 [[ 9.95608227e-01 -9.36176143e-02 0.00000000e+00 6.06726287e+02] [ 9.36176143e-02 9.95608227e-01 0.00000000e+00 -1.41964193e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.90229441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.051400513 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:606.76, Y:-141.96, Z:0.06 [[ 9.95839493e-01 -9.11246649e-02 0.00000000e+00 6.06758224e+02] [ 9.11246649e-02 9.95839493e-01 0.00000000e+00 -1.41958967e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.92288555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.081400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:606.79, Y:-141.95, Z:0.06 [[ 9.96157759e-01 -8.75769368e-02 0.00000000e+00 6.06791498e+02] [ 8.75769368e-02 9.96157759e-01 0.00000000e+00 -1.41953161e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.08071545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.111400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:606.82, Y:-141.95, Z:0.06 [[ 9.96335277e-01 -8.55337104e-02 0.00000000e+00 6.06823908e+02] [ 8.55337104e-02 9.96335277e-01 0.00000000e+00 -1.41949665e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.00539755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.141400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:606.86, Y:-141.95, Z:0.06 [[ 9.96587622e-01 -8.25415728e-02 0.00000000e+00 6.06856494e+02] [ 8.25415728e-02 9.96587622e-01 0.00000000e+00 -1.41945171e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.04601756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.171400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:606.89, Y:-141.94, Z:0.06 [[ 9.97202296e-01 -7.47501165e-02 0.00000000e+00 6.06888856e+02] [ 7.47501165e-02 9.97202296e-01 0.00000000e+00 -1.41935352e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.24759221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.201400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:606.92, Y:-141.93, Z:0.06 [[ 9.97497092e-01 -7.07075060e-02 0.00000000e+00 6.06921377e+02] [ 7.07075060e-02 9.97497092e-01 0.00000000e+00 -1.41929943e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.29286935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.231400513 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:606.95, Y:-141.93, Z:0.06 [[ 9.97743142e-01 -6.71462739e-02 0.00000000e+00 6.06953399e+02] [ 6.71462739e-02 9.97743142e-01 0.00000000e+00 -1.41925310e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.30977067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.261400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:606.99, Y:-141.92, Z:0.06 [[ 9.98124689e-01 -6.12135961e-02 0.00000000e+00 6.06986366e+02] [ 6.12135961e-02 9.98124689e-01 0.00000000e+00 -1.41918393e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.38414455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.291400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:607.02, Y:-141.91, Z:0.06 [[ 9.98301407e-01 -5.82606282e-02 0.00000000e+00 6.07018009e+02] [ 5.82606282e-02 9.98301407e-01 0.00000000e+00 -1.41913697e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.45373961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.321400513 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:607.05, Y:-141.91, Z:0.06 [[ 9.98462005e-01 -5.54402812e-02 0.00000000e+00 6.07050842e+02] [ 5.54402812e-02 9.98462005e-01 0.00000000e+00 -1.41908759e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.44815244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:607.08, Y:-141.90, Z:0.06 [[ 9.98740534e-01 -5.01731618e-02 0.00000000e+00 6.07083548e+02] [ 5.01731618e-02 9.98740534e-01 0.00000000e+00 -1.41902317e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.47870775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.381400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:607.12, Y:-141.90, Z:0.06 [[ 9.98826876e-01 -4.84238679e-02 0.00000000e+00 6.07115756e+02] [ 4.84238679e-02 9.98826876e-01 0.00000000e+00 -1.41898996e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.33396355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.411400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:607.15, Y:-141.90, Z:0.06 [[ 9.98889971e-01 -4.71044188e-02 0.00000000e+00 6.07147898e+02] [ 4.71044188e-02 9.98889971e-01 0.00000000e+00 -1.41895860e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.31826714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.441400513 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:607.18, Y:-141.89, Z:0.06 [[ 9.98864255e-01 -4.76466173e-02 0.00000000e+00 6.07181038e+02] [ 4.76466173e-02 9.98864255e-01 0.00000000e+00 -1.41893904e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.33235515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.471400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:607.21, Y:-141.89, Z:0.07 [[ 9.98853276e-01 -4.78762253e-02 0.00000000e+00 6.07214478e+02] [ 4.78762253e-02 9.98853276e-01 0.00000000e+00 -1.41891872e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.65255760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.501400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:607.25, Y:-141.89, Z:0.07 [[ 9.98862195e-01 -4.76897851e-02 0.00000000e+00 6.07248118e+02] [ 4.76897851e-02 9.98862195e-01 0.00000000e+00 -1.41890107e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.65255760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.531400513 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:607.28, Y:-141.89, Z:0.07 [[ 9.98922166e-01 -4.64166643e-02 0.00000000e+00 6.07280173e+02] [ 4.64166643e-02 9.98922166e-01 0.00000000e+00 -1.41888255e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.70081331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.561400513 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:607.31, Y:-141.89, Z:0.07 [[ 9.98976025e-01 -4.52427041e-02 0.00000000e+00 6.07313119e+02] [ 4.52427041e-02 9.98976025e-01 0.00000000e+00 -1.41887139e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.53247548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.591400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:607.35, Y:-141.89, Z:0.06 [[ 9.99043430e-01 -4.37290043e-02 0.00000000e+00 6.07346562e+02] [ 4.37290043e-02 9.99043430e-01 0.00000000e+00 -1.41886213e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.46422950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:607.38, Y:-141.88, Z:0.06 [[ 9.99220144e-01 -3.94854917e-02 0.00000000e+00 6.07379626e+02] [ 3.94854917e-02 9.99220144e-01 0.00000000e+00 -1.41884508e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.45775775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.651400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:607.41, Y:-141.88, Z:0.07 [[ 9.99341488e-01 -3.62848598e-02 0.00000000e+00 6.07411579e+02] [ 3.62848598e-02 9.99341488e-01 0.00000000e+00 -1.41882681e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.53126675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:607.44, Y:-141.88, Z:0.07 [[ 9.99628039e-01 -2.72723825e-02 0.00000000e+00 6.07444714e+02] [ 2.72723825e-02 9.99628039e-01 0.00000000e+00 -1.41882730e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.57741596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.711400513 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:607.48, Y:-141.88, Z:0.07 [[ 9.99758211e-01 -2.19890965e-02 0.00000000e+00 6.07476786e+02] [ 2.19890965e-02 9.99758211e-01 0.00000000e+00 -1.41881852e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.60112200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:607.51, Y:-141.88, Z:0.07 [[ 9.99868009e-01 -1.62469930e-02 0.00000000e+00 6.07510198e+02] [ 1.62469930e-02 9.99868009e-01 0.00000000e+00 -1.41880453e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.84755088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.771400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:607.54, Y:-141.88, Z:0.07 [[ 9.99940816e-01 -1.08795424e-02 0.00000000e+00 6.07542174e+02] [ 1.08795424e-02 9.99940816e-01 0.00000000e+00 -1.41878458e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.01782659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.801400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:607.57, Y:-141.88, Z:0.07 [[ 9.99984449e-01 -5.57693418e-03 0.00000000e+00 6.07573855e+02] [ 5.57693418e-03 9.99984449e-01 0.00000000e+00 -1.41877298e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.09260755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.831400513 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:607.61, Y:-141.88, Z:0.07 [[ 9.99995396e-01 3.03435427e-03 0.00000000e+00 6.07606436e+02] [-3.03435427e-03 9.99995396e-01 0.00000000e+00 -1.41878833e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.67565547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:607.63, Y:-141.88, Z:0.07 [[ 9.99979411e-01 6.41702152e-03 0.00000000e+00 6.07634181e+02] [-6.41702152e-03 9.99979411e-01 0.00000000e+00 -1.41877977e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.70814192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.891400513 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:607.66, Y:-141.88, Z:0.07 [[ 9.99958138e-01 9.15002840e-03 0.00000000e+00 6.07661116e+02] [-9.15002840e-03 9.99958138e-01 0.00000000e+00 -1.41876637e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.70418343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.921400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:607.69, Y:-141.88, Z:0.07 [[ 9.99929808e-01 1.18481602e-02 0.00000000e+00 6.07689084e+02] [-1.18481602e-02 9.99929808e-01 0.00000000e+00 -1.41875557e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.90242703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:607.72, Y:-141.88, Z:0.07 [[ 9.99870875e-01 1.60696352e-02 0.00000000e+00 6.07715894e+02] [-1.60696352e-02 9.99870875e-01 0.00000000e+00 -1.41877904e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.10288212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:607.74, Y:-141.88, Z:0.07 [[ 9.99853558e-01 1.71132310e-02 0.00000000e+00 6.07744367e+02] [-1.71132310e-02 9.99853558e-01 0.00000000e+00 -1.41878821e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.02986308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.011400513 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:607.77, Y:-141.88, Z:0.07 [[ 9.99846369e-01 1.75282159e-02 0.00000000e+00 6.07771011e+02] [-1.75282159e-02 9.99846369e-01 0.00000000e+00 -1.41880501e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.93174447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:607.80, Y:-141.88, Z:0.07 [[ 9.99846292e-01 1.75326023e-02 0.00000000e+00 6.07798686e+02] [-1.75326023e-02 9.99846292e-01 0.00000000e+00 -1.41882362e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.92325375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.071400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:607.83, Y:-141.89, Z:0.07 [[ 9.99863431e-01 1.65263271e-02 0.00000000e+00 6.07826751e+02] [-1.65263271e-02 9.99863431e-01 0.00000000e+00 -1.41888154e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.94369443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:607.85, Y:-141.89, Z:0.07 [[ 9.99870496e-01 1.60932101e-02 0.00000000e+00 6.07854509e+02] [-1.60932101e-02 9.99870496e-01 0.00000000e+00 -1.41890452e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.89143123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.131400513 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:607.88, Y:-141.89, Z:0.07 [[ 9.99877590e-01 1.56462356e-02 0.00000000e+00 6.07881646e+02] [-1.56462356e-02 9.99877590e-01 0.00000000e+00 -1.41892931e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.87350826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:607.91, Y:-141.90, Z:0.07 [[ 9.99869143e-01 1.61770345e-02 0.00000000e+00 6.07909644e+02] [-1.61770345e-02 9.99869143e-01 0.00000000e+00 -1.41895075e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.93697673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.191400513 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:607.94, Y:-141.90, Z:0.07 [[ 9.99836505e-01 1.80821291e-02 0.00000000e+00 6.07939206e+02] [-1.80821291e-02 9.99836505e-01 0.00000000e+00 -1.41901036e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.77016676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.221400513 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:607.97, Y:-141.90, Z:0.07 [[ 9.99812211e-01 1.93789282e-02 0.00000000e+00 6.07966035e+02] [-1.93789282e-02 9.99812211e-01 0.00000000e+00 -1.41904038e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.65692149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.251400513 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:607.99, Y:-141.91, Z:0.07 [[ 9.99791758e-01 2.04068919e-02 0.00000000e+00 6.07993616e+02] [-2.04068919e-02 9.99791758e-01 0.00000000e+00 -1.41907392e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.65160665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.281400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:608.02, Y:-141.91, Z:0.07 [[ 9.99771527e-01 2.13750557e-02 0.00000000e+00 6.08021597e+02] [-2.13750557e-02 9.99771527e-01 0.00000000e+00 -1.41910797e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.74395955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.311400513 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:608.05, Y:-141.92, Z:0.07 [[ 9.99723061e-01 2.35330035e-02 0.00000000e+00 6.08050022e+02] [-2.35330035e-02 9.99723061e-01 0.00000000e+00 -1.41918674e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.06881885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:608.08, Y:-141.92, Z:0.07 [[ 9.99691058e-01 2.48553385e-02 0.00000000e+00 6.08077093e+02] [-2.48553385e-02 9.99691058e-01 0.00000000e+00 -1.41921592e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.19739608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.371400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:608.11, Y:-141.92, Z:0.07 [[ 9.99671276e-01 2.56386372e-02 0.00000000e+00 6.08105068e+02] [-2.56386372e-02 9.99671276e-01 0.00000000e+00 -1.41924349e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.99331409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:608.13, Y:-141.93, Z:0.07 [[ 9.99628211e-01 2.72660905e-02 0.00000000e+00 6.08132932e+02] [-2.72660905e-02 9.99628211e-01 0.00000000e+00 -1.41932523e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.01305423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:608.16, Y:-141.94, Z:0.07 [[ 9.99622534e-01 2.74734264e-02 0.00000000e+00 6.08160497e+02] [-2.74734264e-02 9.99622534e-01 0.00000000e+00 -1.41935296e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.14971767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:608.19, Y:-141.94, Z:0.07 [[ 9.99615567e-01 2.77257551e-02 0.00000000e+00 6.08188908e+02] [-2.77257551e-02 9.99615567e-01 0.00000000e+00 -1.41937341e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.43414637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:608.22, Y:-141.94, Z:0.08 [[ 9.99610020e-01 2.79250374e-02 0.00000000e+00 6.08215528e+02] [-2.79250374e-02 9.99610020e-01 0.00000000e+00 -1.41939644e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.60173192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:608.24, Y:-141.95, Z:0.08 [[ 9.99593343e-01 2.85157712e-02 0.00000000e+00 6.08243970e+02] [-2.85157712e-02 9.99593343e-01 0.00000000e+00 -1.41947756e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.50437249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:608.27, Y:-141.95, Z:0.07 [[ 9.99596423e-01 2.84075802e-02 0.00000000e+00 6.08272474e+02] [-2.84075802e-02 9.99596423e-01 0.00000000e+00 -1.41951149e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.33330944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.581400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:608.30, Y:-141.95, Z:0.07 [[ 9.99604062e-01 2.81375056e-02 0.00000000e+00 6.08300534e+02] [-2.81375056e-02 9.99604062e-01 0.00000000e+00 -1.41954188e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.19239367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:608.33, Y:-141.96, Z:0.07 [[ 9.99603150e-01 2.81699005e-02 0.00000000e+00 6.08328110e+02] [-2.81699005e-02 9.99603150e-01 0.00000000e+00 -1.41957735e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.15567175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:608.36, Y:-141.97, Z:0.07 [[ 9.99607150e-01 2.80275746e-02 0.00000000e+00 6.08356269e+02] [-2.80275746e-02 9.99607150e-01 0.00000000e+00 -1.41967033e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.03706981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:608.38, Y:-141.97, Z:0.07 [[ 9.99598799e-01 2.83238705e-02 0.00000000e+00 6.08384355e+02] [-2.83238705e-02 9.99598799e-01 0.00000000e+00 -1.41970552e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.00442969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:608.41, Y:-141.97, Z:0.07 [[ 9.99587413e-01 2.87228755e-02 0.00000000e+00 6.08411619e+02] [-2.87228755e-02 9.99587413e-01 0.00000000e+00 -1.41973391e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.03734756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.731400513 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:608.44, Y:-141.98, Z:0.07 [[ 9.99547548e-01 3.00782108e-02 0.00000000e+00 6.08440227e+02] [-3.00782108e-02 9.99547548e-01 0.00000000e+00 -1.41980710e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.03754373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:608.47, Y:-141.98, Z:0.07 [[ 9.99518236e-01 3.10369953e-02 0.00000000e+00 6.08467637e+02] [-3.10369953e-02 9.99518236e-01 0.00000000e+00 -1.41984332e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.12603568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:608.50, Y:-141.99, Z:0.07 [[ 9.99500428e-01 3.16052758e-02 0.00000000e+00 6.08496186e+02] [-3.16052758e-02 9.99500428e-01 0.00000000e+00 -1.41988590e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.03035892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:608.53, Y:-142.00, Z:0.07 [[ 9.99497133e-01 3.17093212e-02 0.00000000e+00 6.08525060e+02] [-3.17093212e-02 9.99497133e-01 0.00000000e+00 -1.41999363e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.90256023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:608.55, Y:-142.00, Z:0.07 [[ 9.99508824e-01 3.13386399e-02 0.00000000e+00 6.08553150e+02] [-3.13386399e-02 9.99508824e-01 0.00000000e+00 -1.42003293e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.98399209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:608.58, Y:-142.01, Z:0.07 [[ 9.99513525e-01 3.11883671e-02 0.00000000e+00 6.08581401e+02] [-3.11883671e-02 9.99513525e-01 0.00000000e+00 -1.42007408e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.96547729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:608.61, Y:-142.02, Z:0.07 [[ 9.99502996e-01 3.15239898e-02 0.00000000e+00 6.08609070e+02] [-3.15239898e-02 9.99502996e-01 0.00000000e+00 -1.42019976e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.95013706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.941400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:608.64, Y:-142.03, Z:0.07 [[ 9.99487445e-01 3.20132471e-02 0.00000000e+00 6.08637460e+02] [-3.20132471e-02 9.99487445e-01 0.00000000e+00 -1.42025814e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.96918441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.971400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:608.66, Y:-142.03, Z:0.07 [[ 9.99450989e-01 3.31318547e-02 0.00000000e+00 6.08664369e+02] [-3.31318547e-02 9.99450989e-01 0.00000000e+00 -1.42031454e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.07864099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:608.69, Y:-142.04, Z:0.07 [[ 9.99359395e-01 3.57882531e-02 0.00000000e+00 6.08692887e+02] [-3.57882531e-02 9.99359395e-01 0.00000000e+00 -1.42043557e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.08390894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:608.72, Y:-142.05, Z:0.07 [[ 9.99299627e-01 3.74199789e-02 0.00000000e+00 6.08719813e+02] [-3.74199789e-02 9.99299627e-01 0.00000000e+00 -1.42048621e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.09605295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:608.75, Y:-142.05, Z:0.07 [[ 9.99226915e-01 3.93137589e-02 0.00000000e+00 6.08748113e+02] [-3.93137589e-02 9.99226915e-01 0.00000000e+00 -1.42053806e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.02230522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:608.78, Y:-142.06, Z:0.07 [[ 9.99137980e-01 4.15126096e-02 0.00000000e+00 6.08776008e+02] [-4.15126096e-02 9.99137980e-01 0.00000000e+00 -1.42059345e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.96669932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:608.80, Y:-142.07, Z:0.07 [[ 9.98974430e-01 4.52779083e-02 0.00000000e+00 6.08803158e+02] [-4.52779083e-02 9.98974430e-01 0.00000000e+00 -1.42071018e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.80109150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:608.83, Y:-142.08, Z:0.07 [[ 9.98929340e-01 4.62620153e-02 0.00000000e+00 6.08831061e+02] [-4.62620153e-02 9.98929340e-01 0.00000000e+00 -1.42075614e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.68960906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:608.86, Y:-142.08, Z:0.07 [[ 9.98899636e-01 4.68990198e-02 0.00000000e+00 6.08858703e+02] [-4.68990198e-02 9.98899636e-01 0.00000000e+00 -1.42080092e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.67606816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:608.89, Y:-142.08, Z:0.07 [[ 9.98889295e-01 4.71187541e-02 0.00000000e+00 6.08886726e+02] [-4.71187541e-02 9.98889295e-01 0.00000000e+00 -1.42084711e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.86532738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:608.92, Y:-142.09, Z:0.07 [[ 9.98915044e-01 4.65696767e-02 0.00000000e+00 6.08915231e+02] [-4.65696767e-02 9.98915044e-01 0.00000000e+00 -1.42089197e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.16704567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:608.95, Y:-142.10, Z:0.07 [[ 9.99070121e-01 4.31148944e-02 0.00000000e+00 6.08945080e+02] [-4.31148944e-02 9.99070121e-01 0.00000000e+00 -1.42101877e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.47702555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:608.97, Y:-142.11, Z:0.07 [[ 9.99183099e-01 4.04120524e-02 0.00000000e+00 6.08972610e+02] [-4.04120524e-02 9.99183099e-01 0.00000000e+00 -1.42108076e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.39636968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:609.00, Y:-142.11, Z:0.07 [[ 9.99282705e-01 3.78691886e-02 0.00000000e+00 6.09000839e+02] [-3.78691886e-02 9.99282705e-01 0.00000000e+00 -1.42114485e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.14715396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:609.03, Y:-142.12, Z:0.07 [[ 9.99354101e-01 3.59357833e-02 0.00000000e+00 6.09029585e+02] [-3.59357833e-02 9.99354101e-01 0.00000000e+00 -1.42120336e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.96573012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:609.06, Y:-142.12, Z:0.07 [[ 9.99361125e-01 3.57399084e-02 0.00000000e+00 6.09057896e+02] [-3.57399084e-02 9.99361125e-01 0.00000000e+00 -1.42118458e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.96573012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:609.09, Y:-142.13, Z:0.07 [[ 9.99393291e-01 3.48288554e-02 0.00000000e+00 6.09085816e+02] [-3.48288554e-02 9.99393291e-01 0.00000000e+00 -1.42131230e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.83221620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:609.11, Y:-142.14, Z:0.07 [[ 9.99351963e-01 3.59951943e-02 0.00000000e+00 6.09113132e+02] [-3.59951943e-02 9.99351963e-01 0.00000000e+00 -1.42136407e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.85334570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:609.14, Y:-142.15, Z:0.07 [[ 9.99155475e-01 4.10893859e-02 0.00000000e+00 6.09141825e+02] [-4.10893859e-02 9.99155475e-01 0.00000000e+00 -1.42146874e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.82457967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:609.17, Y:-142.15, Z:0.07 [[ 9.99046392e-01 4.36612670e-02 0.00000000e+00 6.09169344e+02] [-4.36612670e-02 9.99046392e-01 0.00000000e+00 -1.42150595e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.79805997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:609.20, Y:-142.15, Z:0.07 [[ 9.98954448e-01 4.57166298e-02 0.00000000e+00 6.09197127e+02] [-4.57166298e-02 9.98954448e-01 0.00000000e+00 -1.42154290e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.77409721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.571400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:609.23, Y:-142.16, Z:0.07 [[ 9.98888295e-01 4.71399381e-02 0.00000000e+00 6.09225095e+02] [-4.71399381e-02 9.98888295e-01 0.00000000e+00 -1.42157888e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.79026622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:609.25, Y:-142.16, Z:0.07 [[ 9.98861040e-01 4.77139604e-02 0.00000000e+00 6.09253657e+02] [-4.77139604e-02 9.98861040e-01 0.00000000e+00 -1.42161162e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.76128042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:609.28, Y:-142.16, Z:0.07 [[ 9.98849222e-01 4.79607341e-02 0.00000000e+00 6.09280534e+02] [-4.79607341e-02 9.98849222e-01 0.00000000e+00 -1.42164703e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.77698622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:609.31, Y:-142.18, Z:0.07 [[ 9.98895805e-01 4.69805343e-02 0.00000000e+00 6.09309311e+02] [-4.69805343e-02 9.98895805e-01 0.00000000e+00 -1.42176168e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.52685730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:609.34, Y:-142.18, Z:0.06 [[ 9.98972972e-01 4.53100627e-02 0.00000000e+00 6.09336165e+02] [-4.53100627e-02 9.98972972e-01 0.00000000e+00 -1.42181495e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.38907371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:609.36, Y:-142.19, Z:0.06 [[ 9.99050103e-01 4.35762767e-02 0.00000000e+00 6.09364735e+02] [-4.35762767e-02 9.99050103e-01 0.00000000e+00 -1.42185613e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.38056810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.751400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:609.39, Y:-142.19, Z:0.06 [[ 9.99104423e-01 4.23125446e-02 0.00000000e+00 6.09391961e+02] [-4.23125446e-02 9.99104423e-01 0.00000000e+00 -1.42189515e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.42171552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:609.42, Y:-142.20, Z:0.07 [[ 9.99151092e-01 4.11958247e-02 0.00000000e+00 6.09421138e+02] [-4.11958247e-02 9.99151092e-01 0.00000000e+00 -1.42200770e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.74465790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.811400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:609.45, Y:-142.21, Z:0.07 [[ 9.99163406e-01 4.08960627e-02 0.00000000e+00 6.09448454e+02] [-4.08960627e-02 9.99163406e-01 0.00000000e+00 -1.42206434e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.82333159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:609.48, Y:-142.21, Z:0.07 [[ 9.99175157e-01 4.06079498e-02 0.00000000e+00 6.09477227e+02] [-4.06079498e-02 9.99175157e-01 0.00000000e+00 -1.42212705e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.79848922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:609.50, Y:-142.22, Z:0.07 [[ 9.99181231e-01 4.04582211e-02 0.00000000e+00 6.09504943e+02] [-4.04582211e-02 9.99181231e-01 0.00000000e+00 -1.42219253e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.73653621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:609.53, Y:-142.23, Z:0.07 [[ 9.99150886e-01 4.12008183e-02 0.00000000e+00 6.09533323e+02] [-4.12008183e-02 9.99150886e-01 0.00000000e+00 -1.42234993e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.59525190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:609.56, Y:-142.24, Z:0.07 [[ 9.99109031e-01 4.22035933e-02 0.00000000e+00 6.09562232e+02] [-4.22035933e-02 9.99109031e-01 0.00000000e+00 -1.42241510e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.62496253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:609.59, Y:-142.25, Z:0.07 [[ 9.99048110e-01 4.36219339e-02 0.00000000e+00 6.09589290e+02] [-4.36219339e-02 9.99048110e-01 0.00000000e+00 -1.42247634e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.72099681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:609.62, Y:-142.25, Z:0.07 [[ 9.98972547e-01 4.53194152e-02 0.00000000e+00 6.09617527e+02] [-4.53194152e-02 9.98972547e-01 0.00000000e+00 -1.42253628e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.79376352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:609.65, Y:-142.27, Z:0.07 [[ 9.98823212e-01 4.84994031e-02 0.00000000e+00 6.09646292e+02] [-4.84994031e-02 9.98823212e-01 0.00000000e+00 -1.42265919e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.67645773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:609.67, Y:-142.27, Z:0.07 [[ 9.98760391e-01 4.97763161e-02 0.00000000e+00 6.09674858e+02] [-4.97763161e-02 9.98760391e-01 0.00000000e+00 -1.42270287e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.51195777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:609.70, Y:-142.28, Z:0.06 [[ 9.98733807e-01 5.03068886e-02 0.00000000e+00 6.09703709e+02] [-5.03068886e-02 9.98733807e-01 0.00000000e+00 -1.42278984e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.30385067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:609.73, Y:-142.28, Z:0.06 [[ 9.98764341e-01 4.96969951e-02 0.00000000e+00 6.09730569e+02] [-4.96969951e-02 9.98764341e-01 0.00000000e+00 -1.42281323e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.29789457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:609.76, Y:-142.28, Z:0.06 [[ 9.98839100e-01 4.81710631e-02 0.00000000e+00 6.09757440e+02] [-4.81710631e-02 9.98839100e-01 0.00000000e+00 -1.42282718e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.35950518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:609.79, Y:-142.28, Z:0.06 [[ 9.98930348e-01 4.62402466e-02 0.00000000e+00 6.09785625e+02] [-4.62402466e-02 9.98930348e-01 0.00000000e+00 -1.42283889e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.37561431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:609.81, Y:-142.29, Z:0.06 [[ 9.99152387e-01 4.11644055e-02 0.00000000e+00 6.09814406e+02] [-4.11644055e-02 9.99152387e-01 0.00000000e+00 -1.42289218e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.43975290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:609.84, Y:-142.29, Z:0.06 [[ 9.99279412e-01 3.79559823e-02 0.00000000e+00 6.09841380e+02] [-3.79559823e-02 9.99279412e-01 0.00000000e+00 -1.42291136e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.44676486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.261400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:609.87, Y:-142.29, Z:0.06 [[ 9.99395487e-01 3.47657918e-02 0.00000000e+00 6.09869514e+02] [-3.47657918e-02 9.99395487e-01 0.00000000e+00 -1.42292221e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.45613571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:609.90, Y:-142.29, Z:0.07 [[ 9.99491333e-01 3.18916326e-02 0.00000000e+00 6.09896734e+02] [-3.18916326e-02 9.99491333e-01 0.00000000e+00 -1.42292857e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.53333166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:609.93, Y:-142.30, Z:0.07 [[ 9.99637539e-01 2.69219482e-02 0.00000000e+00 6.09925109e+02] [-2.69219482e-02 9.99637539e-01 0.00000000e+00 -1.42296595e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.50876000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.351400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:609.95, Y:-142.30, Z:0.06 [[ 9.99696487e-01 2.46360466e-02 0.00000000e+00 6.09953146e+02] [-2.46360466e-02 9.99696487e-01 0.00000000e+00 -1.42298516e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.44467878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:609.98, Y:-142.30, Z:0.06 [[ 9.99740200e-01 2.27932483e-02 0.00000000e+00 6.09981261e+02] [-2.27932483e-02 9.99740200e-01 0.00000000e+00 -1.42299960e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.45942982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:610.01, Y:-142.30, Z:0.07 [[ 9.99764743e-01 2.16900378e-02 0.00000000e+00 6.10010780e+02] [-2.16900378e-02 9.99764743e-01 0.00000000e+00 -1.42303554e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.67615853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:610.04, Y:-142.31, Z:0.07 [[ 9.99764812e-01 2.16868902e-02 0.00000000e+00 6.10038405e+02] [-2.16868902e-02 9.99764812e-01 0.00000000e+00 -1.42305203e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.83298976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.471400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:610.07, Y:-142.31, Z:0.07 [[ 9.99759079e-01 2.19495979e-02 0.00000000e+00 6.10067022e+02] [-2.19495979e-02 9.99759079e-01 0.00000000e+00 -1.42307764e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.80088223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:610.10, Y:-142.31, Z:0.07 [[ 9.99746402e-01 2.25196023e-02 0.00000000e+00 6.10096429e+02] [-2.25196023e-02 9.99746402e-01 0.00000000e+00 -1.42310361e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.58498708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:610.12, Y:-142.31, Z:0.06 [[ 9.99692407e-01 2.48010538e-02 0.00000000e+00 6.10123128e+02] [-2.48010538e-02 9.99692407e-01 0.00000000e+00 -1.42313701e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.44928575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:610.15, Y:-142.31, Z:0.07 [[ 9.99649992e-01 2.64554814e-02 0.00000000e+00 6.10151871e+02] [-2.64554814e-02 9.99649992e-01 0.00000000e+00 -1.42312543e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.59261700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:610.18, Y:-142.31, Z:0.07 [[ 9.99592887e-01 2.85317471e-02 0.00000000e+00 6.10179425e+02] [-2.85317471e-02 9.99592887e-01 0.00000000e+00 -1.42312528e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.69215316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:610.21, Y:-142.31, Z:0.07 [[ 9.99544858e-01 3.01674859e-02 0.00000000e+00 6.10206369e+02] [-3.01674859e-02 9.99544858e-01 0.00000000e+00 -1.42313642e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.62290308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:610.23, Y:-142.31, Z:0.06 [[ 9.99520466e-01 3.09651049e-02 0.00000000e+00 6.10234823e+02] [-3.09651049e-02 9.99520466e-01 0.00000000e+00 -1.42314930e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.42751576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.681400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:610.26, Y:-142.31, Z:0.06 [[ 9.99525656e-01 3.07971207e-02 0.00000000e+00 6.10261905e+02] [-3.07971207e-02 9.99525656e-01 0.00000000e+00 -1.42314800e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.32992019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:610.29, Y:-142.31, Z:0.07 [[ 9.99620925e-01 2.75319124e-02 0.00000000e+00 6.10289762e+02] [-2.75319124e-02 9.99620925e-01 0.00000000e+00 -1.42314011e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.62083807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:610.32, Y:-142.31, Z:0.07 [[ 9.99692188e-01 2.48098443e-02 0.00000000e+00 6.10318896e+02] [-2.48098443e-02 9.99692188e-01 0.00000000e+00 -1.42313191e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.87418319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:610.35, Y:-142.31, Z:0.07 [[ 9.99756083e-01 2.20856063e-02 0.00000000e+00 6.10347403e+02] [-2.20856063e-02 9.99756083e-01 0.00000000e+00 -1.42313484e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.06319066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:610.38, Y:-142.32, Z:0.07 [[ 9.99854964e-01 1.70308780e-02 0.00000000e+00 6.10375424e+02] [-1.70308780e-02 9.99854964e-01 0.00000000e+00 -1.42317377e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.98941966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:610.40, Y:-142.32, Z:0.07 [[ 9.99894596e-01 1.45188444e-02 0.00000000e+00 6.10403408e+02] [-1.45188444e-02 9.99894596e-01 0.00000000e+00 -1.42318588e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.82975660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:610.43, Y:-142.32, Z:0.07 [[ 9.99925494e-01 1.22068490e-02 0.00000000e+00 6.10432733e+02] [-1.22068490e-02 9.99925494e-01 0.00000000e+00 -1.42319853e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.68514199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:610.46, Y:-142.32, Z:0.07 [[ 9.99947150e-01 1.02808682e-02 0.00000000e+00 6.10461871e+02] [-1.02808682e-02 9.99947150e-01 0.00000000e+00 -1.42321259e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.65667005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:610.49, Y:-142.33, Z:0.07 [[ 9.99957482e-01 9.22136102e-03 0.00000000e+00 6.10490841e+02] [-9.22136102e-03 9.99957482e-01 0.00000000e+00 -1.42325504e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.75771768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.951400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:610.52, Y:-142.33, Z:0.07 [[ 9.99942434e-01 1.07297954e-02 0.00000000e+00 6.10520182e+02] [-1.07297954e-02 9.99942434e-01 0.00000000e+00 -1.42326054e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.79867744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:610.55, Y:-142.33, Z:0.07 [[ 9.99905551e-01 1.37436659e-02 0.00000000e+00 6.10548039e+02] [-1.37436659e-02 9.99905551e-01 0.00000000e+00 -1.42326130e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.87960582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:610.58, Y:-142.33, Z:0.07 [[ 9.99844350e-01 1.76430144e-02 0.00000000e+00 6.10576200e+02] [-1.76430144e-02 9.99844350e-01 0.00000000e+00 -1.42325724e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.92323994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.041400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:610.61, Y:-142.33, Z:0.07 [[ 9.99686580e-01 2.50348203e-02 0.00000000e+00 6.10605001e+02] [-2.50348203e-02 9.99686580e-01 0.00000000e+00 -1.42327347e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.87711726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.071400513 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:610.63, Y:-142.33, Z:0.07 [[ 9.99618242e-01 2.76291478e-02 0.00000000e+00 6.10633200e+02] [-2.76291478e-02 9.99618242e-01 0.00000000e+00 -1.42327660e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.75432865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.101400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:610.66, Y:-142.33, Z:0.07 [[ 9.99559621e-01 2.96742947e-02 0.00000000e+00 6.10661361e+02] [-2.96742947e-02 9.99559621e-01 0.00000000e+00 -1.42327981e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.79186233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:610.69, Y:-142.33, Z:0.07 [[ 9.99523108e-01 3.08797162e-02 0.00000000e+00 6.10690027e+02] [-3.08797162e-02 9.99523108e-01 0.00000000e+00 -1.42327688e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.81609472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.161400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:610.72, Y:-142.33, Z:0.07 [[ 9.99510495e-01 3.12852972e-02 0.00000000e+00 6.10719308e+02] [-3.12852972e-02 9.99510495e-01 0.00000000e+00 -1.42327835e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.67181075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.191400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:610.75, Y:-142.33, Z:0.07 [[ 9.99530026e-01 3.06549846e-02 0.00000000e+00 6.10747162e+02] [-3.06549846e-02 9.99530026e-01 0.00000000e+00 -1.42327603e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.54223121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:610.78, Y:-142.33, Z:0.06 [[ 9.99562201e-01 2.95872796e-02 0.00000000e+00 6.10776132e+02] [-2.95872796e-02 9.99562201e-01 0.00000000e+00 -1.42327608e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.47372183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:610.80, Y:-142.33, Z:0.06 [[ 9.99612944e-01 2.78201704e-02 0.00000000e+00 6.10804110e+02] [-2.78201704e-02 9.99612944e-01 0.00000000e+00 -1.42327845e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.49610856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:610.83, Y:-142.33, Z:0.06 [[ 9.99614243e-01 2.77734730e-02 0.00000000e+00 6.10833361e+02] [-2.77734730e-02 9.99614243e-01 0.00000000e+00 -1.42325864e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.49610856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:610.86, Y:-142.33, Z:0.07 [[ 9.99669957e-01 2.56900050e-02 0.00000000e+00 6.10862660e+02] [-2.56900050e-02 9.99669957e-01 0.00000000e+00 -1.42325494e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.55102339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:610.89, Y:-142.33, Z:0.07 [[ 9.99744406e-01 2.26080117e-02 0.00000000e+00 6.10890804e+02] [-2.26080117e-02 9.99744406e-01 0.00000000e+00 -1.42326541e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.88317538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.371400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:610.92, Y:-142.33, Z:0.07 [[ 9.99762034e-01 2.18145767e-02 0.00000000e+00 6.10920096e+02] [-2.18145767e-02 9.99762034e-01 0.00000000e+00 -1.42326434e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.94838911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.401400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:610.95, Y:-142.33, Z:0.07 [[ 9.99776583e-01 2.11372633e-02 0.00000000e+00 6.10947684e+02] [-2.11372633e-02 9.99776583e-01 0.00000000e+00 -1.42326675e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.00917960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.431400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:610.98, Y:-142.33, Z:0.07 [[ 9.99774606e-01 2.12305625e-02 0.00000000e+00 6.10975212e+02] [-2.12305625e-02 9.99774606e-01 0.00000000e+00 -1.42329017e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.06685237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.461400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:611.00, Y:-142.33, Z:0.07 [[ 9.99754648e-01 2.21504608e-02 0.00000000e+00 6.11003840e+02] [-2.21504608e-02 9.99754648e-01 0.00000000e+00 -1.42328452e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.07055505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.491400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:611.03, Y:-142.33, Z:0.07 [[ 9.99728703e-01 2.32920676e-02 0.00000000e+00 6.11032178e+02] [-2.32920676e-02 9.99728703e-01 0.00000000e+00 -1.42327306e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.98991055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.521400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:611.06, Y:-142.33, Z:0.07 [[ 9.99700498e-01 2.44727359e-02 0.00000000e+00 6.11060266e+02] [-2.44727359e-02 9.99700498e-01 0.00000000e+00 -1.42325604e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.98986990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.551400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:611.09, Y:-142.33, Z:0.07 [[ 9.99626382e-01 2.73330547e-02 0.00000000e+00 6.11087891e+02] [-2.73330547e-02 9.99626382e-01 0.00000000e+00 -1.42325335e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.98868134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.581400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:611.12, Y:-142.32, Z:0.07 [[ 9.99589902e-01 2.86361278e-02 0.00000000e+00 6.11116577e+02] [-2.86361278e-02 9.99589902e-01 0.00000000e+00 -1.42324752e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.96740735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.611400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:611.15, Y:-142.32, Z:0.07 [[ 9.99560013e-01 2.96610886e-02 0.00000000e+00 6.11145590e+02] [-2.96610886e-02 9.99560013e-01 0.00000000e+00 -1.42324611e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.98090349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.641400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:611.17, Y:-142.32, Z:0.07 [[ 9.99551954e-01 2.99314491e-02 0.00000000e+00 6.11173058e+02] [-2.99314491e-02 9.99551954e-01 0.00000000e+00 -1.42324346e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.00521146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.671400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:611.20, Y:-142.33, Z:0.07 [[ 9.99617098e-01 2.76705273e-02 0.00000000e+00 6.11202040e+02] [-2.76705273e-02 9.99617098e-01 0.00000000e+00 -1.42325898e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.86906110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.701400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:611.23, Y:-142.33, Z:0.07 [[ 9.99687583e-01 2.49947133e-02 0.00000000e+00 6.11231244e+02] [-2.49947133e-02 9.99687583e-01 0.00000000e+00 -1.42326059e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.73953097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.731400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:611.26, Y:-142.33, Z:0.07 [[ 9.99770693e-01 2.14140442e-02 0.00000000e+00 6.11259132e+02] [-2.14140442e-02 9.99770693e-01 0.00000000e+00 -1.42327046e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.62587139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.761400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:611.29, Y:-142.33, Z:0.07 [[ 9.99893787e-01 1.45744412e-02 0.00000000e+00 6.11288833e+02] [-1.45744412e-02 9.99893787e-01 0.00000000e+00 -1.42332570e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.81264808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.791400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:611.32, Y:-142.33, Z:0.07 [[ 9.99918347e-01 1.27788808e-02 0.00000000e+00 6.11316875e+02] [-1.27788808e-02 9.99918347e-01 0.00000000e+00 -1.42334291e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.03988776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.821400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:611.35, Y:-142.34, Z:0.07 [[ 9.99921730e-01 1.25113786e-02 0.00000000e+00 6.11345451e+02] [-1.25113786e-02 9.99921730e-01 0.00000000e+00 -1.42336021e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.20381029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.851400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:611.37, Y:-142.34, Z:0.07 [[ 9.99911888e-01 1.32746147e-02 0.00000000e+00 6.11373080e+02] [-1.32746147e-02 9.99911888e-01 0.00000000e+00 -1.42337446e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.23196359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.881400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:611.40, Y:-142.34, Z:0.07 [[ 9.99848751e-01 1.73918066e-02 0.00000000e+00 6.11401897e+02] [-1.73918066e-02 9.99848751e-01 0.00000000e+00 -1.42343456e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.02314691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.911400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:611.43, Y:-142.35, Z:0.07 [[ 9.99804941e-01 1.97504506e-02 0.00000000e+00 6.11430776e+02] [-1.97504506e-02 9.99804941e-01 0.00000000e+00 -1.42345296e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.97086804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.941400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:611.46, Y:-142.35, Z:0.07 [[ 9.99756494e-01 2.20670104e-02 0.00000000e+00 6.11460069e+02] [-2.20670104e-02 9.99756494e-01 0.00000000e+00 -1.42346265e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.92423361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.971400513 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:611.49, Y:-142.35, Z:0.07 [[ 9.99718444e-01 2.37283305e-02 0.00000000e+00 6.11487466e+02] [-2.37283305e-02 9.99718444e-01 0.00000000e+00 -1.42346583e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.84241108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.001400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:611.52, Y:-142.35, Z:0.07 [[ 9.99677182e-01 2.54073346e-02 0.00000000e+00 6.11516359e+02] [-2.54073346e-02 9.99677182e-01 0.00000000e+00 -1.42349054e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.59074372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.031400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:611.54, Y:-142.35, Z:0.07 [[ 9.99695717e-01 2.46672622e-02 0.00000000e+00 6.11543814e+02] [-2.46672622e-02 9.99695717e-01 0.00000000e+00 -1.42350079e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.59132465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.061400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:611.57, Y:-142.36, Z:0.07 [[ 9.99798482e-01 2.00747390e-02 0.00000000e+00 6.11572636e+02] [-2.00747390e-02 9.99798482e-01 0.00000000e+00 -1.42355054e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.62781511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.091400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:611.60, Y:-142.36, Z:0.07 [[ 9.99861376e-01 1.66501809e-02 0.00000000e+00 6.11600686e+02] [-1.66501809e-02 9.99861376e-01 0.00000000e+00 -1.42357774e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.71123381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.121400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:611.63, Y:-142.36, Z:0.07 [[ 9.99917622e-01 1.28354637e-02 0.00000000e+00 6.11629536e+02] [-1.28354637e-02 9.99917622e-01 0.00000000e+00 -1.42361062e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.72673617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.151400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:611.66, Y:-142.36, Z:0.07 [[ 9.99958157e-01 9.14788129e-03 0.00000000e+00 6.11659297e+02] [-9.14788129e-03 9.99958157e-01 0.00000000e+00 -1.42364679e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.74831407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.181400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:611.69, Y:-142.37, Z:0.07 [[ 9.99984605e-01 5.54892394e-03 0.00000000e+00 6.11688311e+02] [-5.54892394e-03 9.99984605e-01 0.00000000e+00 -1.42367750e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.76823883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.211400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:611.72, Y:-142.37, Z:0.07 [[ 9.99999925e-01 -3.86529034e-04 0.00000000e+00 6.11718257e+02] [ 3.86529034e-04 9.99999925e-01 0.00000000e+00 -1.42373319e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.67540078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.241400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:611.75, Y:-142.37, Z:0.07 [[ 9.99995469e-01 -3.01022375e-03 0.00000000e+00 6.11748672e+02] [ 3.01022375e-03 9.99995469e-01 0.00000000e+00 -1.42374182e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.60604831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.271400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:611.78, Y:-142.38, Z:0.07 [[ 9.99985351e-01 -5.41279415e-03 0.00000000e+00 6.11779142e+02] [ 5.41279415e-03 9.99985351e-01 0.00000000e+00 -1.42375092e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.51289490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.301400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:611.81, Y:-142.38, Z:0.06 [[ 9.99961398e-01 -8.78647290e-03 0.00000000e+00 6.11810085e+02] [ 8.78647290e-03 9.99961398e-01 0.00000000e+00 -1.42378323e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.44855721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.331400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:611.84, Y:-142.38, Z:0.07 [[ 9.99949550e-01 -1.00447536e-02 0.00000000e+00 6.11840460e+02] [ 1.00447536e-02 9.99949550e-01 0.00000000e+00 -1.42378176e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.60278305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.361400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:611.87, Y:-142.38, Z:0.07 [[ 9.99937118e-01 -1.12142820e-02 0.00000000e+00 6.11871410e+02] [ 1.12142820e-02 9.99937118e-01 0.00000000e+00 -1.42377094e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.81144875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.391400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:611.90, Y:-142.38, Z:0.07 [[ 9.99922076e-01 -1.24836699e-02 0.00000000e+00 6.11902555e+02] [ 1.24836699e-02 9.99922076e-01 0.00000000e+00 -1.42375240e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.93985059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.421400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:611.93, Y:-142.37, Z:0.07 [[ 9.99867532e-01 -1.62763037e-02 0.00000000e+00 6.11933470e+02] [ 1.62763037e-02 9.99867532e-01 0.00000000e+00 -1.42373923e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.00981727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.451400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:611.96, Y:-142.37, Z:0.07 [[ 9.99822992e-01 -1.88144796e-02 0.00000000e+00 6.11964561e+02] [ 1.88144796e-02 9.99822992e-01 0.00000000e+00 -1.42372289e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.00178944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.481400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:612.00, Y:-142.37, Z:0.07 [[ 9.99768158e-01 -2.15320951e-02 0.00000000e+00 6.11995890e+02] [ 2.15320951e-02 9.99768158e-01 0.00000000e+00 -1.42370312e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.01927767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.511400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:612.03, Y:-142.37, Z:0.07 [[ 9.99696542e-01 -2.46337963e-02 0.00000000e+00 6.12026971e+02] [ 2.46337963e-02 9.99696542e-01 0.00000000e+00 -1.42367924e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.93802114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.541400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:612.06, Y:-142.37, Z:0.07 [[ 9.99608359e-01 -2.79844193e-02 0.00000000e+00 6.12058283e+02] [ 2.79844193e-02 9.99608359e-01 0.00000000e+00 -1.42365008e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.84530156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.571400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:612.09, Y:-142.36, Z:0.06 [[ 9.99397423e-01 -3.47101120e-02 0.00000000e+00 6.12090059e+02] [ 3.47101120e-02 9.99397423e-01 0.00000000e+00 -1.42361812e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.48643407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.601400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:612.12, Y:-142.36, Z:0.06 [[ 9.99294645e-01 -3.75527983e-02 0.00000000e+00 6.12121173e+02] [ 3.75527983e-02 9.99294645e-01 0.00000000e+00 -1.42360063e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.48033186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.631400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:612.15, Y:-142.36, Z:0.07 [[ 9.99208566e-01 -3.97774113e-02 0.00000000e+00 6.12152012e+02] [ 3.97774113e-02 9.99208566e-01 0.00000000e+00 -1.42357996e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.51491450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.661400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:612.18, Y:-142.36, Z:0.07 [[ 9.99151586e-01 -4.11838253e-02 0.00000000e+00 6.12184184e+02] [ 4.11838253e-02 9.99151586e-01 0.00000000e+00 -1.42355351e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.53172713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.691400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:612.22, Y:-142.35, Z:0.06 [[ 9.99105440e-01 -4.22885199e-02 0.00000000e+00 6.12216115e+02] [ 4.22885199e-02 9.99105440e-01 0.00000000e+00 -1.42351208e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.14021881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.721400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:612.25, Y:-142.35, Z:0.06 [[ 9.99105665e-01 -4.22832130e-02 0.00000000e+00 6.12248042e+02] [ 4.22832130e-02 9.99105665e-01 0.00000000e+00 -1.42348387e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.91275197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.751400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:612.28, Y:-142.35, Z:0.06 [[ 9.99095527e-01 -4.25220884e-02 0.00000000e+00 6.12279629e+02] [ 4.25220884e-02 9.99095527e-01 0.00000000e+00 -1.42345592e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.71844850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.781400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:612.31, Y:-142.34, Z:0.06 [[ 9.98996122e-01 -4.47967448e-02 0.00000000e+00 6.12311375e+02] [ 4.47967448e-02 9.98996122e-01 0.00000000e+00 -1.42342027e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.90511029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.811400513 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:612.34, Y:-142.34, Z:0.06 [[ 9.98900553e-01 -4.68794762e-02 0.00000000e+00 6.12343210e+02] [ 4.68794762e-02 9.98900553e-01 0.00000000e+00 -1.42340167e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.99218590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.841400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:612.38, Y:-142.34, Z:0.06 [[ 9.98791237e-01 -4.91534893e-02 0.00000000e+00 6.12375212e+02] [ 4.91534893e-02 9.98791237e-01 0.00000000e+00 -1.42339597e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.13922439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.871400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:612.41, Y:-142.34, Z:0.06 [[ 9.98651302e-01 -5.19189489e-02 0.00000000e+00 6.12406937e+02] [ 5.19189489e-02 9.98651302e-01 0.00000000e+00 -1.42339383e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.14462718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.901400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:612.44, Y:-142.34, Z:0.06 [[ 9.98301344e-01 -5.82617051e-02 0.00000000e+00 6.12439523e+02] [ 5.82617051e-02 9.98301344e-01 0.00000000e+00 -1.42338872e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.09645646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.931400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:612.47, Y:-142.34, Z:0.06 [[ 9.98155876e-01 -6.07029399e-02 0.00000000e+00 6.12472121e+02] [ 6.07029399e-02 9.98155876e-01 0.00000000e+00 -1.42337434e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.08883419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.961400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:612.50, Y:-142.34, Z:0.06 [[ 9.98061115e-01 -6.22415587e-02 0.00000000e+00 6.12502390e+02] [ 6.22415587e-02 9.98061115e-01 0.00000000e+00 -1.42337215e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.08754031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.991400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:612.53, Y:-142.34, Z:0.06 [[ 9.97933936e-01 -6.42484250e-02 0.00000000e+00 6.12534311e+02] [ 6.42484250e-02 9.97933936e-01 0.00000000e+00 -1.42339056e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.32946532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.021400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:612.57, Y:-142.34, Z:0.06 [[ 9.97919027e-01 -6.44795708e-02 0.00000000e+00 6.12565607e+02] [ 6.44795708e-02 9.97919027e-01 0.00000000e+00 -1.42337809e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.44106879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.051400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:612.60, Y:-142.34, Z:0.06 [[ 9.97948035e-01 -6.40290563e-02 0.00000000e+00 6.12595471e+02] [ 6.40290563e-02 9.97948035e-01 0.00000000e+00 -1.42335994e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.41894243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.081400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:612.63, Y:-142.33, Z:0.06 [[ 9.97990769e-01 -6.33594975e-02 0.00000000e+00 6.12626569e+02] [ 6.33594975e-02 9.97990769e-01 0.00000000e+00 -1.42334446e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.31358530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.111400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:612.66, Y:-142.34, Z:0.06 [[ 9.98067252e-01 -6.21430636e-02 0.00000000e+00 6.12656649e+02] [ 6.21430636e-02 9.98067252e-01 0.00000000e+00 -1.42335464e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.27172499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.141400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:612.69, Y:-142.33, Z:0.06 [[ 9.98109295e-01 -6.14640939e-02 0.00000000e+00 6.12687839e+02] [ 6.14640939e-02 9.98109295e-01 0.00000000e+00 -1.42334770e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.44363603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.171400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:612.72, Y:-142.33, Z:0.06 [[ 9.98114522e-01 -6.13791654e-02 0.00000000e+00 6.12718659e+02] [ 6.13791654e-02 9.98114522e-01 0.00000000e+00 -1.42332259e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.48045475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.201400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:612.75, Y:-142.33, Z:0.06 [[ 9.98116018e-01 -6.13548239e-02 0.00000000e+00 6.12750432e+02] [ 6.13548239e-02 9.98116018e-01 0.00000000e+00 -1.42330224e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.48045475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.231400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:612.78, Y:-142.33, Z:0.06 [[ 9.98092254e-01 -6.17402084e-02 0.00000000e+00 6.12780763e+02] [ 6.17402084e-02 9.98092254e-01 0.00000000e+00 -1.42327445e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.33725942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.261400513 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:612.81, Y:-142.33, Z:0.06 [[ 9.98042469e-01 -6.25398312e-02 0.00000000e+00 6.12810931e+02] [ 6.25398312e-02 9.98042469e-01 0.00000000e+00 -1.42325066e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.15206091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.291400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:612.84, Y:-142.32, Z:0.06 [[ 9.97968604e-01 -6.37076602e-02 0.00000000e+00 6.12842692e+02] [ 6.37076602e-02 9.97968604e-01 0.00000000e+00 -1.42322986e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.19595996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.321400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:612.87, Y:-142.32, Z:0.06 [[ 9.97718001e-01 -6.75188220e-02 0.00000000e+00 6.12874252e+02] [ 6.75188220e-02 9.97718001e-01 0.00000000e+00 -1.42320169e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.37318550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.351400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:612.90, Y:-142.32, Z:0.06 [[ 9.97578073e-01 -6.95556451e-02 0.00000000e+00 6.12904584e+02] [ 6.95556451e-02 9.97578073e-01 0.00000000e+00 -1.42317784e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.35609616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.381400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:612.94, Y:-142.32, Z:0.06 [[ 9.97413161e-01 -7.18817473e-02 0.00000000e+00 6.12935415e+02] [ 7.18817473e-02 9.97413161e-01 0.00000000e+00 -1.42315163e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.31217534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.411400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:612.97, Y:-142.31, Z:0.06 [[ 9.97095339e-01 -7.61635451e-02 0.00000000e+00 6.12966561e+02] [ 7.61635451e-02 9.97095339e-01 0.00000000e+00 -1.42310589e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.22877056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.441400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:613.00, Y:-142.31, Z:0.06 [[ 9.96989610e-01 -7.75352696e-02 0.00000000e+00 6.12996834e+02] [ 7.75352696e-02 9.96989610e-01 0.00000000e+00 -1.42306485e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.25474074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.471400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:613.03, Y:-142.30, Z:0.06 [[ 9.96934838e-01 -7.82363614e-02 0.00000000e+00 6.13027935e+02] [ 7.82363614e-02 9.96934838e-01 0.00000000e+00 -1.42302039e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.28216215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.501400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:613.06, Y:-142.30, Z:0.06 [[ 9.96907706e-01 -7.85813292e-02 0.00000000e+00 6.13059015e+02] [ 7.85813292e-02 9.96907706e-01 0.00000000e+00 -1.42297567e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.45118436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.531400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:613.09, Y:-142.29, Z:0.07 [[ 9.96951143e-01 -7.80283152e-02 0.00000000e+00 6.13090174e+02] [ 7.80283152e-02 9.96951143e-01 0.00000000e+00 -1.42293063e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.55842260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.561400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:613.12, Y:-142.28, Z:0.07 [[ 9.97018063e-01 -7.71685245e-02 0.00000000e+00 6.13121810e+02] [ 7.71685245e-02 9.97018063e-01 0.00000000e+00 -1.42284251e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.51855802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.591400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:613.15, Y:-142.28, Z:0.06 [[ 9.96981503e-01 -7.76394386e-02 0.00000000e+00 6.13153665e+02] [ 7.76394386e-02 9.96981503e-01 0.00000000e+00 -1.42279051e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.26354742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.621400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:613.19, Y:-142.27, Z:0.06 [[ 9.96889775e-01 -7.88084749e-02 0.00000000e+00 6.13185078e+02] [ 7.88084749e-02 9.96889775e-01 0.00000000e+00 -1.42274657e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.99232425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.651400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:613.22, Y:-142.27, Z:0.06 [[ 9.96787330e-01 -8.00938119e-02 0.00000000e+00 6.13216457e+02] [ 8.00938119e-02 9.96787330e-01 0.00000000e+00 -1.42270937e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.83029966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.681400513 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:613.25, Y:-142.26, Z:0.06 [[ 9.96694364e-01 -8.12425105e-02 0.00000000e+00 6.13248365e+02] [ 8.12425105e-02 9.96694364e-01 0.00000000e+00 -1.42264763e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.86313209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.711400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:613.28, Y:-142.26, Z:0.06 [[ 9.96711397e-01 -8.10332696e-02 0.00000000e+00 6.13279065e+02] [ 8.10332696e-02 9.96711397e-01 0.00000000e+00 -1.42260990e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.92980201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.741400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:613.31, Y:-142.26, Z:0.06 [[ 9.96729847e-01 -8.08060188e-02 0.00000000e+00 6.13310437e+02] [ 8.08060188e-02 9.96729847e-01 0.00000000e+00 -1.42257516e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.90200488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.771400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:613.34, Y:-142.25, Z:0.06 [[ 9.96753593e-01 -8.05125719e-02 0.00000000e+00 6.13342426e+02] [ 8.05125719e-02 9.96753593e-01 0.00000000e+00 -1.42253656e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.88474143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.801400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:613.37, Y:-142.25, Z:0.06 [[ 9.96786697e-01 -8.01016840e-02 0.00000000e+00 6.13373704e+02] [ 8.01016840e-02 9.96786697e-01 0.00000000e+00 -1.42245896e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.06559896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.831400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:613.40, Y:-142.24, Z:0.06 [[ 9.96813939e-01 -7.97619613e-02 0.00000000e+00 6.13404420e+02] [ 7.97619613e-02 9.96813939e-01 0.00000000e+00 -1.42240287e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.18480255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.861400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:613.43, Y:-142.23, Z:0.06 [[ 9.96843807e-01 -7.93878081e-02 0.00000000e+00 6.13434888e+02] [ 7.93878081e-02 9.96843807e-01 0.00000000e+00 -1.42232726e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.29364561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.891400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:613.47, Y:-142.23, Z:0.06 [[ 9.96843848e-01 -7.93872959e-02 0.00000000e+00 6.13465601e+02] [ 7.93872959e-02 9.96843848e-01 0.00000000e+00 -1.42228443e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.29791777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.921400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:613.50, Y:-142.22, Z:0.06 [[ 9.96819194e-01 -7.96962579e-02 0.00000000e+00 6.13497066e+02] [ 7.96962579e-02 9.96819194e-01 0.00000000e+00 -1.42223061e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.27147843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.951400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:613.53, Y:-142.22, Z:0.06 [[ 9.96736267e-01 -8.07267902e-02 0.00000000e+00 6.13529087e+02] [ 8.07267902e-02 9.96736267e-01 0.00000000e+00 -1.42217185e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.22511794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.981400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:613.56, Y:-142.21, Z:0.06 [[ 9.96624398e-01 -8.20963391e-02 0.00000000e+00 6.13559964e+02] [ 8.20963391e-02 9.96624398e-01 0.00000000e+00 -1.42212083e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.33715873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.011400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:613.59, Y:-142.21, Z:0.06 [[ 9.96392064e-01 -8.48696305e-02 0.00000000e+00 6.13590694e+02] [ 8.48696305e-02 9.96392064e-01 0.00000000e+00 -1.42205698e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.41540560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.041400513 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:613.62, Y:-142.20, Z:0.06 [[ 9.96288824e-01 -8.60731042e-02 0.00000000e+00 6.13622226e+02] [ 8.60731042e-02 9.96288824e-01 0.00000000e+00 -1.42201746e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.36022220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.071400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:613.65, Y:-142.20, Z:0.06 [[ 9.96169107e-01 -8.74477525e-02 0.00000000e+00 6.13654557e+02] [ 8.74477525e-02 9.96169107e-01 0.00000000e+00 -1.42197338e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.34945390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.101400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:613.69, Y:-142.19, Z:0.06 [[ 9.95858830e-01 -9.09130893e-02 0.00000000e+00 6.13685560e+02] [ 9.09130893e-02 9.95858830e-01 0.00000000e+00 -1.42190266e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.15060126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.131400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:613.72, Y:-142.19, Z:0.06 [[ 9.95694270e-01 -9.26980061e-02 0.00000000e+00 6.13717419e+02] [ 9.26980061e-02 9.95694270e-01 0.00000000e+00 -1.42187009e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.08678640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.161400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:613.75, Y:-142.18, Z:0.06 [[ 9.95534083e-01 -9.44028019e-02 0.00000000e+00 6.13749412e+02] [ 9.44028019e-02 9.95534083e-01 0.00000000e+00 -1.42183855e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.08532801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.191400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:613.78, Y:-142.18, Z:0.06 [[ 9.95130437e-01 -9.85667943e-02 0.00000000e+00 6.13781760e+02] [ 9.85667943e-02 9.95130437e-01 0.00000000e+00 -1.42178719e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.92452111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.221400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:613.81, Y:-142.18, Z:0.06 [[ 9.94926287e-01 -1.00606576e-01 0.00000000e+00 6.13813240e+02] [ 1.00606576e-01 9.94926287e-01 0.00000000e+00 -1.42175412e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.77901052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.251400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:613.85, Y:-142.17, Z:0.06 [[ 9.94745562e-01 -1.02378062e-01 0.00000000e+00 6.13846389e+02] [ 1.02378062e-01 9.94745562e-01 0.00000000e+00 -1.42171672e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.74291705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.281400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:613.88, Y:-142.17, Z:0.06 [[ 9.94608373e-01 -1.03702380e-01 0.00000000e+00 6.13879124e+02] [ 1.03702380e-01 9.94608373e-01 0.00000000e+00 -1.42167839e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.76666695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.311400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:613.91, Y:-142.16, Z:0.06 [[ 9.94467398e-01 -1.05045675e-01 0.00000000e+00 6.13911966e+02] [ 1.05045675e-01 9.94467398e-01 0.00000000e+00 -1.42162765e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.83342107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.341400513 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:613.95, Y:-142.16, Z:0.06 [[ 9.94419926e-01 -1.05494131e-01 0.00000000e+00 6.13945174e+02] [ 1.05494131e-01 9.94419926e-01 0.00000000e+00 -1.42159123e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.87671834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.371400513 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:613.98, Y:-142.16, Z:0.06 [[ 9.94390343e-01 -1.05772614e-01 0.00000000e+00 6.13976953e+02] [ 1.05772614e-01 9.94390343e-01 0.00000000e+00 -1.42155257e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.83157054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.401400513 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:614.01, Y:-142.15, Z:0.06 [[ 9.94382281e-01 -1.05848381e-01 0.00000000e+00 6.14009178e+02] [ 1.05848381e-01 9.94382281e-01 0.00000000e+00 -1.42146572e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.85893678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.431400513 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:614.04, Y:-142.14, Z:0.06 [[ 9.94461844e-01 -1.05098245e-01 0.00000000e+00 6.14040495e+02] [ 1.05098245e-01 9.94461844e-01 0.00000000e+00 -1.42140895e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.87167238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.461400513 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:614.07, Y:-142.13, Z:0.06 [[ 9.94548835e-01 -1.04271827e-01 0.00000000e+00 6.14072788e+02] [ 1.04271827e-01 9.94548835e-01 0.00000000e+00 -1.42134567e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.90719022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.491400513 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:614.11, Y:-142.13, Z:0.06 [[ 9.94698516e-01 -1.02834147e-01 0.00000000e+00 6.14105961e+02] [ 1.02834147e-01 9.94698516e-01 0.00000000e+00 -1.42128300e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.01727065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.521400513 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:614.14, Y:-142.12, Z:0.06 [[ 9.94956819e-01 -1.00304179e-01 0.00000000e+00 6.14137618e+02] [ 1.00304179e-01 9.94956819e-01 0.00000000e+00 -1.42116601e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.26429589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.551400513 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:614.17, Y:-142.11, Z:0.06 [[ 9.95019038e-01 -9.96850693e-02 0.00000000e+00 6.14169861e+02] [ 9.96850693e-02 9.95019038e-01 0.00000000e+00 -1.42109545e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.29045891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.581400513 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:614.20, Y:-142.10, Z:0.06 [[ 9.95060945e-01 -9.92658803e-02 0.00000000e+00 6.14202446e+02] [ 9.92658803e-02 9.95060945e-01 0.00000000e+00 -1.42102929e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.25541179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.611400513 meters Centerline goodness : 0.998667 Centerline is valid? [True, True] Translation: X:614.23, Y:-142.10, Z:0.06 [[ 9.95064788e-01 -9.92273542e-02 0.00000000e+00 6.14234594e+02] [ 9.92273542e-02 9.95064788e-01 0.00000000e+00 -1.42096890e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.25686801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.641400513 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:614.27, Y:-142.09, Z:0.06 [[ 9.94793408e-01 -1.01912097e-01 0.00000000e+00 6.14265824e+02] [ 1.01912097e-01 9.94793408e-01 0.00000000e+00 -1.42087450e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.92081803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.671400513 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:614.30, Y:-142.08, Z:0.06 [[ 9.94588988e-01 -1.03888136e-01 0.00000000e+00 6.14298194e+02] [ 1.03888136e-01 9.94588988e-01 0.00000000e+00 -1.42083283e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.73346754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.701400513 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:614.33, Y:-142.08, Z:0.06 [[ 9.94304183e-01 -1.06579512e-01 0.00000000e+00 6.14330639e+02] [ 1.06579512e-01 9.94304183e-01 0.00000000e+00 -1.42079499e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.55562206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.731400513 meters Centerline goodness : 0.998768 Centerline is valid? [True, True] Translation: X:614.36, Y:-142.08, Z:0.05 [[ 9.93724549e-01 -1.11854911e-01 0.00000000e+00 6.14362021e+02] [ 1.11854911e-01 9.93724549e-01 0.00000000e+00 -1.42075694e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.41048491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.761400513 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:614.39, Y:-142.07, Z:0.05 [[ 9.93387271e-01 -1.14811715e-01 0.00000000e+00 6.14394655e+02] [ 1.14811715e-01 9.93387271e-01 0.00000000e+00 -1.42072351e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.47535604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.791400513 meters Centerline goodness : 0.998409 Centerline is valid? [True, True] Translation: X:614.43, Y:-142.07, Z:0.06 [[ 9.93140501e-01 -1.16927096e-01 0.00000000e+00 6.14426653e+02] [ 1.16927096e-01 9.93140501e-01 0.00000000e+00 -1.42069657e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.54258910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.821400513 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:614.46, Y:-142.07, Z:0.06 [[ 9.92883975e-01 -1.19085732e-01 0.00000000e+00 6.14458236e+02] [ 1.19085732e-01 9.92883975e-01 0.00000000e+00 -1.42066373e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.57091805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.851400513 meters Centerline goodness : 0.998686 Centerline is valid? [True, True] Translation: X:614.49, Y:-142.06, Z:0.06 [[ 9.92833348e-01 -1.19507085e-01 0.00000000e+00 6.14491617e+02] [ 1.19507085e-01 9.92833348e-01 0.00000000e+00 -1.42064421e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.54508390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.881400513 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:614.52, Y:-142.06, Z:0.05 [[ 9.92822321e-01 -1.19598654e-01 0.00000000e+00 6.14523875e+02] [ 1.19598654e-01 9.92822321e-01 0.00000000e+00 -1.42061288e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.44653331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.911400513 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:614.56, Y:-142.06, Z:0.05 [[ 9.92830016e-01 -1.19534758e-01 0.00000000e+00 6.14557002e+02] [ 1.19534758e-01 9.92830016e-01 0.00000000e+00 -1.42058167e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.44394967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.941400513 meters Centerline goodness : 0.998507 Centerline is valid? [True, True] Translation: X:614.59, Y:-142.05, Z:0.06 [[ 9.92825564e-01 -1.19571731e-01 0.00000000e+00 6.14589924e+02] [ 1.19571731e-01 9.92825564e-01 0.00000000e+00 -1.42054561e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.54420187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.971400513 meters Centerline goodness : 0.998371 Centerline is valid? [True, True] Translation: X:614.62, Y:-142.05, Z:0.06 [[ 9.92883918e-01 -1.19086212e-01 0.00000000e+00 6.14623207e+02] [ 1.19086212e-01 9.92883918e-01 0.00000000e+00 -1.42052386e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.65834206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.001400513 meters Centerline goodness : 0.998458 Centerline is valid? [True, True] Translation: X:614.65, Y:-142.05, Z:0.06 [[ 9.92922497e-01 -1.18764112e-01 0.00000000e+00 6.14654663e+02] [ 1.18764112e-01 9.92922497e-01 0.00000000e+00 -1.42049494e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.69186793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.031400513 meters Centerline goodness : 0.998619 Centerline is valid? [True, True] Translation: X:614.69, Y:-142.05, Z:0.06 [[ 9.93016459e-01 -1.17975896e-01 0.00000000e+00 6.14687840e+02] [ 1.17975896e-01 9.93016459e-01 0.00000000e+00 -1.42046931e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.70673334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.061400513 meters Centerline goodness : 0.998168 Centerline is valid? [True, True] Translation: X:614.72, Y:-142.04, Z:0.06 [[ 9.93244637e-01 -1.16039178e-01 0.00000000e+00 6.14719862e+02] [ 1.16039178e-01 9.93244637e-01 0.00000000e+00 -1.42043900e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.72704335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.091400513 meters Centerline goodness : 0.998422 Centerline is valid? [True, True] Translation: X:614.75, Y:-142.04, Z:0.06 [[ 9.93319350e-01 -1.15397876e-01 0.00000000e+00 6.14752842e+02] [ 1.15397876e-01 9.93319350e-01 0.00000000e+00 -1.42041358e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.76939352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.121400513 meters Centerline goodness : 0.998422 Centerline is valid? [True, True] Translation: X:614.79, Y:-142.04, Z:0.06 [[ 9.93327501e-01 -1.15327688e-01 0.00000000e+00 6.14786311e+02] [ 1.15327688e-01 9.93327501e-01 0.00000000e+00 -1.42039392e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.76939352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.151400513 meters Centerline goodness : 0.998115 Centerline is valid? [True, True] Translation: X:614.82, Y:-142.04, Z:0.06 [[ 9.93538209e-01 -1.13498140e-01 0.00000000e+00 6.14818767e+02] [ 1.13498140e-01 9.93538209e-01 0.00000000e+00 -1.42038256e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.91132950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.181400513 meters Centerline goodness : 0.998273 Centerline is valid? [True, True] Translation: X:614.85, Y:-142.04, Z:0.06 [[ 9.93687612e-01 -1.12182569e-01 0.00000000e+00 6.14852068e+02] [ 1.12182569e-01 9.93687612e-01 0.00000000e+00 -1.42035355e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.10999932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.211400513 meters Centerline goodness : 0.998496 Centerline is valid? [True, True] Translation: X:614.88, Y:-142.03, Z:0.06 [[ 9.93819269e-01 -1.11010178e-01 0.00000000e+00 6.14884099e+02] [ 1.11010178e-01 9.93819269e-01 0.00000000e+00 -1.42031092e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.28274324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.241400513 meters Centerline goodness : 0.998794 Centerline is valid? [True, True] Translation: X:614.92, Y:-142.03, Z:0.06 [[ 9.94082104e-01 -1.08631352e-01 0.00000000e+00 6.14916763e+02] [ 1.08631352e-01 9.94082104e-01 0.00000000e+00 -1.42026486e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.31223548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.271400513 meters Centerline goodness : 0.998574 Centerline is valid? [True, True] Translation: X:614.95, Y:-142.02, Z:0.06 [[ 9.94131089e-01 -1.08182151e-01 0.00000000e+00 6.14948806e+02] [ 1.08182151e-01 9.94131089e-01 0.00000000e+00 -1.42024284e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.13015991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.301400513 meters Centerline goodness : 0.998551 Centerline is valid? [True, True] Translation: X:614.98, Y:-142.02, Z:0.06 [[ 9.94106448e-01 -1.08408349e-01 0.00000000e+00 6.14982067e+02] [ 1.08408349e-01 9.94106448e-01 0.00000000e+00 -1.42022468e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.85632140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.331400513 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:615.01, Y:-142.02, Z:0.06 [[ 9.94009222e-01 -1.09296232e-01 0.00000000e+00 6.15014586e+02] [ 1.09296232e-01 9.94009222e-01 0.00000000e+00 -1.42020827e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.65392713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.361400513 meters Centerline goodness : 0.998168 Centerline is valid? [True, True] Translation: X:615.05, Y:-142.02, Z:0.06 [[ 9.93961749e-01 -1.09727127e-01 0.00000000e+00 6.15046900e+02] [ 1.09727127e-01 9.93961749e-01 0.00000000e+00 -1.42019821e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.60793914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.391400513 meters Centerline goodness : 0.998597 Centerline is valid? [True, True] Translation: X:615.08, Y:-142.02, Z:0.06 [[ 9.93873075e-01 -1.10527423e-01 0.00000000e+00 6.15080013e+02] [ 1.10527423e-01 9.93873075e-01 0.00000000e+00 -1.42017901e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.78170317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.421400513 meters Centerline goodness : 0.998395 Centerline is valid? [True, True] Translation: X:615.11, Y:-142.02, Z:0.06 [[ 9.93979863e-01 -1.09562914e-01 0.00000000e+00 6.15111967e+02] [ 1.09562914e-01 9.93979863e-01 0.00000000e+00 -1.42015839e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.88790431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.451400513 meters Centerline goodness : 0.998433 Centerline is valid? [True, True] Translation: X:615.14, Y:-142.01, Z:0.06 [[ 9.94138806e-01 -1.08111214e-01 0.00000000e+00 6.15143989e+02] [ 1.08111214e-01 9.94138806e-01 0.00000000e+00 -1.42013489e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.88617356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.481400513 meters Centerline goodness : 0.998431 Centerline is valid? [True, True] Translation: X:615.18, Y:-142.01, Z:0.06 [[ 9.94309306e-01 -1.06531708e-01 0.00000000e+00 6.15176919e+02] [ 1.06531708e-01 9.94309306e-01 0.00000000e+00 -1.42011416e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.67685789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.511400513 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:615.21, Y:-142.01, Z:0.05 [[ 9.94509656e-01 -1.04644851e-01 0.00000000e+00 6.15209597e+02] [ 1.04644851e-01 9.94509656e-01 0.00000000e+00 -1.42009969e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.15414377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.541400513 meters Centerline goodness : 0.998530 Centerline is valid? [True, True] Translation: X:615.24, Y:-142.01, Z:0.05 [[ 9.94477578e-01 -1.04949254e-01 0.00000000e+00 6.15241736e+02] [ 1.04949254e-01 9.94477578e-01 0.00000000e+00 -1.42008740e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.06502289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.571400513 meters Centerline goodness : 0.998470 Centerline is valid? [True, True] Translation: X:615.27, Y:-142.01, Z:0.05 [[ 9.94368874e-01 -1.05974254e-01 0.00000000e+00 6.15273664e+02] [ 1.05974254e-01 9.94368874e-01 0.00000000e+00 -1.42007938e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.15761895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.601400513 meters Centerline goodness : 0.998279 Centerline is valid? [True, True] Translation: X:615.31, Y:-142.01, Z:0.05 [[ 9.94225041e-01 -1.07315274e-01 0.00000000e+00 6.15305172e+02] [ 1.07315274e-01 9.94225041e-01 0.00000000e+00 -1.42007882e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.28236750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.631400513 meters Centerline goodness : 0.998370 Centerline is valid? [True, True] Translation: X:615.34, Y:-142.01, Z:0.05 [[ 9.94044937e-01 -1.08970929e-01 0.00000000e+00 6.15336841e+02] [ 1.08970929e-01 9.94044937e-01 0.00000000e+00 -1.42010723e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.43289894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.661400513 meters Centerline goodness : 0.998430 Centerline is valid? [True, True] Translation: X:615.37, Y:-142.01, Z:0.05 [[ 9.94053335e-01 -1.08894291e-01 0.00000000e+00 6.15369698e+02] [ 1.08894291e-01 9.94053335e-01 0.00000000e+00 -1.42009730e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.39099289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.691400513 meters Centerline goodness : 0.998304 Centerline is valid? [True, True] Translation: X:615.40, Y:-142.01, Z:0.05 [[ 9.94177649e-01 -1.07753433e-01 0.00000000e+00 6.15401600e+02] [ 1.07753433e-01 9.94177649e-01 0.00000000e+00 -1.42007360e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.41031224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.721400513 meters Centerline goodness : 0.998658 Centerline is valid? [True, True] Translation: X:615.43, Y:-142.00, Z:0.05 [[ 9.94310302e-01 -1.06522404e-01 0.00000000e+00 6.15434137e+02] [ 1.06522404e-01 9.94310302e-01 0.00000000e+00 -1.42001988e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.44384212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.751400513 meters Centerline goodness : 0.998313 Centerline is valid? [True, True] Translation: X:615.47, Y:-142.00, Z:0.06 [[ 9.94788159e-01 -1.01963322e-01 0.00000000e+00 6.15465670e+02] [ 1.01963322e-01 9.94788159e-01 0.00000000e+00 -1.41995951e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.75289256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.781400513 meters Centerline goodness : 0.998735 Centerline is valid? [True, True] Translation: X:615.50, Y:-141.99, Z:0.06 [[ 9.95102231e-01 -9.88511544e-02 0.00000000e+00 6.15497923e+02] [ 9.88511544e-02 9.95102231e-01 0.00000000e+00 -1.41992570e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.01187758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.811400513 meters Centerline goodness : 0.998606 Centerline is valid? [True, True] Translation: X:615.53, Y:-141.99, Z:0.06 [[ 9.95467154e-01 -9.51059716e-02 0.00000000e+00 6.15530123e+02] [ 9.51059716e-02 9.95467154e-01 0.00000000e+00 -1.41987960e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.16487705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.841400513 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:615.56, Y:-141.98, Z:0.06 [[ 9.95850323e-01 -9.10062285e-02 0.00000000e+00 6.15561654e+02] [ 9.10062285e-02 9.95850323e-01 0.00000000e+00 -1.41981917e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.11408892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.871400513 meters Centerline goodness : 0.998532 Centerline is valid? [True, True] Translation: X:615.59, Y:-141.97, Z:0.06 [[ 9.96220022e-01 -8.68658058e-02 0.00000000e+00 6.15593492e+02] [ 8.68658058e-02 9.96220022e-01 0.00000000e+00 -1.41974319e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.90150556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.901400513 meters Centerline goodness : 0.998493 Centerline is valid? [True, True] Translation: X:615.63, Y:-141.96, Z:0.06 [[ 9.96936749e-01 -7.82120075e-02 0.00000000e+00 6.15625010e+02] [ 7.82120075e-02 9.96936749e-01 0.00000000e+00 -1.41960154e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.66421989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.931400513 meters Centerline goodness : 0.998619 Centerline is valid? [True, True] Translation: X:615.66, Y:-141.95, Z:0.06 [[ 9.97253401e-01 -7.40652063e-02 0.00000000e+00 6.15656983e+02] [ 7.40652063e-02 9.97253401e-01 0.00000000e+00 -1.41951699e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.75529790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.961400513 meters Centerline goodness : 0.998604 Centerline is valid? [True, True] Translation: X:615.69, Y:-141.94, Z:0.06 [[ 9.97552583e-01 -6.99202750e-02 0.00000000e+00 6.15689535e+02] [ 6.99202750e-02 9.97552583e-01 0.00000000e+00 -1.41943196e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.98552759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.991400513 meters Centerline goodness : 0.998449 Centerline is valid? [True, True] Translation: X:615.72, Y:-141.93, Z:0.06 [[ 9.97808688e-01 -6.61651067e-02 0.00000000e+00 6.15721077e+02] [ 6.61651067e-02 9.97808688e-01 0.00000000e+00 -1.41934851e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.17351649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.021400513 meters Centerline goodness : 0.998516 Centerline is valid? [True, True] Translation: X:615.75, Y:-141.93, Z:0.06 [[ 9.98011816e-01 -6.30270928e-02 0.00000000e+00 6.15752531e+02] [ 6.30270928e-02 9.98011816e-01 0.00000000e+00 -1.41926693e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.29962585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.051400513 meters Centerline goodness : 0.998418 Centerline is valid? [True, True] Translation: X:615.78, Y:-141.91, Z:0.06 [[ 9.98130530e-01 -6.11182877e-02 0.00000000e+00 6.15784509e+02] [ 6.11182877e-02 9.98130530e-01 0.00000000e+00 -1.41912247e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.25375117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.081400513 meters Centerline goodness : 0.998651 Centerline is valid? [True, True] Translation: X:615.82, Y:-141.90, Z:0.06 [[ 9.98116643e-01 -6.13446524e-02 0.00000000e+00 6.15817234e+02] [ 6.13446524e-02 9.98116643e-01 0.00000000e+00 -1.41903704e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.29525492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.111400513 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:615.85, Y:-141.89, Z:0.06 [[ 9.97991478e-01 -6.33483226e-02 0.00000000e+00 6.15848519e+02] [ 6.33483226e-02 9.97991478e-01 0.00000000e+00 -1.41891384e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.33315353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.141400513 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:615.88, Y:-141.89, Z:0.06 [[ 9.97892642e-01 -6.48866320e-02 0.00000000e+00 6.15880734e+02] [ 6.48866320e-02 9.97892642e-01 0.00000000e+00 -1.41886088e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.30900651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.171400513 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:615.91, Y:-141.88, Z:0.06 [[ 9.97795248e-01 -6.63674847e-02 0.00000000e+00 6.15912635e+02] [ 6.63674847e-02 9.97795248e-01 0.00000000e+00 -1.41880548e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.19701822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.201400513 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:615.95, Y:-141.87, Z:0.06 [[ 9.97700788e-01 -6.77726918e-02 0.00000000e+00 6.15945622e+02] [ 6.77726918e-02 9.97700788e-01 0.00000000e+00 -1.41874182e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.94065001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.231400513 meters Centerline goodness : 0.998645 Centerline is valid? [True, True] Translation: X:615.98, Y:-141.86, Z:0.06 [[ 9.97633115e-01 -6.87616768e-02 0.00000000e+00 6.15977700e+02] [ 6.87616768e-02 9.97633115e-01 0.00000000e+00 -1.41863549e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.62627590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.261400513 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:616.01, Y:-141.86, Z:0.06 [[ 9.97694356e-01 -6.78673175e-02 0.00000000e+00 6.16009030e+02] [ 6.78673175e-02 9.97694356e-01 0.00000000e+00 -1.41858397e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.58870906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.291400513 meters Centerline goodness : 0.998637 Centerline is valid? [True, True] Translation: X:616.04, Y:-141.85, Z:0.06 [[ 9.97777013e-01 -6.66410776e-02 0.00000000e+00 6.16041327e+02] [ 6.66410776e-02 9.97777013e-01 0.00000000e+00 -1.41853174e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.55002095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.321400513 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:616.07, Y:-141.85, Z:0.05 [[ 9.97880555e-01 -6.50722571e-02 0.00000000e+00 6.16074330e+02] [ 6.50722571e-02 9.97880555e-01 0.00000000e+00 -1.41848075e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.48780208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.351400513 meters Centerline goodness : 0.998592 Centerline is valid? [True, True] Translation: X:616.11, Y:-141.84, Z:0.06 [[ 9.97984686e-01 -6.34552367e-02 0.00000000e+00 6.16107547e+02] [ 6.34552367e-02 9.97984686e-01 0.00000000e+00 -1.41843660e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.51455690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.381400513 meters Centerline goodness : 0.998555 Centerline is valid? [True, True] Translation: X:616.14, Y:-141.84, Z:0.06 [[ 9.98224205e-01 -5.95687529e-02 0.00000000e+00 6.16140589e+02] [ 5.95687529e-02 9.98224205e-01 0.00000000e+00 -1.41836138e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.59200608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.411400513 meters Centerline goodness : 0.998606 Centerline is valid? [True, True] Translation: X:616.17, Y:-141.83, Z:0.06 [[ 9.98378082e-01 -5.69315843e-02 0.00000000e+00 6.16172584e+02] [ 5.69315843e-02 9.98378082e-01 0.00000000e+00 -1.41832173e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.73372578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.441400513 meters Centerline goodness : 0.998389 Centerline is valid? [True, True] Translation: X:616.20, Y:-141.83, Z:0.06 [[ 9.98540565e-01 -5.40068449e-02 0.00000000e+00 6.16204981e+02] [ 5.40068449e-02 9.98540565e-01 0.00000000e+00 -1.41828104e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.92798730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.471400513 meters Centerline goodness : 0.998528 Centerline is valid? [True, True] Translation: X:616.24, Y:-141.82, Z:0.06 [[ 9.98720654e-01 -5.05673377e-02 0.00000000e+00 6.16236674e+02] [ 5.05673377e-02 9.98720654e-01 0.00000000e+00 -1.41823980e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.02017990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.501400513 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:616.27, Y:-141.82, Z:0.06 [[ 9.98879444e-01 -4.73271166e-02 0.00000000e+00 6.16269573e+02] [ 4.73271166e-02 9.98879444e-01 0.00000000e+00 -1.41819447e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.92923389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.531400513 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:616.30, Y:-141.81, Z:0.06 [[ 9.99140117e-01 -4.14611383e-02 0.00000000e+00 6.16301984e+02] [ 4.14611383e-02 9.99140117e-01 0.00000000e+00 -1.41811802e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.91242903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.561400513 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:616.33, Y:-141.81, Z:0.06 [[ 9.99234532e-01 -3.91196918e-02 0.00000000e+00 6.16334480e+02] [ 3.91196918e-02 9.99234532e-01 0.00000000e+00 -1.41807329e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.08969366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.591400513 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:616.37, Y:-141.80, Z:0.06 [[ 9.99314156e-01 -3.70299662e-02 0.00000000e+00 6.16367032e+02] [ 3.70299662e-02 9.99314156e-01 0.00000000e+00 -1.41803310e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.27353611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.621400513 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:616.40, Y:-141.80, Z:0.07 [[ 9.99423256e-01 -3.39581358e-02 0.00000000e+00 6.16399240e+02] [ 3.39581358e-02 9.99423256e-01 0.00000000e+00 -1.41797530e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.52752633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.651400513 meters Centerline goodness : 0.998689 Centerline is valid? [True, True] Translation: X:616.43, Y:-141.79, Z:0.07 [[ 9.99454955e-01 -3.30120136e-02 0.00000000e+00 6.16430960e+02] [ 3.30120136e-02 9.99454955e-01 0.00000000e+00 -1.41794097e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.59276703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.681400513 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:616.46, Y:-141.79, Z:0.07 [[ 9.99478323e-01 -3.22967702e-02 0.00000000e+00 6.16464279e+02] [ 3.22967702e-02 9.99478323e-01 0.00000000e+00 -1.41790326e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.53576425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.711400513 meters Centerline goodness : 0.998794 Centerline is valid? [True, True] Translation: X:616.50, Y:-141.79, Z:0.06 [[ 9.99498205e-01 -3.16755033e-02 0.00000000e+00 6.16496585e+02] [ 3.16755033e-02 9.99498205e-01 0.00000000e+00 -1.41786001e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.36359972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.741400513 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:616.53, Y:-141.78, Z:0.06 [[ 9.99516963e-01 -3.10779811e-02 0.00000000e+00 6.16528693e+02] [ 3.10779811e-02 9.99516963e-01 0.00000000e+00 -1.41781804e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.23418938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.771400513 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:616.56, Y:-141.78, Z:0.06 [[ 9.99590964e-01 -2.85990415e-02 0.00000000e+00 6.16561659e+02] [ 2.85990415e-02 9.99590964e-01 0.00000000e+00 -1.41775169e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.17864983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.801400513 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:616.59, Y:-141.77, Z:0.06 [[ 9.99656584e-01 -2.62052158e-02 0.00000000e+00 6.16593232e+02] [ 2.62052158e-02 9.99656584e-01 0.00000000e+00 -1.41770418e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.18260838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.831400513 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:616.63, Y:-141.77, Z:0.06 [[ 9.99720587e-01 -2.36378287e-02 0.00000000e+00 6.16626334e+02] [ 2.36378287e-02 9.99720587e-01 0.00000000e+00 -1.41766235e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.22452201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.861400513 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:616.66, Y:-141.76, Z:0.06 [[ 9.99768910e-01 -2.14971505e-02 0.00000000e+00 6.16658857e+02] [ 2.14971505e-02 9.99768910e-01 0.00000000e+00 -1.41762070e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.24076037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.891400513 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:616.69, Y:-141.76, Z:0.06 [[ 9.99814802e-01 -1.92447613e-02 0.00000000e+00 6.16690325e+02] [ 1.92447613e-02 9.99814802e-01 0.00000000e+00 -1.41757040e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.12905417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.921400513 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:616.72, Y:-141.75, Z:0.06 [[ 9.99869155e-01 -1.61763046e-02 0.00000000e+00 6.16722625e+02] [ 1.61763046e-02 9.99869155e-01 0.00000000e+00 -1.41749344e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.96540600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.951400513 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:616.75, Y:-141.74, Z:0.06 [[ 9.99891702e-01 -1.47167752e-02 0.00000000e+00 6.16754424e+02] [ 1.47167752e-02 9.99891702e-01 0.00000000e+00 -1.41744936e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.78815915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.981400513 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:616.79, Y:-141.74, Z:0.06 [[ 9.99903682e-01 -1.38789966e-02 0.00000000e+00 6.16787725e+02] [ 1.38789966e-02 9.99903682e-01 0.00000000e+00 -1.41740943e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.82168602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.011400513 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:616.82, Y:-141.74, Z:0.06 [[ 9.99904355e-01 -1.38304283e-02 0.00000000e+00 6.16820370e+02] [ 1.38304283e-02 9.99904355e-01 0.00000000e+00 -1.41739157e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.82168602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.041400513 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:616.85, Y:-141.73, Z:0.06 [[ 9.99922280e-01 -1.24672892e-02 0.00000000e+00 6.16851905e+02] [ 1.24672892e-02 9.99922280e-01 0.00000000e+00 -1.41734909e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.06906727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.071400513 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:616.88, Y:-141.73, Z:0.06 [[ 9.99929194e-01 -1.18998562e-02 0.00000000e+00 6.16883268e+02] [ 1.18998562e-02 9.99929194e-01 0.00000000e+00 -1.41733066e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.14998419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.101400513 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:616.92, Y:-141.73, Z:0.06 [[ 9.99932173e-01 -1.16468854e-02 0.00000000e+00 6.16915107e+02] [ 1.16468854e-02 9.99932173e-01 0.00000000e+00 -1.41731417e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.13363243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.131400513 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:616.95, Y:-141.73, Z:0.06 [[ 9.99932923e-01 -1.15822677e-02 0.00000000e+00 6.16946427e+02] [ 1.15822677e-02 9.99932923e-01 0.00000000e+00 -1.41729736e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.17483211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.161400513 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:616.98, Y:-141.73, Z:0.06 [[ 9.99939582e-01 -1.09923532e-02 0.00000000e+00 6.16978470e+02] [ 1.09923532e-02 9.99939582e-01 0.00000000e+00 -1.41728498e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.37562234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.191400513 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:617.01, Y:-141.73, Z:0.07 [[ 9.99944304e-01 -1.05540938e-02 0.00000000e+00 6.17010956e+02] [ 1.05540938e-02 9.99944304e-01 0.00000000e+00 -1.41728253e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.54070256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.221400513 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:617.04, Y:-141.73, Z:0.07 [[ 9.99947546e-01 -1.02422944e-02 0.00000000e+00 6.17043099e+02] [ 1.02422944e-02 9.99947546e-01 0.00000000e+00 -1.41728494e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.61105695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.251400513 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:617.08, Y:-141.73, Z:0.07 [[ 9.99949256e-01 -1.00739507e-02 0.00000000e+00 6.17075417e+02] [ 1.00739507e-02 9.99949256e-01 0.00000000e+00 -1.41728915e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.50532730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.281400513 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:617.11, Y:-141.73, Z:0.07 [[ 9.99948395e-01 -1.01590602e-02 0.00000000e+00 6.17106404e+02] [ 1.01590602e-02 9.99948395e-01 0.00000000e+00 -1.41732279e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.57766686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.311400513 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:617.14, Y:-141.73, Z:0.07 [[ 9.99954886e-01 -9.49870926e-03 0.00000000e+00 6.17138840e+02] [ 9.49870926e-03 9.99954886e-01 0.00000000e+00 -1.41733342e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.53862100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.341400513 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:617.17, Y:-141.73, Z:0.07 [[ 9.99964172e-01 -8.46494971e-03 0.00000000e+00 6.17170365e+02] [ 8.46494971e-03 9.99964172e-01 0.00000000e+00 -1.41734834e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.67724690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.371400513 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:617.20, Y:-141.74, Z:0.07 [[ 9.99974235e-01 -7.17833237e-03 0.00000000e+00 6.17202320e+02] [ 7.17833237e-03 9.99974235e-01 0.00000000e+00 -1.41736179e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.80776686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.401400513 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:617.24, Y:-141.74, Z:0.07 [[ 9.99989816e-01 -4.51309869e-03 0.00000000e+00 6.17235147e+02] [ 4.51309869e-03 9.99989816e-01 0.00000000e+00 -1.41739216e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.71311364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.431400513 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:617.27, Y:-141.74, Z:0.07 [[ 9.99995769e-01 -2.90889113e-03 0.00000000e+00 6.17266625e+02] [ 2.90889113e-03 9.99995769e-01 0.00000000e+00 -1.41739467e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.70317679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.461400513 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:617.30, Y:-141.74, Z:0.07 [[ 9.99998845e-01 -1.51968705e-03 0.00000000e+00 6.17297612e+02] [ 1.51968705e-03 9.99998845e-01 0.00000000e+00 -1.41740288e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.50822226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.491400513 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:617.33, Y:-141.74, Z:0.06 [[ 9.99999876e-01 -4.97155259e-04 0.00000000e+00 6.17327753e+02] [ 4.97155259e-04 9.99999876e-01 0.00000000e+00 -1.41741610e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.29749587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.521400513 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:617.36, Y:-141.74, Z:0.06 [[ 9.99999953e-01 3.05650685e-04 0.00000000e+00 6.17358316e+02] [-3.05650685e-04 9.99999953e-01 0.00000000e+00 -1.41743340e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.10444190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.551400513 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:617.39, Y:-141.75, Z:0.06 [[ 9.99999786e-01 6.54158137e-04 0.00000000e+00 6.17388950e+02] [-6.54158137e-04 9.99999786e-01 0.00000000e+00 -1.41747129e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.91680000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.581400513 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:617.42, Y:-141.75, Z:0.06 [[ 9.99999626e-01 8.64800672e-04 0.00000000e+00 6.17418551e+02] [-8.64800672e-04 9.99999626e-01 0.00000000e+00 -1.41747804e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.88640955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.611400513 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:617.45, Y:-141.75, Z:0.06 [[ 9.99999088e-01 1.35039913e-03 0.00000000e+00 6.17448782e+02] [-1.35039913e-03 9.99999088e-01 0.00000000e+00 -1.41748650e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.82626764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.641400513 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:617.48, Y:-141.75, Z:0.06 [[ 9.99997156e-01 2.38475340e-03 0.00000000e+00 6.17478734e+02] [-2.38475340e-03 9.99997156e-01 0.00000000e+00 -1.41751565e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.80208642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.671400513 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:617.51, Y:-141.75, Z:0.06 [[ 9.99996353e-01 2.70086533e-03 0.00000000e+00 6.17507998e+02] [-2.70086533e-03 9.99996353e-01 0.00000000e+00 -1.41752476e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.82534221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.701400513 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:617.54, Y:-141.75, Z:0.06 [[ 9.99994347e-01 3.36249794e-03 0.00000000e+00 6.17537633e+02] [-3.36249794e-03 9.99994347e-01 0.00000000e+00 -1.41753716e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.83948741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.731400513 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:617.57, Y:-141.76, Z:0.06 [[ 9.99990661e-01 4.32175388e-03 0.00000000e+00 6.17567770e+02] [-4.32175388e-03 9.99990661e-01 0.00000000e+00 -1.41755323e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.81663262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.761400513 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:617.60, Y:-141.76, Z:0.06 [[ 9.99979435e-01 6.41321169e-03 0.00000000e+00 6.17596645e+02] [-6.41321169e-03 9.99979435e-01 0.00000000e+00 -1.41758894e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.81284524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.791400513 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:617.62, Y:-141.76, Z:0.06 [[ 9.99973092e-01 7.33594110e-03 0.00000000e+00 6.17624575e+02] [-7.33594110e-03 9.99973092e-01 0.00000000e+00 -1.41759005e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.71649703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.821400513 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:617.65, Y:-141.76, Z:0.06 [[ 9.99969311e-01 7.83430112e-03 0.00000000e+00 6.17653629e+02] [-7.83430112e-03 9.99969311e-01 0.00000000e+00 -1.41758814e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.65017066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.851400513 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:617.68, Y:-141.76, Z:0.06 [[ 9.99966709e-01 8.15977095e-03 0.00000000e+00 6.17681082e+02] [-8.15977095e-03 9.99966709e-01 0.00000000e+00 -1.41758820e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.68230284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.881400513 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:617.71, Y:-141.76, Z:0.06 [[ 9.99961967e-01 8.72146843e-03 0.00000000e+00 6.17709811e+02] [-8.72146843e-03 9.99961967e-01 0.00000000e+00 -1.41758408e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.79892912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.911400513 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:617.74, Y:-141.76, Z:0.06 [[ 9.99952103e-01 9.78730773e-03 0.00000000e+00 6.17737466e+02] [-9.78730773e-03 9.99952103e-01 0.00000000e+00 -1.41756931e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.92371731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.941400513 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:617.77, Y:-141.75, Z:0.06 [[ 9.99932880e-01 1.15859634e-02 0.00000000e+00 6.17766296e+02] [-1.15859634e-02 9.99932880e-01 0.00000000e+00 -1.41754439e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.80087094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.971400513 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:617.79, Y:-141.75, Z:0.06 [[ 9.99929258e-01 1.18945316e-02 0.00000000e+00 6.17794202e+02] [-1.18945316e-02 9.99929258e-01 0.00000000e+00 -1.41753412e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.71677805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.001400513 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:617.82, Y:-141.75, Z:0.06 [[ 9.99932834e-01 1.15899736e-02 0.00000000e+00 6.17823472e+02] [-1.15899736e-02 9.99932834e-01 0.00000000e+00 -1.41752494e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.68557855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.031400513 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:617.85, Y:-141.75, Z:0.06 [[ 9.99944249e-01 1.05592663e-02 0.00000000e+00 6.17852199e+02] [-1.05592663e-02 9.99944249e-01 0.00000000e+00 -1.41751230e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.71376918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.061400513 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:617.88, Y:-141.75, Z:0.06 [[ 9.99974229e-01 7.17921431e-03 0.00000000e+00 6.17880204e+02] [-7.17921431e-03 9.99974229e-01 0.00000000e+00 -1.41749557e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.95603203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.091400513 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:617.91, Y:-141.75, Z:0.06 [[ 9.99985208e-01 5.43910732e-03 0.00000000e+00 6.17908645e+02] [-5.43910732e-03 9.99985208e-01 0.00000000e+00 -1.41747930e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.92930195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.121400513 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:617.94, Y:-141.75, Z:0.06 [[ 9.99992784e-01 3.79890341e-03 0.00000000e+00 6.17937573e+02] [-3.79890341e-03 9.99992784e-01 0.00000000e+00 -1.41746453e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.78380430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.151400513 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:617.97, Y:-141.75, Z:0.06 [[ 9.99997206e-01 2.36384728e-03 0.00000000e+00 6.17965800e+02] [-2.36384728e-03 9.99997206e-01 0.00000000e+00 -1.41745118e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.60734717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.181400513 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:618.00, Y:-141.74, Z:0.05 [[ 9.99999268e-01 -1.21018913e-03 0.00000000e+00 6.17995452e+02] [ 1.21018913e-03 9.99999268e-01 0.00000000e+00 -1.41743007e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.43302062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.211400513 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:618.03, Y:-141.74, Z:0.05 [[ 9.99996026e-01 -2.81909037e-03 0.00000000e+00 6.18025374e+02] [ 2.81909037e-03 9.99996026e-01 0.00000000e+00 -1.41740747e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.40927851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.241400513 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:618.06, Y:-141.74, Z:0.05 [[ 9.99992638e-01 -3.83727462e-03 0.00000000e+00 6.18056983e+02] [ 3.83727462e-03 9.99992638e-01 0.00000000e+00 -1.41738799e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.43873700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.271400513 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:618.09, Y:-141.74, Z:0.06 [[ 9.99990558e-01 -4.34552163e-03 0.00000000e+00 6.18088292e+02] [ 4.34552163e-03 9.99990558e-01 0.00000000e+00 -1.41737328e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.61174537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.301400513 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:618.12, Y:-141.74, Z:0.06 [[ 9.99995177e-01 -3.10570426e-03 0.00000000e+00 6.18120341e+02] [ 3.10570426e-03 9.99995177e-01 0.00000000e+00 -1.41737964e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.70325713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.331400513 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:618.15, Y:-141.74, Z:0.06 [[ 9.99998692e-01 -1.61743268e-03 0.00000000e+00 6.18152006e+02] [ 1.61743268e-03 9.99998692e-01 0.00000000e+00 -1.41737457e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.65266319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.361400513 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:618.18, Y:-141.74, Z:0.06 [[ 9.99999668e-01 8.14865521e-04 0.00000000e+00 6.18183750e+02] [-8.14865521e-04 9.99999668e-01 0.00000000e+00 -1.41736738e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.55109717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.391400513 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:618.21, Y:-141.74, Z:0.05 [[ 9.99992544e-01 3.86154807e-03 0.00000000e+00 6.18214614e+02] [-3.86154807e-03 9.99992544e-01 0.00000000e+00 -1.41735808e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.45512670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.421400513 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:618.24, Y:-141.74, Z:0.05 [[ 9.99975524e-01 6.99656146e-03 0.00000000e+00 6.18243545e+02] [-6.99656146e-03 9.99975524e-01 0.00000000e+00 -1.41735324e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.37252117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.451400513 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:618.27, Y:-141.74, Z:0.05 [[ 9.99933520e-01 1.15306276e-02 0.00000000e+00 6.18271270e+02] [-1.15306276e-02 9.99933520e-01 0.00000000e+00 -1.41736549e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.38190338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.481400513 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:618.30, Y:-141.74, Z:0.06 [[ 9.99930831e-01 1.17615288e-02 0.00000000e+00 6.18299069e+02] [-1.17615288e-02 9.99930831e-01 0.00000000e+00 -1.41736028e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.51376132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.511400513 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:618.33, Y:-141.74, Z:0.06 [[ 9.99921830e-01 1.25033866e-02 0.00000000e+00 6.18327715e+02] [-1.25033866e-02 9.99921830e-01 0.00000000e+00 -1.41736824e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.61303922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.541400513 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:618.36, Y:-141.74, Z:0.06 [[ 9.99947281e-01 1.02682131e-02 0.00000000e+00 6.18356737e+02] [-1.02682131e-02 9.99947281e-01 0.00000000e+00 -1.41741396e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.55240904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.571400513 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:618.39, Y:-141.74, Z:0.06 [[ 9.99962899e-01 8.61393163e-03 0.00000000e+00 6.18385410e+02] [-8.61393163e-03 9.99962899e-01 0.00000000e+00 -1.41744080e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.50389006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.601400513 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:618.41, Y:-141.75, Z:0.06 [[ 9.99978090e-01 6.61962636e-03 0.00000000e+00 6.18413565e+02] [-6.61962636e-03 9.99978090e-01 0.00000000e+00 -1.41746451e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.53133863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.631400513 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:618.44, Y:-141.75, Z:0.06 [[ 9.99985281e-01 5.42565627e-03 0.00000000e+00 6.18441620e+02] [-5.42565627e-03 9.99985281e-01 0.00000000e+00 -1.41748513e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.71856430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.661400513 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:618.47, Y:-141.75, Z:0.06 [[ 9.99990956e-01 4.25296763e-03 0.00000000e+00 6.18470199e+02] [-4.25296763e-03 9.99990956e-01 0.00000000e+00 -1.41751089e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.11179856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.691400513 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:618.50, Y:-141.75, Z:0.06 [[ 9.99986326e-01 5.22957220e-03 0.00000000e+00 6.18498845e+02] [-5.22957220e-03 9.99986326e-01 0.00000000e+00 -1.41752359e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.13302451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.721400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:618.53, Y:-141.75, Z:0.06 [[ 9.99979486e-01 6.40526718e-03 0.00000000e+00 6.18528019e+02] [-6.40526718e-03 9.99979486e-01 0.00000000e+00 -1.41754114e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.03529006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.751400513 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:618.56, Y:-141.76, Z:0.06 [[ 9.99973387e-01 7.29560077e-03 0.00000000e+00 6.18555820e+02] [-7.29560077e-03 9.99973387e-01 0.00000000e+00 -1.41756329e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.94922141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.781400513 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:618.58, Y:-141.76, Z:0.06 [[ 9.99960601e-01 8.87675760e-03 0.00000000e+00 6.18584419e+02] [-8.87675760e-03 9.99960601e-01 0.00000000e+00 -1.41760250e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.59000783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.811400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:618.61, Y:-141.76, Z:0.05 [[ 9.99952034e-01 9.79434112e-03 0.00000000e+00 6.18613098e+02] [-9.79434112e-03 9.99952034e-01 0.00000000e+00 -1.41761070e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.48428164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.841400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:618.64, Y:-141.76, Z:0.05 [[ 9.99941382e-01 1.08273606e-02 0.00000000e+00 6.18642005e+02] [-1.08273606e-02 9.99941382e-01 0.00000000e+00 -1.41762019e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.38548223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.871400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:618.67, Y:-141.76, Z:0.05 [[ 9.99933213e-01 1.15572265e-02 0.00000000e+00 6.18671187e+02] [-1.15572265e-02 9.99933213e-01 0.00000000e+00 -1.41762965e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.34411056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.901400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:618.70, Y:-141.76, Z:0.05 [[ 9.99933794e-01 1.15068267e-02 0.00000000e+00 6.18700445e+02] [-1.15068267e-02 9.99933794e-01 0.00000000e+00 -1.41761179e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.34411056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.931400513 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:618.73, Y:-141.77, Z:0.05 [[ 9.99916909e-01 1.28909195e-02 0.00000000e+00 6.18728799e+02] [-1.28909195e-02 9.99916909e-01 0.00000000e+00 -1.41765449e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.46842429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.961400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:618.76, Y:-141.77, Z:0.05 [[ 9.99906076e-01 1.37054409e-02 0.00000000e+00 6.18758093e+02] [-1.37054409e-02 9.99906076e-01 0.00000000e+00 -1.41765945e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.43488120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.991400513 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:618.79, Y:-141.77, Z:0.05 [[ 9.99895930e-01 1.44267071e-02 0.00000000e+00 6.18787034e+02] [-1.44267071e-02 9.99895930e-01 0.00000000e+00 -1.41766089e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.29594499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.021400513 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:618.81, Y:-141.77, Z:0.05 [[ 9.99898741e-01 1.42305368e-02 0.00000000e+00 6.18814836e+02] [-1.42305368e-02 9.99898741e-01 0.00000000e+00 -1.41766013e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.13313841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.051400513 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:618.84, Y:-141.77, Z:0.05 [[ 9.99899322e-01 1.41896051e-02 0.00000000e+00 6.18844068e+02] [-1.41896051e-02 9.99899322e-01 0.00000000e+00 -1.41769065e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.04110395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.081400513 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:618.87, Y:-141.77, Z:0.05 [[ 9.99905402e-01 1.37545590e-02 0.00000000e+00 6.18872099e+02] [-1.37545590e-02 9.99905402e-01 0.00000000e+00 -1.41769819e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.13368174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.111400513 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:618.90, Y:-141.77, Z:0.05 [[ 9.99911130e-01 1.33316414e-02 0.00000000e+00 6.18900338e+02] [-1.33316414e-02 9.99911130e-01 0.00000000e+00 -1.41771256e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.24816580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.141400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:618.93, Y:-141.77, Z:0.05 [[ 9.99913874e-01 1.31241946e-02 0.00000000e+00 6.18929625e+02] [-1.31241946e-02 9.99913874e-01 0.00000000e+00 -1.41773047e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.29910811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.171400513 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:618.96, Y:-141.78, Z:0.05 [[ 9.99910132e-01 1.34062439e-02 0.00000000e+00 6.18958923e+02] [-1.34062439e-02 9.99910132e-01 0.00000000e+00 -1.41777617e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.27263916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.201400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:618.99, Y:-141.78, Z:0.05 [[ 9.99907932e-01 1.35693633e-02 0.00000000e+00 6.18987127e+02] [-1.35693633e-02 9.99907932e-01 0.00000000e+00 -1.41778711e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.32458107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.231400513 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:619.01, Y:-141.78, Z:0.05 [[ 9.99904333e-01 1.38320394e-02 0.00000000e+00 6.19014898e+02] [-1.38320394e-02 9.99904333e-01 0.00000000e+00 -1.41780355e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.39607079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.261400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:619.04, Y:-141.78, Z:0.06 [[ 9.99896861e-01 1.43620156e-02 0.00000000e+00 6.19044112e+02] [-1.43620156e-02 9.99896861e-01 0.00000000e+00 -1.41782718e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.50389695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.291400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:619.07, Y:-141.79, Z:0.06 [[ 9.99881871e-01 1.53702547e-02 0.00000000e+00 6.19072298e+02] [-1.53702547e-02 9.99881871e-01 0.00000000e+00 -1.41789636e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.62478497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.321400513 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:619.10, Y:-141.79, Z:0.05 [[ 9.99877670e-01 1.56411028e-02 0.00000000e+00 6.19100998e+02] [-1.56411028e-02 9.99877670e-01 0.00000000e+00 -1.41791601e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.49797816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.351400513 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:619.13, Y:-141.79, Z:0.05 [[ 9.99879833e-01 1.55022677e-02 0.00000000e+00 6.19129978e+02] [-1.55022677e-02 9.99879833e-01 0.00000000e+00 -1.41793054e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.33769692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.381400513 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:619.16, Y:-141.79, Z:0.05 [[ 9.99876868e-01 1.56923242e-02 0.00000000e+00 6.19158527e+02] [-1.56923242e-02 9.99876868e-01 0.00000000e+00 -1.41794629e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.13524429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.411400513 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:619.19, Y:-141.80, Z:0.05 [[ 9.99869912e-01 1.61294360e-02 0.00000000e+00 6.19187357e+02] [-1.61294360e-02 9.99869912e-01 0.00000000e+00 -1.41796503e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.97842149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.441400513 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:619.22, Y:-141.80, Z:0.05 [[ 9.99859632e-01 1.67546181e-02 0.00000000e+00 6.19215492e+02] [-1.67546181e-02 9.99859632e-01 0.00000000e+00 -1.41802395e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.86311076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.471400513 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:619.24, Y:-141.80, Z:0.05 [[ 9.99852436e-01 1.71786668e-02 0.00000000e+00 6.19244484e+02] [-1.71786668e-02 9.99852436e-01 0.00000000e+00 -1.41804107e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.88715486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.501400513 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:619.27, Y:-141.81, Z:0.05 [[ 9.99846936e-01 1.74958667e-02 0.00000000e+00 6.19272534e+02] [-1.74958667e-02 9.99846936e-01 0.00000000e+00 -1.41805017e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.96919709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.531400513 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:619.30, Y:-141.81, Z:0.05 [[ 9.99839394e-01 1.79216875e-02 0.00000000e+00 6.19301061e+02] [-1.79216875e-02 9.99839394e-01 0.00000000e+00 -1.41806032e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.04910820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.561400513 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:619.33, Y:-141.81, Z:0.05 [[ 9.99844983e-01 1.76070716e-02 0.00000000e+00 6.19329378e+02] [-1.76070716e-02 9.99844983e-01 0.00000000e+00 -1.41812031e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.92837469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.591400513 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:619.36, Y:-141.82, Z:0.05 [[ 9.99859448e-01 1.67655520e-02 0.00000000e+00 6.19357090e+02] [-1.67655520e-02 9.99859448e-01 0.00000000e+00 -1.41815129e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.85175665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.621400513 meters Centerline goodness : 0.998249 Centerline is valid? [True, True] Translation: X:619.39, Y:-141.82, Z:0.05 [[ 9.99873648e-01 1.58961864e-02 0.00000000e+00 6.19386171e+02] [-1.58961864e-02 9.99873648e-01 0.00000000e+00 -1.41817243e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.83793369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.651400513 meters Centerline goodness : 0.997243 Centerline is valid? [True, True] Translation: X:619.41, Y:-141.82, Z:0.05 [[ 9.99895923e-01 1.44271384e-02 0.00000000e+00 6.19414447e+02] [-1.44271384e-02 9.99895923e-01 0.00000000e+00 -1.41821483e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.14821218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.681400513 meters Centerline goodness : 0.996460 Centerline is valid? [True, True] Translation: X:619.44, Y:-141.82, Z:0.05 [[ 9.99896535e-01 1.43846635e-02 0.00000000e+00 6.19442958e+02] [-1.43846635e-02 9.99896535e-01 0.00000000e+00 -1.41823117e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.27470419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.711400513 meters Centerline goodness : 0.995942 Centerline is valid? [True, True] Translation: X:619.47, Y:-141.83, Z:0.05 [[ 9.99893318e-01 1.46065994e-02 0.00000000e+00 6.19472270e+02] [-1.46065994e-02 9.99893318e-01 0.00000000e+00 -1.41825676e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.30773737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.741400513 meters Centerline goodness : 0.995226 Centerline is valid? [True, True] Translation: X:619.50, Y:-141.83, Z:0.05 [[ 9.99890501e-01 1.47981615e-02 0.00000000e+00 6.19500188e+02] [-1.47981615e-02 9.99890501e-01 0.00000000e+00 -1.41827936e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.18527138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.771400513 meters Centerline goodness : 0.994585 Centerline is valid? [True, True] Translation: X:619.53, Y:-141.83, Z:0.05 [[ 9.99879069e-01 1.55514515e-02 0.00000000e+00 6.19529627e+02] [-1.55514515e-02 9.99879069e-01 0.00000000e+00 -1.41830541e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.12720835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.801400513 meters Centerline goodness : 0.993080 Centerline is valid? [True, True] Translation: X:619.56, Y:-141.84, Z:0.05 [[ 9.99871999e-01 1.59995738e-02 0.00000000e+00 6.19559593e+02] [-1.59995738e-02 9.99871999e-01 0.00000000e+00 -1.41838588e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.98914514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.831400513 meters Centerline goodness : 0.992102 Centerline is valid? [True, True] Translation: X:619.59, Y:-141.84, Z:0.05 [[ 9.99876821e-01 1.56953407e-02 0.00000000e+00 6.19592001e+02] [-1.56953407e-02 9.99876821e-01 0.00000000e+00 -1.41841642e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.30273454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.861400513 meters Centerline goodness : 0.990724 Centerline is valid? [True, True] Translation: X:619.62, Y:-141.84, Z:0.04 [[ 9.99897276e-01 1.43330992e-02 0.00000000e+00 6.19618655e+02] [-1.43330992e-02 9.99897276e-01 0.00000000e+00 -1.41840778e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64189093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.891400513 meters Centerline goodness : 0.986811 Centerline is valid? [True, True] Translation: X:619.65, Y:-141.85, Z:0.06 [[ 9.99881169e-01 1.54158056e-02 0.00000000e+00 6.19649043e+02] [-1.54158056e-02 9.99881169e-01 0.00000000e+00 -1.41845305e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.51313777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.921400513 meters Centerline goodness : 0.988416 Centerline is valid? [True, True] Translation: X:619.68, Y:-141.85, Z:0.06 [[ 9.99826839e-01 1.86089457e-02 0.00000000e+00 6.19680667e+02] [-1.86089457e-02 9.99826839e-01 0.00000000e+00 -1.41847727e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.21440029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.951400513 meters Centerline goodness : 0.987411 Centerline is valid? [True, True] Translation: X:619.71, Y:-141.85, Z:0.06 [[ 9.99749276e-01 2.23916428e-02 0.00000000e+00 6.19712929e+02] [-2.23916428e-02 9.99749276e-01 0.00000000e+00 -1.41852052e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.64988379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.981400513 meters Centerline goodness : 0.983931 Centerline is valid? [True, True] Translation: X:619.74, Y:-141.86, Z:0.05 [[ 9.99666507e-01 2.58239085e-02 0.00000000e+00 6.19739352e+02] [-2.58239085e-02 9.99666507e-01 0.00000000e+00 -1.41856311e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.20247565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.011400513 meters Centerline goodness : 0.981042 Centerline is valid? [True, True] Translation: X:619.77, Y:-141.86, Z:0.05 [[ 9.99594961e-01 2.84589760e-02 0.00000000e+00 6.19766988e+02] [-2.84589760e-02 9.99594961e-01 0.00000000e+00 -1.41859478e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.06464623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.041400513 meters Centerline goodness : 0.977850 Centerline is valid? [True, True] Translation: X:619.79, Y:-141.87, Z:0.05 [[ 9.99463556e-01 3.27505760e-02 0.00000000e+00 6.19794000e+02] [-3.27505760e-02 9.99463556e-01 0.00000000e+00 -1.41866306e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.85507611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.071400513 meters Centerline goodness : 0.978989 Centerline is valid? [True, True] Translation: X:619.82, Y:-141.87, Z:0.05 [[ 9.99429876e-01 3.37627535e-02 0.00000000e+00 6.19823276e+02] [-3.37627535e-02 9.99429876e-01 0.00000000e+00 -1.41867636e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.78474376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.101400513 meters Centerline goodness : 0.974609 Centerline is valid? [True, True] Translation: X:619.85, Y:-141.87, Z:0.05 [[ 9.99376561e-01 3.53056552e-02 0.00000000e+00 6.19850883e+02] [-3.53056552e-02 9.99376561e-01 0.00000000e+00 -1.41870192e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.76515426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.131400513 meters Centerline goodness : 0.967831 Centerline is valid? [True, True] Translation: X:619.88, Y:-141.88, Z:0.05 [[ 9.99328838e-01 3.66316055e-02 0.00000000e+00 6.19879830e+02] [-3.66316055e-02 9.99328838e-01 0.00000000e+00 -1.41876415e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.63212651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.161400513 meters Centerline goodness : 0.971802 Centerline is valid? [True, True] Translation: X:619.91, Y:-141.88, Z:0.05 [[ 9.99306286e-01 3.72417325e-02 0.00000000e+00 6.19909059e+02] [-3.72417325e-02 9.99306286e-01 0.00000000e+00 -1.41878480e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.62517911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.191400513 meters Centerline goodness : 0.970362 Centerline is valid? [True, True] Translation: X:619.94, Y:-141.88, Z:0.05 [[ 9.99299972e-01 3.74107640e-02 0.00000000e+00 6.19938324e+02] [-3.74107640e-02 9.99299972e-01 0.00000000e+00 -1.41879732e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.79415470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.221400513 meters Centerline goodness : 0.968135 Centerline is valid? [True, True] Translation: X:619.97, Y:-141.88, Z:0.05 [[ 9.99265391e-01 3.83233432e-02 0.00000000e+00 6.19966366e+02] [-3.83233432e-02 9.99265391e-01 0.00000000e+00 -1.41881733e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.89781843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.251400513 meters Centerline goodness : 0.964269 Centerline is valid? [True, True] Translation: X:620.00, Y:-141.89, Z:0.05 [[ 9.99282391e-01 3.78774702e-02 0.00000000e+00 6.19995093e+02] [-3.78774702e-02 9.99282391e-01 0.00000000e+00 -1.41886529e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.99459394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.281400513 meters Centerline goodness : 0.961965 Centerline is valid? [True, True] Translation: X:620.02, Y:-141.89, Z:0.05 [[ 9.99246012e-01 3.88253459e-02 0.00000000e+00 6.20022536e+02] [-3.88253459e-02 9.99246012e-01 0.00000000e+00 -1.41889634e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.91268975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.311400513 meters Centerline goodness : 0.960572 Centerline is valid? [True, True] Translation: X:620.06, Y:-141.89, Z:0.05 [[ 9.99358306e-01 3.58186575e-02 0.00000000e+00 6.20056677e+02] [-3.58186575e-02 9.99358306e-01 0.00000000e+00 -1.41887319e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.00879640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.341400513 meters Centerline goodness : 0.957445 Centerline is valid? [True, True] Translation: X:620.08, Y:-141.89, Z:0.05 [[ 9.99320280e-01 3.68643232e-02 0.00000000e+00 6.20083355e+02] [-3.68643232e-02 9.99320280e-01 0.00000000e+00 -1.41890497e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.97477039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.371400513 meters Centerline goodness : 0.953233 Centerline is valid? [True, True] Translation: X:620.11, Y:-141.90, Z:0.05 [[ 9.99363908e-01 3.56620217e-02 0.00000000e+00 6.20111366e+02] [-3.56620217e-02 9.99363908e-01 0.00000000e+00 -1.41895202e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.78986338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.401400513 meters Centerline goodness : 0.951530 Centerline is valid? [True, True] Translation: X:620.15, Y:-141.89, Z:0.05 [[ 9.99495283e-01 3.17675917e-02 0.00000000e+00 6.20145435e+02] [-3.17675917e-02 9.99495283e-01 0.00000000e+00 -1.41892368e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.80273208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.431400513 meters Centerline goodness : 0.948246 Centerline is valid? [True, False] Translation: X:620.14, Y:-141.89, Z:0.05 [[ 9.99618894e-01 2.76026720e-02 3.98951428e-04 6.20143557e+02] [-2.76002602e-02 9.99605830e-01 -5.13912504e-03 -1.41889209e+02] [-5.40647756e-04 5.12615532e-03 9.99986715e-01 4.73046214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.461400513 meters Centerline goodness : 0.946497 Centerline is valid? [False, False] Translation: X:620.14, Y:-141.89, Z:0.05 [[ 9.99726497e-01 2.33739045e-02 7.68824135e-04 6.20141822e+02] [-2.33647258e-02 9.99673651e-01 -1.03286464e-02 -1.41885870e+02] [-1.00999402e-03 1.03078581e-02 9.99946363e-01 4.66728371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.491400513 meters Centerline goodness : 0.940560 Centerline is valid? [False, False] Translation: X:620.16, Y:-141.90, Z:0.05 [[ 9.99811083e-01 1.93111506e-02 2.20846194e-03 6.20163848e+02] [-1.93093259e-02 9.99813201e-01 -8.44607819e-04 -1.41895429e+02] [-2.22435975e-03 8.01804348e-04 9.99997205e-01 4.70003270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.521400513 meters Centerline goodness : 0.936912 Centerline is valid? [False, False] Translation: X:620.16, Y:-141.89, Z:0.05 [[ 9.99874581e-01 1.55054603e-02 3.22522904e-03 6.20159589e+02] [-1.54873066e-02 9.99864497e-01 -5.57944618e-03 -1.41893794e+02] [-3.31130390e-03 5.52879631e-03 9.99979234e-01 4.71547187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.551400513 meters Centerline goodness : 0.928885 Centerline is valid? [False, False] Translation: X:620.16, Y:-141.91, Z:0.05 [[ 9.99865607e-01 1.61191205e-02 2.99042162e-03 6.20160686e+02] [-1.61110216e-02 9.99866529e-01 -2.71287902e-03 -1.41905150e+02] [-3.03375170e-03 2.66433568e-03 9.99991849e-01 4.88424318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.581400513 meters Centerline goodness : 0.925275 Centerline is valid? [False, False] Translation: X:620.18, Y:-141.91, Z:0.04 [[ 9.99851532e-01 1.19921957e-02 1.23733957e-02 6.20180487e+02] [-1.19571431e-02 9.99924297e-01 -2.90299844e-03 -1.41905215e+02] [-1.24072723e-02 2.75461698e-03 9.99919233e-01 3.72435178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.611400513 meters Centerline goodness : 0.922516 Centerline is valid? [False, False] Translation: X:620.18, Y:-141.91, Z:0.04 [[ 9.99855559e-01 1.20452129e-02 1.19905849e-02 6.20182231e+02] [-1.20188859e-02 9.99925205e-01 -2.26528917e-03 -1.41907857e+02] [-1.20169740e-02 2.12084850e-03 9.99925544e-01 3.69815797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.641400513 meters Centerline goodness : 0.088262 Centerline is valid? [False, False] Translation: X:620.22, Y:-141.85, Z:0.05 [[ 9.99897144e-01 6.39026101e-03 1.28400534e-02 6.20223321e+02] [-5.61229008e-03 9.98198333e-01 -5.97376853e-02 -1.41851957e+02] [-1.31986593e-02 5.96594788e-02 9.98131525e-01 4.83778304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.671400513 meters Centerline goodness : 0.914622 Centerline is valid? [False, False] Translation: X:620.22, Y:-141.88, Z:0.05 [[ 9.99906386e-01 8.75050056e-03 1.05189050e-02 6.20219717e+02] [-8.33388364e-03 9.99203744e-01 -3.90182672e-02 -1.41877592e+02] [-1.08519586e-02 3.89269512e-02 9.99183130e-01 4.76367157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.701400513 meters Centerline goodness : 0.088644 Centerline is valid? [False, False] Translation: X:620.22, Y:-141.89, Z:0.05 [[ 9.99844724e-01 1.39484802e-02 1.07688077e-02 6.20219140e+02] [-1.36004854e-02 9.99403661e-01 -3.17387656e-02 -1.41892970e+02] [-1.12050934e-02 3.15873764e-02 9.99438184e-01 4.76400687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.731400513 meters Centerline goodness : 0.089044 Centerline is valid? [False, False] Translation: X:620.22, Y:-141.90, Z:0.05 [[ 9.99772696e-01 1.85201071e-02 1.05623183e-02 6.20220477e+02] [-1.82514063e-02 9.99521016e-01 -2.49924872e-02 -1.41903424e+02] [-1.10201227e-02 2.47940291e-02 9.99631839e-01 4.83865830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.761400513 meters Centerline goodness : 0.088965 Centerline is valid? [False, False] Translation: X:620.22, Y:-141.91, Z:0.05 [[ 9.99677545e-01 2.31589422e-02 1.04148769e-02 6.20222088e+02] [-2.29669639e-02 9.99570736e-01 -1.81896299e-02 -1.41914496e+02] [-1.08316587e-02 1.79445665e-02 9.99780310e-01 4.84801990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.791400513 meters Centerline goodness : 0.089513 Centerline is valid? [False, False] Translation: X:620.22, Y:-141.92, Z:0.05 [[ 9.99664673e-01 2.36824271e-02 1.04730342e-02 6.20222083e+02] [-2.35026536e-02 9.99579774e-01 -1.69676299e-02 -1.41919958e+02] [-1.08704678e-02 1.67157961e-02 9.99801188e-01 4.83459910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.821400513 meters Centerline goodness : 0.089513 Centerline is valid? [False, False] Translation: X:620.22, Y:-141.92, Z:0.05 [[ 9.99664673e-01 2.36824271e-02 1.04730342e-02 6.20222083e+02] [-2.35026536e-02 9.99579774e-01 -1.69676299e-02 -1.41919958e+02] [-1.08704678e-02 1.67157961e-02 9.99801188e-01 4.83459910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.851400513 meters Centerline goodness : 0.091321 Centerline is valid? [False, False] Translation: X:620.23, Y:-141.90, Z:0.06 [[ 9.99755482e-01 2.03784429e-02 8.58460538e-03 6.20227685e+02] [-1.99613570e-02 9.98735013e-01 -4.61510266e-02 -1.41900574e+02] [-9.51423203e-03 4.59683815e-02 9.98897586e-01 5.64115080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.881400513 meters Centerline goodness : 0.092054 Centerline is valid? [False, False] Translation: X:620.23, Y:-141.91, Z:0.06 [[ 9.99660969e-01 2.44909398e-02 8.83976825e-03 6.20227160e+02] [-2.41171897e-02 9.98902024e-01 -4.01635072e-02 -1.41911201e+02] [-9.81370443e-03 3.99367002e-02 9.99154018e-01 5.60109485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.911400513 meters Centerline goodness : 0.091520 Centerline is valid? [False, False] Translation: X:620.25, Y:-141.92, Z:0.05 [[ 9.99593380e-01 2.50160551e-02 1.36846930e-02 6.20251816e+02] [-2.46132985e-02 9.99280739e-01 -2.88476914e-02 -1.41923035e+02] [-1.43965056e-02 2.84991359e-02 9.99490140e-01 4.79148933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.941400513 meters Centerline goodness : 0.092654 Centerline is valid? [False, False] Translation: X:620.25, Y:-141.93, Z:0.05 [[ 9.99475761e-01 2.92750661e-02 1.38265647e-02 6.20252008e+02] [-2.89535150e-02 9.99318176e-01 -2.29101931e-02 -1.41932820e+02] [-1.44878348e-02 2.24978550e-02 9.99641910e-01 4.72343229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.971400513 meters Centerline goodness : 0.094310 Centerline is valid? [False, False] Translation: X:620.25, Y:-141.94, Z:0.05 [[ 9.99332679e-01 3.39102615e-02 1.35753904e-02 6.20254056e+02] [-3.36811110e-02 9.99291976e-01 -1.67669082e-02 -1.41943250e+02] [-1.41343490e-02 1.62984850e-02 9.99767263e-01 4.58509833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.001400513 meters Centerline goodness : 0.093816 Centerline is valid? [False, False] Translation: X:620.26, Y:-141.95, Z:0.04 [[ 9.99307060e-01 3.46651286e-02 1.35546677e-02 6.20255358e+02] [-3.44518085e-02 9.99283556e-01 -1.56667428e-02 -1.41949028e+02] [-1.40880462e-02 1.51889038e-02 9.99785389e-01 4.39999967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.031400513 meters Centerline goodness : 0.095711 Centerline is valid? [False, False] Translation: X:620.26, Y:-141.95, Z:0.04 [[ 9.99300057e-01 3.48523734e-02 1.35907718e-02 6.20255424e+02] [-3.46428028e-02 9.99281682e-01 -1.53621527e-02 -1.41950558e+02] [-1.41164168e-02 1.48805777e-02 9.99789625e-01 4.36019923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.061400513 meters Centerline goodness : 0.094386 Centerline is valid? [False, False] Translation: X:620.26, Y:-141.95, Z:0.04 [[ 9.99294389e-01 3.49768613e-02 1.36873195e-02 6.20255119e+02] [-3.47683095e-02 9.99279966e-01 -1.51892497e-02 -1.41951319e+02] [-1.42087364e-02 1.47026470e-02 9.99790950e-01 4.36041020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.091400513 meters Centerline goodness : 0.881203 Centerline is valid? [False, False] Translation: X:620.25, Y:-141.96, Z:0.04 [[ 9.99279760e-01 3.53486687e-02 1.37997584e-02 6.20254715e+02] [-3.51496336e-02 9.99278186e-01 -1.44086645e-02 -1.41955231e+02] [-1.42991247e-02 1.39132303e-02 9.99800959e-01 4.37522728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.121400513 meters Centerline goodness : 0.875760 Centerline is valid? [False, False] Translation: X:620.26, Y:-141.96, Z:0.04 [[ 9.99270753e-01 3.56351428e-02 1.37149180e-02 6.20255559e+02] [-3.54469582e-02 9.99277265e-01 -1.37280719e-02 -1.41958658e+02] [-1.41942076e-02 1.32319086e-02 9.99811703e-01 4.29246101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.151400513 meters Centerline goodness : 0.791660 Centerline is valid? [False, False] Translation: X:620.26, Y:-141.96, Z:0.04 [[ 9.99262430e-01 3.58977288e-02 1.36363231e-02 6.20256358e+02] [-3.57190029e-02 9.99275595e-01 -1.31315906e-02 -1.41961718e+02] [-1.40978392e-02 1.26348293e-02 9.99820790e-01 4.20330788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.181400513 meters Centerline goodness : 0.785129 Centerline is valid? [False, False] Translation: X:620.26, Y:-141.96, Z:0.04 [[ 9.99258647e-01 3.60377688e-02 1.35438179e-02 6.20257123e+02] [-3.58659475e-02 9.99275629e-01 -1.27221087e-02 -1.41963764e+02] [-1.39924836e-02 1.22269152e-02 9.99827342e-01 4.13274995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.211400513 meters Centerline goodness : 0.776968 Centerline is valid? [False, False] Translation: X:620.26, Y:-141.97, Z:0.04 [[ 9.99255815e-01 3.61628745e-02 1.34187573e-02 6.20257723e+02] [-3.59984870e-02 9.99276192e-01 -1.22963746e-02 -1.41965911e+02] [-1.38537169e-02 1.18041688e-02 9.99834354e-01 4.11618330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.241400513 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 645.271400513 meters Centerline goodness : 0.134535 Centerline is valid? [False, False] Translation: X:620.26, Y:-141.97, Z:0.04 [[ 9.99374113e-01 3.26872019e-02 1.35251645e-02 6.20255002e+02] [-3.24849232e-02 9.99360939e-01 -1.49145321e-02 -1.41973808e+02] [-1.40040354e-02 1.44658333e-02 9.99797293e-01 4.41805932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.301400513 meters Centerline goodness : 0.845904 Centerline is valid? [False, False] Translation: X:620.26, Y:-141.98, Z:0.04 [[ 9.99503259e-01 2.85549416e-02 1.33360349e-02 6.20255931e+02] [-2.83052372e-02 9.99427158e-01 -1.85517891e-02 -1.41976007e+02] [-1.38581407e-02 1.81650941e-02 9.99738957e-01 4.34276766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.331400513 meters Centerline goodness : 0.840565 Centerline is valid? [False, False] Translation: X:620.26, Y:-141.98, Z:0.04 [[ 9.99502444e-01 2.86975144e-02 1.30888000e-02 6.20257461e+02] [-2.84645337e-02 9.99438933e-01 -1.76518980e-02 -1.41980757e+02] [-1.35880219e-02 1.72705486e-02 9.99758518e-01 4.25107457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.361400513 meters Centerline goodness : 0.834224 Centerline is valid? [False, False] Translation: X:620.26, Y:-141.99, Z:0.04 [[ 9.99496696e-01 2.89850868e-02 1.28926069e-02 6.20258515e+02] [-2.87700575e-02 9.99448832e-01 -1.65624930e-02 -1.41986713e+02] [-1.33655662e-02 1.61832360e-02 9.99779708e-01 4.20303501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.391400513 meters Centerline goodness : 0.829747 Centerline is valid? [False, False] Translation: X:620.26, Y:-141.99, Z:0.04 [[ 9.99484897e-01 2.94143102e-02 1.28350445e-02 6.20258631e+02] [-2.92154533e-02 9.99454267e-01 -1.54150991e-02 -1.41993018e+02] [-1.32814645e-02 1.50321771e-02 9.99798798e-01 4.22344637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.421400513 meters Centerline goodness : 0.824305 Centerline is valid? [False, False] Translation: X:620.26, Y:-142.00, Z:0.04 [[ 9.99471017e-01 2.98694369e-02 1.28648118e-02 6.20258494e+02] [-2.96836509e-02 9.99455640e-01 -1.43980685e-02 -1.41998507e+02] [-1.32878709e-02 1.40085776e-02 9.99813579e-01 4.24137383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.451400513 meters Centerline goodness : 0.822210 Centerline is valid? [False, False] Translation: X:620.26, Y:-142.01, Z:0.04 [[ 9.99444058e-01 3.07036394e-02 1.29946873e-02 6.20257812e+02] [-3.05371111e-02 9.99451349e-01 -1.28252091e-02 -1.42007158e+02] [-1.33813383e-02 1.24212588e-02 9.99833312e-01 4.30024277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.481400513 meters Centerline goodness : 0.815120 Centerline is valid? [False, False] Translation: X:620.26, Y:-142.01, Z:0.04 [[ 9.99427587e-01 3.11942455e-02 1.30926548e-02 6.20257468e+02] [-3.10380397e-02 9.99446537e-01 -1.19691146e-02 -1.42011880e+02] [-1.34587760e-02 1.15558930e-02 9.99842649e-01 4.31976176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.511400513 meters Centerline goodness : 0.615160 Centerline is valid? [False, False] Translation: X:620.26, Y:-142.02, Z:0.04 [[ 9.99410851e-01 3.16157470e-02 1.33565032e-02 6.20257178e+02] [-3.14657086e-02 9.99440975e-01 -1.12980486e-02 -1.42015816e+02] [-1.37062329e-02 1.08711205e-02 9.99846967e-01 4.29346380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.541400513 meters Centerline goodness : 0.807414 Centerline is valid? [False, False] Translation: X:620.25, Y:-142.02, Z:0.05 [[ 9.99449940e-01 3.00249772e-02 1.40825841e-02 6.20250879e+02] [-2.98537738e-02 9.99479653e-01 -1.22137626e-02 -1.42019548e+02] [-1.44419742e-02 1.17866260e-02 9.99826237e-01 4.72860570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.571400513 meters Centerline goodness : 0.805145 Centerline is valid? [False, False] Translation: X:620.25, Y:-142.02, Z:0.05 [[ 9.99440681e-01 3.03597013e-02 1.40219267e-02 6.20251552e+02] [-3.01998672e-02 9.99478029e-01 -1.14733582e-02 -1.42023606e+02] [-1.43629353e-02 1.10434806e-02 9.99835860e-01 4.66070926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.601400513 meters Centerline goodness : 0.793215 Centerline is valid? [False, False] Translation: X:620.26, Y:-142.02, Z:0.04 [[ 9.99489585e-01 2.89099961e-02 1.35934185e-02 6.20257480e+02] [-2.87409667e-02 9.99509110e-01 -1.24698300e-02 -1.42024044e+02] [-1.39472483e-02 1.20727772e-02 9.99829847e-01 4.15130059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.631400513 meters Centerline goodness : 0.784006 Centerline is valid? [False, False] Translation: X:620.26, Y:-142.03, Z:0.04 [[ 9.99599925e-01 2.47606148e-02 1.36712166e-02 6.20258250e+02] [-2.45366088e-02 9.99565764e-01 -1.63168036e-02 -1.42025613e+02] [-1.40692941e-02 1.59748304e-02 9.99773404e-01 4.05350052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.661400513 meters Centerline goodness : 0.783206 Centerline is valid? [False, False] Translation: X:620.26, Y:-142.03, Z:0.04 [[ 9.99597210e-01 2.48816763e-02 1.36499353e-02 6.20258388e+02] [-2.46719575e-02 9.99578159e-01 -1.53231703e-02 -1.42031313e+02] [-1.40254434e-02 1.49802277e-02 9.99789418e-01 4.07235554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.691400513 meters Centerline goodness : 0.786726 Centerline is valid? [False, False] Translation: X:620.26, Y:-142.04, Z:0.04 [[ 9.99594922e-01 2.49717615e-02 1.36529588e-02 6.20258444e+02] [-2.47777312e-02 9.99592119e-01 -1.42007055e-02 -1.42037917e+02] [-1.40020067e-02 1.38566637e-02 9.99805950e-01 4.08974894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.721400513 meters Centerline goodness : 0.779190 Centerline is valid? [False, False] Translation: X:620.28, Y:-142.05, Z:0.03 [[ 9.99693690e-01 1.72436055e-02 1.77534332e-02 6.20283068e+02] [-1.70479929e-02 9.99792931e-01 -1.11113128e-02 -1.42046800e+02] [-1.79413561e-02 1.08052488e-02 9.99780653e-01 3.40834778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.751400513 meters Centerline goodness : 0.773852 Centerline is valid? [False, False] Translation: X:620.29, Y:-142.06, Z:0.05 [[ 9.99879255e-01 1.44057496e-02 5.82670512e-03 6.20288929e+02] [-1.43756405e-02 9.99883264e-01 -5.17672153e-03 -1.42055763e+02] [-5.90059949e-03 5.09233385e-03 9.99969625e-01 5.09345134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.781400513 meters Centerline goodness : 0.699442 Centerline is valid? [False, False] Translation: X:620.29, Y:-142.05, Z:0.05 [[ 9.99934622e-01 9.85570804e-03 5.79800027e-03 6.20290017e+02] [-9.79736940e-03 9.99901944e-01 -1.00056512e-02 -1.42051728e+02] [-5.89604452e-03 9.94819189e-03 9.99933133e-01 4.94810185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.811400513 meters Centerline goodness : 0.760413 Centerline is valid? [False, False] Translation: X:620.29, Y:-142.06, Z:0.05 [[ 9.99930855e-01 1.01770643e-02 5.89170675e-03 6.20290930e+02] [-1.01222333e-02 9.99905867e-01 -9.26266503e-03 -1.42056023e+02] [-5.98541888e-03 9.20238733e-03 9.99939744e-01 4.85958121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.841400513 meters Centerline goodness : 0.771705 Centerline is valid? [False, False] Translation: X:620.29, Y:-142.06, Z:0.05 [[ 9.99925132e-01 1.05519362e-02 6.19575787e-03 6.20290795e+02] [-1.04983284e-02 9.99907718e-01 -8.62204113e-03 -1.42059688e+02] [-6.28616535e-03 8.55635051e-03 9.99943635e-01 4.86256856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.871400513 meters Centerline goodness : 0.755573 Centerline is valid? [False, False] Translation: X:620.29, Y:-142.06, Z:0.05 [[ 9.99920612e-01 1.06012248e-02 6.81054819e-03 6.20290802e+02] [-1.05424286e-02 9.99907343e-01 -8.61177308e-03 -1.42059392e+02] [-6.90121248e-03 8.53928969e-03 9.99939725e-01 4.81433605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.901400513 meters Centerline goodness : 0.758944 Centerline is valid? [False, False] Translation: X:620.29, Y:-142.06, Z:0.05 [[ 9.99919786e-01 1.06563063e-02 6.84582622e-03 6.20291582e+02] [-1.05961802e-02 9.99905488e-01 -8.75992161e-03 -1.42058799e+02] [-6.93852761e-03 8.68667933e-03 9.99938197e-01 4.74332743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.931400513 meters Centerline goodness : 0.231896 Centerline is valid? [False, False] Translation: X:620.29, Y:-142.06, Z:0.05 [[ 9.99917776e-01 1.08279117e-02 6.87009245e-03 6.20292814e+02] [-1.07669500e-02 9.99902877e-01 -8.84927902e-03 -1.42059114e+02] [-6.96524442e-03 8.77458145e-03 9.99937244e-01 4.62687156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.961400513 meters Centerline goodness : 0.731080 Centerline is valid? [False, False] Translation: X:620.30, Y:-142.06, Z:0.04 [[ 9.99887099e-01 1.33290839e-02 6.93721104e-03 6.20300011e+02] [-1.32801782e-02 9.99886970e-01 -7.04873218e-03 -1.42063504e+02] [-7.03038007e-03 6.95580897e-03 9.99951094e-01 4.03910730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.991400513 meters Centerline goodness : 0.428103 Centerline is valid? [False, False] Translation: X:620.30, Y:-142.06, Z:0.04 [[ 9.99885077e-01 1.33281963e-02 7.22439535e-03 6.20299884e+02] [-1.32749861e-02 9.99884767e-01 -7.36394126e-03 -1.42061836e+02] [-7.32171092e-03 7.26719123e-03 9.99946789e-01 4.03157022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.021400513 meters Centerline goodness : 0.753096 Centerline is valid? [False, False] Translation: X:620.30, Y:-142.06, Z:0.04 [[ 9.99884491e-01 1.32261989e-02 7.48809766e-03 6.20299701e+02] [-1.31668770e-02 9.99881972e-01 -7.91678813e-03 -1.42058691e+02] [-7.59192287e-03 7.81727881e-03 9.99940625e-01 4.03146846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.051400513 meters Centerline goodness : 0.718359 Centerline is valid? [False, False] Translation: X:620.35, Y:-142.05, Z:0.04 [[ 9.99800221e-01 1.64483240e-02 1.13565643e-02 6.20345419e+02] [-1.63698014e-02 9.99841691e-01 -6.97297861e-03 -1.42054590e+02] [-1.14694603e-02 6.78568085e-03 9.99911199e-01 3.51565425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.081400513 meters Centerline goodness : 0.660790 Centerline is valid? [False, False] Translation: X:620.35, Y:-142.05, Z:0.03 [[ 9.99799072e-01 1.64639561e-02 1.14347901e-02 6.20346271e+02] [-1.63787205e-02 9.99837670e-01 -7.50813423e-03 -1.42052067e+02] [-1.15565475e-02 7.31933840e-03 9.99906432e-01 3.40862846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.111400513 meters Centerline goodness : 0.379286 Centerline is valid? [False, False] Translation: X:620.35, Y:-142.05, Z:0.03 [[ 9.99796748e-01 1.65111435e-02 1.15691586e-02 6.20347207e+02] [-1.64176243e-02 9.99832149e-01 -8.13237514e-03 -1.42049005e+02] [-1.17014915e-02 7.94078412e-03 9.99900005e-01 3.27364600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.141400513 meters Centerline goodness : 0.265830 Centerline is valid? [False, False] Translation: X:620.35, Y:-142.05, Z:0.03 [[ 9.99760052e-01 1.86807831e-02 1.14396609e-02 6.20354102e+02] [-1.86020283e-02 9.99802794e-01 -6.95251043e-03 -1.42048318e+02] [-1.15672833e-02 6.73804130e-03 9.99910394e-01 2.63109857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.171400513 meters Centerline goodness : 0.711109 Centerline is valid? [False, False] Translation: X:620.36, Y:-142.05, Z:0.02 [[ 9.99662477e-01 2.30353344e-02 1.20127230e-02 6.20355225e+02] [-2.29998553e-02 9.99730714e-01 -3.08330860e-03 -1.42045832e+02] [-1.20805132e-02 2.80597702e-03 9.99923091e-01 2.49099886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.201400513 meters Centerline goodness : 0.404679 Centerline is valid? [False, False] Translation: X:620.36, Y:-142.04, Z:0.02 [[ 9.99627352e-01 2.47310680e-02 1.15555466e-02 6.20363432e+02] [-2.47039022e-02 9.99691717e-01 -2.48776330e-03 -1.42042815e+02] [-1.16135093e-02 2.20136915e-03 9.99930138e-01 1.75284415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.231400513 meters Centerline goodness : 0.657622 Centerline is valid? [False, False] Translation: X:620.36, Y:-142.04, Z:0.02 [[ 9.99630958e-01 2.45390569e-02 1.16525998e-02 6.20364542e+02] [-2.44993846e-02 9.99693594e-01 -3.53523159e-03 -1.42036835e+02] [-1.17357806e-02 3.24844542e-03 9.99925857e-01 1.60728995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.261400513 meters Centerline goodness : 0.286997 Centerline is valid? [False, False] Translation: X:620.37, Y:-142.03, Z:0.01 [[ 9.99638581e-01 2.42179513e-02 1.16704188e-02 6.20366097e+02] [-2.41654083e-02 9.99697287e-01 -4.62243804e-03 -1.42030442e+02] [-1.17788320e-02 4.33874697e-03 9.99921214e-01 1.42554584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.291400513 meters Centerline goodness : 0.139836 Centerline is valid? [False, False] Translation: X:620.37, Y:-142.02, Z:0.01 [[ 9.99605791e-01 2.55800281e-02 1.15725751e-02 6.20374633e+02] [-2.55297493e-02 9.99664061e-01 -4.47174056e-03 -1.42022725e+02] [-1.16830747e-02 4.17453282e-03 9.99923037e-01 7.61019866e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.321400513 meters Centerline goodness : 0.193007 Centerline is valid? [False, False] Translation: X:620.38, Y:-142.02, Z:0.01 [[ 9.99614191e-01 2.51715615e-02 1.17414184e-02 6.20375030e+02] [-2.51124701e-02 9.99671350e-01 -5.15332209e-03 -1.42018262e+02] [-1.18672767e-02 4.85647787e-03 9.99917788e-01 6.96024367e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.351400513 meters Centerline goodness : 0.400537 Centerline is valid? [False, False] Translation: X:620.38, Y:-142.02, Z:0.01 [[ 9.99617828e-01 2.48477824e-02 1.21155138e-02 6.20375709e+02] [-2.47815668e-02 9.99677288e-01 -5.58520916e-03 -1.42015321e+02] [-1.22503840e-02 5.28283323e-03 9.99911006e-01 5.37460451e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.381400513 meters Centerline goodness : 0.334723 Centerline is valid? [False, False] Translation: X:620.38, Y:-142.01, Z:0.00 [[ 9.99624042e-01 2.45975109e-02 1.21135465e-02 6.20376917e+02] [-2.45275101e-02 9.99681782e-01 -5.89379757e-03 -1.42013047e+02] [-1.22546645e-02 5.59446661e-03 9.99909258e-01 3.90481551e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.411400513 meters Centerline goodness : 0.678649 Centerline is valid? [False, False] Translation: X:620.38, Y:-142.01, Z:0.00 [[ 9.99638838e-01 2.38693714e-02 1.23469241e-02 6.20378895e+02] [-2.37877942e-02 9.99694496e-01 -6.71229669e-03 -1.42007801e+02] [-1.25033703e-02 6.41616638e-03 9.99901244e-01 3.36127698e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.441400513 meters Centerline goodness : 0.670842 Centerline is valid? [False, False] Translation: X:620.38, Y:-142.01, Z:0.00 [[ 9.99646144e-01 2.35220224e-02 1.24218024e-02 6.20380099e+02] [-2.34354932e-02 9.99700379e-01 -7.06615403e-03 -1.42005085e+02] [-1.25842908e-02 6.77254257e-03 9.99897879e-01 2.17471110e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.471400513 meters Centerline goodness : 0.662822 Centerline is valid? [False, False] Translation: X:620.38, Y:-142.00, Z:0.00 [[ 9.99652233e-01 2.32895413e-02 1.23697011e-02 6.20381352e+02] [-2.32005295e-02 9.99704242e-01 -7.29137546e-03 -1.42003168e+02] [-1.25358554e-02 7.00185615e-03 9.99896908e-01 1.09595713e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.501400513 meters Centerline goodness : 0.470438 Centerline is valid? [False, False] Translation: X:620.38, Y:-142.00, Z:0.00 [[ 9.99655171e-01 2.31537204e-02 1.23872285e-02 6.20382129e+02] [-2.30624311e-02 9.99706175e-01 -7.46242824e-03 -1.42001824e+02] [-1.25563718e-02 7.17417538e-03 9.99895429e-01 1.81201063e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.531400513 meters Centerline goodness : 0.392451 Centerline is valid? [False, False] Translation: X:620.38, Y:-142.00, Z:-0.00 [[ 9.99661183e-01 2.26024005e-02 1.29093490e-02 6.20382904e+02] [-2.24979139e-02 9.99713404e-01 -8.18256133e-03 -1.41996828e+02] [-1.30905948e-02 7.88935552e-03 9.99883190e-01 -5.68235891e-06] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.561400513 meters Centerline goodness : 0.245459 Centerline is valid? [False, False] Translation: X:620.38, Y:-141.99, Z:-0.00 [[ 9.99665691e-01 2.23416897e-02 1.30136368e-02 6.20383480e+02] [-2.22308883e-02 9.99715894e-01 -8.59759674e-03 -1.41993823e+02] [-1.32020244e-02 8.30541778e-03 9.99878356e-01 -9.28184477e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.591400513 meters Centerline goodness : 0.276957 Centerline is valid? [False, False] Translation: X:620.38, Y:-141.99, Z:-0.00 [[ 9.99670188e-01 2.22171253e-02 1.28807837e-02 6.20384981e+02] [-2.21048552e-02 9.99716981e-01 -8.79392696e-03 -1.41992517e+02] [-1.30725140e-02 8.50629876e-03 9.99878369e-01 -2.15671940e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.621400513 meters Centerline goodness : 0.297028 Centerline is valid? [False, False] Translation: X:620.39, Y:-141.99, Z:-0.00 [[ 9.99666498e-01 2.22018853e-02 1.31897080e-02 6.20386672e+02] [-2.20874553e-02 9.99717673e-01 -8.75895294e-03 -1.41992928e+02] [-1.33804495e-02 8.46470473e-03 9.99874648e-01 -2.98871380e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.651400513 meters Centerline goodness : 0.355119 Centerline is valid? [False, False] Translation: X:620.39, Y:-141.99, Z:-0.00 [[ 9.99669990e-01 2.20712030e-02 1.31443303e-02 6.20388004e+02] [-2.19533409e-02 9.99718084e-01 -9.04456048e-03 -1.41991293e+02] [-1.33402490e-02 8.75301371e-03 9.99872703e-01 -4.56844777e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.681400513 meters Centerline goodness : 0.077167 Centerline is valid? [False, False] Translation: X:620.39, Y:-141.99, Z:-0.01 [[ 9.99673916e-01 2.18928229e-02 1.31440232e-02 6.20388937e+02] [-2.17710735e-02 9.99719396e-01 -9.33544478e-03 -1.41989021e+02] [-1.33447141e-02 9.04624114e-03 9.99870034e-01 -5.81508035e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.711400513 meters Centerline goodness : 0.077167 Centerline is valid? [False, False] Translation: X:620.39, Y:-141.99, Z:-0.01 [[ 9.99673916e-01 2.18928229e-02 1.31440232e-02 6.20388937e+02] [-2.17710735e-02 9.99719396e-01 -9.33544478e-03 -1.41989021e+02] [-1.33447141e-02 9.04624114e-03 9.99870034e-01 -5.81508035e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.741400513 meters Centerline goodness : 0.074193 Centerline is valid? [False, False] Translation: X:620.39, Y:-141.99, Z:-0.01 [[ 9.99679667e-01 2.16601233e-02 1.30920965e-02 6.20390037e+02] [-2.15331537e-02 9.99720469e-01 -9.76258224e-03 -1.41985963e+02] [-1.32998956e-02 9.47754084e-03 9.99866636e-01 -6.99465351e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.771400513 meters Centerline goodness : 0.055021 Centerline is valid? [False, False] Translation: X:620.39, Y:-141.98, Z:-0.01 [[ 9.99672399e-01 2.17575266e-02 1.34798206e-02 6.20391544e+02] [-2.16221790e-02 9.99715130e-01 -1.01064437e-02 -1.41982443e+02] [-1.36958718e-02 9.81166968e-03 9.99858067e-01 -7.02865752e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.801400513 meters Centerline goodness : 0.180330 Centerline is valid? [False, False] Translation: X:620.39, Y:-141.98, Z:-0.01 [[ 9.99668008e-01 2.19090487e-02 1.35597502e-02 6.20392649e+02] [-2.17725990e-02 9.99711627e-01 -1.01299816e-02 -1.41982392e+02] [-1.37777782e-02 9.83138757e-03 9.99856748e-01 -8.74129994e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.831400513 meters Centerline goodness : 0.183917 Centerline is valid? [False, False] Translation: X:620.39, Y:-141.98, Z:-0.01 [[ 9.99667447e-01 2.19898899e-02 1.34699919e-02 6.20394140e+02] [-2.18526860e-02 9.99708659e-01 -1.02497855e-02 -1.41981468e+02] [-1.36914592e-02 9.95202143e-03 9.99856740e-01 -1.03641876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.861400513 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 646.891400513 meters Centerline goodness : 0.277468 Centerline is valid? [False, False] Translation: X:620.41, Y:-141.98, Z:-0.02 [[ 9.99542908e-01 2.72038928e-02 1.31880107e-02 6.20405985e+02] [-2.71317280e-02 9.99616066e-01 -5.62041009e-03 -1.41983186e+02] [-1.33358444e-02 5.26002753e-03 9.99897238e-01 -1.93357134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.921400513 meters Centerline goodness : 0.174863 Centerline is valid? [False, False] Translation: X:620.41, Y:-141.98, Z:-0.02 [[ 9.99541488e-01 2.73162561e-02 1.30627491e-02 6.20407539e+02] [-2.72425690e-02 9.99612106e-01 -5.78610210e-03 -1.41981772e+02] [-1.32157368e-02 5.42758626e-03 9.99897938e-01 -2.09637472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.951400513 meters Centerline goodness : 0.177087 Centerline is valid? [False, False] Translation: X:620.41, Y:-141.98, Z:-0.02 [[ 9.99540544e-01 2.73683848e-02 1.30258655e-02 6.20408680e+02] [-2.72939891e-02 9.99610301e-01 -5.85531807e-03 -1.41981309e+02] [-1.31810399e-02 5.49709997e-03 9.99898016e-01 -2.24666540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.981400513 meters Centerline goodness : 0.320128 Centerline is valid? [False, False] Translation: X:620.41, Y:-141.98, Z:-0.02 [[ 9.99536368e-01 2.72921857e-02 1.34975802e-02 6.20409381e+02] [-2.72141514e-02 9.99612027e-01 -5.93165890e-03 -1.41980180e+02] [-1.36542314e-02 5.56158360e-03 9.99891309e-01 -2.23669677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.011400513 meters Centerline goodness : 0.321001 Centerline is valid? [False, False] Translation: X:620.41, Y:-141.98, Z:-0.02 [[ 9.99534052e-01 2.73809240e-02 1.34893901e-02 6.20410532e+02] [-2.73046679e-02 9.99610302e-01 -5.80517691e-03 -1.41980871e+02] [-1.36430844e-02 5.43414869e-03 9.99892162e-01 -2.36647230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.041400513 meters Centerline goodness : 0.272535 Centerline is valid? [False, False] Translation: X:620.41, Y:-141.98, Z:-0.03 [[ 9.99530233e-01 2.75543903e-02 1.34189716e-02 6.20411947e+02] [-2.74823956e-02 9.99607045e-01 -5.52035160e-03 -1.41982755e+02] [-1.35658085e-02 5.14897284e-03 9.99894723e-01 -2.50949939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.071400513 meters Centerline goodness : 0.058910 Centerline is valid? [False, False] Translation: X:620.41, Y:-141.99, Z:-0.03 [[ 9.99522088e-01 2.77541003e-02 1.36127283e-02 6.20414432e+02] [-2.76919748e-02 9.99605307e-01 -4.73126762e-03 -1.41988005e+02] [-1.37386675e-02 4.35204316e-03 9.99896149e-01 -2.56511489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.101400513 meters Centerline goodness : 0.086710 Centerline is valid? [False, False] Translation: X:620.42, Y:-141.99, Z:-0.03 [[ 9.99522826e-01 2.78385416e-02 1.33841861e-02 6.20416339e+02] [-2.77819345e-02 9.99604337e-01 -4.39692863e-03 -1.41990181e+02] [-1.35012945e-02 4.02299195e-03 9.99900760e-01 -2.67921260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.131400513 meters Centerline goodness : 0.059089 Centerline is valid? [False, False] Translation: X:620.42, Y:-141.99, Z:-0.03 [[ 9.99522140e-01 2.78916052e-02 1.33248128e-02 6.20417647e+02] [-2.78396613e-02 9.99604124e-01 -4.06802902e-03 -1.41992025e+02] [-1.34330016e-02 3.69512680e-03 9.99902946e-01 -2.78053589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.161400513 meters Centerline goodness : 0.061982 Centerline is valid? [False, False] Translation: X:620.42, Y:-141.99, Z:-0.03 [[ 9.99520827e-01 2.79363974e-02 1.33294533e-02 6.20418746e+02] [-2.78887632e-02 9.99604013e-01 -3.74624030e-03 -1.41993511e+02] [-1.34288314e-02 3.37270323e-03 9.99904141e-01 -2.83650421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.191400513 meters Centerline goodness : 0.065569 Centerline is valid? [False, False] Translation: X:620.42, Y:-141.99, Z:-0.03 [[ 9.99522098e-01 2.79160114e-02 1.32767413e-02 6.20419898e+02] [-2.78700760e-02 9.99604954e-01 -3.63240280e-03 -1.41994006e+02] [-1.33728986e-02 3.26064308e-03 9.99905262e-01 -2.90923530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.221400513 meters Centerline goodness : 0.061407 Centerline is valid? [False, False] Translation: X:620.42, Y:-141.99, Z:-0.03 [[ 9.99519976e-01 2.77584416e-02 1.37581163e-02 6.20420790e+02] [-2.77098134e-02 9.99609115e-01 -3.71266130e-03 -1.41993070e+02] [-1.38557961e-02 3.32964430e-03 9.99898460e-01 -2.89349611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.251400513 meters Centerline goodness : 0.273124 Centerline is valid? [False, False] Translation: X:620.42, Y:-141.99, Z:-0.03 [[ 9.99523594e-01 2.77067296e-02 1.35985760e-02 6.20422445e+02] [-2.76569086e-02 9.99610106e-01 -3.83820772e-03 -1.41992146e+02] [-1.36996181e-02 3.46028460e-03 9.99900168e-01 -3.02942390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.281400513 meters Centerline goodness : 0.273578 Centerline is valid? [False, False] Translation: X:620.42, Y:-141.99, Z:-0.03 [[ 9.99527979e-01 2.76311465e-02 1.34290495e-02 6.20424119e+02] [-2.75804515e-02 9.99611800e-01 -3.94571397e-03 -1.41991411e+02] [-1.35328609e-02 3.57347227e-03 9.99902041e-01 -3.17233063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.311400513 meters Centerline goodness : 0.068042 Centerline is valid? [False, False] Translation: X:620.43, Y:-141.99, Z:-0.03 [[ 9.99533555e-01 2.75139834e-02 1.32534065e-02 6.20425594e+02] [-2.74628763e-02 9.99614729e-01 -4.02286527e-03 -1.41990962e+02] [-1.33589854e-02 3.65701216e-03 9.99904077e-01 -3.26954466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.341400513 meters Centerline goodness : 0.079629 Centerline is valid? [False, False] Translation: X:620.43, Y:-141.99, Z:-0.03 [[ 9.99536230e-01 2.71102502e-02 1.38693937e-02 6.20426737e+02] [-2.70601702e-02 9.99626637e-01 -3.78587050e-03 -1.41992937e+02] [-1.39668513e-02 3.40880657e-03 9.99896648e-01 -3.21639991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.371400513 meters Centerline goodness : 0.064739 Centerline is valid? [False, False] Translation: X:620.43, Y:-141.99, Z:-0.03 [[ 9.99539550e-01 2.71174885e-02 1.36136130e-02 6.20428453e+02] [-2.70719162e-02 9.99627288e-01 -3.52078275e-03 -1.41994914e+02] [-1.37040138e-02 3.15061502e-03 9.99901132e-01 -3.28264930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.401400513 meters Centerline goodness : 0.065568 Centerline is valid? [False, False] Translation: X:620.43, Y:-142.00, Z:-0.03 [[ 9.99541521e-01 2.71748311e-02 1.33519832e-02 6.20430284e+02] [-2.71345284e-02 9.99626699e-01 -3.19045735e-03 -1.41997496e+02] [-1.34336990e-02 2.82669483e-03 9.99905768e-01 -3.37053604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.431400513 meters Centerline goodness : 0.267048 Centerline is valid? [False, False] Translation: X:620.43, Y:-142.00, Z:-0.03 [[ 9.99536258e-01 2.72489784e-02 1.35926934e-02 6.20432341e+02] [-2.72218707e-02 9.99627049e-01 -2.17536618e-03 -1.42003914e+02] [-1.36469005e-02 1.80433883e-03 9.99905249e-01 -3.37357464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.461400513 meters Centerline goodness : 0.267614 Centerline is valid? [False, False] Translation: X:620.43, Y:-142.01, Z:-0.03 [[ 9.99536119e-01 2.73917869e-02 1.33130053e-02 6.20434445e+02] [-2.73693268e-02 9.99623647e-01 -1.86638457e-03 -1.42006077e+02] [-1.33591185e-02 1.50115079e-03 9.99909636e-01 -3.48939793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.491400513 meters Centerline goodness : 0.087817 Centerline is valid? [False, False] Translation: X:620.44, Y:-142.01, Z:-0.04 [[ 9.99531829e-01 2.76468327e-02 1.31063507e-02 6.20436173e+02] [-2.76303837e-02 9.99617179e-01 -1.43449128e-03 -1.42008776e+02] [-1.31409925e-02 1.07168619e-03 9.99913079e-01 -3.59958779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.521400513 meters Centerline goodness : 0.088294 Centerline is valid? [False, False] Translation: X:620.44, Y:-142.02, Z:-0.04 [[ 9.99505306e-01 2.82879333e-02 1.37453767e-02 6.20437314e+02] [-2.82869763e-02 9.99599809e-01 -2.64073627e-04 -1.42016370e+02] [-1.37473460e-02 -1.24872154e-04 9.99905493e-01 -3.64487728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.551400513 meters Centerline goodness : 0.222985 Centerline is valid? [False, False] Translation: X:620.44, Y:-142.02, Z:-0.04 [[ 9.99501309e-01 2.85236550e-02 1.35474569e-02 6.20439272e+02] [-2.85279775e-02 9.99592986e-01 1.25882951e-04 -1.42018966e+02] [-1.35383523e-02 -5.12301721e-04 9.99908221e-01 -3.78509593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.581400513 meters Centerline goodness : 0.217336 Centerline is valid? [False, False] Translation: X:620.44, Y:-142.02, Z:-0.04 [[ 9.99500745e-01 2.86388434e-02 1.33445601e-02 6.20441139e+02] [-2.86451221e-02 9.99589605e-01 2.79567059e-04 -1.42019676e+02] [-1.33310771e-02 -6.61684039e-04 9.99910918e-01 -3.91986507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.611400513 meters Centerline goodness : 0.170606 Centerline is valid? [False, False] Translation: X:620.44, Y:-142.02, Z:-0.04 [[ 9.99501637e-01 2.87322625e-02 1.30741645e-02 6.20443449e+02] [-2.87379250e-02 9.99586950e-01 2.45399800e-04 -1.42018748e+02] [-1.30617133e-02 -6.21001860e-04 9.99914499e-01 -4.06363808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.641400513 meters Centerline goodness : 0.158566 Centerline is valid? [False, False] Translation: X:620.45, Y:-142.02, Z:-0.05 [[ 9.99461952e-01 3.03251373e-02 1.24976759e-02 6.20454388e+02] [-3.03354086e-02 9.99539575e-01 6.33066658e-04 -1.42017397e+02] [-1.24727239e-02 -1.01184814e-03 9.99921701e-01 -4.91068304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.671400513 meters Centerline goodness : 0.089613 Centerline is valid? [False, False] Translation: X:620.46, Y:-142.01, Z:-0.05 [[ 9.99463612e-01 3.03429931e-02 1.23203519e-02 6.20455972e+02] [-3.03493130e-02 9.99539300e-01 3.26282163e-04 -1.42014923e+02] [-1.23047755e-02 -7.00021364e-04 9.99924048e-01 -5.01762613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.701400513 meters Centerline goodness : 0.161725 Centerline is valid? [False, False] Translation: X:620.46, Y:-142.02, Z:-0.05 [[ 9.99427245e-01 3.17840478e-02 1.16170350e-02 6.20462914e+02] [-3.18000048e-02 9.99493542e-01 1.19140852e-03 -1.42015914e+02] [-1.15732836e-02 -1.56014791e-03 9.99931810e-01 -5.45367519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.731400513 meters Centerline goodness : 0.163507 Centerline is valid? [False, False] Translation: X:620.46, Y:-142.02, Z:-0.06 [[ 9.99428560e-01 3.17812200e-02 1.15112144e-02 6.20464192e+02] [-3.17960454e-02 9.99493765e-01 1.10715284e-03 -1.42015031e+02] [-1.14702003e-02 -1.47253126e-03 9.99933131e-01 -5.54727580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.761400513 meters Centerline goodness : 0.173869 Centerline is valid? [False, False] Translation: X:620.47, Y:-142.02, Z:-0.06 [[ 9.99429089e-01 3.18253408e-02 1.13421017e-02 6.20465745e+02] [-3.18413454e-02 9.99492175e-01 1.23325243e-03 -1.42015673e+02] [-1.12970933e-02 -1.59369613e-03 9.99934916e-01 -5.64415745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.791400513 meters Centerline goodness : 0.211786 Centerline is valid? [False, False] Translation: X:620.47, Y:-142.01, Z:-0.06 [[ 9.99556568e-01 2.74273430e-02 1.15934505e-02 6.20468259e+02] [-2.73890410e-02 9.99618897e-01 -3.44975370e-03 -1.42007649e+02] [-1.16836497e-02 3.13069048e-03 9.99926843e-01 -5.79942314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.821400513 meters Centerline goodness : 0.179539 Centerline is valid? [False, False] Translation: X:620.48, Y:-142.01, Z:-0.06 [[ 9.99603118e-01 2.60370791e-02 1.07552939e-02 6.20475793e+02] [-2.59915423e-02 9.99652689e-01 -4.35222268e-03 -1.42005093e+02] [-1.08648776e-02 4.07094869e-03 9.99932689e-01 -6.19950427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 24020.42 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%| | 0/21593 [00:00